[ { "id": "e02aee6f1fec4d13ad77044466da5fb4_973e2ca3c17147329fcb9512803bc78b_0", "image": [ "data/nuscenes/samples/CAM_FRONT/n008-2018-09-18-14-43-59-0400__CAM_FRONT__1537296368862404.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-14-43-59-0400__CAM_FRONT_LEFT__1537296368854799.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-14-43-59-0400__CAM_FRONT_RIGHT__1537296368870482.jpg", "data/nuscenes/samples/CAM_BACK/n008-2018-09-18-14-43-59-0400__CAM_BACK__1537296368887558.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-14-43-59-0400__CAM_BACK_LEFT__1537296368897405.jpg", "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-14-43-59-0400__CAM_BACK_RIGHT__1537296368878113.jpg" ], "tag": 2, "task": "perception", "conversations": [ { "from": "human", "value": "What are the important objects in the current scene? Those objects will be considered for the future reasoning and driving decision." }, { "from": "gpt", "value": "There is a gray SUV to the front of the ego vehicle, a white business to the back left of the ego vehicle, a gray car to the front left of the ego vehicle, a black pants pedestrian to the front right of the ego vehicle, and a white motorhome to the front of the ego vehicle. The IDs of these objects are , , , , and ." } ] }, { "id": "e02aee6f1fec4d13ad77044466da5fb4_973e2ca3c17147329fcb9512803bc78b_1", "image": [ "data/nuscenes/samples/CAM_FRONT/n008-2018-09-18-14-43-59-0400__CAM_FRONT__1537296368862404.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-14-43-59-0400__CAM_FRONT_LEFT__1537296368854799.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-14-43-59-0400__CAM_FRONT_RIGHT__1537296368870482.jpg", "data/nuscenes/samples/CAM_BACK/n008-2018-09-18-14-43-59-0400__CAM_BACK__1537296368887558.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-14-43-59-0400__CAM_BACK_LEFT__1537296368897405.jpg", "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-14-43-59-0400__CAM_BACK_RIGHT__1537296368878113.jpg" ], "tag": 0, "task": "perception", "conversations": [ { "from": "human", "value": "What is the moving status of object ? Please select the correct answer from the following options: A. Turn right. B. Going ahead. C. Drive backward. D. Stopped." }, { "from": "gpt", "value": "A" } ] }, { "id": "e02aee6f1fec4d13ad77044466da5fb4_973e2ca3c17147329fcb9512803bc78b_0", "image": [ "data/nuscenes/samples/CAM_FRONT/n008-2018-09-18-14-43-59-0400__CAM_FRONT__1537296368862404.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-14-43-59-0400__CAM_FRONT_LEFT__1537296368854799.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-14-43-59-0400__CAM_FRONT_RIGHT__1537296368870482.jpg", "data/nuscenes/samples/CAM_BACK/n008-2018-09-18-14-43-59-0400__CAM_BACK__1537296368887558.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-14-43-59-0400__CAM_BACK_LEFT__1537296368897405.jpg", "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-14-43-59-0400__CAM_BACK_RIGHT__1537296368878113.jpg" ], "tag": 1, "task": "planning", "conversations": [ { "from": "human", "value": "What actions taken by the ego vehicle can lead to a collision with ?" }, { "from": "gpt", "value": "Moderate right turn." } ] }, { "id": "e02aee6f1fec4d13ad77044466da5fb4_973e2ca3c17147329fcb9512803bc78b_1", "image": [ "data/nuscenes/samples/CAM_FRONT/n008-2018-09-18-14-43-59-0400__CAM_FRONT__1537296368862404.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-14-43-59-0400__CAM_FRONT_LEFT__1537296368854799.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-14-43-59-0400__CAM_FRONT_RIGHT__1537296368870482.jpg", "data/nuscenes/samples/CAM_BACK/n008-2018-09-18-14-43-59-0400__CAM_BACK__1537296368887558.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-14-43-59-0400__CAM_BACK_LEFT__1537296368897405.jpg", "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-14-43-59-0400__CAM_BACK_RIGHT__1537296368878113.jpg" ], "tag": 1, "task": "planning", "conversations": [ { "from": "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_973e2ca3c17147329fcb9512803bc78b_0", "image": [ "data/nuscenes/samples/CAM_FRONT/n008-2018-09-18-14-43-59-0400__CAM_FRONT__1537296368862404.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-14-43-59-0400__CAM_FRONT_LEFT__1537296368854799.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-14-43-59-0400__CAM_FRONT_RIGHT__1537296368870482.jpg", "data/nuscenes/samples/CAM_BACK/n008-2018-09-18-14-43-59-0400__CAM_BACK__1537296368887558.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-14-43-59-0400__CAM_BACK_LEFT__1537296368897405.jpg", "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-14-43-59-0400__CAM_BACK_RIGHT__1537296368878113.jpg" ], "tag": 0, "task": "behavior", "conversations": [ { "from": "human", "value": "Predict the behavior of the ego vehicle. Please select the correct answer from the following options: A. The ego vehicle is slightly steering to the left. The ego vehicle is driving fast. B. The ego vehicle is going straight. The ego vehicle is driving slowly. C. The ego vehicle is steering to the right. The ego vehicle is driving fast. D. The ego vehicle is slightly steering to the right. The ego vehicle is driving fast." }, { "from": "gpt", "value": "D" } ] }, { "id": "befb96098dc14988ac468a6bd3cbd4a0_7bee97c4480b4a1d9c72b91217a474d6_0", "image": [ "data/nuscenes/samples/CAM_FRONT/n008-2018-08-28-13-40-50-0400__CAM_FRONT__1535478884162404.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-28-13-40-50-0400__CAM_FRONT_LEFT__1535478884154799.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-28-13-40-50-0400__CAM_FRONT_RIGHT__1535478884170482.jpg", "data/nuscenes/samples/CAM_BACK/n008-2018-08-28-13-40-50-0400__CAM_BACK__1535478884187558.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-28-13-40-50-0400__CAM_BACK_LEFT__1535478884197405.jpg", "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-28-13-40-50-0400__CAM_BACK_RIGHT__1535478884178113.jpg" ], "tag": 2, "task": "perception", "conversations": [ { "from": "human", "value": "What are the 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 right of the ego vehicle, and a black car to the back of the ego vehicle. The IDs of these objects are , , and ." } ] }, { "id": "befb96098dc14988ac468a6bd3cbd4a0_7bee97c4480b4a1d9c72b91217a474d6_0", "image": [ "data/nuscenes/samples/CAM_FRONT/n008-2018-08-28-13-40-50-0400__CAM_FRONT__1535478884162404.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-28-13-40-50-0400__CAM_FRONT_LEFT__1535478884154799.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-28-13-40-50-0400__CAM_FRONT_RIGHT__1535478884170482.jpg", "data/nuscenes/samples/CAM_BACK/n008-2018-08-28-13-40-50-0400__CAM_BACK__1535478884187558.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-28-13-40-50-0400__CAM_BACK_LEFT__1535478884197405.jpg", "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-28-13-40-50-0400__CAM_BACK_RIGHT__1535478884178113.jpg" ], "tag": 1, "task": "planning", "conversations": [ { "from": "human", "value": "What actions taken by the ego vehicle can lead to a collision with ?" }, { "from": "gpt", "value": "No such action will lead to a collision." } ] }, { "id": "befb96098dc14988ac468a6bd3cbd4a0_7bee97c4480b4a1d9c72b91217a474d6_1", "image": [ "data/nuscenes/samples/CAM_FRONT/n008-2018-08-28-13-40-50-0400__CAM_FRONT__1535478884162404.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-28-13-40-50-0400__CAM_FRONT_LEFT__1535478884154799.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-28-13-40-50-0400__CAM_FRONT_RIGHT__1535478884170482.jpg", "data/nuscenes/samples/CAM_BACK/n008-2018-08-28-13-40-50-0400__CAM_BACK__1535478884187558.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-28-13-40-50-0400__CAM_BACK_LEFT__1535478884197405.jpg", "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-28-13-40-50-0400__CAM_BACK_RIGHT__1535478884178113.jpg" ], "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": "befb96098dc14988ac468a6bd3cbd4a0_7bee97c4480b4a1d9c72b91217a474d6_0", "image": [ "data/nuscenes/samples/CAM_FRONT/n008-2018-08-28-13-40-50-0400__CAM_FRONT__1535478884162404.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-28-13-40-50-0400__CAM_FRONT_LEFT__1535478884154799.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-28-13-40-50-0400__CAM_FRONT_RIGHT__1535478884170482.jpg", "data/nuscenes/samples/CAM_BACK/n008-2018-08-28-13-40-50-0400__CAM_BACK__1535478884187558.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-28-13-40-50-0400__CAM_BACK_LEFT__1535478884197405.jpg", "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-28-13-40-50-0400__CAM_BACK_RIGHT__1535478884178113.jpg" ], "tag": 0, "task": "behavior", "conversations": [ { "from": "human", "value": "Predict the behavior of the ego vehicle. Please select the correct answer from the following options: A. The ego vehicle is slightly steering to the right. The ego vehicle is driving slowly. B. The ego vehicle is steering to the right. The ego vehicle is driving with normal speed. C. The ego vehicle is steering to the left. The ego vehicle is driving very fast. D. The ego vehicle is slightly steering to the right. The ego vehicle is driving with normal speed." }, { "from": "gpt", "value": "B" } ] }, { "id": "64eef73c4f564a3db415e965f6460012_f36d7165f8d84e94ace33321ab3eca26_0", "image": [ "data/nuscenes/samples/CAM_FRONT/n008-2018-09-18-13-41-50-0400__CAM_FRONT__1537292700612404.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-13-41-50-0400__CAM_FRONT_LEFT__1537292700604799.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-13-41-50-0400__CAM_FRONT_RIGHT__1537292700620482.jpg", "data/nuscenes/samples/CAM_BACK/n008-2018-09-18-13-41-50-0400__CAM_BACK__1537292700637558.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-13-41-50-0400__CAM_BACK_LEFT__1537292700647405.jpg", "data/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 , , , , and ." } ] }, { "id": "64eef73c4f564a3db415e965f6460012_f36d7165f8d84e94ace33321ab3eca26_0", "image": [ "data/nuscenes/samples/CAM_FRONT/n008-2018-09-18-13-41-50-0400__CAM_FRONT__1537292700612404.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-13-41-50-0400__CAM_FRONT_LEFT__1537292700604799.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-13-41-50-0400__CAM_FRONT_RIGHT__1537292700620482.jpg", "data/nuscenes/samples/CAM_BACK/n008-2018-09-18-13-41-50-0400__CAM_BACK__1537292700637558.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-13-41-50-0400__CAM_BACK_LEFT__1537292700647405.jpg", "data/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 a traffic sign or a road barrier?" }, { "from": "gpt", "value": "No." } ] }, { "id": "64eef73c4f564a3db415e965f6460012_f36d7165f8d84e94ace33321ab3eca26_0", "image": [ "data/nuscenes/samples/CAM_FRONT/n008-2018-09-18-13-41-50-0400__CAM_FRONT__1537292700612404.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-13-41-50-0400__CAM_FRONT_LEFT__1537292700604799.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-13-41-50-0400__CAM_FRONT_RIGHT__1537292700620482.jpg", "data/nuscenes/samples/CAM_BACK/n008-2018-09-18-13-41-50-0400__CAM_BACK__1537292700637558.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-13-41-50-0400__CAM_BACK_LEFT__1537292700647405.jpg", "data/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 ?" }, { "from": "gpt", "value": "Sharp right turn." } ] }, { "id": "64eef73c4f564a3db415e965f6460012_f36d7165f8d84e94ace33321ab3eca26_1", "image": [ "data/nuscenes/samples/CAM_FRONT/n008-2018-09-18-13-41-50-0400__CAM_FRONT__1537292700612404.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-13-41-50-0400__CAM_FRONT_LEFT__1537292700604799.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-13-41-50-0400__CAM_FRONT_RIGHT__1537292700620482.jpg", "data/nuscenes/samples/CAM_BACK/n008-2018-09-18-13-41-50-0400__CAM_BACK__1537292700637558.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-13-41-50-0400__CAM_BACK_LEFT__1537292700647405.jpg", "data/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_0", "image": [ "data/nuscenes/samples/CAM_FRONT/n008-2018-09-18-13-41-50-0400__CAM_FRONT__1537292700612404.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-13-41-50-0400__CAM_FRONT_LEFT__1537292700604799.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-13-41-50-0400__CAM_FRONT_RIGHT__1537292700620482.jpg", "data/nuscenes/samples/CAM_BACK/n008-2018-09-18-13-41-50-0400__CAM_BACK__1537292700637558.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-13-41-50-0400__CAM_BACK_LEFT__1537292700647405.jpg", "data/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. Please select the correct answer from the following options: A. The ego vehicle is slightly steering to the left. The ego vehicle is driving fast. B. The ego vehicle is slightly steering to the left. The ego vehicle is driving slowly. C. The ego vehicle is steering to the left. The ego vehicle is driving slowly. D. The ego vehicle is slightly steering to the right. The ego vehicle is driving very fast." }, { "from": "gpt", "value": "A" } ] }, { "id": "c59fe8015e3743329ec907bc29c93124_30dd33575d4f4b059f88a6fcdcce9b3a_0", "image": [ "data/nuscenes/samples/CAM_FRONT/n008-2018-08-28-13-40-50-0400__CAM_FRONT__1535478538912404.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-28-13-40-50-0400__CAM_FRONT_LEFT__1535478538904799.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-28-13-40-50-0400__CAM_FRONT_RIGHT__1535478538920482.jpg", "data/nuscenes/samples/CAM_BACK/n008-2018-08-28-13-40-50-0400__CAM_BACK__1535478538937558.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-28-13-40-50-0400__CAM_BACK_LEFT__1535478538947405.jpg", "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-28-13-40-50-0400__CAM_BACK_RIGHT__1535478538928113.jpg" ], "tag": 2, "task": "perception", "conversations": [ { "from": "human", "value": "What are the 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 red 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 , , and ." } ] }, { "id": "c59fe8015e3743329ec907bc29c93124_30dd33575d4f4b059f88a6fcdcce9b3a_1", "image": [ "data/nuscenes/samples/CAM_FRONT/n008-2018-08-28-13-40-50-0400__CAM_FRONT__1535478538912404.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-28-13-40-50-0400__CAM_FRONT_LEFT__1535478538904799.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-28-13-40-50-0400__CAM_FRONT_RIGHT__1535478538920482.jpg", "data/nuscenes/samples/CAM_BACK/n008-2018-08-28-13-40-50-0400__CAM_BACK__1535478538937558.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-28-13-40-50-0400__CAM_BACK_LEFT__1535478538947405.jpg", "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-28-13-40-50-0400__CAM_BACK_RIGHT__1535478538928113.jpg" ], "tag": 0, "task": "perception", "conversations": [ { "from": "human", "value": "What is the moving status of object ? Please select the correct answer from the following options: A. Turn right. B. Reverse parking. C. Turn left. D. Stopped." }, { "from": "gpt", "value": "A" } ] }, { "id": "c59fe8015e3743329ec907bc29c93124_30dd33575d4f4b059f88a6fcdcce9b3a_0", "image": [ "data/nuscenes/samples/CAM_FRONT/n008-2018-08-28-13-40-50-0400__CAM_FRONT__1535478538912404.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-28-13-40-50-0400__CAM_FRONT_LEFT__1535478538904799.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-28-13-40-50-0400__CAM_FRONT_RIGHT__1535478538920482.jpg", "data/nuscenes/samples/CAM_BACK/n008-2018-08-28-13-40-50-0400__CAM_BACK__1535478538937558.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-28-13-40-50-0400__CAM_BACK_LEFT__1535478538947405.jpg", "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-28-13-40-50-0400__CAM_BACK_RIGHT__1535478538928113.jpg" ], "tag": 1, "task": "planning", "conversations": [ { "from": "human", "value": "What actions taken by the ego vehicle can lead to a collision with ?" }, { "from": "gpt", "value": "Brake suddenly." } ] }, { "id": "c59fe8015e3743329ec907bc29c93124_30dd33575d4f4b059f88a6fcdcce9b3a_1", "image": [ "data/nuscenes/samples/CAM_FRONT/n008-2018-08-28-13-40-50-0400__CAM_FRONT__1535478538912404.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-28-13-40-50-0400__CAM_FRONT_LEFT__1535478538904799.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-28-13-40-50-0400__CAM_FRONT_RIGHT__1535478538920482.jpg", "data/nuscenes/samples/CAM_BACK/n008-2018-08-28-13-40-50-0400__CAM_BACK__1535478538937558.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-28-13-40-50-0400__CAM_BACK_LEFT__1535478538947405.jpg", "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-28-13-40-50-0400__CAM_BACK_RIGHT__1535478538928113.jpg" ], "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": "d6e6f5d622474271b695f4c7f07df7bb_a88f116dffa745a8bfdf90e3758fb547_0", "image": [ "data/nuscenes/samples/CAM_FRONT/n008-2018-08-30-15-52-26-0400__CAM_FRONT__1535658850512404.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_LEFT__1535658850504799.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_RIGHT__1535658850520482.jpg", "data/nuscenes/samples/CAM_BACK/n008-2018-08-30-15-52-26-0400__CAM_BACK__1535658850537558.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-30-15-52-26-0400__CAM_BACK_LEFT__1535658850547405.jpg", "data/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 , , and ." } ] }, { "id": "d6e6f5d622474271b695f4c7f07df7bb_a88f116dffa745a8bfdf90e3758fb547_1", "image": [ "data/nuscenes/samples/CAM_FRONT/n008-2018-08-30-15-52-26-0400__CAM_FRONT__1535658850512404.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_LEFT__1535658850504799.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_RIGHT__1535658850520482.jpg", "data/nuscenes/samples/CAM_BACK/n008-2018-08-30-15-52-26-0400__CAM_BACK__1535658850537558.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-30-15-52-26-0400__CAM_BACK_LEFT__1535658850547405.jpg", "data/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 ? Please select the correct answer from the following options: A. Back up. B. Turn right. C. Turn left. D. Stopped." }, { "from": "gpt", "value": "B" } ] }, { "id": "d6e6f5d622474271b695f4c7f07df7bb_a88f116dffa745a8bfdf90e3758fb547_0", "image": [ "data/nuscenes/samples/CAM_FRONT/n008-2018-08-30-15-52-26-0400__CAM_FRONT__1535658850512404.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_LEFT__1535658850504799.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_RIGHT__1535658850520482.jpg", "data/nuscenes/samples/CAM_BACK/n008-2018-08-30-15-52-26-0400__CAM_BACK__1535658850537558.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-30-15-52-26-0400__CAM_BACK_LEFT__1535658850547405.jpg", "data/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 ?" }, { "from": "gpt", "value": "Moderate right turn." } ] }, { "id": "d6e6f5d622474271b695f4c7f07df7bb_a88f116dffa745a8bfdf90e3758fb547_1", "image": [ "data/nuscenes/samples/CAM_FRONT/n008-2018-08-30-15-52-26-0400__CAM_FRONT__1535658850512404.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_LEFT__1535658850504799.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_RIGHT__1535658850520482.jpg", "data/nuscenes/samples/CAM_BACK/n008-2018-08-30-15-52-26-0400__CAM_BACK__1535658850537558.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-30-15-52-26-0400__CAM_BACK_LEFT__1535658850547405.jpg", "data/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_0", "image": [ "data/nuscenes/samples/CAM_FRONT/n008-2018-08-30-15-52-26-0400__CAM_FRONT__1535658850512404.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_LEFT__1535658850504799.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_RIGHT__1535658850520482.jpg", "data/nuscenes/samples/CAM_BACK/n008-2018-08-30-15-52-26-0400__CAM_BACK__1535658850537558.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-30-15-52-26-0400__CAM_BACK_LEFT__1535658850547405.jpg", "data/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. Please select the correct answer from the following options: A. The ego vehicle is steering to the right. The ego vehicle is driving slowly. B. The ego vehicle is steering to the left. The ego vehicle is driving very fast. C. The ego vehicle is slightly steering to the left. The ego vehicle is driving with normal speed. D. The ego vehicle is steering to the right. The ego vehicle is driving very fast." }, { "from": "gpt", "value": "A" } ] }, { "id": "de943e246dad4ad686de98008a634ecf_ed9a890fd88f4f298f2a8f90babcbc02_0", "image": [ "data/nuscenes/samples/CAM_FRONT/n015-2018-07-18-11-50-34+0800__CAM_FRONT__1531885880262460.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_LEFT__1531885880254844.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_RIGHT__1531885880270339.jpg", "data/nuscenes/samples/CAM_BACK/n015-2018-07-18-11-50-34+0800__CAM_BACK__1531885880287525.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-18-11-50-34+0800__CAM_BACK_LEFT__1531885880297423.jpg", "data/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 , , , and ." } ] }, { "id": "de943e246dad4ad686de98008a634ecf_ed9a890fd88f4f298f2a8f90babcbc02_0", "image": [ "data/nuscenes/samples/CAM_FRONT/n015-2018-07-18-11-50-34+0800__CAM_FRONT__1531885880262460.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_LEFT__1531885880254844.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_RIGHT__1531885880270339.jpg", "data/nuscenes/samples/CAM_BACK/n015-2018-07-18-11-50-34+0800__CAM_BACK__1531885880287525.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-18-11-50-34+0800__CAM_BACK_LEFT__1531885880297423.jpg", "data/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 ? 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_1", "image": [ "data/nuscenes/samples/CAM_FRONT/n015-2018-07-18-11-50-34+0800__CAM_FRONT__1531885880262460.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_LEFT__1531885880254844.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_RIGHT__1531885880270339.jpg", "data/nuscenes/samples/CAM_BACK/n015-2018-07-18-11-50-34+0800__CAM_BACK__1531885880287525.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-18-11-50-34+0800__CAM_BACK_LEFT__1531885880297423.jpg", "data/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 ?" }, { "from": "gpt", "value": "Sharp left turn." } ] }, { "id": "de943e246dad4ad686de98008a634ecf_ed9a890fd88f4f298f2a8f90babcbc02_2", "image": [ "data/nuscenes/samples/CAM_FRONT/n015-2018-07-18-11-50-34+0800__CAM_FRONT__1531885880262460.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_LEFT__1531885880254844.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_RIGHT__1531885880270339.jpg", "data/nuscenes/samples/CAM_BACK/n015-2018-07-18-11-50-34+0800__CAM_BACK__1531885880287525.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-18-11-50-34+0800__CAM_BACK_LEFT__1531885880297423.jpg", "data/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_c64c6c970ae94cf8bdf7e98f804eb889_0", "image": [ "data/nuscenes/samples/CAM_FRONT/n015-2018-07-18-11-50-34+0800__CAM_FRONT__1531885867912470.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_LEFT__1531885867904844.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_RIGHT__1531885867920339.jpg", "data/nuscenes/samples/CAM_BACK/n015-2018-07-18-11-50-34+0800__CAM_BACK__1531885867937525.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-18-11-50-34+0800__CAM_BACK_LEFT__1531885867947423.jpg", "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_BACK_RIGHT__1531885867927893.jpg" ], "tag": 2, "task": "perception", "conversations": [ { "from": "human", "value": "What are the 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 person wearing a green jacket and blue pants to the front of the ego vehicle, a grey coach to the front right of the ego vehicle, a blue and white traffic sign to the front left of the ego vehicle, and a red and white traffic sign to the front of the ego vehicle. The IDs of these objects are , , , , and ." } ] }, { "id": "de943e246dad4ad686de98008a634ecf_c64c6c970ae94cf8bdf7e98f804eb889_0", "image": [ "data/nuscenes/samples/CAM_FRONT/n015-2018-07-18-11-50-34+0800__CAM_FRONT__1531885867912470.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_LEFT__1531885867904844.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_RIGHT__1531885867920339.jpg", "data/nuscenes/samples/CAM_BACK/n015-2018-07-18-11-50-34+0800__CAM_BACK__1531885867937525.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-18-11-50-34+0800__CAM_BACK_LEFT__1531885867947423.jpg", "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_BACK_RIGHT__1531885867927893.jpg" ], "tag": 1, "task": "planning", "conversations": [ { "from": "human", "value": "What actions taken by the ego vehicle can lead to a collision with ?" }, { "from": "gpt", "value": "Back up." } ] }, { "id": "de943e246dad4ad686de98008a634ecf_c64c6c970ae94cf8bdf7e98f804eb889_1", "image": [ "data/nuscenes/samples/CAM_FRONT/n015-2018-07-18-11-50-34+0800__CAM_FRONT__1531885867912470.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_LEFT__1531885867904844.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_RIGHT__1531885867920339.jpg", "data/nuscenes/samples/CAM_BACK/n015-2018-07-18-11-50-34+0800__CAM_BACK__1531885867937525.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-18-11-50-34+0800__CAM_BACK_LEFT__1531885867947423.jpg", "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_BACK_RIGHT__1531885867927893.jpg" ], "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, and continue at the same speed." } ] }, { "id": "de943e246dad4ad686de98008a634ecf_c64c6c970ae94cf8bdf7e98f804eb889_0", "image": [ "data/nuscenes/samples/CAM_FRONT/n015-2018-07-18-11-50-34+0800__CAM_FRONT__1531885867912470.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_LEFT__1531885867904844.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_RIGHT__1531885867920339.jpg", "data/nuscenes/samples/CAM_BACK/n015-2018-07-18-11-50-34+0800__CAM_BACK__1531885867937525.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-18-11-50-34+0800__CAM_BACK_LEFT__1531885867947423.jpg", "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_BACK_RIGHT__1531885867927893.jpg" ], "tag": 0, "task": "behavior", "conversations": [ { "from": "human", "value": "Predict the behavior of the ego vehicle. Please select the correct answer from the following options: A. The ego vehicle is slightly steering to the left. The ego vehicle is driving fast. B. The ego vehicle is steering to the left. The ego vehicle is driving fast. C. The ego vehicle is slightly steering to the right. The ego vehicle is driving fast. D. The ego vehicle is steering to the left. The ego vehicle is driving slowly." }, { "from": "gpt", "value": "D" } ] }, { "id": "de943e246dad4ad686de98008a634ecf_eea47cb542c6477a868e0de45c9b02c4_0", "image": [ "data/nuscenes/samples/CAM_FRONT/n015-2018-07-18-11-50-34+0800__CAM_FRONT__1531885864012464.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_LEFT__1531885864004844.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_RIGHT__1531885864020339.jpg", "data/nuscenes/samples/CAM_BACK/n015-2018-07-18-11-50-34+0800__CAM_BACK__1531885864037525.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-18-11-50-34+0800__CAM_BACK_LEFT__1531885864047423.jpg", "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_BACK_RIGHT__1531885864027904.jpg" ], "tag": 2, "task": "perception", "conversations": [ { "from": "human", "value": "What are the 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 person wearing a blue shirt and black pants to the back of the ego vehicle, a white coach to the front of the ego vehicle, and a white straight road sign to the front of the ego vehicle. The IDs of these objects are , , , and ." } ] }, { "id": "de943e246dad4ad686de98008a634ecf_eea47cb542c6477a868e0de45c9b02c4_1", "image": [ "data/nuscenes/samples/CAM_FRONT/n015-2018-07-18-11-50-34+0800__CAM_FRONT__1531885864012464.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_LEFT__1531885864004844.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_RIGHT__1531885864020339.jpg", "data/nuscenes/samples/CAM_BACK/n015-2018-07-18-11-50-34+0800__CAM_BACK__1531885864037525.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-18-11-50-34+0800__CAM_BACK_LEFT__1531885864047423.jpg", "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_BACK_RIGHT__1531885864027904.jpg" ], "tag": 0, "task": "perception", "conversations": [ { "from": "human", "value": "What is the moving status of object ? Please select the correct answer from the following options: A. Going ahead. B. Reverse parking. C. Drive backward. D. Turn left." }, { "from": "gpt", "value": "D" } ] }, { "id": "de943e246dad4ad686de98008a634ecf_eea47cb542c6477a868e0de45c9b02c4_0", "image": [ "data/nuscenes/samples/CAM_FRONT/n015-2018-07-18-11-50-34+0800__CAM_FRONT__1531885864012464.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_LEFT__1531885864004844.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_RIGHT__1531885864020339.jpg", "data/nuscenes/samples/CAM_BACK/n015-2018-07-18-11-50-34+0800__CAM_BACK__1531885864037525.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-18-11-50-34+0800__CAM_BACK_LEFT__1531885864047423.jpg", "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_BACK_RIGHT__1531885864027904.jpg" ], "tag": 1, "task": "planning", "conversations": [ { "from": "human", "value": "What actions taken by the ego vehicle can lead to a collision with ?" }, { "from": "gpt", "value": "Back up." } ] }, { "id": "de943e246dad4ad686de98008a634ecf_eea47cb542c6477a868e0de45c9b02c4_1", "image": [ "data/nuscenes/samples/CAM_FRONT/n015-2018-07-18-11-50-34+0800__CAM_FRONT__1531885864012464.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_LEFT__1531885864004844.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_RIGHT__1531885864020339.jpg", "data/nuscenes/samples/CAM_BACK/n015-2018-07-18-11-50-34+0800__CAM_BACK__1531885864037525.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-18-11-50-34+0800__CAM_BACK_LEFT__1531885864047423.jpg", "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_BACK_RIGHT__1531885864027904.jpg" ], "tag": 1, "task": "planning", "conversations": [ { "from": "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": "860ef56791a947baadb27dd00bd5d4b3_f6822c3263db4253ae673e5855fd3adf_0", "image": [ "data/nuscenes/samples/CAM_FRONT/n008-2018-08-01-15-52-19-0400__CAM_FRONT__1533153550912404.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_LEFT__1533153550904799.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_RIGHT__1533153550920482.jpg", "data/nuscenes/samples/CAM_BACK/n008-2018-08-01-15-52-19-0400__CAM_BACK__1533153550937558.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-01-15-52-19-0400__CAM_BACK_LEFT__1533153550947635.jpg", "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_BACK_RIGHT__1533153550928113.jpg" ], "tag": 2, "task": "perception", "conversations": [ { "from": "human", "value": "What are the important 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 truck to the back left of the ego vehicle, and a construction vehicle to the front of the ego vehicle. The IDs of these objects are , , and ." } ] }, { "id": "860ef56791a947baadb27dd00bd5d4b3_f6822c3263db4253ae673e5855fd3adf_0", "image": [ "data/nuscenes/samples/CAM_FRONT/n008-2018-08-01-15-52-19-0400__CAM_FRONT__1533153550912404.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_LEFT__1533153550904799.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_RIGHT__1533153550920482.jpg", "data/nuscenes/samples/CAM_BACK/n008-2018-08-01-15-52-19-0400__CAM_BACK__1533153550937558.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-01-15-52-19-0400__CAM_BACK_LEFT__1533153550947635.jpg", "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_BACK_RIGHT__1533153550928113.jpg" ], "tag": 1, "task": "planning", "conversations": [ { "from": "human", "value": "What actions could the ego vehicle take based on ? Why take this action and what's the probability?" }, { "from": "gpt", "value": "The action is to decelerate gradually without braking. The reason for taking this action is to avoid a collision. The probability of taking this action is high." } ] }, { "id": "860ef56791a947baadb27dd00bd5d4b3_f6822c3263db4253ae673e5855fd3adf_1", "image": [ "data/nuscenes/samples/CAM_FRONT/n008-2018-08-01-15-52-19-0400__CAM_FRONT__1533153550912404.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_LEFT__1533153550904799.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_RIGHT__1533153550920482.jpg", "data/nuscenes/samples/CAM_BACK/n008-2018-08-01-15-52-19-0400__CAM_BACK__1533153550937558.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-01-15-52-19-0400__CAM_BACK_LEFT__1533153550947635.jpg", "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_BACK_RIGHT__1533153550928113.jpg" ], "tag": 1, "task": "planning", "conversations": [ { "from": "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": "860ef56791a947baadb27dd00bd5d4b3_f6822c3263db4253ae673e5855fd3adf_0", "image": [ "data/nuscenes/samples/CAM_FRONT/n008-2018-08-01-15-52-19-0400__CAM_FRONT__1533153550912404.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_LEFT__1533153550904799.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_RIGHT__1533153550920482.jpg", "data/nuscenes/samples/CAM_BACK/n008-2018-08-01-15-52-19-0400__CAM_BACK__1533153550937558.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-01-15-52-19-0400__CAM_BACK_LEFT__1533153550947635.jpg", "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_BACK_RIGHT__1533153550928113.jpg" ], "tag": 0, "task": "behavior", "conversations": [ { "from": "human", "value": "Predict the behavior of the ego vehicle. Please select the correct answer from the following options: A. The ego vehicle is going straight. The ego vehicle is not moving. B. The ego vehicle is slightly steering to the left. The ego vehicle is driving slowly. C. The ego vehicle is slightly steering to the left. The ego vehicle is driving fast. D. The ego vehicle is steering to the left. The ego vehicle is driving fast." }, { "from": "gpt", "value": "C" } ] }, { "id": "566311b8201e416f9f99463656dcadce_1215ff38637849ab9a5282b5eeb662ab_0", "image": [ "data/nuscenes/samples/CAM_FRONT/n015-2018-08-02-17-28-51+0800__CAM_FRONT__1533202258412460.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-02-17-28-51+0800__CAM_FRONT_LEFT__1533202258404844.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-02-17-28-51+0800__CAM_FRONT_RIGHT__1533202258420339.jpg", "data/nuscenes/samples/CAM_BACK/n015-2018-08-02-17-28-51+0800__CAM_BACK__1533202258437525.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-02-17-28-51+0800__CAM_BACK_LEFT__1533202258447423.jpg", "data/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 , , and ." } ] }, { "id": "566311b8201e416f9f99463656dcadce_1215ff38637849ab9a5282b5eeb662ab_0", "image": [ "data/nuscenes/samples/CAM_FRONT/n015-2018-08-02-17-28-51+0800__CAM_FRONT__1533202258412460.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-02-17-28-51+0800__CAM_FRONT_LEFT__1533202258404844.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-02-17-28-51+0800__CAM_FRONT_RIGHT__1533202258420339.jpg", "data/nuscenes/samples/CAM_BACK/n015-2018-08-02-17-28-51+0800__CAM_BACK__1533202258437525.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-02-17-28-51+0800__CAM_BACK_LEFT__1533202258447423.jpg", "data/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 ? 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_1", "image": [ "data/nuscenes/samples/CAM_FRONT/n015-2018-08-02-17-28-51+0800__CAM_FRONT__1533202258412460.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-02-17-28-51+0800__CAM_FRONT_LEFT__1533202258404844.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-02-17-28-51+0800__CAM_FRONT_RIGHT__1533202258420339.jpg", "data/nuscenes/samples/CAM_BACK/n015-2018-08-02-17-28-51+0800__CAM_BACK__1533202258437525.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-02-17-28-51+0800__CAM_BACK_LEFT__1533202258447423.jpg", "data/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 ?" }, { "from": "gpt", "value": "Back up." } ] }, { "id": "566311b8201e416f9f99463656dcadce_1215ff38637849ab9a5282b5eeb662ab_2", "image": [ "data/nuscenes/samples/CAM_FRONT/n015-2018-08-02-17-28-51+0800__CAM_FRONT__1533202258412460.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-02-17-28-51+0800__CAM_FRONT_LEFT__1533202258404844.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-02-17-28-51+0800__CAM_FRONT_RIGHT__1533202258420339.jpg", "data/nuscenes/samples/CAM_BACK/n015-2018-08-02-17-28-51+0800__CAM_BACK__1533202258437525.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-02-17-28-51+0800__CAM_BACK_LEFT__1533202258447423.jpg", "data/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_0", "image": [ "data/nuscenes/samples/CAM_FRONT/n015-2018-08-02-17-28-51+0800__CAM_FRONT__1533202258412460.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-02-17-28-51+0800__CAM_FRONT_LEFT__1533202258404844.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-02-17-28-51+0800__CAM_FRONT_RIGHT__1533202258420339.jpg", "data/nuscenes/samples/CAM_BACK/n015-2018-08-02-17-28-51+0800__CAM_BACK__1533202258437525.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-02-17-28-51+0800__CAM_BACK_LEFT__1533202258447423.jpg", "data/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. Please select the correct answer from the following options: A. The ego vehicle is slightly steering to the right. The ego vehicle is driving fast. B. The ego vehicle is steering to the right. The ego vehicle is driving fast. C. The ego vehicle is slightly steering to the left. The ego vehicle is driving with normal speed. D. The ego vehicle is steering to the right. The ego vehicle is driving with normal speed." }, { "from": "gpt", "value": "B" } ] }, { "id": "10dfdae842b543938a230f25a1e9f934_2e3ff2906bc94da5943ac308568a88e1_0", "image": [ "data/nuscenes/samples/CAM_FRONT/n015-2018-08-03-15-00-36+0800__CAM_FRONT__1533280309912460.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_LEFT__1533280309904844.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_RIGHT__1533280309920339.jpg", "data/nuscenes/samples/CAM_BACK/n015-2018-08-03-15-00-36+0800__CAM_BACK__1533280309937525.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-03-15-00-36+0800__CAM_BACK_LEFT__1533280309947428.jpg", "data/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 , , and ." } ] }, { "id": "10dfdae842b543938a230f25a1e9f934_2e3ff2906bc94da5943ac308568a88e1_1", "image": [ "data/nuscenes/samples/CAM_FRONT/n015-2018-08-03-15-00-36+0800__CAM_FRONT__1533280309912460.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_LEFT__1533280309904844.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_RIGHT__1533280309920339.jpg", "data/nuscenes/samples/CAM_BACK/n015-2018-08-03-15-00-36+0800__CAM_BACK__1533280309937525.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-03-15-00-36+0800__CAM_BACK_LEFT__1533280309947428.jpg", "data/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 ? Please select the correct answer from the following options: A. Going ahead. B. Stopped. C. Turn right. D. Drive backward." }, { "from": "gpt", "value": "C" } ] }, { "id": "10dfdae842b543938a230f25a1e9f934_2e3ff2906bc94da5943ac308568a88e1_0", "image": [ "data/nuscenes/samples/CAM_FRONT/n015-2018-08-03-15-00-36+0800__CAM_FRONT__1533280309912460.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_LEFT__1533280309904844.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_RIGHT__1533280309920339.jpg", "data/nuscenes/samples/CAM_BACK/n015-2018-08-03-15-00-36+0800__CAM_BACK__1533280309937525.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-03-15-00-36+0800__CAM_BACK_LEFT__1533280309947428.jpg", "data/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 ? 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_1", "image": [ "data/nuscenes/samples/CAM_FRONT/n015-2018-08-03-15-00-36+0800__CAM_FRONT__1533280309912460.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_LEFT__1533280309904844.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_RIGHT__1533280309920339.jpg", "data/nuscenes/samples/CAM_BACK/n015-2018-08-03-15-00-36+0800__CAM_BACK__1533280309937525.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-03-15-00-36+0800__CAM_BACK_LEFT__1533280309947428.jpg", "data/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 ?" }, { "from": "gpt", "value": "No such action will lead to a collision." } ] }, { "id": "a59b6db922ff490da5ccfc9980700935_1a6b9fafac3b410692811a7ba47fd065_0", "image": [ "data/nuscenes/samples/CAM_FRONT/n008-2018-09-18-13-41-50-0400__CAM_FRONT__1537292927362404.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-13-41-50-0400__CAM_FRONT_LEFT__1537292927354799.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-13-41-50-0400__CAM_FRONT_RIGHT__1537292927370482.jpg", "data/nuscenes/samples/CAM_BACK/n008-2018-09-18-13-41-50-0400__CAM_BACK__1537292927387558.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-13-41-50-0400__CAM_BACK_LEFT__1537292927397405.jpg", "data/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 , , , , and ." } ] }, { "id": "a59b6db922ff490da5ccfc9980700935_1a6b9fafac3b410692811a7ba47fd065_0", "image": [ "data/nuscenes/samples/CAM_FRONT/n008-2018-09-18-13-41-50-0400__CAM_FRONT__1537292927362404.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-13-41-50-0400__CAM_FRONT_LEFT__1537292927354799.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-13-41-50-0400__CAM_FRONT_RIGHT__1537292927370482.jpg", "data/nuscenes/samples/CAM_BACK/n008-2018-09-18-13-41-50-0400__CAM_BACK__1537292927387558.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-13-41-50-0400__CAM_BACK_LEFT__1537292927397405.jpg", "data/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 ? 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_1", "image": [ "data/nuscenes/samples/CAM_FRONT/n008-2018-09-18-13-41-50-0400__CAM_FRONT__1537292927362404.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-13-41-50-0400__CAM_FRONT_LEFT__1537292927354799.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-13-41-50-0400__CAM_FRONT_RIGHT__1537292927370482.jpg", "data/nuscenes/samples/CAM_BACK/n008-2018-09-18-13-41-50-0400__CAM_BACK__1537292927387558.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-13-41-50-0400__CAM_BACK_LEFT__1537292927397405.jpg", "data/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 ?" }, { "from": "gpt", "value": "Slight left turn." } ] }, { "id": "a59b6db922ff490da5ccfc9980700935_1a6b9fafac3b410692811a7ba47fd065_2", "image": [ "data/nuscenes/samples/CAM_FRONT/n008-2018-09-18-13-41-50-0400__CAM_FRONT__1537292927362404.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-13-41-50-0400__CAM_FRONT_LEFT__1537292927354799.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-13-41-50-0400__CAM_FRONT_RIGHT__1537292927370482.jpg", "data/nuscenes/samples/CAM_BACK/n008-2018-09-18-13-41-50-0400__CAM_BACK__1537292927387558.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-13-41-50-0400__CAM_BACK_LEFT__1537292927397405.jpg", "data/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": "04061484361145f5ac6f90a5103b84a6_65d998177e3e446eab8c3090c534bb19_0", "image": [ "data/nuscenes/samples/CAM_FRONT/n015-2018-08-01-15-10-21+0800__CAM_FRONT__1533107756362460.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-15-10-21+0800__CAM_FRONT_LEFT__1533107756354844.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-15-10-21+0800__CAM_FRONT_RIGHT__1533107756370339.jpg", "data/nuscenes/samples/CAM_BACK/n015-2018-08-01-15-10-21+0800__CAM_BACK__1533107756387525.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-15-10-21+0800__CAM_BACK_LEFT__1533107756397423.jpg", "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-15-10-21+0800__CAM_BACK_RIGHT__1533107756377893.jpg" ], "tag": 2, "task": "perception", "conversations": [ { "from": "human", "value": "What are the 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 pedestrian wearing a white shirt to the front of the ego vehicle, and a green light to the front of the ego vehicle. The IDs of these objects are , , , and ." } ] }, { "id": "04061484361145f5ac6f90a5103b84a6_65d998177e3e446eab8c3090c534bb19_1", "image": [ "data/nuscenes/samples/CAM_FRONT/n015-2018-08-01-15-10-21+0800__CAM_FRONT__1533107756362460.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-15-10-21+0800__CAM_FRONT_LEFT__1533107756354844.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-15-10-21+0800__CAM_FRONT_RIGHT__1533107756370339.jpg", "data/nuscenes/samples/CAM_BACK/n015-2018-08-01-15-10-21+0800__CAM_BACK__1533107756387525.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-15-10-21+0800__CAM_BACK_LEFT__1533107756397423.jpg", "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-15-10-21+0800__CAM_BACK_RIGHT__1533107756377893.jpg" ], "tag": 0, "task": "perception", "conversations": [ { "from": "human", "value": "What is the moving status of object ? Please select the correct answer from the following options: A. Turn left. B. Reverse parking. C. Going ahead. D. Back up." }, { "from": "gpt", "value": "A" } ] }, { "id": "04061484361145f5ac6f90a5103b84a6_65d998177e3e446eab8c3090c534bb19_0", "image": [ "data/nuscenes/samples/CAM_FRONT/n015-2018-08-01-15-10-21+0800__CAM_FRONT__1533107756362460.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-15-10-21+0800__CAM_FRONT_LEFT__1533107756354844.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-15-10-21+0800__CAM_FRONT_RIGHT__1533107756370339.jpg", "data/nuscenes/samples/CAM_BACK/n015-2018-08-01-15-10-21+0800__CAM_BACK__1533107756387525.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-15-10-21+0800__CAM_BACK_LEFT__1533107756397423.jpg", "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-15-10-21+0800__CAM_BACK_RIGHT__1533107756377893.jpg" ], "tag": 1, "task": "planning", "conversations": [ { "from": "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": "04061484361145f5ac6f90a5103b84a6_65d998177e3e446eab8c3090c534bb19_1", "image": [ "data/nuscenes/samples/CAM_FRONT/n015-2018-08-01-15-10-21+0800__CAM_FRONT__1533107756362460.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-15-10-21+0800__CAM_FRONT_LEFT__1533107756354844.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-15-10-21+0800__CAM_FRONT_RIGHT__1533107756370339.jpg", "data/nuscenes/samples/CAM_BACK/n015-2018-08-01-15-10-21+0800__CAM_BACK__1533107756387525.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-15-10-21+0800__CAM_BACK_LEFT__1533107756397423.jpg", "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-15-10-21+0800__CAM_BACK_RIGHT__1533107756377893.jpg" ], "tag": 1, "task": "planning", "conversations": [ { "from": "human", "value": "What actions taken by the ego vehicle can lead to a collision with ?" }, { "from": "gpt", "value": "Accelerate and go straight." } ] }, { "id": "06c43bc74aff453081ce83eb126a756e_863f6e5872e742dbb9869cea5305f83b_0", "image": [ "data/nuscenes/samples/CAM_FRONT/n008-2018-08-27-11-48-51-0400__CAM_FRONT__1535385286612404.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_LEFT__1535385286604799.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_RIGHT__1535385286620482.jpg", "data/nuscenes/samples/CAM_BACK/n008-2018-08-27-11-48-51-0400__CAM_BACK__1535385286637558.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-27-11-48-51-0400__CAM_BACK_LEFT__1535385286647405.jpg", "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-27-11-48-51-0400__CAM_BACK_RIGHT__1535385286628113.jpg" ], "tag": 2, "task": "perception", "conversations": [ { "from": "human", "value": "What are the 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, pedestrians crossing the road 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 , , and ." } ] }, { "id": "06c43bc74aff453081ce83eb126a756e_863f6e5872e742dbb9869cea5305f83b_0", "image": [ "data/nuscenes/samples/CAM_FRONT/n008-2018-08-27-11-48-51-0400__CAM_FRONT__1535385286612404.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_LEFT__1535385286604799.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_RIGHT__1535385286620482.jpg", "data/nuscenes/samples/CAM_BACK/n008-2018-08-27-11-48-51-0400__CAM_BACK__1535385286637558.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-27-11-48-51-0400__CAM_BACK_LEFT__1535385286647405.jpg", "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-27-11-48-51-0400__CAM_BACK_RIGHT__1535385286628113.jpg" ], "tag": 1, "task": "planning", "conversations": [ { "from": "human", "value": "What actions could the ego vehicle take based on ? Why take this action and what's the probability?" }, { "from": "gpt", "value": "The action is to remain stationary. The reason for this action is to follow the traffic rules, which has a high probability." } ] }, { "id": "06c43bc74aff453081ce83eb126a756e_863f6e5872e742dbb9869cea5305f83b_1", "image": [ "data/nuscenes/samples/CAM_FRONT/n008-2018-08-27-11-48-51-0400__CAM_FRONT__1535385286612404.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_LEFT__1535385286604799.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_RIGHT__1535385286620482.jpg", "data/nuscenes/samples/CAM_BACK/n008-2018-08-27-11-48-51-0400__CAM_BACK__1535385286637558.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-27-11-48-51-0400__CAM_BACK_LEFT__1535385286647405.jpg", "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-27-11-48-51-0400__CAM_BACK_RIGHT__1535385286628113.jpg" ], "tag": 1, "task": "planning", "conversations": [ { "from": "human", "value": "What actions taken by the ego vehicle can lead to a collision with ?" }, { "from": "gpt", "value": "Back up." } ] }, { "id": "06c43bc74aff453081ce83eb126a756e_863f6e5872e742dbb9869cea5305f83b_2", "image": [ "data/nuscenes/samples/CAM_FRONT/n008-2018-08-27-11-48-51-0400__CAM_FRONT__1535385286612404.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_LEFT__1535385286604799.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_RIGHT__1535385286620482.jpg", "data/nuscenes/samples/CAM_BACK/n008-2018-08-27-11-48-51-0400__CAM_BACK__1535385286637558.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-27-11-48-51-0400__CAM_BACK_LEFT__1535385286647405.jpg", "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-27-11-48-51-0400__CAM_BACK_RIGHT__1535385286628113.jpg" ], "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": "590b4e5a4f94426ab3b1a66f35e140d5_e34cc7bd436940aba3d9782aef1b66a2_0", "image": [ "data/nuscenes/samples/CAM_FRONT/n008-2018-09-18-13-41-50-0400__CAM_FRONT__1537292734262404.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-13-41-50-0400__CAM_FRONT_LEFT__1537292734254799.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-13-41-50-0400__CAM_FRONT_RIGHT__1537292734270482.jpg", "data/nuscenes/samples/CAM_BACK/n008-2018-09-18-13-41-50-0400__CAM_BACK__1537292734287558.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-13-41-50-0400__CAM_BACK_LEFT__1537292734297405.jpg", "data/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 , , , and ." } ] }, { "id": "590b4e5a4f94426ab3b1a66f35e140d5_e34cc7bd436940aba3d9782aef1b66a2_0", "image": [ "data/nuscenes/samples/CAM_FRONT/n008-2018-09-18-13-41-50-0400__CAM_FRONT__1537292734262404.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-13-41-50-0400__CAM_FRONT_LEFT__1537292734254799.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-13-41-50-0400__CAM_FRONT_RIGHT__1537292734270482.jpg", "data/nuscenes/samples/CAM_BACK/n008-2018-09-18-13-41-50-0400__CAM_BACK__1537292734287558.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-13-41-50-0400__CAM_BACK_LEFT__1537292734297405.jpg", "data/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 ? 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_1", "image": [ "data/nuscenes/samples/CAM_FRONT/n008-2018-09-18-13-41-50-0400__CAM_FRONT__1537292734262404.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-13-41-50-0400__CAM_FRONT_LEFT__1537292734254799.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-13-41-50-0400__CAM_FRONT_RIGHT__1537292734270482.jpg", "data/nuscenes/samples/CAM_BACK/n008-2018-09-18-13-41-50-0400__CAM_BACK__1537292734287558.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-13-41-50-0400__CAM_BACK_LEFT__1537292734297405.jpg", "data/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 ?" }, { "from": "gpt", "value": "Back up." } ] }, { "id": "590b4e5a4f94426ab3b1a66f35e140d5_e34cc7bd436940aba3d9782aef1b66a2_2", "image": [ "data/nuscenes/samples/CAM_FRONT/n008-2018-09-18-13-41-50-0400__CAM_FRONT__1537292734262404.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-13-41-50-0400__CAM_FRONT_LEFT__1537292734254799.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-13-41-50-0400__CAM_FRONT_RIGHT__1537292734270482.jpg", "data/nuscenes/samples/CAM_BACK/n008-2018-09-18-13-41-50-0400__CAM_BACK__1537292734287558.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-13-41-50-0400__CAM_BACK_LEFT__1537292734297405.jpg", "data/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_0", "image": [ "data/nuscenes/samples/CAM_FRONT/n008-2018-09-18-13-41-50-0400__CAM_FRONT__1537292734262404.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-13-41-50-0400__CAM_FRONT_LEFT__1537292734254799.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-13-41-50-0400__CAM_FRONT_RIGHT__1537292734270482.jpg", "data/nuscenes/samples/CAM_BACK/n008-2018-09-18-13-41-50-0400__CAM_BACK__1537292734287558.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-13-41-50-0400__CAM_BACK_LEFT__1537292734297405.jpg", "data/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. Please select the correct answer from the following options: A. The ego vehicle is steering to the right. The ego vehicle is driving slowly. B. The ego vehicle is slightly steering to the right. The ego vehicle is driving fast. C. The ego vehicle is going straight. The ego vehicle is driving with normal speed. D. The ego vehicle is slightly steering to the left. The ego vehicle is driving very fast." }, { "from": "gpt", "value": "A" } ] }, { "id": "9a1188aba4bf458c8220818a6c0be55a_1e14d1cc3abf42038014608edf3c67a9_0", "image": [ "data/nuscenes/samples/CAM_FRONT/n015-2018-07-24-11-22-45+0800__CAM_FRONT__1532402817612460.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-24-11-22-45+0800__CAM_FRONT_LEFT__1532402817604844.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-24-11-22-45+0800__CAM_FRONT_RIGHT__1532402817620339.jpg", "data/nuscenes/samples/CAM_BACK/n015-2018-07-24-11-22-45+0800__CAM_BACK__1532402817637525.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-24-11-22-45+0800__CAM_BACK_LEFT__1532402817647423.jpg", "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-24-11-22-45+0800__CAM_BACK_RIGHT__1532402817627893.jpg" ], "tag": 2, "task": "perception", "conversations": [ { "from": "human", "value": "What are 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 traffic cone to the front of the ego vehicle, a white truck to the front of the ego vehicle, a blue truck to the front of the ego vehicle, and a white sedan to the back of the ego vehicle. The IDs of these objects are , , , and ." } ] }, { "id": "9a1188aba4bf458c8220818a6c0be55a_1e14d1cc3abf42038014608edf3c67a9_0", "image": [ "data/nuscenes/samples/CAM_FRONT/n015-2018-07-24-11-22-45+0800__CAM_FRONT__1532402817612460.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-24-11-22-45+0800__CAM_FRONT_LEFT__1532402817604844.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-24-11-22-45+0800__CAM_FRONT_RIGHT__1532402817620339.jpg", "data/nuscenes/samples/CAM_BACK/n015-2018-07-24-11-22-45+0800__CAM_BACK__1532402817637525.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-24-11-22-45+0800__CAM_BACK_LEFT__1532402817647423.jpg", "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-24-11-22-45+0800__CAM_BACK_RIGHT__1532402817627893.jpg" ], "tag": 0, "task": "prediction", "conversations": [ { "from": "human", "value": "Is a traffic sign or a road barrier?" }, { "from": "gpt", "value": "Yes." } ] }, { "id": "9a1188aba4bf458c8220818a6c0be55a_1e14d1cc3abf42038014608edf3c67a9_0", "image": [ "data/nuscenes/samples/CAM_FRONT/n015-2018-07-24-11-22-45+0800__CAM_FRONT__1532402817612460.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-24-11-22-45+0800__CAM_FRONT_LEFT__1532402817604844.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-24-11-22-45+0800__CAM_FRONT_RIGHT__1532402817620339.jpg", "data/nuscenes/samples/CAM_BACK/n015-2018-07-24-11-22-45+0800__CAM_BACK__1532402817637525.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-24-11-22-45+0800__CAM_BACK_LEFT__1532402817647423.jpg", "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-24-11-22-45+0800__CAM_BACK_RIGHT__1532402817627893.jpg" ], "tag": 1, "task": "planning", "conversations": [ { "from": "human", "value": "What actions taken by the ego vehicle can lead to a collision with ?" }, { "from": "gpt", "value": "Slight left turn." } ] }, { "id": "9a1188aba4bf458c8220818a6c0be55a_1e14d1cc3abf42038014608edf3c67a9_0", "image": [ "data/nuscenes/samples/CAM_FRONT/n015-2018-07-24-11-22-45+0800__CAM_FRONT__1532402817612460.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-24-11-22-45+0800__CAM_FRONT_LEFT__1532402817604844.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-24-11-22-45+0800__CAM_FRONT_RIGHT__1532402817620339.jpg", "data/nuscenes/samples/CAM_BACK/n015-2018-07-24-11-22-45+0800__CAM_BACK__1532402817637525.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-24-11-22-45+0800__CAM_BACK_LEFT__1532402817647423.jpg", "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-24-11-22-45+0800__CAM_BACK_RIGHT__1532402817627893.jpg" ], "tag": 0, "task": "behavior", "conversations": [ { "from": "human", "value": "Predict the behavior of the ego vehicle. Please select the correct answer from the following options: A. The ego vehicle is slightly steering to the left. The ego vehicle is driving with normal speed. B. The ego vehicle is slightly steering to the left. The ego vehicle is driving very fast. C. The ego vehicle is going straight. The ego vehicle is driving with normal speed. D. The ego vehicle is steering to the right. The ego vehicle is driving slowly." }, { "from": "gpt", "value": "B" } ] }, { "id": "0053e9c440a94c1b84bd9c4223efc4b0_0dc8558714314cce961af9e7de403517_0", "image": [ "data/nuscenes/samples/CAM_FRONT/n008-2018-07-27-12-07-38-0400__CAM_FRONT__1532708439862404.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_LEFT__1532708439854799.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_RIGHT__1532708439870482.jpg", "data/nuscenes/samples/CAM_BACK/n008-2018-07-27-12-07-38-0400__CAM_BACK__1532708439887558.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-07-27-12-07-38-0400__CAM_BACK_LEFT__1532708439897405.jpg", "data/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 , , , , , and ." } ] }, { "id": "0053e9c440a94c1b84bd9c4223efc4b0_0dc8558714314cce961af9e7de403517_1", "image": [ "data/nuscenes/samples/CAM_FRONT/n008-2018-07-27-12-07-38-0400__CAM_FRONT__1532708439862404.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_LEFT__1532708439854799.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_RIGHT__1532708439870482.jpg", "data/nuscenes/samples/CAM_BACK/n008-2018-07-27-12-07-38-0400__CAM_BACK__1532708439887558.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-07-27-12-07-38-0400__CAM_BACK_LEFT__1532708439897405.jpg", "data/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 ? Please select the correct answer from the following options: A. Drive backward. B. Stopped. C. Turn right. D. Back up." }, { "from": "gpt", "value": "C" } ] }, { "id": "0053e9c440a94c1b84bd9c4223efc4b0_0dc8558714314cce961af9e7de403517_0", "image": [ "data/nuscenes/samples/CAM_FRONT/n008-2018-07-27-12-07-38-0400__CAM_FRONT__1532708439862404.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_LEFT__1532708439854799.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_RIGHT__1532708439870482.jpg", "data/nuscenes/samples/CAM_BACK/n008-2018-07-27-12-07-38-0400__CAM_BACK__1532708439887558.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-07-27-12-07-38-0400__CAM_BACK_LEFT__1532708439897405.jpg", "data/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 ? 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_1", "image": [ "data/nuscenes/samples/CAM_FRONT/n008-2018-07-27-12-07-38-0400__CAM_FRONT__1532708439862404.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_LEFT__1532708439854799.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_RIGHT__1532708439870482.jpg", "data/nuscenes/samples/CAM_BACK/n008-2018-07-27-12-07-38-0400__CAM_BACK__1532708439887558.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-07-27-12-07-38-0400__CAM_BACK_LEFT__1532708439897405.jpg", "data/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 ?" }, { "from": "gpt", "value": "Brake suddenly." } ] }, { "id": "0053e9c440a94c1b84bd9c4223efc4b0_0dc8558714314cce961af9e7de403517_2", "image": [ "data/nuscenes/samples/CAM_FRONT/n008-2018-07-27-12-07-38-0400__CAM_FRONT__1532708439862404.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_LEFT__1532708439854799.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_RIGHT__1532708439870482.jpg", "data/nuscenes/samples/CAM_BACK/n008-2018-07-27-12-07-38-0400__CAM_BACK__1532708439887558.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-07-27-12-07-38-0400__CAM_BACK_LEFT__1532708439897405.jpg", "data/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_0", "image": [ "data/nuscenes/samples/CAM_FRONT/n008-2018-07-27-12-07-38-0400__CAM_FRONT__1532708439862404.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_LEFT__1532708439854799.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_RIGHT__1532708439870482.jpg", "data/nuscenes/samples/CAM_BACK/n008-2018-07-27-12-07-38-0400__CAM_BACK__1532708439887558.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-07-27-12-07-38-0400__CAM_BACK_LEFT__1532708439897405.jpg", "data/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. Please select the correct answer from the following options: A. The ego vehicle is going straight. The ego vehicle is driving with normal speed. B. The ego vehicle is slightly steering to the right. The ego vehicle is driving slowly. C. The ego vehicle is going straight. The ego vehicle is not moving. D. The ego vehicle is steering to the left. The ego vehicle is driving slowly." }, { "from": "gpt", "value": "B" } ] }, { "id": "1c89941a6935484182ca19eddcd3bc77_65fa49db041645fcb7ff268685bd50da_0", "image": [ "data/nuscenes/samples/CAM_FRONT/n015-2018-08-03-15-21-40+0800__CAM_FRONT__1533281220662460.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-03-15-21-40+0800__CAM_FRONT_LEFT__1533281220654844.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-03-15-21-40+0800__CAM_FRONT_RIGHT__1533281220670339.jpg", "data/nuscenes/samples/CAM_BACK/n015-2018-08-03-15-21-40+0800__CAM_BACK__1533281220687525.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-03-15-21-40+0800__CAM_BACK_LEFT__1533281220697423.jpg", "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-03-15-21-40+0800__CAM_BACK_RIGHT__1533281220677893.jpg" ], "tag": 2, "task": "perception", "conversations": [ { "from": "human", "value": "What are the 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 of the ego vehicle, a black 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 , , and ." } ] }, { "id": "1c89941a6935484182ca19eddcd3bc77_65fa49db041645fcb7ff268685bd50da_0", "image": [ "data/nuscenes/samples/CAM_FRONT/n015-2018-08-03-15-21-40+0800__CAM_FRONT__1533281220662460.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-03-15-21-40+0800__CAM_FRONT_LEFT__1533281220654844.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-03-15-21-40+0800__CAM_FRONT_RIGHT__1533281220670339.jpg", "data/nuscenes/samples/CAM_BACK/n015-2018-08-03-15-21-40+0800__CAM_BACK__1533281220687525.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-03-15-21-40+0800__CAM_BACK_LEFT__1533281220697423.jpg", "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-03-15-21-40+0800__CAM_BACK_RIGHT__1533281220677893.jpg" ], "tag": 1, "task": "planning", "conversations": [ { "from": "human", "value": "What actions could the ego vehicle take based on ? Why take this action and what's the probability?" }, { "from": "gpt", "value": "The action is to remain stationary. The reason for this action is that there is no safety issue. The probability of this action is high." } ] }, { "id": "1c89941a6935484182ca19eddcd3bc77_65fa49db041645fcb7ff268685bd50da_1", "image": [ "data/nuscenes/samples/CAM_FRONT/n015-2018-08-03-15-21-40+0800__CAM_FRONT__1533281220662460.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-03-15-21-40+0800__CAM_FRONT_LEFT__1533281220654844.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-03-15-21-40+0800__CAM_FRONT_RIGHT__1533281220670339.jpg", "data/nuscenes/samples/CAM_BACK/n015-2018-08-03-15-21-40+0800__CAM_BACK__1533281220687525.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-03-15-21-40+0800__CAM_BACK_LEFT__1533281220697423.jpg", "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-03-15-21-40+0800__CAM_BACK_RIGHT__1533281220677893.jpg" ], "tag": 1, "task": "planning", "conversations": [ { "from": "human", "value": "What actions taken by the ego vehicle can lead to a collision with ?" }, { "from": "gpt", "value": "Moderate right turn." } ] }, { "id": "1c89941a6935484182ca19eddcd3bc77_65fa49db041645fcb7ff268685bd50da_2", "image": [ "data/nuscenes/samples/CAM_FRONT/n015-2018-08-03-15-21-40+0800__CAM_FRONT__1533281220662460.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-03-15-21-40+0800__CAM_FRONT_LEFT__1533281220654844.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-03-15-21-40+0800__CAM_FRONT_RIGHT__1533281220670339.jpg", "data/nuscenes/samples/CAM_BACK/n015-2018-08-03-15-21-40+0800__CAM_BACK__1533281220687525.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-03-15-21-40+0800__CAM_BACK_LEFT__1533281220697423.jpg", "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-03-15-21-40+0800__CAM_BACK_RIGHT__1533281220677893.jpg" ], "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": "1c89941a6935484182ca19eddcd3bc77_aac62cda32fc49dfbbdbe436429cb85c_0", "image": [ "data/nuscenes/samples/CAM_FRONT/n015-2018-08-03-15-21-40+0800__CAM_FRONT__1533281229662460.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-03-15-21-40+0800__CAM_FRONT_LEFT__1533281229654844.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-03-15-21-40+0800__CAM_FRONT_RIGHT__1533281229670339.jpg", "data/nuscenes/samples/CAM_BACK/n015-2018-08-03-15-21-40+0800__CAM_BACK__1533281229687525.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-03-15-21-40+0800__CAM_BACK_LEFT__1533281229697423.jpg", "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-03-15-21-40+0800__CAM_BACK_RIGHT__1533281229677893.jpg" ], "tag": 2, "task": "perception", "conversations": [ { "from": "human", "value": "What are the important objects in the current scene? Those objects will be considered for the future reasoning and driving decision." }, { "from": "gpt", "value": "There is a blue sedan to the back of the ego vehicle, a blue sedan to the front right of the ego vehicle, and a black sedan to the front of the ego vehicle. The IDs of these objects are , , and ." } ] }, { "id": "1c89941a6935484182ca19eddcd3bc77_aac62cda32fc49dfbbdbe436429cb85c_0", "image": [ "data/nuscenes/samples/CAM_FRONT/n015-2018-08-03-15-21-40+0800__CAM_FRONT__1533281229662460.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-03-15-21-40+0800__CAM_FRONT_LEFT__1533281229654844.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-03-15-21-40+0800__CAM_FRONT_RIGHT__1533281229670339.jpg", "data/nuscenes/samples/CAM_BACK/n015-2018-08-03-15-21-40+0800__CAM_BACK__1533281229687525.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-03-15-21-40+0800__CAM_BACK_LEFT__1533281229697423.jpg", "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-03-15-21-40+0800__CAM_BACK_RIGHT__1533281229677893.jpg" ], "tag": 1, "task": "planning", "conversations": [ { "from": "human", "value": "What actions could the ego vehicle take based on ? Why take this action and what's the probability?" }, { "from": "gpt", "value": "The action is to remain stationary, the reason is to avoid a collision, high." } ] }, { "id": "1c89941a6935484182ca19eddcd3bc77_aac62cda32fc49dfbbdbe436429cb85c_1", "image": [ "data/nuscenes/samples/CAM_FRONT/n015-2018-08-03-15-21-40+0800__CAM_FRONT__1533281229662460.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-03-15-21-40+0800__CAM_FRONT_LEFT__1533281229654844.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-03-15-21-40+0800__CAM_FRONT_RIGHT__1533281229670339.jpg", "data/nuscenes/samples/CAM_BACK/n015-2018-08-03-15-21-40+0800__CAM_BACK__1533281229687525.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-03-15-21-40+0800__CAM_BACK_LEFT__1533281229697423.jpg", "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-03-15-21-40+0800__CAM_BACK_RIGHT__1533281229677893.jpg" ], "tag": 1, "task": "planning", "conversations": [ { "from": "human", "value": "What actions taken by the ego vehicle can lead to a collision with ?" }, { "from": "gpt", "value": "Back up." } ] }, { "id": "1c89941a6935484182ca19eddcd3bc77_aac62cda32fc49dfbbdbe436429cb85c_2", "image": [ "data/nuscenes/samples/CAM_FRONT/n015-2018-08-03-15-21-40+0800__CAM_FRONT__1533281229662460.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-03-15-21-40+0800__CAM_FRONT_LEFT__1533281229654844.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-03-15-21-40+0800__CAM_FRONT_RIGHT__1533281229670339.jpg", "data/nuscenes/samples/CAM_BACK/n015-2018-08-03-15-21-40+0800__CAM_BACK__1533281229687525.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-03-15-21-40+0800__CAM_BACK_LEFT__1533281229697423.jpg", "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-03-15-21-40+0800__CAM_BACK_RIGHT__1533281229677893.jpg" ], "tag": 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": "5035adcd18d34d4783c2ccb41db998c1_1ef08f10c7c4414a8b76511c826d6c5b_0", "image": [ "data/nuscenes/samples/CAM_FRONT/n015-2018-09-27-15-33-17+0800__CAM_FRONT__1538033928662460.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_LEFT__1538033928654844.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_RIGHT__1538033928670339.jpg", "data/nuscenes/samples/CAM_BACK/n015-2018-09-27-15-33-17+0800__CAM_BACK__1538033928687525.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-27-15-33-17+0800__CAM_BACK_LEFT__1538033928697423.jpg", "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_BACK_RIGHT__1538033928677893.jpg" ], "tag": 2, "task": "perception", "conversations": [ { "from": "human", "value": "What are the 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-shaped bucket to the front of the ego vehicle, a white commercial vehicle to the front of the ego vehicle, and a white sedan to the back of the ego vehicle. The IDs of these objects are , , and ." } ] }, { "id": "5035adcd18d34d4783c2ccb41db998c1_1ef08f10c7c4414a8b76511c826d6c5b_1", "image": [ "data/nuscenes/samples/CAM_FRONT/n015-2018-09-27-15-33-17+0800__CAM_FRONT__1538033928662460.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_LEFT__1538033928654844.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_RIGHT__1538033928670339.jpg", "data/nuscenes/samples/CAM_BACK/n015-2018-09-27-15-33-17+0800__CAM_BACK__1538033928687525.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-27-15-33-17+0800__CAM_BACK_LEFT__1538033928697423.jpg", "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_BACK_RIGHT__1538033928677893.jpg" ], "tag": 0, "task": "perception", "conversations": [ { "from": "human", "value": "What is the moving status of object ? Please select the correct answer from the following options: A. Turn right. B. Stopped. C. Back up. D. Turn left." }, { "from": "gpt", "value": "A" } ] }, { "id": "5035adcd18d34d4783c2ccb41db998c1_1ef08f10c7c4414a8b76511c826d6c5b_0", "image": [ "data/nuscenes/samples/CAM_FRONT/n015-2018-09-27-15-33-17+0800__CAM_FRONT__1538033928662460.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_LEFT__1538033928654844.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_RIGHT__1538033928670339.jpg", "data/nuscenes/samples/CAM_BACK/n015-2018-09-27-15-33-17+0800__CAM_BACK__1538033928687525.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-27-15-33-17+0800__CAM_BACK_LEFT__1538033928697423.jpg", "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_BACK_RIGHT__1538033928677893.jpg" ], "tag": 0, "task": "prediction", "conversations": [ { "from": "human", "value": "Is a traffic sign or a road barrier?" }, { "from": "gpt", "value": "Yes." } ] }, { "id": "5035adcd18d34d4783c2ccb41db998c1_1ef08f10c7c4414a8b76511c826d6c5b_0", "image": [ "data/nuscenes/samples/CAM_FRONT/n015-2018-09-27-15-33-17+0800__CAM_FRONT__1538033928662460.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_LEFT__1538033928654844.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_RIGHT__1538033928670339.jpg", "data/nuscenes/samples/CAM_BACK/n015-2018-09-27-15-33-17+0800__CAM_BACK__1538033928687525.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-27-15-33-17+0800__CAM_BACK_LEFT__1538033928697423.jpg", "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_BACK_RIGHT__1538033928677893.jpg" ], "tag": 1, "task": "planning", "conversations": [ { "from": "human", "value": "What actions taken by the ego vehicle can lead to a collision with ?" }, { "from": "gpt", "value": "Slight right turn." } ] }, { "id": "875e9b8b63b54263ba1edeb21faadea8_0208a2dbcfaa444db313d4a96ba42b2b_0", "image": [ "data/nuscenes/samples/CAM_FRONT/n008-2018-07-26-12-13-50-0400__CAM_FRONT__1532621977612404.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_LEFT__1532621977604799.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_RIGHT__1532621977620482.jpg", "data/nuscenes/samples/CAM_BACK/n008-2018-07-26-12-13-50-0400__CAM_BACK__1532621977637558.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-07-26-12-13-50-0400__CAM_BACK_LEFT__1532621977647405.jpg", "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_BACK_RIGHT__1532621977628113.jpg" ], "tag": 2, "task": "perception", "conversations": [ { "from": "human", "value": "What are 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 unisex car to the front of the ego vehicle, a green exotic car to the front of the ego vehicle, and a dark blue SUV to the back of the ego vehicle. The IDs of these objects are , , and ." } ] }, { "id": "875e9b8b63b54263ba1edeb21faadea8_0208a2dbcfaa444db313d4a96ba42b2b_0", "image": [ "data/nuscenes/samples/CAM_FRONT/n008-2018-07-26-12-13-50-0400__CAM_FRONT__1532621977612404.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_LEFT__1532621977604799.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_RIGHT__1532621977620482.jpg", "data/nuscenes/samples/CAM_BACK/n008-2018-07-26-12-13-50-0400__CAM_BACK__1532621977637558.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-07-26-12-13-50-0400__CAM_BACK_LEFT__1532621977647405.jpg", "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_BACK_RIGHT__1532621977628113.jpg" ], "tag": 1, "task": "planning", "conversations": [ { "from": "human", "value": "What actions taken by the ego vehicle can lead to a collision with ?" }, { "from": "gpt", "value": "Slight right turn." } ] }, { "id": "875e9b8b63b54263ba1edeb21faadea8_0208a2dbcfaa444db313d4a96ba42b2b_1", "image": [ "data/nuscenes/samples/CAM_FRONT/n008-2018-07-26-12-13-50-0400__CAM_FRONT__1532621977612404.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_LEFT__1532621977604799.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_RIGHT__1532621977620482.jpg", "data/nuscenes/samples/CAM_BACK/n008-2018-07-26-12-13-50-0400__CAM_BACK__1532621977637558.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-07-26-12-13-50-0400__CAM_BACK_LEFT__1532621977647405.jpg", "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_BACK_RIGHT__1532621977628113.jpg" ], "tag": 1, "task": "planning", "conversations": [ { "from": "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, accelerate, and proceed." } ] }, { "id": "875e9b8b63b54263ba1edeb21faadea8_0208a2dbcfaa444db313d4a96ba42b2b_0", "image": [ "data/nuscenes/samples/CAM_FRONT/n008-2018-07-26-12-13-50-0400__CAM_FRONT__1532621977612404.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_LEFT__1532621977604799.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_RIGHT__1532621977620482.jpg", "data/nuscenes/samples/CAM_BACK/n008-2018-07-26-12-13-50-0400__CAM_BACK__1532621977637558.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-07-26-12-13-50-0400__CAM_BACK_LEFT__1532621977647405.jpg", "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_BACK_RIGHT__1532621977628113.jpg" ], "tag": 0, "task": "behavior", "conversations": [ { "from": "human", "value": "Predict the behavior of the ego vehicle. Please select the correct answer from the following options: A. The ego vehicle is going straight. The ego vehicle is driving with normal speed. B. The ego vehicle is slightly steering to the left. The ego vehicle is driving fast. C. The ego vehicle is steering to the right. The ego vehicle is driving slowly. D. The ego vehicle is going straight. The ego vehicle is not moving." }, { "from": "gpt", "value": "B" } ] }, { "id": "875e9b8b63b54263ba1edeb21faadea8_65a91d2b0c92419e9eb905a404dfb36e_0", "image": [ "data/nuscenes/samples/CAM_FRONT/n008-2018-07-26-12-13-50-0400__CAM_FRONT__1532621987162404.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_LEFT__1532621987154799.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_RIGHT__1532621987170482.jpg", "data/nuscenes/samples/CAM_BACK/n008-2018-07-26-12-13-50-0400__CAM_BACK__1532621987187558.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-07-26-12-13-50-0400__CAM_BACK_LEFT__1532621987197405.jpg", "data/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 , , and ." } ] }, { "id": "875e9b8b63b54263ba1edeb21faadea8_65a91d2b0c92419e9eb905a404dfb36e_0", "image": [ "data/nuscenes/samples/CAM_FRONT/n008-2018-07-26-12-13-50-0400__CAM_FRONT__1532621987162404.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_LEFT__1532621987154799.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_RIGHT__1532621987170482.jpg", "data/nuscenes/samples/CAM_BACK/n008-2018-07-26-12-13-50-0400__CAM_BACK__1532621987187558.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-07-26-12-13-50-0400__CAM_BACK_LEFT__1532621987197405.jpg", "data/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 ?" }, { "from": "gpt", "value": "Sharp right turn." } ] }, { "id": "875e9b8b63b54263ba1edeb21faadea8_65a91d2b0c92419e9eb905a404dfb36e_1", "image": [ "data/nuscenes/samples/CAM_FRONT/n008-2018-07-26-12-13-50-0400__CAM_FRONT__1532621987162404.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_LEFT__1532621987154799.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_RIGHT__1532621987170482.jpg", "data/nuscenes/samples/CAM_BACK/n008-2018-07-26-12-13-50-0400__CAM_BACK__1532621987187558.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-07-26-12-13-50-0400__CAM_BACK_LEFT__1532621987197405.jpg", "data/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_0", "image": [ "data/nuscenes/samples/CAM_FRONT/n008-2018-07-26-12-13-50-0400__CAM_FRONT__1532621987162404.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_LEFT__1532621987154799.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_RIGHT__1532621987170482.jpg", "data/nuscenes/samples/CAM_BACK/n008-2018-07-26-12-13-50-0400__CAM_BACK__1532621987187558.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-07-26-12-13-50-0400__CAM_BACK_LEFT__1532621987197405.jpg", "data/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. Please select the correct answer from the following options: A. The ego vehicle is slightly steering to the right. The ego vehicle is driving with normal speed. B. The ego vehicle is steering to the right. The ego vehicle is driving very fast. C. The ego vehicle is steering to the left. The ego vehicle is driving very fast. D. The ego vehicle is going straight. The ego vehicle is driving very fast." }, { "from": "gpt", "value": "C" } ] }, { "id": "875e9b8b63b54263ba1edeb21faadea8_7460187a16894f4fa92db7e5e6f3a26b_0", "image": [ "data/nuscenes/samples/CAM_FRONT/n008-2018-07-26-12-13-50-0400__CAM_FRONT__1532621992662404.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_LEFT__1532621992654799.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_RIGHT__1532621992670482.jpg", "data/nuscenes/samples/CAM_BACK/n008-2018-07-26-12-13-50-0400__CAM_BACK__1532621992687558.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-07-26-12-13-50-0400__CAM_BACK_LEFT__1532621992697405.jpg", "data/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 , , and ." } ] }, { "id": "875e9b8b63b54263ba1edeb21faadea8_7460187a16894f4fa92db7e5e6f3a26b_0", "image": [ "data/nuscenes/samples/CAM_FRONT/n008-2018-07-26-12-13-50-0400__CAM_FRONT__1532621992662404.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_LEFT__1532621992654799.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_RIGHT__1532621992670482.jpg", "data/nuscenes/samples/CAM_BACK/n008-2018-07-26-12-13-50-0400__CAM_BACK__1532621992687558.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-07-26-12-13-50-0400__CAM_BACK_LEFT__1532621992697405.jpg", "data/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 ?" }, { "from": "gpt", "value": "Moderate left turn." } ] }, { "id": "875e9b8b63b54263ba1edeb21faadea8_7460187a16894f4fa92db7e5e6f3a26b_1", "image": [ "data/nuscenes/samples/CAM_FRONT/n008-2018-07-26-12-13-50-0400__CAM_FRONT__1532621992662404.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_LEFT__1532621992654799.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_RIGHT__1532621992670482.jpg", "data/nuscenes/samples/CAM_BACK/n008-2018-07-26-12-13-50-0400__CAM_BACK__1532621992687558.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-07-26-12-13-50-0400__CAM_BACK_LEFT__1532621992697405.jpg", "data/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_0", "image": [ "data/nuscenes/samples/CAM_FRONT/n008-2018-07-26-12-13-50-0400__CAM_FRONT__1532621992662404.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_LEFT__1532621992654799.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_RIGHT__1532621992670482.jpg", "data/nuscenes/samples/CAM_BACK/n008-2018-07-26-12-13-50-0400__CAM_BACK__1532621992687558.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-07-26-12-13-50-0400__CAM_BACK_LEFT__1532621992697405.jpg", "data/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. Please select the correct answer from the following options: A. The ego vehicle is slightly steering to the left. The ego vehicle is driving very fast. B. The ego vehicle is steering to the left. The ego vehicle is driving fast. C. The ego vehicle is slightly steering to the right. The ego vehicle is driving fast. D. The ego vehicle is going straight. The ego vehicle is driving with normal speed." }, { "from": "gpt", "value": "C" } ] }, { "id": "875e9b8b63b54263ba1edeb21faadea8_33332bd97d53495cbdd5cb5f56fb9081_0", "image": [ "data/nuscenes/samples/CAM_FRONT/n008-2018-07-26-12-13-50-0400__CAM_FRONT__1532621991162404.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_LEFT__1532621991154799.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_RIGHT__1532621991170482.jpg", "data/nuscenes/samples/CAM_BACK/n008-2018-07-26-12-13-50-0400__CAM_BACK__1532621991187558.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-07-26-12-13-50-0400__CAM_BACK_LEFT__1532621991197405.jpg", "data/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 , , and ." } ] }, { "id": "875e9b8b63b54263ba1edeb21faadea8_33332bd97d53495cbdd5cb5f56fb9081_0", "image": [ "data/nuscenes/samples/CAM_FRONT/n008-2018-07-26-12-13-50-0400__CAM_FRONT__1532621991162404.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_LEFT__1532621991154799.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_RIGHT__1532621991170482.jpg", "data/nuscenes/samples/CAM_BACK/n008-2018-07-26-12-13-50-0400__CAM_BACK__1532621991187558.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-07-26-12-13-50-0400__CAM_BACK_LEFT__1532621991197405.jpg", "data/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 ?" }, { "from": "gpt", "value": "Accelerate and go straight." } ] }, { "id": "875e9b8b63b54263ba1edeb21faadea8_33332bd97d53495cbdd5cb5f56fb9081_1", "image": [ "data/nuscenes/samples/CAM_FRONT/n008-2018-07-26-12-13-50-0400__CAM_FRONT__1532621991162404.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_LEFT__1532621991154799.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_RIGHT__1532621991170482.jpg", "data/nuscenes/samples/CAM_BACK/n008-2018-07-26-12-13-50-0400__CAM_BACK__1532621991187558.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-07-26-12-13-50-0400__CAM_BACK_LEFT__1532621991197405.jpg", "data/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_0", "image": [ "data/nuscenes/samples/CAM_FRONT/n008-2018-07-26-12-13-50-0400__CAM_FRONT__1532621991162404.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_LEFT__1532621991154799.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_RIGHT__1532621991170482.jpg", "data/nuscenes/samples/CAM_BACK/n008-2018-07-26-12-13-50-0400__CAM_BACK__1532621991187558.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-07-26-12-13-50-0400__CAM_BACK_LEFT__1532621991197405.jpg", "data/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. Please select the correct answer from the following options: A. The ego vehicle is slightly steering to the right. The ego vehicle is driving with normal speed. B. The ego vehicle is going straight. The ego vehicle is driving slowly. C. The ego vehicle is steering to the right. The ego vehicle is driving fast. D. The ego vehicle is slightly steering to the left. The ego vehicle is driving with normal speed." }, { "from": "gpt", "value": "C" } ] }, { "id": "7463b2d752f0464f803b07a945ee7c5a_adf6eda950da49b290b0e94a8aa552a9_0", "image": [ "data/nuscenes/samples/CAM_FRONT/n015-2018-08-03-15-00-36+0800__CAM_FRONT__1533280314662460.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_LEFT__1533280314654844.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_RIGHT__1533280314670339.jpg", "data/nuscenes/samples/CAM_BACK/n015-2018-08-03-15-00-36+0800__CAM_BACK__1533280314687525.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-03-15-00-36+0800__CAM_BACK_LEFT__1533280314697423.jpg", "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_BACK_RIGHT__1533280314677893.jpg" ], "tag": 2, "task": "perception", "conversations": [ { "from": "human", "value": "What are the 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 to the front right of the ego vehicle, a black business car 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 , , and ." } ] }, { "id": "7463b2d752f0464f803b07a945ee7c5a_adf6eda950da49b290b0e94a8aa552a9_1", "image": [ "data/nuscenes/samples/CAM_FRONT/n015-2018-08-03-15-00-36+0800__CAM_FRONT__1533280314662460.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_LEFT__1533280314654844.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_RIGHT__1533280314670339.jpg", "data/nuscenes/samples/CAM_BACK/n015-2018-08-03-15-00-36+0800__CAM_BACK__1533280314687525.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-03-15-00-36+0800__CAM_BACK_LEFT__1533280314697423.jpg", "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_BACK_RIGHT__1533280314677893.jpg" ], "tag": 0, "task": "perception", "conversations": [ { "from": "human", "value": "What is the moving status of object ? Please select the correct answer from the following options: A. Back up. B. Stopped. C. Turn left. D. Drive backward." }, { "from": "gpt", "value": "A" } ] }, { "id": "7463b2d752f0464f803b07a945ee7c5a_adf6eda950da49b290b0e94a8aa552a9_0", "image": [ "data/nuscenes/samples/CAM_FRONT/n015-2018-08-03-15-00-36+0800__CAM_FRONT__1533280314662460.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_LEFT__1533280314654844.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_RIGHT__1533280314670339.jpg", "data/nuscenes/samples/CAM_BACK/n015-2018-08-03-15-00-36+0800__CAM_BACK__1533280314687525.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-03-15-00-36+0800__CAM_BACK_LEFT__1533280314697423.jpg", "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_BACK_RIGHT__1533280314677893.jpg" ], "tag": 1, "task": "planning", "conversations": [ { "from": "human", "value": "What actions could the ego vehicle take based on ? Why take this action and what's the probability?" }, { "from": "gpt", "value": "The action is to brake gently to a stop because there is no safety issue. The probability of taking this action is high." } ] }, { "id": "7463b2d752f0464f803b07a945ee7c5a_adf6eda950da49b290b0e94a8aa552a9_1", "image": [ "data/nuscenes/samples/CAM_FRONT/n015-2018-08-03-15-00-36+0800__CAM_FRONT__1533280314662460.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_LEFT__1533280314654844.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_RIGHT__1533280314670339.jpg", "data/nuscenes/samples/CAM_BACK/n015-2018-08-03-15-00-36+0800__CAM_BACK__1533280314687525.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-03-15-00-36+0800__CAM_BACK_LEFT__1533280314697423.jpg", "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_BACK_RIGHT__1533280314677893.jpg" ], "tag": 1, "task": "planning", "conversations": [ { "from": "human", "value": "What actions taken by the ego vehicle can lead to a collision with ?" }, { "from": "gpt", "value": "Moderate right turn." } ] }, { "id": "7463b2d752f0464f803b07a945ee7c5a_adf6eda950da49b290b0e94a8aa552a9_2", "image": [ "data/nuscenes/samples/CAM_FRONT/n015-2018-08-03-15-00-36+0800__CAM_FRONT__1533280314662460.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_LEFT__1533280314654844.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_RIGHT__1533280314670339.jpg", "data/nuscenes/samples/CAM_BACK/n015-2018-08-03-15-00-36+0800__CAM_BACK__1533280314687525.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-03-15-00-36+0800__CAM_BACK_LEFT__1533280314697423.jpg", "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_BACK_RIGHT__1533280314677893.jpg" ], "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": "7463b2d752f0464f803b07a945ee7c5a_01f03f239d7447c68ac716df2f00eda6_0", "image": [ "data/nuscenes/samples/CAM_FRONT/n015-2018-08-03-15-00-36+0800__CAM_FRONT__1533280323112460.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_LEFT__1533280323104844.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_RIGHT__1533280323120339.jpg", "data/nuscenes/samples/CAM_BACK/n015-2018-08-03-15-00-36+0800__CAM_BACK__1533280323137525.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-03-15-00-36+0800__CAM_BACK_LEFT__1533280323147423.jpg", "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_BACK_RIGHT__1533280323127893.jpg" ], "tag": 2, "task": "perception", "conversations": [ { "from": "human", "value": "What are the 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, and a black SUV to the front of the ego vehicle. The IDs of these objects are , , and ." } ] }, { "id": "7463b2d752f0464f803b07a945ee7c5a_01f03f239d7447c68ac716df2f00eda6_0", "image": [ "data/nuscenes/samples/CAM_FRONT/n015-2018-08-03-15-00-36+0800__CAM_FRONT__1533280323112460.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_LEFT__1533280323104844.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_RIGHT__1533280323120339.jpg", "data/nuscenes/samples/CAM_BACK/n015-2018-08-03-15-00-36+0800__CAM_BACK__1533280323137525.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-03-15-00-36+0800__CAM_BACK_LEFT__1533280323147423.jpg", "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_BACK_RIGHT__1533280323127893.jpg" ], "tag": 1, "task": "planning", "conversations": [ { "from": "human", "value": "What actions could the ego vehicle take based on ? Why take this action and what's the probability?" }, { "from": "gpt", "value": "The action is to remain stationary, the reason is to avoid a collision, high." } ] }, { "id": "7463b2d752f0464f803b07a945ee7c5a_01f03f239d7447c68ac716df2f00eda6_1", "image": [ "data/nuscenes/samples/CAM_FRONT/n015-2018-08-03-15-00-36+0800__CAM_FRONT__1533280323112460.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_LEFT__1533280323104844.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_RIGHT__1533280323120339.jpg", "data/nuscenes/samples/CAM_BACK/n015-2018-08-03-15-00-36+0800__CAM_BACK__1533280323137525.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-03-15-00-36+0800__CAM_BACK_LEFT__1533280323147423.jpg", "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_BACK_RIGHT__1533280323127893.jpg" ], "tag": 1, "task": "planning", "conversations": [ { "from": "human", "value": "What actions taken by the ego vehicle can lead to a collision with ?" }, { "from": "gpt", "value": "Back up." } ] }, { "id": "7463b2d752f0464f803b07a945ee7c5a_01f03f239d7447c68ac716df2f00eda6_2", "image": [ "data/nuscenes/samples/CAM_FRONT/n015-2018-08-03-15-00-36+0800__CAM_FRONT__1533280323112460.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_LEFT__1533280323104844.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_RIGHT__1533280323120339.jpg", "data/nuscenes/samples/CAM_BACK/n015-2018-08-03-15-00-36+0800__CAM_BACK__1533280323137525.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-03-15-00-36+0800__CAM_BACK_LEFT__1533280323147423.jpg", "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_BACK_RIGHT__1533280323127893.jpg" ], "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": "a1ca2ba59ac9452fb3da60019bf32c71_b16b75ece315460f8862e3a5259758c2_0", "image": [ "data/nuscenes/samples/CAM_FRONT/n015-2018-08-01-16-32-59+0800__CAM_FRONT__1533112393662460.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-16-32-59+0800__CAM_FRONT_LEFT__1533112393654844.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-16-32-59+0800__CAM_FRONT_RIGHT__1533112393670339.jpg", "data/nuscenes/samples/CAM_BACK/n015-2018-08-01-16-32-59+0800__CAM_BACK__1533112393687525.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-16-32-59+0800__CAM_BACK_LEFT__1533112393697423.jpg", "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-16-32-59+0800__CAM_BACK_RIGHT__1533112393677893.jpg" ], "tag": 2, "task": "perception", "conversations": [ { "from": "human", "value": "What are the 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 commercial vehicle to the front of the ego vehicle, a black motorcycle 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 , , and ." } ] }, { "id": "a1ca2ba59ac9452fb3da60019bf32c71_b16b75ece315460f8862e3a5259758c2_0", "image": [ "data/nuscenes/samples/CAM_FRONT/n015-2018-08-01-16-32-59+0800__CAM_FRONT__1533112393662460.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-16-32-59+0800__CAM_FRONT_LEFT__1533112393654844.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-16-32-59+0800__CAM_FRONT_RIGHT__1533112393670339.jpg", "data/nuscenes/samples/CAM_BACK/n015-2018-08-01-16-32-59+0800__CAM_BACK__1533112393687525.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-16-32-59+0800__CAM_BACK_LEFT__1533112393697423.jpg", "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-16-32-59+0800__CAM_BACK_RIGHT__1533112393677893.jpg" ], "tag": 0, "task": "prediction", "conversations": [ { "from": "human", "value": "Is a traffic sign or a road barrier?" }, { "from": "gpt", "value": "No." } ] }, { "id": "a1ca2ba59ac9452fb3da60019bf32c71_b16b75ece315460f8862e3a5259758c2_0", "image": [ "data/nuscenes/samples/CAM_FRONT/n015-2018-08-01-16-32-59+0800__CAM_FRONT__1533112393662460.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-16-32-59+0800__CAM_FRONT_LEFT__1533112393654844.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-16-32-59+0800__CAM_FRONT_RIGHT__1533112393670339.jpg", "data/nuscenes/samples/CAM_BACK/n015-2018-08-01-16-32-59+0800__CAM_BACK__1533112393687525.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-16-32-59+0800__CAM_BACK_LEFT__1533112393697423.jpg", "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-16-32-59+0800__CAM_BACK_RIGHT__1533112393677893.jpg" ], "tag": 1, "task": "planning", "conversations": [ { "from": "human", "value": "What actions taken by the ego vehicle can lead to a collision with ?" }, { "from": "gpt", "value": "Slight left turn." } ] }, { "id": "a1ca2ba59ac9452fb3da60019bf32c71_b16b75ece315460f8862e3a5259758c2_1", "image": [ "data/nuscenes/samples/CAM_FRONT/n015-2018-08-01-16-32-59+0800__CAM_FRONT__1533112393662460.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-16-32-59+0800__CAM_FRONT_LEFT__1533112393654844.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-16-32-59+0800__CAM_FRONT_RIGHT__1533112393670339.jpg", "data/nuscenes/samples/CAM_BACK/n015-2018-08-01-16-32-59+0800__CAM_BACK__1533112393687525.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-16-32-59+0800__CAM_BACK_LEFT__1533112393697423.jpg", "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-16-32-59+0800__CAM_BACK_RIGHT__1533112393677893.jpg" ], "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": "a1ca2ba59ac9452fb3da60019bf32c71_3834327ddbb9412da56f2b2775a68e52_0", "image": [ "data/nuscenes/samples/CAM_FRONT/n015-2018-08-01-16-32-59+0800__CAM_FRONT__1533112406162460.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-16-32-59+0800__CAM_FRONT_LEFT__1533112406154844.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-16-32-59+0800__CAM_FRONT_RIGHT__1533112406170339.jpg", "data/nuscenes/samples/CAM_BACK/n015-2018-08-01-16-32-59+0800__CAM_BACK__1533112406187525.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-16-32-59+0800__CAM_BACK_LEFT__1533112406197423.jpg", "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-16-32-59+0800__CAM_BACK_RIGHT__1533112406177893.jpg" ], "tag": 2, "task": "perception", "conversations": [ { "from": "human", "value": "What are the 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 pedestrian 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 , , and ." } ] }, { "id": "a1ca2ba59ac9452fb3da60019bf32c71_3834327ddbb9412da56f2b2775a68e52_0", "image": [ "data/nuscenes/samples/CAM_FRONT/n015-2018-08-01-16-32-59+0800__CAM_FRONT__1533112406162460.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-16-32-59+0800__CAM_FRONT_LEFT__1533112406154844.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-16-32-59+0800__CAM_FRONT_RIGHT__1533112406170339.jpg", "data/nuscenes/samples/CAM_BACK/n015-2018-08-01-16-32-59+0800__CAM_BACK__1533112406187525.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-16-32-59+0800__CAM_BACK_LEFT__1533112406197423.jpg", "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-16-32-59+0800__CAM_BACK_RIGHT__1533112406177893.jpg" ], "tag": 0, "task": "prediction", "conversations": [ { "from": "human", "value": "Is a traffic sign or a road barrier?" }, { "from": "gpt", "value": "Yes." } ] }, { "id": "a1ca2ba59ac9452fb3da60019bf32c71_3834327ddbb9412da56f2b2775a68e52_0", "image": [ "data/nuscenes/samples/CAM_FRONT/n015-2018-08-01-16-32-59+0800__CAM_FRONT__1533112406162460.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-16-32-59+0800__CAM_FRONT_LEFT__1533112406154844.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-16-32-59+0800__CAM_FRONT_RIGHT__1533112406170339.jpg", "data/nuscenes/samples/CAM_BACK/n015-2018-08-01-16-32-59+0800__CAM_BACK__1533112406187525.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-16-32-59+0800__CAM_BACK_LEFT__1533112406197423.jpg", "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-16-32-59+0800__CAM_BACK_RIGHT__1533112406177893.jpg" ], "tag": 1, "task": "planning", "conversations": [ { "from": "human", "value": "What actions taken by the ego vehicle can lead to a collision with ?" }, { "from": "gpt", "value": "No action taken by the ego vehicle will lead to a collision with ." } ] }, { "id": "a1ca2ba59ac9452fb3da60019bf32c71_3834327ddbb9412da56f2b2775a68e52_1", "image": [ "data/nuscenes/samples/CAM_FRONT/n015-2018-08-01-16-32-59+0800__CAM_FRONT__1533112406162460.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-16-32-59+0800__CAM_FRONT_LEFT__1533112406154844.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-16-32-59+0800__CAM_FRONT_RIGHT__1533112406170339.jpg", "data/nuscenes/samples/CAM_BACK/n015-2018-08-01-16-32-59+0800__CAM_BACK__1533112406187525.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-16-32-59+0800__CAM_BACK_LEFT__1533112406197423.jpg", "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-16-32-59+0800__CAM_BACK_RIGHT__1533112406177893.jpg" ], "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." } ] }, { "id": "c7492bdc08f8450fa580b7787331f0c9_19ab110db4324b9b8d804dfbfe6726ed_0", "image": [ "data/nuscenes/samples/CAM_FRONT/n008-2018-05-21-11-06-59-0400__CAM_FRONT__1526915790162465.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_LEFT__1526915790154917.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_RIGHT__1526915790169956.jpg", "data/nuscenes/samples/CAM_BACK/n008-2018-05-21-11-06-59-0400__CAM_BACK__1526915790187570.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-05-21-11-06-59-0400__CAM_BACK_LEFT__1526915790197295.jpg", "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_BACK_RIGHT__1526915790177813.jpg" ], "tag": 2, "task": "perception", "conversations": [ { "from": "human", "value": "What are the important 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 blue sedan to the back of the ego vehicle, and a blue minivan to the front of the ego vehicle. The IDs of these objects are , , and ." } ] }, { "id": "c7492bdc08f8450fa580b7787331f0c9_19ab110db4324b9b8d804dfbfe6726ed_1", "image": [ "data/nuscenes/samples/CAM_FRONT/n008-2018-05-21-11-06-59-0400__CAM_FRONT__1526915790162465.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_LEFT__1526915790154917.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_RIGHT__1526915790169956.jpg", "data/nuscenes/samples/CAM_BACK/n008-2018-05-21-11-06-59-0400__CAM_BACK__1526915790187570.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-05-21-11-06-59-0400__CAM_BACK_LEFT__1526915790197295.jpg", "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_BACK_RIGHT__1526915790177813.jpg" ], "tag": 0, "task": "perception", "conversations": [ { "from": "human", "value": "What is the moving status of object ? Please select the correct answer from the following options: A. Reverse parking. B. Going ahead. C. Turn left. D. Stopped." }, { "from": "gpt", "value": "C" } ] }, { "id": "c7492bdc08f8450fa580b7787331f0c9_19ab110db4324b9b8d804dfbfe6726ed_0", "image": [ "data/nuscenes/samples/CAM_FRONT/n008-2018-05-21-11-06-59-0400__CAM_FRONT__1526915790162465.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_LEFT__1526915790154917.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_RIGHT__1526915790169956.jpg", "data/nuscenes/samples/CAM_BACK/n008-2018-05-21-11-06-59-0400__CAM_BACK__1526915790187570.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-05-21-11-06-59-0400__CAM_BACK_LEFT__1526915790197295.jpg", "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_BACK_RIGHT__1526915790177813.jpg" ], "tag": 1, "task": "planning", "conversations": [ { "from": "human", "value": "What actions could the ego vehicle take based on ? Why take this action and what's the probability?" }, { "from": "gpt", "value": "The action is to remain stationary. The reason for this action is that there is no safety issue. The probability of this action is high." } ] }, { "id": "c7492bdc08f8450fa580b7787331f0c9_19ab110db4324b9b8d804dfbfe6726ed_1", "image": [ "data/nuscenes/samples/CAM_FRONT/n008-2018-05-21-11-06-59-0400__CAM_FRONT__1526915790162465.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_LEFT__1526915790154917.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_RIGHT__1526915790169956.jpg", "data/nuscenes/samples/CAM_BACK/n008-2018-05-21-11-06-59-0400__CAM_BACK__1526915790187570.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-05-21-11-06-59-0400__CAM_BACK_LEFT__1526915790197295.jpg", "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_BACK_RIGHT__1526915790177813.jpg" ], "tag": 1, "task": "planning", "conversations": [ { "from": "human", "value": "What actions taken by the ego vehicle can lead to a collision with ?" }, { "from": "gpt", "value": "Turning right and accelerating." } ] }, { "id": "c7492bdc08f8450fa580b7787331f0c9_19ab110db4324b9b8d804dfbfe6726ed_2", "image": [ "data/nuscenes/samples/CAM_FRONT/n008-2018-05-21-11-06-59-0400__CAM_FRONT__1526915790162465.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_LEFT__1526915790154917.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_RIGHT__1526915790169956.jpg", "data/nuscenes/samples/CAM_BACK/n008-2018-05-21-11-06-59-0400__CAM_BACK__1526915790187570.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-05-21-11-06-59-0400__CAM_BACK_LEFT__1526915790197295.jpg", "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_BACK_RIGHT__1526915790177813.jpg" ], "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 decelerate gradually without braking." } ] }, { "id": "446af4b1d7da4735a607bc3e45c2e0b3_8e43dc1ce788412fbe47201a487d61a7_0", "image": [ "data/nuscenes/samples/CAM_FRONT/n015-2018-07-24-11-22-45+0800__CAM_FRONT__1532402597662460.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-24-11-22-45+0800__CAM_FRONT_LEFT__1532402597654872.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-24-11-22-45+0800__CAM_FRONT_RIGHT__1532402597670339.jpg", "data/nuscenes/samples/CAM_BACK/n015-2018-07-24-11-22-45+0800__CAM_BACK__1532402597687525.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-24-11-22-45+0800__CAM_BACK_LEFT__1532402597697423.jpg", "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-24-11-22-45+0800__CAM_BACK_RIGHT__1532402597677893.jpg" ], "tag": 2, "task": "perception", "conversations": [ { "from": "human", "value": "What are the 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 an orange dress to the front left of the ego vehicle, a white truck to the back of the ego vehicle, and a blue road sign to the back left of the ego vehicle. The IDs of these objects are , , and ." } ] }, { "id": "446af4b1d7da4735a607bc3e45c2e0b3_8e43dc1ce788412fbe47201a487d61a7_0", "image": [ "data/nuscenes/samples/CAM_FRONT/n015-2018-07-24-11-22-45+0800__CAM_FRONT__1532402597662460.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-24-11-22-45+0800__CAM_FRONT_LEFT__1532402597654872.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-24-11-22-45+0800__CAM_FRONT_RIGHT__1532402597670339.jpg", "data/nuscenes/samples/CAM_BACK/n015-2018-07-24-11-22-45+0800__CAM_BACK__1532402597687525.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-24-11-22-45+0800__CAM_BACK_LEFT__1532402597697423.jpg", "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-24-11-22-45+0800__CAM_BACK_RIGHT__1532402597677893.jpg" ], "tag": 1, "task": "planning", "conversations": [ { "from": "human", "value": "What actions could the ego vehicle take based on ? Why take this action and what's the probability?" }, { "from": "gpt", "value": "The action is to decelerate gradually without braking. The reason for taking this action is that the object has little reference value for the ego vehicle, and the probability is high." } ] }, { "id": "446af4b1d7da4735a607bc3e45c2e0b3_8e43dc1ce788412fbe47201a487d61a7_1", "image": [ "data/nuscenes/samples/CAM_FRONT/n015-2018-07-24-11-22-45+0800__CAM_FRONT__1532402597662460.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-24-11-22-45+0800__CAM_FRONT_LEFT__1532402597654872.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-24-11-22-45+0800__CAM_FRONT_RIGHT__1532402597670339.jpg", "data/nuscenes/samples/CAM_BACK/n015-2018-07-24-11-22-45+0800__CAM_BACK__1532402597687525.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-24-11-22-45+0800__CAM_BACK_LEFT__1532402597697423.jpg", "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-24-11-22-45+0800__CAM_BACK_RIGHT__1532402597677893.jpg" ], "tag": 1, "task": "planning", "conversations": [ { "from": "human", "value": "What actions taken by the ego vehicle can lead to a collision with ?" }, { "from": "gpt", "value": "Slight left turn." } ] }, { "id": "446af4b1d7da4735a607bc3e45c2e0b3_8e43dc1ce788412fbe47201a487d61a7_2", "image": [ "data/nuscenes/samples/CAM_FRONT/n015-2018-07-24-11-22-45+0800__CAM_FRONT__1532402597662460.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-24-11-22-45+0800__CAM_FRONT_LEFT__1532402597654872.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-24-11-22-45+0800__CAM_FRONT_RIGHT__1532402597670339.jpg", "data/nuscenes/samples/CAM_BACK/n015-2018-07-24-11-22-45+0800__CAM_BACK__1532402597687525.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-24-11-22-45+0800__CAM_BACK_LEFT__1532402597697423.jpg", "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-24-11-22-45+0800__CAM_BACK_RIGHT__1532402597677893.jpg" ], "tag": 1, "task": "planning", "conversations": [ { "from": "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": "446af4b1d7da4735a607bc3e45c2e0b3_8e43dc1ce788412fbe47201a487d61a7_0", "image": [ "data/nuscenes/samples/CAM_FRONT/n015-2018-07-24-11-22-45+0800__CAM_FRONT__1532402597662460.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-24-11-22-45+0800__CAM_FRONT_LEFT__1532402597654872.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-24-11-22-45+0800__CAM_FRONT_RIGHT__1532402597670339.jpg", "data/nuscenes/samples/CAM_BACK/n015-2018-07-24-11-22-45+0800__CAM_BACK__1532402597687525.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-24-11-22-45+0800__CAM_BACK_LEFT__1532402597697423.jpg", "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-24-11-22-45+0800__CAM_BACK_RIGHT__1532402597677893.jpg" ], "tag": 0, "task": "behavior", "conversations": [ { "from": "human", "value": "Predict the behavior of the ego vehicle. Please select the correct answer from the following options: A. The ego vehicle is steering to the left. The ego vehicle is driving fast. B. The ego vehicle is going straight. The ego vehicle is driving slowly. C. The ego vehicle is steering to the left. The ego vehicle is driving very fast. D. The ego vehicle is going straight. The ego vehicle is not moving." }, { "from": "gpt", "value": "C" } ] }, { "id": "fb255bba9b6a4f37a8894e336d2136f1_f062b40008ad4c67bd781d175c5dbcb1_0", "image": [ "data/nuscenes/samples/CAM_FRONT/n015-2018-10-08-15-52-24+0800__CAM_FRONT__1538985172262460.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_LEFT__1538985172254852.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_RIGHT__1538985172270339.jpg", "data/nuscenes/samples/CAM_BACK/n015-2018-10-08-15-52-24+0800__CAM_BACK__1538985172287535.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-10-08-15-52-24+0800__CAM_BACK_LEFT__1538985172297423.jpg", "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_BACK_RIGHT__1538985172277893.jpg" ], "tag": 2, "task": "perception", "conversations": [ { "from": "human", "value": "What are the 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 black top and trousers to the front of the ego vehicle, and a pedestrian wearing a gray shirt and shorts to the front left of the ego vehicle. The IDs of these objects are , , and ." } ] }, { "id": "fb255bba9b6a4f37a8894e336d2136f1_f062b40008ad4c67bd781d175c5dbcb1_0", "image": [ "data/nuscenes/samples/CAM_FRONT/n015-2018-10-08-15-52-24+0800__CAM_FRONT__1538985172262460.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_LEFT__1538985172254852.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_RIGHT__1538985172270339.jpg", "data/nuscenes/samples/CAM_BACK/n015-2018-10-08-15-52-24+0800__CAM_BACK__1538985172287535.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-10-08-15-52-24+0800__CAM_BACK_LEFT__1538985172297423.jpg", "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_BACK_RIGHT__1538985172277893.jpg" ], "tag": 1, "task": "planning", "conversations": [ { "from": "human", "value": "What actions could the ego vehicle take based on ? Why take this action and what's the probability?" }, { "from": "gpt", "value": "The action is to turn left. The reason is that the object has little reference value for the ego vehicle, high." } ] }, { "id": "fb255bba9b6a4f37a8894e336d2136f1_f062b40008ad4c67bd781d175c5dbcb1_1", "image": [ "data/nuscenes/samples/CAM_FRONT/n015-2018-10-08-15-52-24+0800__CAM_FRONT__1538985172262460.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_LEFT__1538985172254852.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_RIGHT__1538985172270339.jpg", "data/nuscenes/samples/CAM_BACK/n015-2018-10-08-15-52-24+0800__CAM_BACK__1538985172287535.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-10-08-15-52-24+0800__CAM_BACK_LEFT__1538985172297423.jpg", "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_BACK_RIGHT__1538985172277893.jpg" ], "tag": 1, "task": "planning", "conversations": [ { "from": "human", "value": "What actions taken by the ego vehicle can lead to a collision with ?" }, { "from": "gpt", "value": "No such action will lead to a collision." } ] }, { "id": "fb255bba9b6a4f37a8894e336d2136f1_f062b40008ad4c67bd781d175c5dbcb1_2", "image": [ "data/nuscenes/samples/CAM_FRONT/n015-2018-10-08-15-52-24+0800__CAM_FRONT__1538985172262460.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_LEFT__1538985172254852.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_RIGHT__1538985172270339.jpg", "data/nuscenes/samples/CAM_BACK/n015-2018-10-08-15-52-24+0800__CAM_BACK__1538985172287535.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-10-08-15-52-24+0800__CAM_BACK_LEFT__1538985172297423.jpg", "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_BACK_RIGHT__1538985172277893.jpg" ], "tag": 1, "task": "planning", "conversations": [ { "from": "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": "fb255bba9b6a4f37a8894e336d2136f1_f062b40008ad4c67bd781d175c5dbcb1_0", "image": [ "data/nuscenes/samples/CAM_FRONT/n015-2018-10-08-15-52-24+0800__CAM_FRONT__1538985172262460.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_LEFT__1538985172254852.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_RIGHT__1538985172270339.jpg", "data/nuscenes/samples/CAM_BACK/n015-2018-10-08-15-52-24+0800__CAM_BACK__1538985172287535.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-10-08-15-52-24+0800__CAM_BACK_LEFT__1538985172297423.jpg", "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_BACK_RIGHT__1538985172277893.jpg" ], "tag": 0, "task": "behavior", "conversations": [ { "from": "human", "value": "Predict the behavior of the ego vehicle. Please select the correct answer from the following options: A. The ego vehicle is slightly steering to the left. The ego vehicle is driving very fast. B. The ego vehicle is slightly steering to the left. The ego vehicle is driving slowly. C. The ego vehicle is slightly steering to the right. The ego vehicle is driving slowly. D. The ego vehicle is going straight. The ego vehicle is driving fast." }, { "from": "gpt", "value": "B" } ] }, { "id": "fb255bba9b6a4f37a8894e336d2136f1_6960470e56374cedb4fcdc7ea094d8ee_0", "image": [ "data/nuscenes/samples/CAM_FRONT/n015-2018-10-08-15-52-24+0800__CAM_FRONT__1538985171262460.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_LEFT__1538985171254844.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_RIGHT__1538985171270339.jpg", "data/nuscenes/samples/CAM_BACK/n015-2018-10-08-15-52-24+0800__CAM_BACK__1538985171287525.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-10-08-15-52-24+0800__CAM_BACK_LEFT__1538985171297423.jpg", "data/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 , , , and ." } ] }, { "id": "fb255bba9b6a4f37a8894e336d2136f1_6960470e56374cedb4fcdc7ea094d8ee_1", "image": [ "data/nuscenes/samples/CAM_FRONT/n015-2018-10-08-15-52-24+0800__CAM_FRONT__1538985171262460.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_LEFT__1538985171254844.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_RIGHT__1538985171270339.jpg", "data/nuscenes/samples/CAM_BACK/n015-2018-10-08-15-52-24+0800__CAM_BACK__1538985171287525.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-10-08-15-52-24+0800__CAM_BACK_LEFT__1538985171297423.jpg", "data/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 ? Please select the correct answer from the following options: A. Turn left. B. Going ahead. C. Drive backward. D. Turn right." }, { "from": "gpt", "value": "A" } ] }, { "id": "fb255bba9b6a4f37a8894e336d2136f1_6960470e56374cedb4fcdc7ea094d8ee_0", "image": [ "data/nuscenes/samples/CAM_FRONT/n015-2018-10-08-15-52-24+0800__CAM_FRONT__1538985171262460.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_LEFT__1538985171254844.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_RIGHT__1538985171270339.jpg", "data/nuscenes/samples/CAM_BACK/n015-2018-10-08-15-52-24+0800__CAM_BACK__1538985171287525.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-10-08-15-52-24+0800__CAM_BACK_LEFT__1538985171297423.jpg", "data/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 ? 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_1", "image": [ "data/nuscenes/samples/CAM_FRONT/n015-2018-10-08-15-52-24+0800__CAM_FRONT__1538985171262460.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_LEFT__1538985171254844.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_RIGHT__1538985171270339.jpg", "data/nuscenes/samples/CAM_BACK/n015-2018-10-08-15-52-24+0800__CAM_BACK__1538985171287525.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-10-08-15-52-24+0800__CAM_BACK_LEFT__1538985171297423.jpg", "data/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 ?" }, { "from": "gpt", "value": "Brake suddenly." } ] }, { "id": "fb255bba9b6a4f37a8894e336d2136f1_6960470e56374cedb4fcdc7ea094d8ee_2", "image": [ "data/nuscenes/samples/CAM_FRONT/n015-2018-10-08-15-52-24+0800__CAM_FRONT__1538985171262460.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_LEFT__1538985171254844.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_RIGHT__1538985171270339.jpg", "data/nuscenes/samples/CAM_BACK/n015-2018-10-08-15-52-24+0800__CAM_BACK__1538985171287525.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-10-08-15-52-24+0800__CAM_BACK_LEFT__1538985171297423.jpg", "data/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": "ba76f4185aa34ed3bff467ac640da902_d0c8108acf3a43ada1a6dd6c221abd18_0", "image": [ "data/nuscenes/samples/CAM_FRONT/n015-2018-08-01-17-04-15+0800__CAM_FRONT__1533114339862460.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-17-04-15+0800__CAM_FRONT_LEFT__1533114339854844.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-17-04-15+0800__CAM_FRONT_RIGHT__1533114339870339.jpg", "data/nuscenes/samples/CAM_BACK/n015-2018-08-01-17-04-15+0800__CAM_BACK__1533114339887525.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-17-04-15+0800__CAM_BACK_LEFT__1533114339897423.jpg", "data/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 , , and ." } ] }, { "id": "ba76f4185aa34ed3bff467ac640da902_d0c8108acf3a43ada1a6dd6c221abd18_0", "image": [ "data/nuscenes/samples/CAM_FRONT/n015-2018-08-01-17-04-15+0800__CAM_FRONT__1533114339862460.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-17-04-15+0800__CAM_FRONT_LEFT__1533114339854844.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-17-04-15+0800__CAM_FRONT_RIGHT__1533114339870339.jpg", "data/nuscenes/samples/CAM_BACK/n015-2018-08-01-17-04-15+0800__CAM_BACK__1533114339887525.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-17-04-15+0800__CAM_BACK_LEFT__1533114339897423.jpg", "data/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 a traffic sign or a road barrier?" }, { "from": "gpt", "value": "Yes." } ] }, { "id": "ba76f4185aa34ed3bff467ac640da902_d0c8108acf3a43ada1a6dd6c221abd18_0", "image": [ "data/nuscenes/samples/CAM_FRONT/n015-2018-08-01-17-04-15+0800__CAM_FRONT__1533114339862460.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-17-04-15+0800__CAM_FRONT_LEFT__1533114339854844.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-17-04-15+0800__CAM_FRONT_RIGHT__1533114339870339.jpg", "data/nuscenes/samples/CAM_BACK/n015-2018-08-01-17-04-15+0800__CAM_BACK__1533114339887525.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-17-04-15+0800__CAM_BACK_LEFT__1533114339897423.jpg", "data/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 ?" }, { "from": "gpt", "value": "No such action will lead to a collision." } ] }, { "id": "ba76f4185aa34ed3bff467ac640da902_d0c8108acf3a43ada1a6dd6c221abd18_1", "image": [ "data/nuscenes/samples/CAM_FRONT/n015-2018-08-01-17-04-15+0800__CAM_FRONT__1533114339862460.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-17-04-15+0800__CAM_FRONT_LEFT__1533114339854844.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-17-04-15+0800__CAM_FRONT_RIGHT__1533114339870339.jpg", "data/nuscenes/samples/CAM_BACK/n015-2018-08-01-17-04-15+0800__CAM_BACK__1533114339887525.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-17-04-15+0800__CAM_BACK_LEFT__1533114339897423.jpg", "data/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": "cf550d9670274ac1a7f274fbacb39c48_0d50b5bbfe7446319e709b2be6a9f306_0", "image": [ "data/nuscenes/samples/CAM_FRONT/n015-2018-07-24-11-13-19+0800__CAM_FRONT__1532402164162460.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_LEFT__1532402164154844.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_RIGHT__1532402164170339.jpg", "data/nuscenes/samples/CAM_BACK/n015-2018-07-24-11-13-19+0800__CAM_BACK__1532402164187525.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-24-11-13-19+0800__CAM_BACK_LEFT__1532402164197423.jpg", "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-24-11-13-19+0800__CAM_BACK_RIGHT__1532402164177893.jpg" ], "tag": 2, "task": "perception", "conversations": [ { "from": "human", "value": "What are the important 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 traffic light to the front right of the ego vehicle, a traffic sign to the front right of the ego vehicle, a red light 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 , , , , and ." } ] }, { "id": "cf550d9670274ac1a7f274fbacb39c48_0d50b5bbfe7446319e709b2be6a9f306_0", "image": [ "data/nuscenes/samples/CAM_FRONT/n015-2018-07-24-11-13-19+0800__CAM_FRONT__1532402164162460.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_LEFT__1532402164154844.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_RIGHT__1532402164170339.jpg", "data/nuscenes/samples/CAM_BACK/n015-2018-07-24-11-13-19+0800__CAM_BACK__1532402164187525.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-24-11-13-19+0800__CAM_BACK_LEFT__1532402164197423.jpg", "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-24-11-13-19+0800__CAM_BACK_RIGHT__1532402164177893.jpg" ], "tag": 1, "task": "planning", "conversations": [ { "from": "human", "value": "What actions could the ego vehicle take based on ? Why take this action and what's the probability?" }, { "from": "gpt", "value": "The action is to turn right. The reason is that the object has little reference value for the ego vehicle, with a high probability." } ] }, { "id": "cf550d9670274ac1a7f274fbacb39c48_0d50b5bbfe7446319e709b2be6a9f306_1", "image": [ "data/nuscenes/samples/CAM_FRONT/n015-2018-07-24-11-13-19+0800__CAM_FRONT__1532402164162460.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_LEFT__1532402164154844.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_RIGHT__1532402164170339.jpg", "data/nuscenes/samples/CAM_BACK/n015-2018-07-24-11-13-19+0800__CAM_BACK__1532402164187525.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-24-11-13-19+0800__CAM_BACK_LEFT__1532402164197423.jpg", "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-24-11-13-19+0800__CAM_BACK_RIGHT__1532402164177893.jpg" ], "tag": 1, "task": "planning", "conversations": [ { "from": "human", "value": "What actions taken by the ego vehicle can lead to a collision with ?" }, { "from": "gpt", "value": "Back upturn right." } ] }, { "id": "cf550d9670274ac1a7f274fbacb39c48_0d50b5bbfe7446319e709b2be6a9f306_0", "image": [ "data/nuscenes/samples/CAM_FRONT/n015-2018-07-24-11-13-19+0800__CAM_FRONT__1532402164162460.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_LEFT__1532402164154844.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_RIGHT__1532402164170339.jpg", "data/nuscenes/samples/CAM_BACK/n015-2018-07-24-11-13-19+0800__CAM_BACK__1532402164187525.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-24-11-13-19+0800__CAM_BACK_LEFT__1532402164197423.jpg", "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-24-11-13-19+0800__CAM_BACK_RIGHT__1532402164177893.jpg" ], "tag": 0, "task": "behavior", "conversations": [ { "from": "human", "value": "Predict the behavior of the ego vehicle. Please select the correct answer from the following options: A. The ego vehicle is steering to the right. The ego vehicle is driving fast. B. The ego vehicle is steering to the left. The ego vehicle is driving slowly. C. The ego vehicle is steering to the right. The ego vehicle is driving very fast. D. The ego vehicle is going straight. The ego vehicle is driving very fast." }, { "from": "gpt", "value": "A" } ] }, { "id": "7b4a37ecca84421fbc22ad15e8b00ed8_396d9cd41ccf473598e3ee162af53c2b_0", "image": [ "data/nuscenes/samples/CAM_FRONT/n008-2018-08-30-15-52-26-0400__CAM_FRONT__1535659228912404.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_LEFT__1535659228904799.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_RIGHT__1535659228920482.jpg", "data/nuscenes/samples/CAM_BACK/n008-2018-08-30-15-52-26-0400__CAM_BACK__1535659228937558.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-30-15-52-26-0400__CAM_BACK_LEFT__1535659228947405.jpg", "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_BACK_RIGHT__1535659228928113.jpg" ], "tag": 2, "task": "perception", "conversations": [ { "from": "human", "value": "What are the 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-shaped obstacle to the front of the ego vehicle, a black sedan to the back of the ego vehicle, and a red car to the front left of the ego vehicle. The IDs of these objects are , , and ." } ] }, { "id": "7b4a37ecca84421fbc22ad15e8b00ed8_396d9cd41ccf473598e3ee162af53c2b_0", "image": [ "data/nuscenes/samples/CAM_FRONT/n008-2018-08-30-15-52-26-0400__CAM_FRONT__1535659228912404.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_LEFT__1535659228904799.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_RIGHT__1535659228920482.jpg", "data/nuscenes/samples/CAM_BACK/n008-2018-08-30-15-52-26-0400__CAM_BACK__1535659228937558.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-30-15-52-26-0400__CAM_BACK_LEFT__1535659228947405.jpg", "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_BACK_RIGHT__1535659228928113.jpg" ], "tag": 0, "task": "prediction", "conversations": [ { "from": "human", "value": "Is a traffic sign or a road barrier?" }, { "from": "gpt", "value": "Yes." } ] }, { "id": "7b4a37ecca84421fbc22ad15e8b00ed8_396d9cd41ccf473598e3ee162af53c2b_0", "image": [ "data/nuscenes/samples/CAM_FRONT/n008-2018-08-30-15-52-26-0400__CAM_FRONT__1535659228912404.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_LEFT__1535659228904799.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_RIGHT__1535659228920482.jpg", "data/nuscenes/samples/CAM_BACK/n008-2018-08-30-15-52-26-0400__CAM_BACK__1535659228937558.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-30-15-52-26-0400__CAM_BACK_LEFT__1535659228947405.jpg", "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_BACK_RIGHT__1535659228928113.jpg" ], "tag": 1, "task": "planning", "conversations": [ { "from": "human", "value": "What actions taken by the ego vehicle can lead to a collision with ?" }, { "from": "gpt", "value": "Back up." } ] }, { "id": "7b4a37ecca84421fbc22ad15e8b00ed8_396d9cd41ccf473598e3ee162af53c2b_1", "image": [ "data/nuscenes/samples/CAM_FRONT/n008-2018-08-30-15-52-26-0400__CAM_FRONT__1535659228912404.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_LEFT__1535659228904799.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_RIGHT__1535659228920482.jpg", "data/nuscenes/samples/CAM_BACK/n008-2018-08-30-15-52-26-0400__CAM_BACK__1535659228937558.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-30-15-52-26-0400__CAM_BACK_LEFT__1535659228947405.jpg", "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_BACK_RIGHT__1535659228928113.jpg" ], "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": "7b4a37ecca84421fbc22ad15e8b00ed8_396d9cd41ccf473598e3ee162af53c2b_0", "image": [ "data/nuscenes/samples/CAM_FRONT/n008-2018-08-30-15-52-26-0400__CAM_FRONT__1535659228912404.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_LEFT__1535659228904799.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_RIGHT__1535659228920482.jpg", "data/nuscenes/samples/CAM_BACK/n008-2018-08-30-15-52-26-0400__CAM_BACK__1535659228937558.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-30-15-52-26-0400__CAM_BACK_LEFT__1535659228947405.jpg", "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_BACK_RIGHT__1535659228928113.jpg" ], "tag": 0, "task": "behavior", "conversations": [ { "from": "human", "value": "Predict the behavior of the ego vehicle. Please select the correct answer from the following options: A. The ego vehicle is steering to the left. The ego vehicle is driving fast. B. The ego vehicle is steering to the left. The ego vehicle is driving with normal speed. C. The ego vehicle is slightly steering to the left. The ego vehicle is driving fast. D. The ego vehicle is going straight. The ego vehicle is not moving." }, { "from": "gpt", "value": "C" } ] }, { "id": "f9e460f092c94466b1211704b5a8859d_14ac9c6105c84759a09bbb8804f4291a_0", "image": [ "data/nuscenes/samples/CAM_FRONT/n015-2018-08-01-15-10-21+0800__CAM_FRONT__1533107669012460.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-15-10-21+0800__CAM_FRONT_LEFT__1533107669004844.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-15-10-21+0800__CAM_FRONT_RIGHT__1533107669020339.jpg", "data/nuscenes/samples/CAM_BACK/n015-2018-08-01-15-10-21+0800__CAM_BACK__1533107669037525.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-15-10-21+0800__CAM_BACK_LEFT__1533107669047423.jpg", "data/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 , , and ." } ] }, { "id": "f9e460f092c94466b1211704b5a8859d_14ac9c6105c84759a09bbb8804f4291a_1", "image": [ "data/nuscenes/samples/CAM_FRONT/n015-2018-08-01-15-10-21+0800__CAM_FRONT__1533107669012460.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-15-10-21+0800__CAM_FRONT_LEFT__1533107669004844.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-15-10-21+0800__CAM_FRONT_RIGHT__1533107669020339.jpg", "data/nuscenes/samples/CAM_BACK/n015-2018-08-01-15-10-21+0800__CAM_BACK__1533107669037525.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-15-10-21+0800__CAM_BACK_LEFT__1533107669047423.jpg", "data/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 ? Please select the correct answer from the following options: A. Turn right. B. Going ahead. C. Stopped. D. Reverse parking." }, { "from": "gpt", "value": "A" } ] }, { "id": "f9e460f092c94466b1211704b5a8859d_14ac9c6105c84759a09bbb8804f4291a_0", "image": [ "data/nuscenes/samples/CAM_FRONT/n015-2018-08-01-15-10-21+0800__CAM_FRONT__1533107669012460.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-15-10-21+0800__CAM_FRONT_LEFT__1533107669004844.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-15-10-21+0800__CAM_FRONT_RIGHT__1533107669020339.jpg", "data/nuscenes/samples/CAM_BACK/n015-2018-08-01-15-10-21+0800__CAM_BACK__1533107669037525.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-15-10-21+0800__CAM_BACK_LEFT__1533107669047423.jpg", "data/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 ?" }, { "from": "gpt", "value": "Back up." } ] }, { "id": "f9e460f092c94466b1211704b5a8859d_14ac9c6105c84759a09bbb8804f4291a_1", "image": [ "data/nuscenes/samples/CAM_FRONT/n015-2018-08-01-15-10-21+0800__CAM_FRONT__1533107669012460.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-15-10-21+0800__CAM_FRONT_LEFT__1533107669004844.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-15-10-21+0800__CAM_FRONT_RIGHT__1533107669020339.jpg", "data/nuscenes/samples/CAM_BACK/n015-2018-08-01-15-10-21+0800__CAM_BACK__1533107669037525.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-15-10-21+0800__CAM_BACK_LEFT__1533107669047423.jpg", "data/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_0", "image": [ "data/nuscenes/samples/CAM_FRONT/n015-2018-08-01-15-10-21+0800__CAM_FRONT__1533107669012460.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-15-10-21+0800__CAM_FRONT_LEFT__1533107669004844.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-15-10-21+0800__CAM_FRONT_RIGHT__1533107669020339.jpg", "data/nuscenes/samples/CAM_BACK/n015-2018-08-01-15-10-21+0800__CAM_BACK__1533107669037525.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-15-10-21+0800__CAM_BACK_LEFT__1533107669047423.jpg", "data/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. Please select the correct answer from the following options: A. The ego vehicle is slightly steering to the right. The ego vehicle is driving fast. B. The ego vehicle is steering to the right. The ego vehicle is driving slowly. C. The ego vehicle is steering to the left. The ego vehicle is driving with normal speed. D. The ego vehicle is slightly steering to the right. The ego vehicle is driving with normal speed." }, { "from": "gpt", "value": "A" } ] }, { "id": "f9e460f092c94466b1211704b5a8859d_8e8e071e57d74e6c973ff03a4bf48ec6_0", "image": [ "data/nuscenes/samples/CAM_FRONT/n015-2018-08-01-15-10-21+0800__CAM_FRONT__1533107660512460.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-15-10-21+0800__CAM_FRONT_LEFT__1533107660504844.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-15-10-21+0800__CAM_FRONT_RIGHT__1533107660520339.jpg", "data/nuscenes/samples/CAM_BACK/n015-2018-08-01-15-10-21+0800__CAM_BACK__1533107660537525.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-15-10-21+0800__CAM_BACK_LEFT__1533107660547423.jpg", "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-15-10-21+0800__CAM_BACK_RIGHT__1533107660527893.jpg" ], "tag": 2, "task": "perception", "conversations": [ { "from": "human", "value": "What are the 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 of the ego vehicle, a silver sedan to the front of the ego vehicle, and a white sedan to the back of the ego vehicle. The IDs of these objects are , , and ." } ] }, { "id": "f9e460f092c94466b1211704b5a8859d_8e8e071e57d74e6c973ff03a4bf48ec6_1", "image": [ "data/nuscenes/samples/CAM_FRONT/n015-2018-08-01-15-10-21+0800__CAM_FRONT__1533107660512460.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-15-10-21+0800__CAM_FRONT_LEFT__1533107660504844.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-15-10-21+0800__CAM_FRONT_RIGHT__1533107660520339.jpg", "data/nuscenes/samples/CAM_BACK/n015-2018-08-01-15-10-21+0800__CAM_BACK__1533107660537525.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-15-10-21+0800__CAM_BACK_LEFT__1533107660547423.jpg", "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-15-10-21+0800__CAM_BACK_RIGHT__1533107660527893.jpg" ], "tag": 0, "task": "perception", "conversations": [ { "from": "human", "value": "What is the moving status of object ? Please select the correct answer from the following options: A. Going ahead. B. Turn left. C. Reverse parking. D. Turn right." }, { "from": "gpt", "value": "D" } ] }, { "id": "f9e460f092c94466b1211704b5a8859d_8e8e071e57d74e6c973ff03a4bf48ec6_0", "image": [ "data/nuscenes/samples/CAM_FRONT/n015-2018-08-01-15-10-21+0800__CAM_FRONT__1533107660512460.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-15-10-21+0800__CAM_FRONT_LEFT__1533107660504844.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-15-10-21+0800__CAM_FRONT_RIGHT__1533107660520339.jpg", "data/nuscenes/samples/CAM_BACK/n015-2018-08-01-15-10-21+0800__CAM_BACK__1533107660537525.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-15-10-21+0800__CAM_BACK_LEFT__1533107660547423.jpg", "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-15-10-21+0800__CAM_BACK_RIGHT__1533107660527893.jpg" ], "tag": 1, "task": "planning", "conversations": [ { "from": "human", "value": "What actions taken by the ego vehicle can lead to a collision with ?" }, { "from": "gpt", "value": "Accelerate and go straight actions can lead to a collision with ." } ] }, { "id": "f9e460f092c94466b1211704b5a8859d_8e8e071e57d74e6c973ff03a4bf48ec6_1", "image": [ "data/nuscenes/samples/CAM_FRONT/n015-2018-08-01-15-10-21+0800__CAM_FRONT__1533107660512460.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-15-10-21+0800__CAM_FRONT_LEFT__1533107660504844.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-15-10-21+0800__CAM_FRONT_RIGHT__1533107660520339.jpg", "data/nuscenes/samples/CAM_BACK/n015-2018-08-01-15-10-21+0800__CAM_BACK__1533107660537525.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-15-10-21+0800__CAM_BACK_LEFT__1533107660547423.jpg", "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-15-10-21+0800__CAM_BACK_RIGHT__1533107660527893.jpg" ], "tag": 1, "task": "planning", "conversations": [ { "from": "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, turn left, or turn right." } ] }, { "id": "2f9da038274a4448bdbb83f994fc6381_414d676963304f49a3fc68e785576b01_0", "image": [ "data/nuscenes/samples/CAM_FRONT/n008-2018-08-29-16-04-13-0400__CAM_FRONT__1535574072162404.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_LEFT__1535574072154799.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_RIGHT__1535574072170482.jpg", "data/nuscenes/samples/CAM_BACK/n008-2018-08-29-16-04-13-0400__CAM_BACK__1535574072187558.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-29-16-04-13-0400__CAM_BACK_LEFT__1535574072197405.jpg", "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_BACK_RIGHT__1535574072178113.jpg" ], "tag": 2, "task": "perception", "conversations": [ { "from": "human", "value": "What are the 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 left 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 , , and ." } ] }, { "id": "2f9da038274a4448bdbb83f994fc6381_414d676963304f49a3fc68e785576b01_0", "image": [ "data/nuscenes/samples/CAM_FRONT/n008-2018-08-29-16-04-13-0400__CAM_FRONT__1535574072162404.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_LEFT__1535574072154799.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_RIGHT__1535574072170482.jpg", "data/nuscenes/samples/CAM_BACK/n008-2018-08-29-16-04-13-0400__CAM_BACK__1535574072187558.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-29-16-04-13-0400__CAM_BACK_LEFT__1535574072197405.jpg", "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_BACK_RIGHT__1535574072178113.jpg" ], "tag": 0, "task": "prediction", "conversations": [ { "from": "human", "value": "Is a traffic sign or a road barrier?" }, { "from": "gpt", "value": "Yes." } ] }, { "id": "2f9da038274a4448bdbb83f994fc6381_414d676963304f49a3fc68e785576b01_0", "image": [ "data/nuscenes/samples/CAM_FRONT/n008-2018-08-29-16-04-13-0400__CAM_FRONT__1535574072162404.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_LEFT__1535574072154799.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_RIGHT__1535574072170482.jpg", "data/nuscenes/samples/CAM_BACK/n008-2018-08-29-16-04-13-0400__CAM_BACK__1535574072187558.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-29-16-04-13-0400__CAM_BACK_LEFT__1535574072197405.jpg", "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_BACK_RIGHT__1535574072178113.jpg" ], "tag": 1, "task": "planning", "conversations": [ { "from": "human", "value": "What actions could the ego vehicle take based on ? Why take this action and what's the probability?" }, { "from": "gpt", "value": "The action is to turn left because there is no safety issue. The probability of taking this action is high." } ] }, { "id": "2f9da038274a4448bdbb83f994fc6381_414d676963304f49a3fc68e785576b01_1", "image": [ "data/nuscenes/samples/CAM_FRONT/n008-2018-08-29-16-04-13-0400__CAM_FRONT__1535574072162404.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_LEFT__1535574072154799.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_RIGHT__1535574072170482.jpg", "data/nuscenes/samples/CAM_BACK/n008-2018-08-29-16-04-13-0400__CAM_BACK__1535574072187558.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-29-16-04-13-0400__CAM_BACK_LEFT__1535574072197405.jpg", "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_BACK_RIGHT__1535574072178113.jpg" ], "tag": 1, "task": "planning", "conversations": [ { "from": "human", "value": "What actions taken by the ego vehicle can lead to a collision with ?" }, { "from": "gpt", "value": "Back up." } ] }, { "id": "2f9da038274a4448bdbb83f994fc6381_414d676963304f49a3fc68e785576b01_2", "image": [ "data/nuscenes/samples/CAM_FRONT/n008-2018-08-29-16-04-13-0400__CAM_FRONT__1535574072162404.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_LEFT__1535574072154799.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_RIGHT__1535574072170482.jpg", "data/nuscenes/samples/CAM_BACK/n008-2018-08-29-16-04-13-0400__CAM_BACK__1535574072187558.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-29-16-04-13-0400__CAM_BACK_LEFT__1535574072197405.jpg", "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_BACK_RIGHT__1535574072178113.jpg" ], "tag": 1, "task": "planning", "conversations": [ { "from": "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": "2f9da038274a4448bdbb83f994fc6381_9756961b9e3c444f969e627bcd7e8283_0", "image": [ "data/nuscenes/samples/CAM_FRONT/n008-2018-08-29-16-04-13-0400__CAM_FRONT__1535574078162404.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_LEFT__1535574078154799.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_RIGHT__1535574078170482.jpg", "data/nuscenes/samples/CAM_BACK/n008-2018-08-29-16-04-13-0400__CAM_BACK__1535574078187558.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-29-16-04-13-0400__CAM_BACK_LEFT__1535574078197405.jpg", "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_BACK_RIGHT__1535574078178114.jpg" ], "tag": 2, "task": "perception", "conversations": [ { "from": "human", "value": "What are the important 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, a person wearing black clothes to the back left of the ego vehicle, and a black sedan to the back of the ego vehicle. The IDs of these objects are , , , and ." } ] }, { "id": "2f9da038274a4448bdbb83f994fc6381_9756961b9e3c444f969e627bcd7e8283_1", "image": [ "data/nuscenes/samples/CAM_FRONT/n008-2018-08-29-16-04-13-0400__CAM_FRONT__1535574078162404.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_LEFT__1535574078154799.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_RIGHT__1535574078170482.jpg", "data/nuscenes/samples/CAM_BACK/n008-2018-08-29-16-04-13-0400__CAM_BACK__1535574078187558.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-29-16-04-13-0400__CAM_BACK_LEFT__1535574078197405.jpg", "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_BACK_RIGHT__1535574078178114.jpg" ], "tag": 0, "task": "perception", "conversations": [ { "from": "human", "value": "What is the moving status of object ? Please select the correct answer from the following options: A. Back up. B. Going ahead. C. Turn left. D. Drive backward." }, { "from": "gpt", "value": "C" } ] }, { "id": "2f9da038274a4448bdbb83f994fc6381_9756961b9e3c444f969e627bcd7e8283_0", "image": [ "data/nuscenes/samples/CAM_FRONT/n008-2018-08-29-16-04-13-0400__CAM_FRONT__1535574078162404.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_LEFT__1535574078154799.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_RIGHT__1535574078170482.jpg", "data/nuscenes/samples/CAM_BACK/n008-2018-08-29-16-04-13-0400__CAM_BACK__1535574078187558.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-29-16-04-13-0400__CAM_BACK_LEFT__1535574078197405.jpg", "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_BACK_RIGHT__1535574078178114.jpg" ], "tag": 1, "task": "planning", "conversations": [ { "from": "human", "value": "What actions taken by the ego vehicle can lead to a collision with ?" }, { "from": "gpt", "value": "Moderate left turn." } ] }, { "id": "2f9da038274a4448bdbb83f994fc6381_9756961b9e3c444f969e627bcd7e8283_1", "image": [ "data/nuscenes/samples/CAM_FRONT/n008-2018-08-29-16-04-13-0400__CAM_FRONT__1535574078162404.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_LEFT__1535574078154799.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_RIGHT__1535574078170482.jpg", "data/nuscenes/samples/CAM_BACK/n008-2018-08-29-16-04-13-0400__CAM_BACK__1535574078187558.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-29-16-04-13-0400__CAM_BACK_LEFT__1535574078197405.jpg", "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_BACK_RIGHT__1535574078178114.jpg" ], "tag": 1, "task": "planning", "conversations": [ { "from": "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": "2f9da038274a4448bdbb83f994fc6381_f4051b153b9e4c48802e143c3529fc6b_0", "image": [ "data/nuscenes/samples/CAM_FRONT/n008-2018-08-29-16-04-13-0400__CAM_FRONT__1535574075162404.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_LEFT__1535574075154799.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_RIGHT__1535574075170482.jpg", "data/nuscenes/samples/CAM_BACK/n008-2018-08-29-16-04-13-0400__CAM_BACK__1535574075187558.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-29-16-04-13-0400__CAM_BACK_LEFT__1535574075197405.jpg", "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_BACK_RIGHT__1535574075178113.jpg" ], "tag": 2, "task": "perception", "conversations": [ { "from": "human", "value": "What are 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 left of the ego vehicle, a white SUV to the back of the ego vehicle, a black commercial vehicle to the back of the ego vehicle, and a white sedan to the front of the ego vehicle. The IDs of these objects are , , , and ." } ] }, { "id": "2f9da038274a4448bdbb83f994fc6381_f4051b153b9e4c48802e143c3529fc6b_0", "image": [ "data/nuscenes/samples/CAM_FRONT/n008-2018-08-29-16-04-13-0400__CAM_FRONT__1535574075162404.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_LEFT__1535574075154799.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_RIGHT__1535574075170482.jpg", "data/nuscenes/samples/CAM_BACK/n008-2018-08-29-16-04-13-0400__CAM_BACK__1535574075187558.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-29-16-04-13-0400__CAM_BACK_LEFT__1535574075197405.jpg", "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_BACK_RIGHT__1535574075178113.jpg" ], "tag": 0, "task": "prediction", "conversations": [ { "from": "human", "value": "Is a traffic sign or a road barrier?" }, { "from": "gpt", "value": "Yes." } ] }, { "id": "2f9da038274a4448bdbb83f994fc6381_f4051b153b9e4c48802e143c3529fc6b_0", "image": [ "data/nuscenes/samples/CAM_FRONT/n008-2018-08-29-16-04-13-0400__CAM_FRONT__1535574075162404.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_LEFT__1535574075154799.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_RIGHT__1535574075170482.jpg", "data/nuscenes/samples/CAM_BACK/n008-2018-08-29-16-04-13-0400__CAM_BACK__1535574075187558.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-29-16-04-13-0400__CAM_BACK_LEFT__1535574075197405.jpg", "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_BACK_RIGHT__1535574075178113.jpg" ], "tag": 1, "task": "planning", "conversations": [ { "from": "human", "value": "What actions could the ego vehicle take based on ? Why take this action and what's the probability?" }, { "from": "gpt", "value": "The action is to turn left because there is no safety issue. The probability of taking this action is low." } ] }, { "id": "2f9da038274a4448bdbb83f994fc6381_f4051b153b9e4c48802e143c3529fc6b_1", "image": [ "data/nuscenes/samples/CAM_FRONT/n008-2018-08-29-16-04-13-0400__CAM_FRONT__1535574075162404.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_LEFT__1535574075154799.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_RIGHT__1535574075170482.jpg", "data/nuscenes/samples/CAM_BACK/n008-2018-08-29-16-04-13-0400__CAM_BACK__1535574075187558.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-29-16-04-13-0400__CAM_BACK_LEFT__1535574075197405.jpg", "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_BACK_RIGHT__1535574075178113.jpg" ], "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 and continue at the same speed." } ] }, { "id": "2f9da038274a4448bdbb83f994fc6381_f4051b153b9e4c48802e143c3529fc6b_0", "image": [ "data/nuscenes/samples/CAM_FRONT/n008-2018-08-29-16-04-13-0400__CAM_FRONT__1535574075162404.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_LEFT__1535574075154799.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_RIGHT__1535574075170482.jpg", "data/nuscenes/samples/CAM_BACK/n008-2018-08-29-16-04-13-0400__CAM_BACK__1535574075187558.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-29-16-04-13-0400__CAM_BACK_LEFT__1535574075197405.jpg", "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_BACK_RIGHT__1535574075178113.jpg" ], "tag": 0, "task": "behavior", "conversations": [ { "from": "human", "value": "Predict the behavior of the ego vehicle. Please select the correct answer from the following options: A. The ego vehicle is slightly steering to the left. The ego vehicle is driving slowly. B. The ego vehicle is steering to the left. The ego vehicle is driving fast. C. The ego vehicle is going straight. The ego vehicle is driving fast. D. The ego vehicle is steering to the left. The ego vehicle is driving very fast." }, { "from": "gpt", "value": "B" } ] }, { "id": "792b78f6cbcf413c821cb591630cddfb_97506d9c0d85435089f9c61fb3e6982e_0", "image": [ "data/nuscenes/samples/CAM_FRONT/n015-2018-08-03-15-00-36+0800__CAM_FRONT__1533279858762460.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_LEFT__1533279858754844.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_RIGHT__1533279858770339.jpg", "data/nuscenes/samples/CAM_BACK/n015-2018-08-03-15-00-36+0800__CAM_BACK__1533279858787525.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-03-15-00-36+0800__CAM_BACK_LEFT__1533279858797423.jpg", "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_BACK_RIGHT__1533279858777893.jpg" ], "tag": 2, "task": "perception", "conversations": [ { "from": "human", "value": "What are the important 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 car to the front of the ego vehicle, a black sedan to the front of the ego vehicle, a woman in a red shirt to the front of the ego vehicle, and a green light to the front of the ego vehicle. The IDs of these objects are , , , , and ." } ] }, { "id": "792b78f6cbcf413c821cb591630cddfb_97506d9c0d85435089f9c61fb3e6982e_0", "image": [ "data/nuscenes/samples/CAM_FRONT/n015-2018-08-03-15-00-36+0800__CAM_FRONT__1533279858762460.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_LEFT__1533279858754844.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_RIGHT__1533279858770339.jpg", "data/nuscenes/samples/CAM_BACK/n015-2018-08-03-15-00-36+0800__CAM_BACK__1533279858787525.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-03-15-00-36+0800__CAM_BACK_LEFT__1533279858797423.jpg", "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_BACK_RIGHT__1533279858777893.jpg" ], "tag": 1, "task": "planning", "conversations": [ { "from": "human", "value": "What actions could the ego vehicle take based on ? Why take this action and what's the probability?" }, { "from": "gpt", "value": "The action is to decelerate gradually without braking. The reason is to avoid a collision, which is high probability." } ] }, { "id": "792b78f6cbcf413c821cb591630cddfb_97506d9c0d85435089f9c61fb3e6982e_1", "image": [ "data/nuscenes/samples/CAM_FRONT/n015-2018-08-03-15-00-36+0800__CAM_FRONT__1533279858762460.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_LEFT__1533279858754844.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_RIGHT__1533279858770339.jpg", "data/nuscenes/samples/CAM_BACK/n015-2018-08-03-15-00-36+0800__CAM_BACK__1533279858787525.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-03-15-00-36+0800__CAM_BACK_LEFT__1533279858797423.jpg", "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_BACK_RIGHT__1533279858777893.jpg" ], "tag": 1, "task": "planning", "conversations": [ { "from": "human", "value": "What actions taken by the ego vehicle can lead to a collision with ?" }, { "from": "gpt", "value": "Slight left turn." } ] }, { "id": "792b78f6cbcf413c821cb591630cddfb_97506d9c0d85435089f9c61fb3e6982e_2", "image": [ "data/nuscenes/samples/CAM_FRONT/n015-2018-08-03-15-00-36+0800__CAM_FRONT__1533279858762460.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_LEFT__1533279858754844.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_RIGHT__1533279858770339.jpg", "data/nuscenes/samples/CAM_BACK/n015-2018-08-03-15-00-36+0800__CAM_BACK__1533279858787525.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-03-15-00-36+0800__CAM_BACK_LEFT__1533279858797423.jpg", "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_BACK_RIGHT__1533279858777893.jpg" ], "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": "cddd0d5be10b4313a859524952455f43_4cdb49e3b72f4ecea7bc337b6cc8b41a_0", "image": [ "data/nuscenes/samples/CAM_FRONT/n008-2018-09-18-13-41-50-0400__CAM_FRONT__1537292780662404.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-13-41-50-0400__CAM_FRONT_LEFT__1537292780654799.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-13-41-50-0400__CAM_FRONT_RIGHT__1537292780670482.jpg", "data/nuscenes/samples/CAM_BACK/n008-2018-09-18-13-41-50-0400__CAM_BACK__1537292780687558.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-13-41-50-0400__CAM_BACK_LEFT__1537292780697405.jpg", "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-13-41-50-0400__CAM_BACK_RIGHT__1537292780678113.jpg" ], "tag": 2, "task": "perception", "conversations": [ { "from": "human", "value": "What are the important 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 yellow alien 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 , , and ." } ] }, { "id": "cddd0d5be10b4313a859524952455f43_4cdb49e3b72f4ecea7bc337b6cc8b41a_0", "image": [ "data/nuscenes/samples/CAM_FRONT/n008-2018-09-18-13-41-50-0400__CAM_FRONT__1537292780662404.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-13-41-50-0400__CAM_FRONT_LEFT__1537292780654799.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-13-41-50-0400__CAM_FRONT_RIGHT__1537292780670482.jpg", "data/nuscenes/samples/CAM_BACK/n008-2018-09-18-13-41-50-0400__CAM_BACK__1537292780687558.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-13-41-50-0400__CAM_BACK_LEFT__1537292780697405.jpg", "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-13-41-50-0400__CAM_BACK_RIGHT__1537292780678113.jpg" ], "tag": 0, "task": "prediction", "conversations": [ { "from": "human", "value": "Is a traffic sign or a road barrier?" }, { "from": "gpt", "value": "No." } ] }, { "id": "cddd0d5be10b4313a859524952455f43_4cdb49e3b72f4ecea7bc337b6cc8b41a_0", "image": [ "data/nuscenes/samples/CAM_FRONT/n008-2018-09-18-13-41-50-0400__CAM_FRONT__1537292780662404.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-13-41-50-0400__CAM_FRONT_LEFT__1537292780654799.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-13-41-50-0400__CAM_FRONT_RIGHT__1537292780670482.jpg", "data/nuscenes/samples/CAM_BACK/n008-2018-09-18-13-41-50-0400__CAM_BACK__1537292780687558.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-13-41-50-0400__CAM_BACK_LEFT__1537292780697405.jpg", "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-13-41-50-0400__CAM_BACK_RIGHT__1537292780678113.jpg" ], "tag": 1, "task": "planning", "conversations": [ { "from": "human", "value": "What actions taken by the ego vehicle can lead to a collision with ?" }, { "from": "gpt", "value": "Slight left turn." } ] }, { "id": "cddd0d5be10b4313a859524952455f43_4cdb49e3b72f4ecea7bc337b6cc8b41a_1", "image": [ "data/nuscenes/samples/CAM_FRONT/n008-2018-09-18-13-41-50-0400__CAM_FRONT__1537292780662404.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-13-41-50-0400__CAM_FRONT_LEFT__1537292780654799.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-13-41-50-0400__CAM_FRONT_RIGHT__1537292780670482.jpg", "data/nuscenes/samples/CAM_BACK/n008-2018-09-18-13-41-50-0400__CAM_BACK__1537292780687558.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-13-41-50-0400__CAM_BACK_LEFT__1537292780697405.jpg", "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-13-41-50-0400__CAM_BACK_RIGHT__1537292780678113.jpg" ], "tag": 1, "task": "planning", "conversations": [ { "from": "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": "cddd0d5be10b4313a859524952455f43_4cdb49e3b72f4ecea7bc337b6cc8b41a_0", "image": [ "data/nuscenes/samples/CAM_FRONT/n008-2018-09-18-13-41-50-0400__CAM_FRONT__1537292780662404.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-13-41-50-0400__CAM_FRONT_LEFT__1537292780654799.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-13-41-50-0400__CAM_FRONT_RIGHT__1537292780670482.jpg", "data/nuscenes/samples/CAM_BACK/n008-2018-09-18-13-41-50-0400__CAM_BACK__1537292780687558.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-13-41-50-0400__CAM_BACK_LEFT__1537292780697405.jpg", "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-13-41-50-0400__CAM_BACK_RIGHT__1537292780678113.jpg" ], "tag": 0, "task": "behavior", "conversations": [ { "from": "human", "value": "Predict the behavior of the ego vehicle. Please select the correct answer from the following options: A. The ego vehicle is slightly steering to the right. The ego vehicle is driving very fast. B. The ego vehicle is going straight. The ego vehicle is driving very fast. C. The ego vehicle is steering to the left. The ego vehicle is driving very fast. D. The ego vehicle is slightly steering to the right. The ego vehicle is driving fast." }, { "from": "gpt", "value": "D" } ] }, { "id": "6295f0119c5c44d8a75e0016517a172d_299802e91c5942ae91ce4b9da4b5eb59_0", "image": [ "data/nuscenes/samples/CAM_FRONT/n008-2018-08-31-11-56-46-0400__CAM_FRONT__1535731128612404.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-31-11-56-46-0400__CAM_FRONT_LEFT__1535731128604799.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-31-11-56-46-0400__CAM_FRONT_RIGHT__1535731128620482.jpg", "data/nuscenes/samples/CAM_BACK/n008-2018-08-31-11-56-46-0400__CAM_BACK__1535731128637558.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-31-11-56-46-0400__CAM_BACK_LEFT__1535731128647405.jpg", "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-31-11-56-46-0400__CAM_BACK_RIGHT__1535731128628113.jpg" ], "tag": 2, "task": "perception", "conversations": [ { "from": "human", "value": "What are the 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 left of the ego vehicle, a white sedan to the front of the ego vehicle, a black sedan to the back right of the ego vehicle, a black car 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 , , , , and ." } ] }, { "id": "6295f0119c5c44d8a75e0016517a172d_299802e91c5942ae91ce4b9da4b5eb59_1", "image": [ "data/nuscenes/samples/CAM_FRONT/n008-2018-08-31-11-56-46-0400__CAM_FRONT__1535731128612404.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-31-11-56-46-0400__CAM_FRONT_LEFT__1535731128604799.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-31-11-56-46-0400__CAM_FRONT_RIGHT__1535731128620482.jpg", "data/nuscenes/samples/CAM_BACK/n008-2018-08-31-11-56-46-0400__CAM_BACK__1535731128637558.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-31-11-56-46-0400__CAM_BACK_LEFT__1535731128647405.jpg", "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-31-11-56-46-0400__CAM_BACK_RIGHT__1535731128628113.jpg" ], "tag": 0, "task": "perception", "conversations": [ { "from": "human", "value": "What is the moving status of object ? Please select the correct answer from the following options: A. Turn right. B. Drive backward. C. Turn left. D. Back up." }, { "from": "gpt", "value": "A" } ] }, { "id": "6295f0119c5c44d8a75e0016517a172d_299802e91c5942ae91ce4b9da4b5eb59_0", "image": [ "data/nuscenes/samples/CAM_FRONT/n008-2018-08-31-11-56-46-0400__CAM_FRONT__1535731128612404.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-31-11-56-46-0400__CAM_FRONT_LEFT__1535731128604799.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-31-11-56-46-0400__CAM_FRONT_RIGHT__1535731128620482.jpg", "data/nuscenes/samples/CAM_BACK/n008-2018-08-31-11-56-46-0400__CAM_BACK__1535731128637558.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-31-11-56-46-0400__CAM_BACK_LEFT__1535731128647405.jpg", "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-31-11-56-46-0400__CAM_BACK_RIGHT__1535731128628113.jpg" ], "tag": 1, "task": "planning", "conversations": [ { "from": "human", "value": "What actions taken by the ego vehicle can lead to a collision with ?" }, { "from": "gpt", "value": "No action taken by the ego vehicle will lead to a collision with ." } ] }, { "id": "6295f0119c5c44d8a75e0016517a172d_299802e91c5942ae91ce4b9da4b5eb59_1", "image": [ "data/nuscenes/samples/CAM_FRONT/n008-2018-08-31-11-56-46-0400__CAM_FRONT__1535731128612404.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-31-11-56-46-0400__CAM_FRONT_LEFT__1535731128604799.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-31-11-56-46-0400__CAM_FRONT_RIGHT__1535731128620482.jpg", "data/nuscenes/samples/CAM_BACK/n008-2018-08-31-11-56-46-0400__CAM_BACK__1535731128637558.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-31-11-56-46-0400__CAM_BACK_LEFT__1535731128647405.jpg", "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-31-11-56-46-0400__CAM_BACK_RIGHT__1535731128628113.jpg" ], "tag": 1, "task": "planning", "conversations": [ { "from": "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": "21464a6831c1443db294d1b56a7a33a5_b056929f7e13472398f920840926a883_0", "image": [ "data/nuscenes/samples/CAM_FRONT/n015-2018-09-26-11-17-24+0800__CAM_FRONT__1537932316912460.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-26-11-17-24+0800__CAM_FRONT_LEFT__1537932316904844.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-26-11-17-24+0800__CAM_FRONT_RIGHT__1537932316920339.jpg", "data/nuscenes/samples/CAM_BACK/n015-2018-09-26-11-17-24+0800__CAM_BACK__1537932316937525.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-26-11-17-24+0800__CAM_BACK_LEFT__1537932316947423.jpg", "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-26-11-17-24+0800__CAM_BACK_RIGHT__1537932316927893.jpg" ], "tag": 2, "task": "perception", "conversations": [ { "from": "human", "value": "What are the 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 silver sedan to the back of the ego vehicle, and a yellow sign to the front of the ego vehicle. The IDs of these objects are , , and ." } ] }, { "id": "21464a6831c1443db294d1b56a7a33a5_b056929f7e13472398f920840926a883_1", "image": [ "data/nuscenes/samples/CAM_FRONT/n015-2018-09-26-11-17-24+0800__CAM_FRONT__1537932316912460.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-26-11-17-24+0800__CAM_FRONT_LEFT__1537932316904844.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-26-11-17-24+0800__CAM_FRONT_RIGHT__1537932316920339.jpg", "data/nuscenes/samples/CAM_BACK/n015-2018-09-26-11-17-24+0800__CAM_BACK__1537932316937525.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-26-11-17-24+0800__CAM_BACK_LEFT__1537932316947423.jpg", "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-26-11-17-24+0800__CAM_BACK_RIGHT__1537932316927893.jpg" ], "tag": 0, "task": "perception", "conversations": [ { "from": "human", "value": "What is the moving status of object ? Please select the correct answer from the following options: A. Back up. B. Stopped. C. Turn left. D. Turn right." }, { "from": "gpt", "value": "C" } ] }, { "id": "21464a6831c1443db294d1b56a7a33a5_b056929f7e13472398f920840926a883_0", "image": [ "data/nuscenes/samples/CAM_FRONT/n015-2018-09-26-11-17-24+0800__CAM_FRONT__1537932316912460.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-26-11-17-24+0800__CAM_FRONT_LEFT__1537932316904844.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-26-11-17-24+0800__CAM_FRONT_RIGHT__1537932316920339.jpg", "data/nuscenes/samples/CAM_BACK/n015-2018-09-26-11-17-24+0800__CAM_BACK__1537932316937525.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-26-11-17-24+0800__CAM_BACK_LEFT__1537932316947423.jpg", "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-26-11-17-24+0800__CAM_BACK_RIGHT__1537932316927893.jpg" ], "tag": 0, "task": "prediction", "conversations": [ { "from": "human", "value": "Is a traffic sign or a road barrier?" }, { "from": "gpt", "value": "Yes." } ] }, { "id": "21464a6831c1443db294d1b56a7a33a5_b056929f7e13472398f920840926a883_0", "image": [ "data/nuscenes/samples/CAM_FRONT/n015-2018-09-26-11-17-24+0800__CAM_FRONT__1537932316912460.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-26-11-17-24+0800__CAM_FRONT_LEFT__1537932316904844.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-26-11-17-24+0800__CAM_FRONT_RIGHT__1537932316920339.jpg", "data/nuscenes/samples/CAM_BACK/n015-2018-09-26-11-17-24+0800__CAM_BACK__1537932316937525.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-26-11-17-24+0800__CAM_BACK_LEFT__1537932316947423.jpg", "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-26-11-17-24+0800__CAM_BACK_RIGHT__1537932316927893.jpg" ], "tag": 1, "task": "planning", "conversations": [ { "from": "human", "value": "What actions taken by the ego vehicle can lead to a collision with ?" }, { "from": "gpt", "value": "Back up." } ] }, { "id": "21464a6831c1443db294d1b56a7a33a5_b056929f7e13472398f920840926a883_1", "image": [ "data/nuscenes/samples/CAM_FRONT/n015-2018-09-26-11-17-24+0800__CAM_FRONT__1537932316912460.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-26-11-17-24+0800__CAM_FRONT_LEFT__1537932316904844.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-26-11-17-24+0800__CAM_FRONT_RIGHT__1537932316920339.jpg", "data/nuscenes/samples/CAM_BACK/n015-2018-09-26-11-17-24+0800__CAM_BACK__1537932316937525.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-26-11-17-24+0800__CAM_BACK_LEFT__1537932316947423.jpg", "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-26-11-17-24+0800__CAM_BACK_RIGHT__1537932316927893.jpg" ], "tag": 1, "task": "planning", "conversations": [ { "from": "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": "b79d940da8df43d09ee972c2414ffeca_dae47bb946e8418eb0fea1267c1ba730_0", "image": [ "data/nuscenes/samples/CAM_FRONT/n015-2018-07-18-11-50-34+0800__CAM_FRONT__1531886095662460.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_LEFT__1531886095654844.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_RIGHT__1531886095670339.jpg", "data/nuscenes/samples/CAM_BACK/n015-2018-07-18-11-50-34+0800__CAM_BACK__1531886095687533.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-18-11-50-34+0800__CAM_BACK_LEFT__1531886095697423.jpg", "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_BACK_RIGHT__1531886095677893.jpg" ], "tag": 2, "task": "perception", "conversations": [ { "from": "human", "value": "What are the 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 back of the ego vehicle, a pedestrian wearing a white shirt to the front left of the ego vehicle, and a brown sedan car to the front right of the ego vehicle. The IDs of these objects are , , and ." } ] }, { "id": "b79d940da8df43d09ee972c2414ffeca_dae47bb946e8418eb0fea1267c1ba730_0", "image": [ "data/nuscenes/samples/CAM_FRONT/n015-2018-07-18-11-50-34+0800__CAM_FRONT__1531886095662460.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_LEFT__1531886095654844.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_RIGHT__1531886095670339.jpg", "data/nuscenes/samples/CAM_BACK/n015-2018-07-18-11-50-34+0800__CAM_BACK__1531886095687533.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-18-11-50-34+0800__CAM_BACK_LEFT__1531886095697423.jpg", "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_BACK_RIGHT__1531886095677893.jpg" ], "tag": 1, "task": "planning", "conversations": [ { "from": "human", "value": "What actions taken by the ego vehicle can lead to a collision with ?" }, { "from": "gpt", "value": "Change to the left lane." } ] }, { "id": "b79d940da8df43d09ee972c2414ffeca_dae47bb946e8418eb0fea1267c1ba730_1", "image": [ "data/nuscenes/samples/CAM_FRONT/n015-2018-07-18-11-50-34+0800__CAM_FRONT__1531886095662460.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_LEFT__1531886095654844.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_RIGHT__1531886095670339.jpg", "data/nuscenes/samples/CAM_BACK/n015-2018-07-18-11-50-34+0800__CAM_BACK__1531886095687533.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-18-11-50-34+0800__CAM_BACK_LEFT__1531886095697423.jpg", "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_BACK_RIGHT__1531886095677893.jpg" ], "tag": 1, "task": "planning", "conversations": [ { "from": "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, change to the left lane, or change to the right lane." } ] }, { "id": "b79d940da8df43d09ee972c2414ffeca_dae47bb946e8418eb0fea1267c1ba730_0", "image": [ "data/nuscenes/samples/CAM_FRONT/n015-2018-07-18-11-50-34+0800__CAM_FRONT__1531886095662460.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_LEFT__1531886095654844.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_RIGHT__1531886095670339.jpg", "data/nuscenes/samples/CAM_BACK/n015-2018-07-18-11-50-34+0800__CAM_BACK__1531886095687533.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-18-11-50-34+0800__CAM_BACK_LEFT__1531886095697423.jpg", "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_BACK_RIGHT__1531886095677893.jpg" ], "tag": 0, "task": "behavior", "conversations": [ { "from": "human", "value": "Predict the behavior of the ego vehicle. Please select the correct answer from the following options: A. The ego vehicle is going straight. The ego vehicle is driving slowly. B. The ego vehicle is slightly steering to the right. The ego vehicle is driving fast. C. The ego vehicle is going straight. The ego vehicle is driving with normal speed. D. The ego vehicle is going straight. The ego vehicle is not moving." }, { "from": "gpt", "value": "B" } ] }, { "id": "748894952b00431186308b387c2f424c_256acc23feb9475eab2db22d7047dd37_0", "image": [ "data/nuscenes/samples/CAM_FRONT/n015-2018-10-08-16-03-24+0800__CAM_FRONT__1538986190162460.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_LEFT__1538986190154844.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_RIGHT__1538986190170339.jpg", "data/nuscenes/samples/CAM_BACK/n015-2018-10-08-16-03-24+0800__CAM_BACK__1538986190187525.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-10-08-16-03-24+0800__CAM_BACK_LEFT__1538986190197423.jpg", "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_BACK_RIGHT__1538986190177893.jpg" ], "tag": 2, "task": "perception", "conversations": [ { "from": "human", "value": "What are the 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 van to the front left of the ego vehicle, a brown 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 , , and ." } ] }, { "id": "748894952b00431186308b387c2f424c_256acc23feb9475eab2db22d7047dd37_0", "image": [ "data/nuscenes/samples/CAM_FRONT/n015-2018-10-08-16-03-24+0800__CAM_FRONT__1538986190162460.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_LEFT__1538986190154844.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_RIGHT__1538986190170339.jpg", "data/nuscenes/samples/CAM_BACK/n015-2018-10-08-16-03-24+0800__CAM_BACK__1538986190187525.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-10-08-16-03-24+0800__CAM_BACK_LEFT__1538986190197423.jpg", "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_BACK_RIGHT__1538986190177893.jpg" ], "tag": 0, "task": "prediction", "conversations": [ { "from": "human", "value": "Is a traffic sign or a road barrier?" }, { "from": "gpt", "value": "No." } ] }, { "id": "748894952b00431186308b387c2f424c_256acc23feb9475eab2db22d7047dd37_0", "image": [ "data/nuscenes/samples/CAM_FRONT/n015-2018-10-08-16-03-24+0800__CAM_FRONT__1538986190162460.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_LEFT__1538986190154844.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_RIGHT__1538986190170339.jpg", "data/nuscenes/samples/CAM_BACK/n015-2018-10-08-16-03-24+0800__CAM_BACK__1538986190187525.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-10-08-16-03-24+0800__CAM_BACK_LEFT__1538986190197423.jpg", "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_BACK_RIGHT__1538986190177893.jpg" ], "tag": 1, "task": "planning", "conversations": [ { "from": "human", "value": "What actions could the ego vehicle take based on ? Why take this action and what's the probability?" }, { "from": "gpt", "value": "The action is to remain stationary. The reason for taking this action is to avoid a collision, which is highly probable." } ] }, { "id": "748894952b00431186308b387c2f424c_256acc23feb9475eab2db22d7047dd37_1", "image": [ "data/nuscenes/samples/CAM_FRONT/n015-2018-10-08-16-03-24+0800__CAM_FRONT__1538986190162460.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_LEFT__1538986190154844.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_RIGHT__1538986190170339.jpg", "data/nuscenes/samples/CAM_BACK/n015-2018-10-08-16-03-24+0800__CAM_BACK__1538986190187525.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-10-08-16-03-24+0800__CAM_BACK_LEFT__1538986190197423.jpg", "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_BACK_RIGHT__1538986190177893.jpg" ], "tag": 1, "task": "planning", "conversations": [ { "from": "human", "value": "What actions taken by the ego vehicle can lead to a collision with ?" }, { "from": "gpt", "value": "Sharp left turn." } ] }, { "id": "748894952b00431186308b387c2f424c_256acc23feb9475eab2db22d7047dd37_2", "image": [ "data/nuscenes/samples/CAM_FRONT/n015-2018-10-08-16-03-24+0800__CAM_FRONT__1538986190162460.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_LEFT__1538986190154844.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_RIGHT__1538986190170339.jpg", "data/nuscenes/samples/CAM_BACK/n015-2018-10-08-16-03-24+0800__CAM_BACK__1538986190187525.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-10-08-16-03-24+0800__CAM_BACK_LEFT__1538986190197423.jpg", "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_BACK_RIGHT__1538986190177893.jpg" ], "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": "43d5f10c855048b9963c9eb288a8a001_d74f34effb2941a187edd29de47f5716_0", "image": [ "data/nuscenes/samples/CAM_FRONT/n008-2018-09-18-13-10-39-0400__CAM_FRONT__1537291157612404.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_LEFT__1537291157604802.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_RIGHT__1537291157620482.jpg", "data/nuscenes/samples/CAM_BACK/n008-2018-09-18-13-10-39-0400__CAM_BACK__1537291157637558.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-13-10-39-0400__CAM_BACK_LEFT__1537291157647405.jpg", "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_BACK_RIGHT__1537291157628358.jpg" ], "tag": 2, "task": "perception", "conversations": [ { "from": "human", "value": "What are the 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 gray sedan to the front of the ego vehicle, and a gray SUV to the front left of the ego vehicle. The IDs of these objects are , , and ." } ] }, { "id": "43d5f10c855048b9963c9eb288a8a001_d74f34effb2941a187edd29de47f5716_0", "image": [ "data/nuscenes/samples/CAM_FRONT/n008-2018-09-18-13-10-39-0400__CAM_FRONT__1537291157612404.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_LEFT__1537291157604802.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_RIGHT__1537291157620482.jpg", "data/nuscenes/samples/CAM_BACK/n008-2018-09-18-13-10-39-0400__CAM_BACK__1537291157637558.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-13-10-39-0400__CAM_BACK_LEFT__1537291157647405.jpg", "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_BACK_RIGHT__1537291157628358.jpg" ], "tag": 0, "task": "prediction", "conversations": [ { "from": "human", "value": "Is a traffic sign or a road barrier?" }, { "from": "gpt", "value": "No." } ] }, { "id": "43d5f10c855048b9963c9eb288a8a001_d74f34effb2941a187edd29de47f5716_0", "image": [ "data/nuscenes/samples/CAM_FRONT/n008-2018-09-18-13-10-39-0400__CAM_FRONT__1537291157612404.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_LEFT__1537291157604802.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_RIGHT__1537291157620482.jpg", "data/nuscenes/samples/CAM_BACK/n008-2018-09-18-13-10-39-0400__CAM_BACK__1537291157637558.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-13-10-39-0400__CAM_BACK_LEFT__1537291157647405.jpg", "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_BACK_RIGHT__1537291157628358.jpg" ], "tag": 1, "task": "planning", "conversations": [ { "from": "human", "value": "What actions taken by the ego vehicle can lead to a collision with ?" }, { "from": "gpt", "value": "Brake suddenly." } ] }, { "id": "43d5f10c855048b9963c9eb288a8a001_d74f34effb2941a187edd29de47f5716_1", "image": [ "data/nuscenes/samples/CAM_FRONT/n008-2018-09-18-13-10-39-0400__CAM_FRONT__1537291157612404.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_LEFT__1537291157604802.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_RIGHT__1537291157620482.jpg", "data/nuscenes/samples/CAM_BACK/n008-2018-09-18-13-10-39-0400__CAM_BACK__1537291157637558.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-13-10-39-0400__CAM_BACK_LEFT__1537291157647405.jpg", "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_BACK_RIGHT__1537291157628358.jpg" ], "tag": 1, "task": "planning", "conversations": [ { "from": "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": "e209e66ff7834490b212c16cb12a1ce9_ae26303a5e504a858c41c069876844ca_0", "image": [ "data/nuscenes/samples/CAM_FRONT/n008-2018-08-29-16-04-13-0400__CAM_FRONT__1535573643162404.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_LEFT__1535573643154799.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_RIGHT__1535573643170482.jpg", "data/nuscenes/samples/CAM_BACK/n008-2018-08-29-16-04-13-0400__CAM_BACK__1535573643187558.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-29-16-04-13-0400__CAM_BACK_LEFT__1535573643197405.jpg", "data/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 , , and ." } ] }, { "id": "e209e66ff7834490b212c16cb12a1ce9_ae26303a5e504a858c41c069876844ca_1", "image": [ "data/nuscenes/samples/CAM_FRONT/n008-2018-08-29-16-04-13-0400__CAM_FRONT__1535573643162404.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_LEFT__1535573643154799.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_RIGHT__1535573643170482.jpg", "data/nuscenes/samples/CAM_BACK/n008-2018-08-29-16-04-13-0400__CAM_BACK__1535573643187558.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-29-16-04-13-0400__CAM_BACK_LEFT__1535573643197405.jpg", "data/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 ? Please select the correct answer from the following options: A. Reverse parking. B. Stopped. C. Turn right. D. Turn left." }, { "from": "gpt", "value": "C" } ] }, { "id": "e209e66ff7834490b212c16cb12a1ce9_ae26303a5e504a858c41c069876844ca_0", "image": [ "data/nuscenes/samples/CAM_FRONT/n008-2018-08-29-16-04-13-0400__CAM_FRONT__1535573643162404.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_LEFT__1535573643154799.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_RIGHT__1535573643170482.jpg", "data/nuscenes/samples/CAM_BACK/n008-2018-08-29-16-04-13-0400__CAM_BACK__1535573643187558.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-29-16-04-13-0400__CAM_BACK_LEFT__1535573643197405.jpg", "data/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 a traffic sign or a road barrier?" }, { "from": "gpt", "value": "No." } ] }, { "id": "e209e66ff7834490b212c16cb12a1ce9_ae26303a5e504a858c41c069876844ca_0", "image": [ "data/nuscenes/samples/CAM_FRONT/n008-2018-08-29-16-04-13-0400__CAM_FRONT__1535573643162404.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_LEFT__1535573643154799.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_RIGHT__1535573643170482.jpg", "data/nuscenes/samples/CAM_BACK/n008-2018-08-29-16-04-13-0400__CAM_BACK__1535573643187558.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-29-16-04-13-0400__CAM_BACK_LEFT__1535573643197405.jpg", "data/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 ? 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_1", "image": [ "data/nuscenes/samples/CAM_FRONT/n008-2018-08-29-16-04-13-0400__CAM_FRONT__1535573643162404.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_LEFT__1535573643154799.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_RIGHT__1535573643170482.jpg", "data/nuscenes/samples/CAM_BACK/n008-2018-08-29-16-04-13-0400__CAM_BACK__1535573643187558.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-29-16-04-13-0400__CAM_BACK_LEFT__1535573643197405.jpg", "data/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 ?" }, { "from": "gpt", "value": "Brake suddenly." } ] }, { "id": "e209e66ff7834490b212c16cb12a1ce9_ae26303a5e504a858c41c069876844ca_2", "image": [ "data/nuscenes/samples/CAM_FRONT/n008-2018-08-29-16-04-13-0400__CAM_FRONT__1535573643162404.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_LEFT__1535573643154799.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_RIGHT__1535573643170482.jpg", "data/nuscenes/samples/CAM_BACK/n008-2018-08-29-16-04-13-0400__CAM_BACK__1535573643187558.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-29-16-04-13-0400__CAM_BACK_LEFT__1535573643197405.jpg", "data/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": "69a38ccf0894467fbae658d28d4fd10a_30c9cfbbe0064f63857aa56590352c7b_0", "image": [ "data/nuscenes/samples/CAM_FRONT/n015-2018-11-14-19-09-14+0800__CAM_FRONT__1542193883412460.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-14-19-09-14+0800__CAM_FRONT_LEFT__1542193883404844.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-14-19-09-14+0800__CAM_FRONT_RIGHT__1542193883420339.jpg", "data/nuscenes/samples/CAM_BACK/n015-2018-11-14-19-09-14+0800__CAM_BACK__1542193883437525.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-14-19-09-14+0800__CAM_BACK_LEFT__1542193883447423.jpg", "data/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 , , and ." } ] }, { "id": "69a38ccf0894467fbae658d28d4fd10a_30c9cfbbe0064f63857aa56590352c7b_0", "image": [ "data/nuscenes/samples/CAM_FRONT/n015-2018-11-14-19-09-14+0800__CAM_FRONT__1542193883412460.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-14-19-09-14+0800__CAM_FRONT_LEFT__1542193883404844.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-14-19-09-14+0800__CAM_FRONT_RIGHT__1542193883420339.jpg", "data/nuscenes/samples/CAM_BACK/n015-2018-11-14-19-09-14+0800__CAM_BACK__1542193883437525.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-14-19-09-14+0800__CAM_BACK_LEFT__1542193883447423.jpg", "data/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 ? 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_1", "image": [ "data/nuscenes/samples/CAM_FRONT/n015-2018-11-14-19-09-14+0800__CAM_FRONT__1542193883412460.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-14-19-09-14+0800__CAM_FRONT_LEFT__1542193883404844.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-14-19-09-14+0800__CAM_FRONT_RIGHT__1542193883420339.jpg", "data/nuscenes/samples/CAM_BACK/n015-2018-11-14-19-09-14+0800__CAM_BACK__1542193883437525.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-14-19-09-14+0800__CAM_BACK_LEFT__1542193883447423.jpg", "data/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_0", "image": [ "data/nuscenes/samples/CAM_FRONT/n015-2018-11-14-19-09-14+0800__CAM_FRONT__1542193883412460.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-14-19-09-14+0800__CAM_FRONT_LEFT__1542193883404844.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-14-19-09-14+0800__CAM_FRONT_RIGHT__1542193883420339.jpg", "data/nuscenes/samples/CAM_BACK/n015-2018-11-14-19-09-14+0800__CAM_BACK__1542193883437525.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-14-19-09-14+0800__CAM_BACK_LEFT__1542193883447423.jpg", "data/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. Please select the correct answer from the following options: A. The ego vehicle is steering to the left. The ego vehicle is driving with normal speed. B. The ego vehicle is slightly steering to the left. The ego vehicle is driving very fast. C. The ego vehicle is steering to the left. The ego vehicle is driving fast. D. The ego vehicle is going straight. The ego vehicle is driving very fast." }, { "from": "gpt", "value": "A" } ] }, { "id": "8fe2dd6f533646b39c8e81316597c52b_0181d81cbba2458fb23ee1f1627489d2_0", "image": [ "data/nuscenes/samples/CAM_FRONT/n015-2018-09-25-11-10-38+0800__CAM_FRONT__1537845396262460.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-25-11-10-38+0800__CAM_FRONT_LEFT__1537845396254844.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-25-11-10-38+0800__CAM_FRONT_RIGHT__1537845396270339.jpg", "data/nuscenes/samples/CAM_BACK/n015-2018-09-25-11-10-38+0800__CAM_BACK__1537845396287525.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-25-11-10-38+0800__CAM_BACK_LEFT__1537845396297423.jpg", "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-25-11-10-38+0800__CAM_BACK_RIGHT__1537845396277893.jpg" ], "tag": 2, "task": "perception", "conversations": [ { "from": "human", "value": "What are the 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 gray SUV to the front 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 , , , , and ." } ] }, { "id": "8fe2dd6f533646b39c8e81316597c52b_0181d81cbba2458fb23ee1f1627489d2_0", "image": [ "data/nuscenes/samples/CAM_FRONT/n015-2018-09-25-11-10-38+0800__CAM_FRONT__1537845396262460.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-25-11-10-38+0800__CAM_FRONT_LEFT__1537845396254844.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-25-11-10-38+0800__CAM_FRONT_RIGHT__1537845396270339.jpg", "data/nuscenes/samples/CAM_BACK/n015-2018-09-25-11-10-38+0800__CAM_BACK__1537845396287525.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-25-11-10-38+0800__CAM_BACK_LEFT__1537845396297423.jpg", "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-25-11-10-38+0800__CAM_BACK_RIGHT__1537845396277893.jpg" ], "tag": 1, "task": "planning", "conversations": [ { "from": "human", "value": "What actions could the ego vehicle take based on ? Why take this action and what's the probability?" }, { "from": "gpt", "value": "The action is to remain stationary, the reason is to avoid a collision, high." } ] }, { "id": "8fe2dd6f533646b39c8e81316597c52b_0181d81cbba2458fb23ee1f1627489d2_1", "image": [ "data/nuscenes/samples/CAM_FRONT/n015-2018-09-25-11-10-38+0800__CAM_FRONT__1537845396262460.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-25-11-10-38+0800__CAM_FRONT_LEFT__1537845396254844.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-25-11-10-38+0800__CAM_FRONT_RIGHT__1537845396270339.jpg", "data/nuscenes/samples/CAM_BACK/n015-2018-09-25-11-10-38+0800__CAM_BACK__1537845396287525.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-25-11-10-38+0800__CAM_BACK_LEFT__1537845396297423.jpg", "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-25-11-10-38+0800__CAM_BACK_RIGHT__1537845396277893.jpg" ], "tag": 1, "task": "planning", "conversations": [ { "from": "human", "value": "What actions taken by the ego vehicle can lead to a collision with ?" }, { "from": "gpt", "value": "Back up." } ] }, { "id": "8fe2dd6f533646b39c8e81316597c52b_0181d81cbba2458fb23ee1f1627489d2_2", "image": [ "data/nuscenes/samples/CAM_FRONT/n015-2018-09-25-11-10-38+0800__CAM_FRONT__1537845396262460.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-25-11-10-38+0800__CAM_FRONT_LEFT__1537845396254844.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-25-11-10-38+0800__CAM_FRONT_RIGHT__1537845396270339.jpg", "data/nuscenes/samples/CAM_BACK/n015-2018-09-25-11-10-38+0800__CAM_BACK__1537845396287525.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-25-11-10-38+0800__CAM_BACK_LEFT__1537845396297423.jpg", "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-25-11-10-38+0800__CAM_BACK_RIGHT__1537845396277893.jpg" ], "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": "f57957ebc5654b649a0786d993b64be4_92703e98474d49fbbfb51adb2d5b8c8e_0", "image": [ "data/nuscenes/samples/CAM_FRONT/n015-2018-08-01-16-41-59+0800__CAM_FRONT__1533112993412460.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-16-41-59+0800__CAM_FRONT_LEFT__1533112993404844.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-16-41-59+0800__CAM_FRONT_RIGHT__1533112993420339.jpg", "data/nuscenes/samples/CAM_BACK/n015-2018-08-01-16-41-59+0800__CAM_BACK__1533112993437525.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-16-41-59+0800__CAM_BACK_LEFT__1533112993447423.jpg", "data/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 , , and ." } ] }, { "id": "f57957ebc5654b649a0786d993b64be4_92703e98474d49fbbfb51adb2d5b8c8e_0", "image": [ "data/nuscenes/samples/CAM_FRONT/n015-2018-08-01-16-41-59+0800__CAM_FRONT__1533112993412460.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-16-41-59+0800__CAM_FRONT_LEFT__1533112993404844.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-16-41-59+0800__CAM_FRONT_RIGHT__1533112993420339.jpg", "data/nuscenes/samples/CAM_BACK/n015-2018-08-01-16-41-59+0800__CAM_BACK__1533112993437525.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-16-41-59+0800__CAM_BACK_LEFT__1533112993447423.jpg", "data/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 ? 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_1", "image": [ "data/nuscenes/samples/CAM_FRONT/n015-2018-08-01-16-41-59+0800__CAM_FRONT__1533112993412460.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-16-41-59+0800__CAM_FRONT_LEFT__1533112993404844.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-16-41-59+0800__CAM_FRONT_RIGHT__1533112993420339.jpg", "data/nuscenes/samples/CAM_BACK/n015-2018-08-01-16-41-59+0800__CAM_BACK__1533112993437525.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-16-41-59+0800__CAM_BACK_LEFT__1533112993447423.jpg", "data/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 ?" }, { "from": "gpt", "value": "Changing to the right lane." } ] }, { "id": "f57957ebc5654b649a0786d993b64be4_92703e98474d49fbbfb51adb2d5b8c8e_2", "image": [ "data/nuscenes/samples/CAM_FRONT/n015-2018-08-01-16-41-59+0800__CAM_FRONT__1533112993412460.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-16-41-59+0800__CAM_FRONT_LEFT__1533112993404844.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-16-41-59+0800__CAM_FRONT_RIGHT__1533112993420339.jpg", "data/nuscenes/samples/CAM_BACK/n015-2018-08-01-16-41-59+0800__CAM_BACK__1533112993437525.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-16-41-59+0800__CAM_BACK_LEFT__1533112993447423.jpg", "data/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": "6520b5f0d568414c973f791b30ee1548_f3d7cea3b7fb44f0a47a88f6223e6760_0", "image": [ "data/nuscenes/samples/CAM_FRONT/n015-2018-07-18-11-50-34+0800__CAM_FRONT__1531886165012462.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_LEFT__1531886165004844.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_RIGHT__1531886165020339.jpg", "data/nuscenes/samples/CAM_BACK/n015-2018-07-18-11-50-34+0800__CAM_BACK__1531886165037525.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-18-11-50-34+0800__CAM_BACK_LEFT__1531886165047423.jpg", "data/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 , , , , , and ." } ] }, { "id": "6520b5f0d568414c973f791b30ee1548_f3d7cea3b7fb44f0a47a88f6223e6760_0", "image": [ "data/nuscenes/samples/CAM_FRONT/n015-2018-07-18-11-50-34+0800__CAM_FRONT__1531886165012462.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_LEFT__1531886165004844.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_RIGHT__1531886165020339.jpg", "data/nuscenes/samples/CAM_BACK/n015-2018-07-18-11-50-34+0800__CAM_BACK__1531886165037525.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-18-11-50-34+0800__CAM_BACK_LEFT__1531886165047423.jpg", "data/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 ? 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_1", "image": [ "data/nuscenes/samples/CAM_FRONT/n015-2018-07-18-11-50-34+0800__CAM_FRONT__1531886165012462.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_LEFT__1531886165004844.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_RIGHT__1531886165020339.jpg", "data/nuscenes/samples/CAM_BACK/n015-2018-07-18-11-50-34+0800__CAM_BACK__1531886165037525.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-18-11-50-34+0800__CAM_BACK_LEFT__1531886165047423.jpg", "data/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 ?" }, { "from": "gpt", "value": "Sharp left turn." } ] }, { "id": "6520b5f0d568414c973f791b30ee1548_f3d7cea3b7fb44f0a47a88f6223e6760_2", "image": [ "data/nuscenes/samples/CAM_FRONT/n015-2018-07-18-11-50-34+0800__CAM_FRONT__1531886165012462.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_LEFT__1531886165004844.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_RIGHT__1531886165020339.jpg", "data/nuscenes/samples/CAM_BACK/n015-2018-07-18-11-50-34+0800__CAM_BACK__1531886165037525.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-18-11-50-34+0800__CAM_BACK_LEFT__1531886165047423.jpg", "data/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_d3685fbdf49b4d569f45f7f638f7917e_0", "image": [ "data/nuscenes/samples/CAM_FRONT/n015-2018-07-18-11-50-34+0800__CAM_FRONT__1531886175662460.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_LEFT__1531886175654844.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_RIGHT__1531886175670339.jpg", "data/nuscenes/samples/CAM_BACK/n015-2018-07-18-11-50-34+0800__CAM_BACK__1531886175687525.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-18-11-50-34+0800__CAM_BACK_LEFT__1531886175697423.jpg", "data/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 , , , , , and ." } ] }, { "id": "6520b5f0d568414c973f791b30ee1548_d3685fbdf49b4d569f45f7f638f7917e_0", "image": [ "data/nuscenes/samples/CAM_FRONT/n015-2018-07-18-11-50-34+0800__CAM_FRONT__1531886175662460.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_LEFT__1531886175654844.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_RIGHT__1531886175670339.jpg", "data/nuscenes/samples/CAM_BACK/n015-2018-07-18-11-50-34+0800__CAM_BACK__1531886175687525.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-18-11-50-34+0800__CAM_BACK_LEFT__1531886175697423.jpg", "data/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 ? 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_1", "image": [ "data/nuscenes/samples/CAM_FRONT/n015-2018-07-18-11-50-34+0800__CAM_FRONT__1531886175662460.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_LEFT__1531886175654844.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_RIGHT__1531886175670339.jpg", "data/nuscenes/samples/CAM_BACK/n015-2018-07-18-11-50-34+0800__CAM_BACK__1531886175687525.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-18-11-50-34+0800__CAM_BACK_LEFT__1531886175697423.jpg", "data/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 ?" }, { "from": "gpt", "value": "Back up." } ] }, { "id": "6520b5f0d568414c973f791b30ee1548_d3685fbdf49b4d569f45f7f638f7917e_2", "image": [ "data/nuscenes/samples/CAM_FRONT/n015-2018-07-18-11-50-34+0800__CAM_FRONT__1531886175662460.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_LEFT__1531886175654844.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_RIGHT__1531886175670339.jpg", "data/nuscenes/samples/CAM_BACK/n015-2018-07-18-11-50-34+0800__CAM_BACK__1531886175687525.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-18-11-50-34+0800__CAM_BACK_LEFT__1531886175697423.jpg", "data/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": "e9a94a93c36a4adb831eb67ec8bdf289_b9cf9c6bd43643dbb57f96b022b92e2f_0", "image": [ "data/nuscenes/samples/CAM_FRONT/n008-2018-08-01-15-52-19-0400__CAM_FRONT__1533153748162404.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_LEFT__1533153748154799.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_RIGHT__1533153748170482.jpg", "data/nuscenes/samples/CAM_BACK/n008-2018-08-01-15-52-19-0400__CAM_BACK__1533153748187558.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-01-15-52-19-0400__CAM_BACK_LEFT__1533153748197405.jpg", "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_BACK_RIGHT__1533153748178113.jpg" ], "tag": 2, "task": "perception", "conversations": [ { "from": "human", "value": "What are the 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 sign to the front right of the ego vehicle, a pedestrian crosswalk markings to the front of the ego vehicle, and a direction sign to the front of the ego vehicle. The IDs of these objects are , , and ." } ] }, { "id": "e9a94a93c36a4adb831eb67ec8bdf289_b9cf9c6bd43643dbb57f96b022b92e2f_0", "image": [ "data/nuscenes/samples/CAM_FRONT/n008-2018-08-01-15-52-19-0400__CAM_FRONT__1533153748162404.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_LEFT__1533153748154799.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_RIGHT__1533153748170482.jpg", "data/nuscenes/samples/CAM_BACK/n008-2018-08-01-15-52-19-0400__CAM_BACK__1533153748187558.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-01-15-52-19-0400__CAM_BACK_LEFT__1533153748197405.jpg", "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_BACK_RIGHT__1533153748178113.jpg" ], "tag": 0, "task": "prediction", "conversations": [ { "from": "human", "value": "Is a traffic sign or a road barrier?" }, { "from": "gpt", "value": "Yes." } ] }, { "id": "e9a94a93c36a4adb831eb67ec8bdf289_b9cf9c6bd43643dbb57f96b022b92e2f_0", "image": [ "data/nuscenes/samples/CAM_FRONT/n008-2018-08-01-15-52-19-0400__CAM_FRONT__1533153748162404.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_LEFT__1533153748154799.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_RIGHT__1533153748170482.jpg", "data/nuscenes/samples/CAM_BACK/n008-2018-08-01-15-52-19-0400__CAM_BACK__1533153748187558.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-01-15-52-19-0400__CAM_BACK_LEFT__1533153748197405.jpg", "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_BACK_RIGHT__1533153748178113.jpg" ], "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, back up, or brake suddenly." } ] }, { "id": "e9a94a93c36a4adb831eb67ec8bdf289_b9cf9c6bd43643dbb57f96b022b92e2f_0", "image": [ "data/nuscenes/samples/CAM_FRONT/n008-2018-08-01-15-52-19-0400__CAM_FRONT__1533153748162404.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_LEFT__1533153748154799.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_RIGHT__1533153748170482.jpg", "data/nuscenes/samples/CAM_BACK/n008-2018-08-01-15-52-19-0400__CAM_BACK__1533153748187558.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-01-15-52-19-0400__CAM_BACK_LEFT__1533153748197405.jpg", "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_BACK_RIGHT__1533153748178113.jpg" ], "tag": 0, "task": "behavior", "conversations": [ { "from": "human", "value": "Predict the behavior of the ego vehicle. Please select the correct answer from the following options: A. The ego vehicle is going straight. The ego vehicle is driving with normal speed. B. The ego vehicle is steering to the left. The ego vehicle is driving fast. C. The ego vehicle is steering to the right. The ego vehicle is driving fast. D. The ego vehicle is slightly steering to the left. The ego vehicle is driving slowly." }, { "from": "gpt", "value": "C" } ] }, { "id": "5c76a3728b8b4d02ae20bd69fb928aa1_abfad6a00c194660abc85b9a1f215190_0", "image": [ "data/nuscenes/samples/CAM_FRONT/n008-2018-09-18-12-53-31-0400__CAM_FRONT__1537290306912404.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-12-53-31-0400__CAM_FRONT_LEFT__1537290306904799.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-12-53-31-0400__CAM_FRONT_RIGHT__1537290306920482.jpg", "data/nuscenes/samples/CAM_BACK/n008-2018-09-18-12-53-31-0400__CAM_BACK__1537290306937558.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-12-53-31-0400__CAM_BACK_LEFT__1537290306947405.jpg", "data/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 ? Please select the correct answer from the following options: A. Going ahead. B. Turn left. C. Turn right. D. Back up." }, { "from": "gpt", "value": "C" } ] }, { "id": "5c76a3728b8b4d02ae20bd69fb928aa1_abfad6a00c194660abc85b9a1f215190_0", "image": [ "data/nuscenes/samples/CAM_FRONT/n008-2018-09-18-12-53-31-0400__CAM_FRONT__1537290306912404.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-12-53-31-0400__CAM_FRONT_LEFT__1537290306904799.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-12-53-31-0400__CAM_FRONT_RIGHT__1537290306920482.jpg", "data/nuscenes/samples/CAM_BACK/n008-2018-09-18-12-53-31-0400__CAM_BACK__1537290306937558.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-12-53-31-0400__CAM_BACK_LEFT__1537290306947405.jpg", "data/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 ?" }, { "from": "gpt", "value": "Back up." } ] }, { "id": "5c76a3728b8b4d02ae20bd69fb928aa1_abfad6a00c194660abc85b9a1f215190_1", "image": [ "data/nuscenes/samples/CAM_FRONT/n008-2018-09-18-12-53-31-0400__CAM_FRONT__1537290306912404.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-12-53-31-0400__CAM_FRONT_LEFT__1537290306904799.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-12-53-31-0400__CAM_FRONT_RIGHT__1537290306920482.jpg", "data/nuscenes/samples/CAM_BACK/n008-2018-09-18-12-53-31-0400__CAM_BACK__1537290306937558.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-12-53-31-0400__CAM_BACK_LEFT__1537290306947405.jpg", "data/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_0", "image": [ "data/nuscenes/samples/CAM_FRONT/n008-2018-09-18-12-53-31-0400__CAM_FRONT__1537290306912404.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-12-53-31-0400__CAM_FRONT_LEFT__1537290306904799.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-12-53-31-0400__CAM_FRONT_RIGHT__1537290306920482.jpg", "data/nuscenes/samples/CAM_BACK/n008-2018-09-18-12-53-31-0400__CAM_BACK__1537290306937558.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-12-53-31-0400__CAM_BACK_LEFT__1537290306947405.jpg", "data/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. Please select the correct answer from the following options: A. The ego vehicle is going straight. The ego vehicle is driving fast. B. The ego vehicle is slightly steering to the left. The ego vehicle is driving slowly. C. The ego vehicle is slightly steering to the left. The ego vehicle is driving fast. D. The ego vehicle is slightly steering to the right. The ego vehicle is driving very fast." }, { "from": "gpt", "value": "C" } ] }, { "id": "97349fd50e694a5f994b0954047b96d0_8ea8105467d64bf395af8361ce150357_0", "image": [ "data/nuscenes/samples/CAM_FRONT/n008-2018-08-27-11-48-51-0400__CAM_FRONT__1535385266162404.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_LEFT__1535385266154799.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_RIGHT__1535385266170482.jpg", "data/nuscenes/samples/CAM_BACK/n008-2018-08-27-11-48-51-0400__CAM_BACK__1535385266187558.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-27-11-48-51-0400__CAM_BACK_LEFT__1535385266197405.jpg", "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-27-11-48-51-0400__CAM_BACK_RIGHT__1535385266178113.jpg" ], "tag": 2, "task": "perception", "conversations": [ { "from": "human", "value": "What are the 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 left of the ego vehicle, a gray sedan to the front right of the ego vehicle, a white sedan to the back left of the ego vehicle, a yellow no entry road barrier to the front of the ego vehicle, and a blue sedan to the back of the ego vehicle. The IDs of these objects are , , , , , and ." } ] }, { "id": "97349fd50e694a5f994b0954047b96d0_8ea8105467d64bf395af8361ce150357_0", "image": [ "data/nuscenes/samples/CAM_FRONT/n008-2018-08-27-11-48-51-0400__CAM_FRONT__1535385266162404.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_LEFT__1535385266154799.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_RIGHT__1535385266170482.jpg", "data/nuscenes/samples/CAM_BACK/n008-2018-08-27-11-48-51-0400__CAM_BACK__1535385266187558.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-27-11-48-51-0400__CAM_BACK_LEFT__1535385266197405.jpg", "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-27-11-48-51-0400__CAM_BACK_RIGHT__1535385266178113.jpg" ], "tag": 1, "task": "planning", "conversations": [ { "from": "human", "value": "What actions could the ego vehicle take based on ? Why take this action and what's the probability?" }, { "from": "gpt", "value": "The action is to turn left. The reason is that there is no safety issue, and the probability is high." } ] }, { "id": "97349fd50e694a5f994b0954047b96d0_8ea8105467d64bf395af8361ce150357_1", "image": [ "data/nuscenes/samples/CAM_FRONT/n008-2018-08-27-11-48-51-0400__CAM_FRONT__1535385266162404.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_LEFT__1535385266154799.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_RIGHT__1535385266170482.jpg", "data/nuscenes/samples/CAM_BACK/n008-2018-08-27-11-48-51-0400__CAM_BACK__1535385266187558.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-27-11-48-51-0400__CAM_BACK_LEFT__1535385266197405.jpg", "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-27-11-48-51-0400__CAM_BACK_RIGHT__1535385266178113.jpg" ], "tag": 1, "task": "planning", "conversations": [ { "from": "human", "value": "What actions taken by the ego vehicle can lead to a collision with ?" }, { "from": "gpt", "value": "Back up." } ] }, { "id": "97349fd50e694a5f994b0954047b96d0_8ea8105467d64bf395af8361ce150357_2", "image": [ "data/nuscenes/samples/CAM_FRONT/n008-2018-08-27-11-48-51-0400__CAM_FRONT__1535385266162404.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_LEFT__1535385266154799.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_RIGHT__1535385266170482.jpg", "data/nuscenes/samples/CAM_BACK/n008-2018-08-27-11-48-51-0400__CAM_BACK__1535385266187558.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-27-11-48-51-0400__CAM_BACK_LEFT__1535385266197405.jpg", "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-27-11-48-51-0400__CAM_BACK_RIGHT__1535385266178113.jpg" ], "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": "97349fd50e694a5f994b0954047b96d0_c42bcde31f894f28bdaa7994f8a03a34_0", "image": [ "data/nuscenes/samples/CAM_FRONT/n008-2018-08-27-11-48-51-0400__CAM_FRONT__1535385270612410.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_LEFT__1535385270604799.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_RIGHT__1535385270620482.jpg", "data/nuscenes/samples/CAM_BACK/n008-2018-08-27-11-48-51-0400__CAM_BACK__1535385270637558.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-27-11-48-51-0400__CAM_BACK_LEFT__1535385270647405.jpg", "data/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 , , , and ." } ] }, { "id": "97349fd50e694a5f994b0954047b96d0_c42bcde31f894f28bdaa7994f8a03a34_1", "image": [ "data/nuscenes/samples/CAM_FRONT/n008-2018-08-27-11-48-51-0400__CAM_FRONT__1535385270612410.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_LEFT__1535385270604799.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_RIGHT__1535385270620482.jpg", "data/nuscenes/samples/CAM_BACK/n008-2018-08-27-11-48-51-0400__CAM_BACK__1535385270637558.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-27-11-48-51-0400__CAM_BACK_LEFT__1535385270647405.jpg", "data/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 ? Please select the correct answer from the following options: A. Turn left. B. Stopped. C. Reverse parking. D. Turn right." }, { "from": "gpt", "value": "A" } ] }, { "id": "97349fd50e694a5f994b0954047b96d0_c42bcde31f894f28bdaa7994f8a03a34_0", "image": [ "data/nuscenes/samples/CAM_FRONT/n008-2018-08-27-11-48-51-0400__CAM_FRONT__1535385270612410.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_LEFT__1535385270604799.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_RIGHT__1535385270620482.jpg", "data/nuscenes/samples/CAM_BACK/n008-2018-08-27-11-48-51-0400__CAM_BACK__1535385270637558.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-27-11-48-51-0400__CAM_BACK_LEFT__1535385270647405.jpg", "data/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 ? 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_1", "image": [ "data/nuscenes/samples/CAM_FRONT/n008-2018-08-27-11-48-51-0400__CAM_FRONT__1535385270612410.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_LEFT__1535385270604799.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_RIGHT__1535385270620482.jpg", "data/nuscenes/samples/CAM_BACK/n008-2018-08-27-11-48-51-0400__CAM_BACK__1535385270637558.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-27-11-48-51-0400__CAM_BACK_LEFT__1535385270647405.jpg", "data/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 ?" }, { "from": "gpt", "value": "Brake suddenly." } ] }, { "id": "97349fd50e694a5f994b0954047b96d0_c42bcde31f894f28bdaa7994f8a03a34_2", "image": [ "data/nuscenes/samples/CAM_FRONT/n008-2018-08-27-11-48-51-0400__CAM_FRONT__1535385270612410.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_LEFT__1535385270604799.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_RIGHT__1535385270620482.jpg", "data/nuscenes/samples/CAM_BACK/n008-2018-08-27-11-48-51-0400__CAM_BACK__1535385270637558.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-27-11-48-51-0400__CAM_BACK_LEFT__1535385270647405.jpg", "data/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_ba4005685cc844b5b77be741adfde966_0", "image": [ "data/nuscenes/samples/CAM_FRONT/n008-2018-08-27-11-48-51-0400__CAM_FRONT__1535385269112415.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_LEFT__1535385269104799.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_RIGHT__1535385269120482.jpg", "data/nuscenes/samples/CAM_BACK/n008-2018-08-27-11-48-51-0400__CAM_BACK__1535385269137558.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-27-11-48-51-0400__CAM_BACK_LEFT__1535385269147405.jpg", "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-27-11-48-51-0400__CAM_BACK_RIGHT__1535385269128113.jpg" ], "tag": 2, "task": "perception", "conversations": [ { "from": "human", "value": "What are the 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, a obstacle 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 , , , and ." } ] }, { "id": "97349fd50e694a5f994b0954047b96d0_ba4005685cc844b5b77be741adfde966_0", "image": [ "data/nuscenes/samples/CAM_FRONT/n008-2018-08-27-11-48-51-0400__CAM_FRONT__1535385269112415.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_LEFT__1535385269104799.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_RIGHT__1535385269120482.jpg", "data/nuscenes/samples/CAM_BACK/n008-2018-08-27-11-48-51-0400__CAM_BACK__1535385269137558.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-27-11-48-51-0400__CAM_BACK_LEFT__1535385269147405.jpg", "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-27-11-48-51-0400__CAM_BACK_RIGHT__1535385269128113.jpg" ], "tag": 1, "task": "planning", "conversations": [ { "from": "human", "value": "What actions taken by the ego vehicle can lead to a collision with ?" }, { "from": "gpt", "value": "No action taken by the ego vehicle will lead to a collision with ." } ] }, { "id": "97349fd50e694a5f994b0954047b96d0_ba4005685cc844b5b77be741adfde966_1", "image": [ "data/nuscenes/samples/CAM_FRONT/n008-2018-08-27-11-48-51-0400__CAM_FRONT__1535385269112415.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_LEFT__1535385269104799.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_RIGHT__1535385269120482.jpg", "data/nuscenes/samples/CAM_BACK/n008-2018-08-27-11-48-51-0400__CAM_BACK__1535385269137558.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-27-11-48-51-0400__CAM_BACK_LEFT__1535385269147405.jpg", "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-27-11-48-51-0400__CAM_BACK_RIGHT__1535385269128113.jpg" ], "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": "97349fd50e694a5f994b0954047b96d0_ba4005685cc844b5b77be741adfde966_0", "image": [ "data/nuscenes/samples/CAM_FRONT/n008-2018-08-27-11-48-51-0400__CAM_FRONT__1535385269112415.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_LEFT__1535385269104799.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_RIGHT__1535385269120482.jpg", "data/nuscenes/samples/CAM_BACK/n008-2018-08-27-11-48-51-0400__CAM_BACK__1535385269137558.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-27-11-48-51-0400__CAM_BACK_LEFT__1535385269147405.jpg", "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-27-11-48-51-0400__CAM_BACK_RIGHT__1535385269128113.jpg" ], "tag": 0, "task": "behavior", "conversations": [ { "from": "human", "value": "Predict the behavior of the ego vehicle. Please select the correct answer from the following options: A. The ego vehicle is steering to the left. The ego vehicle is driving fast. B. The ego vehicle is steering to the left. The ego vehicle is driving with normal speed. C. The ego vehicle is slightly steering to the right. The ego vehicle is driving very fast. D. The ego vehicle is slightly steering to the left. The ego vehicle is driving slowly." }, { "from": "gpt", "value": "B" } ] }, { "id": "43017e1e57174925ae241b2ebff7991b_8fc8d97d3bd54c87bf5f92d5f8bcd226_0", "image": [ "data/nuscenes/samples/CAM_FRONT/n015-2018-09-26-11-17-24+0800__CAM_FRONT__1537932172862460.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-26-11-17-24+0800__CAM_FRONT_LEFT__1537932172854844.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-26-11-17-24+0800__CAM_FRONT_RIGHT__1537932172870339.jpg", "data/nuscenes/samples/CAM_BACK/n015-2018-09-26-11-17-24+0800__CAM_BACK__1537932172887525.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-26-11-17-24+0800__CAM_BACK_LEFT__1537932172897423.jpg", "data/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 , , , and ." } ] }, { "id": "43017e1e57174925ae241b2ebff7991b_8fc8d97d3bd54c87bf5f92d5f8bcd226_0", "image": [ "data/nuscenes/samples/CAM_FRONT/n015-2018-09-26-11-17-24+0800__CAM_FRONT__1537932172862460.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-26-11-17-24+0800__CAM_FRONT_LEFT__1537932172854844.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-26-11-17-24+0800__CAM_FRONT_RIGHT__1537932172870339.jpg", "data/nuscenes/samples/CAM_BACK/n015-2018-09-26-11-17-24+0800__CAM_BACK__1537932172887525.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-26-11-17-24+0800__CAM_BACK_LEFT__1537932172897423.jpg", "data/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 ? 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_1", "image": [ "data/nuscenes/samples/CAM_FRONT/n015-2018-09-26-11-17-24+0800__CAM_FRONT__1537932172862460.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-26-11-17-24+0800__CAM_FRONT_LEFT__1537932172854844.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-26-11-17-24+0800__CAM_FRONT_RIGHT__1537932172870339.jpg", "data/nuscenes/samples/CAM_BACK/n015-2018-09-26-11-17-24+0800__CAM_BACK__1537932172887525.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-26-11-17-24+0800__CAM_BACK_LEFT__1537932172897423.jpg", "data/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 ?" }, { "from": "gpt", "value": "No such action will lead to a collision." } ] }, { "id": "43017e1e57174925ae241b2ebff7991b_8fc8d97d3bd54c87bf5f92d5f8bcd226_2", "image": [ "data/nuscenes/samples/CAM_FRONT/n015-2018-09-26-11-17-24+0800__CAM_FRONT__1537932172862460.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-26-11-17-24+0800__CAM_FRONT_LEFT__1537932172854844.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-26-11-17-24+0800__CAM_FRONT_RIGHT__1537932172870339.jpg", "data/nuscenes/samples/CAM_BACK/n015-2018-09-26-11-17-24+0800__CAM_BACK__1537932172887525.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-26-11-17-24+0800__CAM_BACK_LEFT__1537932172897423.jpg", "data/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": "7deb4760e2244f32b57f9d631b535b66_536c2a1199ac4b20bcb1e06484317ea5_0", "image": [ "data/nuscenes/samples/CAM_FRONT/n015-2018-07-18-11-18-34+0800__CAM_FRONT__1531884173912465.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-18-11-18-34+0800__CAM_FRONT_LEFT__1531884173904844.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-18-11-18-34+0800__CAM_FRONT_RIGHT__1531884173920339.jpg", "data/nuscenes/samples/CAM_BACK/n015-2018-07-18-11-18-34+0800__CAM_BACK__1531884173937525.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-18-11-18-34+0800__CAM_BACK_LEFT__1531884173947423.jpg", "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-18-11-18-34+0800__CAM_BACK_RIGHT__1531884173927893.jpg" ], "tag": 2, "task": "perception", "conversations": [ { "from": "human", "value": "What are the important 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 suit pedestrian to the front of the ego vehicle, and a white arrow to the front of the ego vehicle. The IDs of these objects are , , and ." } ] }, { "id": "7deb4760e2244f32b57f9d631b535b66_536c2a1199ac4b20bcb1e06484317ea5_0", "image": [ "data/nuscenes/samples/CAM_FRONT/n015-2018-07-18-11-18-34+0800__CAM_FRONT__1531884173912465.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-18-11-18-34+0800__CAM_FRONT_LEFT__1531884173904844.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-18-11-18-34+0800__CAM_FRONT_RIGHT__1531884173920339.jpg", "data/nuscenes/samples/CAM_BACK/n015-2018-07-18-11-18-34+0800__CAM_BACK__1531884173937525.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-18-11-18-34+0800__CAM_BACK_LEFT__1531884173947423.jpg", "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-18-11-18-34+0800__CAM_BACK_RIGHT__1531884173927893.jpg" ], "tag": 1, "task": "planning", "conversations": [ { "from": "human", "value": "What actions could the ego vehicle take based on ? Why take this action and what's the probability?" }, { "from": "gpt", "value": "The action is to decelerate gradually without braking because there is no safety issue. The probability of this action is high." } ] }, { "id": "7deb4760e2244f32b57f9d631b535b66_536c2a1199ac4b20bcb1e06484317ea5_1", "image": [ "data/nuscenes/samples/CAM_FRONT/n015-2018-07-18-11-18-34+0800__CAM_FRONT__1531884173912465.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-18-11-18-34+0800__CAM_FRONT_LEFT__1531884173904844.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-18-11-18-34+0800__CAM_FRONT_RIGHT__1531884173920339.jpg", "data/nuscenes/samples/CAM_BACK/n015-2018-07-18-11-18-34+0800__CAM_BACK__1531884173937525.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-18-11-18-34+0800__CAM_BACK_LEFT__1531884173947423.jpg", "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-18-11-18-34+0800__CAM_BACK_RIGHT__1531884173927893.jpg" ], "tag": 1, "task": "planning", "conversations": [ { "from": "human", "value": "What actions taken by the ego vehicle can lead to a collision with ?" }, { "from": "gpt", "value": "Sharp left turn." } ] }, { "id": "7deb4760e2244f32b57f9d631b535b66_536c2a1199ac4b20bcb1e06484317ea5_2", "image": [ "data/nuscenes/samples/CAM_FRONT/n015-2018-07-18-11-18-34+0800__CAM_FRONT__1531884173912465.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-18-11-18-34+0800__CAM_FRONT_LEFT__1531884173904844.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-18-11-18-34+0800__CAM_FRONT_RIGHT__1531884173920339.jpg", "data/nuscenes/samples/CAM_BACK/n015-2018-07-18-11-18-34+0800__CAM_BACK__1531884173937525.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-18-11-18-34+0800__CAM_BACK_LEFT__1531884173947423.jpg", "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-18-11-18-34+0800__CAM_BACK_RIGHT__1531884173927893.jpg" ], "tag": 1, "task": "planning", "conversations": [ { "from": "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": "8d267899e2e843d4905fafd1f12c0a20_16073ccd9bbe4dd992efe901ebb60bee_0", "image": [ "data/nuscenes/samples/CAM_FRONT/n015-2018-11-21-19-38-26+0800__CAM_FRONT__1542800555862460.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_LEFT__1542800555854844.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_RIGHT__1542800555870339.jpg", "data/nuscenes/samples/CAM_BACK/n015-2018-11-21-19-38-26+0800__CAM_BACK__1542800555887525.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-21-19-38-26+0800__CAM_BACK_LEFT__1542800555897423.jpg", "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_BACK_RIGHT__1542800555877893.jpg" ], "tag": 2, "task": "perception", "conversations": [ { "from": "human", "value": "What are the important 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 of the ego vehicle, a red car to the back of the ego vehicle, a blue 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 , , , , and ." } ] }, { "id": "8d267899e2e843d4905fafd1f12c0a20_16073ccd9bbe4dd992efe901ebb60bee_0", "image": [ "data/nuscenes/samples/CAM_FRONT/n015-2018-11-21-19-38-26+0800__CAM_FRONT__1542800555862460.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_LEFT__1542800555854844.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_RIGHT__1542800555870339.jpg", "data/nuscenes/samples/CAM_BACK/n015-2018-11-21-19-38-26+0800__CAM_BACK__1542800555887525.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-21-19-38-26+0800__CAM_BACK_LEFT__1542800555897423.jpg", "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_BACK_RIGHT__1542800555877893.jpg" ], "tag": 1, "task": "planning", "conversations": [ { "from": "human", "value": "What actions could the ego vehicle take based on ? Why take this action and what's the probability?" }, { "from": "gpt", "value": "The action is to turn left, the reason is to avoid a collision, high probability." } ] }, { "id": "8d267899e2e843d4905fafd1f12c0a20_16073ccd9bbe4dd992efe901ebb60bee_1", "image": [ "data/nuscenes/samples/CAM_FRONT/n015-2018-11-21-19-38-26+0800__CAM_FRONT__1542800555862460.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_LEFT__1542800555854844.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_RIGHT__1542800555870339.jpg", "data/nuscenes/samples/CAM_BACK/n015-2018-11-21-19-38-26+0800__CAM_BACK__1542800555887525.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-21-19-38-26+0800__CAM_BACK_LEFT__1542800555897423.jpg", "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_BACK_RIGHT__1542800555877893.jpg" ], "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": "8d267899e2e843d4905fafd1f12c0a20_16073ccd9bbe4dd992efe901ebb60bee_0", "image": [ "data/nuscenes/samples/CAM_FRONT/n015-2018-11-21-19-38-26+0800__CAM_FRONT__1542800555862460.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_LEFT__1542800555854844.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_RIGHT__1542800555870339.jpg", "data/nuscenes/samples/CAM_BACK/n015-2018-11-21-19-38-26+0800__CAM_BACK__1542800555887525.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-21-19-38-26+0800__CAM_BACK_LEFT__1542800555897423.jpg", "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_BACK_RIGHT__1542800555877893.jpg" ], "tag": 0, "task": "behavior", "conversations": [ { "from": "human", "value": "Predict the behavior of the ego vehicle. Please select the correct answer from the following options: A. The ego vehicle is going straight. The ego vehicle is driving with normal speed. B. The ego vehicle is steering to the left. The ego vehicle is driving with normal speed. C. The ego vehicle is slightly steering to the right. The ego vehicle is driving fast. D. The ego vehicle is steering to the left. The ego vehicle is driving very fast." }, { "from": "gpt", "value": "B" } ] }, { "id": "affb0caa5d2948f98cee5c42c7aefc1c_c3c532876d074b8e8f3ced637e7f9e7a_0", "image": [ "data/nuscenes/samples/CAM_FRONT/n015-2018-11-21-19-38-26+0800__CAM_FRONT__1542800528912460.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_LEFT__1542800528904844.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_RIGHT__1542800528920339.jpg", "data/nuscenes/samples/CAM_BACK/n015-2018-11-21-19-38-26+0800__CAM_BACK__1542800528937525.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-21-19-38-26+0800__CAM_BACK_LEFT__1542800528947423.jpg", "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_BACK_RIGHT__1542800528927893.jpg" ], "tag": 2, "task": "perception", "conversations": [ { "from": "human", "value": "What are the 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 and white bus to the front left of the ego vehicle, and a black sedan to the front of the ego vehicle. The IDs of these objects are , , and ." } ] }, { "id": "affb0caa5d2948f98cee5c42c7aefc1c_c3c532876d074b8e8f3ced637e7f9e7a_1", "image": [ "data/nuscenes/samples/CAM_FRONT/n015-2018-11-21-19-38-26+0800__CAM_FRONT__1542800528912460.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_LEFT__1542800528904844.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_RIGHT__1542800528920339.jpg", "data/nuscenes/samples/CAM_BACK/n015-2018-11-21-19-38-26+0800__CAM_BACK__1542800528937525.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-21-19-38-26+0800__CAM_BACK_LEFT__1542800528947423.jpg", "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_BACK_RIGHT__1542800528927893.jpg" ], "tag": 0, "task": "perception", "conversations": [ { "from": "human", "value": "What is the moving status of object ? Please select the correct answer from the following options: A. Reverse parking. B. Drive backward. C. Turn left. D. Turn right." }, { "from": "gpt", "value": "D" } ] }, { "id": "affb0caa5d2948f98cee5c42c7aefc1c_c3c532876d074b8e8f3ced637e7f9e7a_0", "image": [ "data/nuscenes/samples/CAM_FRONT/n015-2018-11-21-19-38-26+0800__CAM_FRONT__1542800528912460.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_LEFT__1542800528904844.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_RIGHT__1542800528920339.jpg", "data/nuscenes/samples/CAM_BACK/n015-2018-11-21-19-38-26+0800__CAM_BACK__1542800528937525.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-21-19-38-26+0800__CAM_BACK_LEFT__1542800528947423.jpg", "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_BACK_RIGHT__1542800528927893.jpg" ], "tag": 1, "task": "planning", "conversations": [ { "from": "human", "value": "What actions taken by the ego vehicle can lead to a collision with ?" }, { "from": "gpt", "value": "Accelerate and go straight." } ] }, { "id": "affb0caa5d2948f98cee5c42c7aefc1c_c3c532876d074b8e8f3ced637e7f9e7a_0", "image": [ "data/nuscenes/samples/CAM_FRONT/n015-2018-11-21-19-38-26+0800__CAM_FRONT__1542800528912460.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_LEFT__1542800528904844.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_RIGHT__1542800528920339.jpg", "data/nuscenes/samples/CAM_BACK/n015-2018-11-21-19-38-26+0800__CAM_BACK__1542800528937525.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-21-19-38-26+0800__CAM_BACK_LEFT__1542800528947423.jpg", "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_BACK_RIGHT__1542800528927893.jpg" ], "tag": 0, "task": "behavior", "conversations": [ { "from": "human", "value": "Predict the behavior of the ego vehicle. Please select the correct answer from the following options: A. The ego vehicle is slightly steering to the right. The ego vehicle is driving very fast. B. The ego vehicle is slightly steering to the left. The ego vehicle is driving slowly. C. The ego vehicle is steering to the right. The ego vehicle is driving fast. D. The ego vehicle is slightly steering to the right. The ego vehicle is driving slowly." }, { "from": "gpt", "value": "C" } ] }, { "id": "d865cb18632040fdb4cb06b6e3331cdb_7427c36d19454f35b274c89df5e4fa00_0", "image": [ "data/nuscenes/samples/CAM_FRONT/n008-2018-07-27-12-07-38-0400__CAM_FRONT__1532708696162408.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_LEFT__1532708696154799.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_RIGHT__1532708696170482.jpg", "data/nuscenes/samples/CAM_BACK/n008-2018-07-27-12-07-38-0400__CAM_BACK__1532708696187558.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-07-27-12-07-38-0400__CAM_BACK_LEFT__1532708696197405.jpg", "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_BACK_RIGHT__1532708696178113.jpg" ], "tag": 2, "task": "perception", "conversations": [ { "from": "human", "value": "What are the important objects in the current scene? Those objects will be considered for the future reasoning and driving decision." }, { "from": "gpt", "value": "There is a white truck to the front left of the ego vehicle, a blue sedan to the back left of the ego vehicle, a white truck to the back of the ego vehicle, a silver sedan to the front of the ego vehicle, and a pedestrian to the back right of the ego vehicle. The IDs of these objects are , , , , and ." } ] }, { "id": "d865cb18632040fdb4cb06b6e3331cdb_7427c36d19454f35b274c89df5e4fa00_0", "image": [ "data/nuscenes/samples/CAM_FRONT/n008-2018-07-27-12-07-38-0400__CAM_FRONT__1532708696162408.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_LEFT__1532708696154799.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_RIGHT__1532708696170482.jpg", "data/nuscenes/samples/CAM_BACK/n008-2018-07-27-12-07-38-0400__CAM_BACK__1532708696187558.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-07-27-12-07-38-0400__CAM_BACK_LEFT__1532708696197405.jpg", "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_BACK_RIGHT__1532708696178113.jpg" ], "tag": 1, "task": "planning", "conversations": [ { "from": "human", "value": "What actions could the ego vehicle take based on ? Why take this action and what's the probability?" }, { "from": "gpt", "value": "The action is to decelerate gradually without braking. The reason for taking this action is to avoid a collision, which has a high probability." } ] }, { "id": "d865cb18632040fdb4cb06b6e3331cdb_7427c36d19454f35b274c89df5e4fa00_1", "image": [ "data/nuscenes/samples/CAM_FRONT/n008-2018-07-27-12-07-38-0400__CAM_FRONT__1532708696162408.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_LEFT__1532708696154799.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_RIGHT__1532708696170482.jpg", "data/nuscenes/samples/CAM_BACK/n008-2018-07-27-12-07-38-0400__CAM_BACK__1532708696187558.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-07-27-12-07-38-0400__CAM_BACK_LEFT__1532708696197405.jpg", "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_BACK_RIGHT__1532708696178113.jpg" ], "tag": 1, "task": "planning", "conversations": [ { "from": "human", "value": "What actions taken by the ego vehicle can lead to a collision with ?" }, { "from": "gpt", "value": "Slight left turn." } ] }, { "id": "d865cb18632040fdb4cb06b6e3331cdb_7427c36d19454f35b274c89df5e4fa00_2", "image": [ "data/nuscenes/samples/CAM_FRONT/n008-2018-07-27-12-07-38-0400__CAM_FRONT__1532708696162408.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_LEFT__1532708696154799.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_RIGHT__1532708696170482.jpg", "data/nuscenes/samples/CAM_BACK/n008-2018-07-27-12-07-38-0400__CAM_BACK__1532708696187558.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-07-27-12-07-38-0400__CAM_BACK_LEFT__1532708696197405.jpg", "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_BACK_RIGHT__1532708696178113.jpg" ], "tag": 1, "task": "planning", "conversations": [ { "from": "human", "value": "In this scenario, what are safe actions to take for the ego vehicle?" }, { "from": "gpt", "value": "Slightly offset to the left, brake suddenly." } ] }, { "id": "5a2aac9df32945d183fc81924ff148b6_afe4823cbbd949d082f3d766514950dc_0", "image": [ "data/nuscenes/samples/CAM_FRONT/n015-2018-09-26-11-17-24+0800__CAM_FRONT__1537932336662460.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-26-11-17-24+0800__CAM_FRONT_LEFT__1537932336654845.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-26-11-17-24+0800__CAM_FRONT_RIGHT__1537932336670339.jpg", "data/nuscenes/samples/CAM_BACK/n015-2018-09-26-11-17-24+0800__CAM_BACK__1537932336687525.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-26-11-17-24+0800__CAM_BACK_LEFT__1537932336697423.jpg", "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-26-11-17-24+0800__CAM_BACK_RIGHT__1537932336677893.jpg" ], "tag": 2, "task": "perception", "conversations": [ { "from": "human", "value": "What are the important 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 person wearing a helmet to the back left of the ego vehicle. The IDs of these objects are , , and ." } ] }, { "id": "5a2aac9df32945d183fc81924ff148b6_afe4823cbbd949d082f3d766514950dc_0", "image": [ "data/nuscenes/samples/CAM_FRONT/n015-2018-09-26-11-17-24+0800__CAM_FRONT__1537932336662460.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-26-11-17-24+0800__CAM_FRONT_LEFT__1537932336654845.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-26-11-17-24+0800__CAM_FRONT_RIGHT__1537932336670339.jpg", "data/nuscenes/samples/CAM_BACK/n015-2018-09-26-11-17-24+0800__CAM_BACK__1537932336687525.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-26-11-17-24+0800__CAM_BACK_LEFT__1537932336697423.jpg", "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-26-11-17-24+0800__CAM_BACK_RIGHT__1537932336677893.jpg" ], "tag": 1, "task": "planning", "conversations": [ { "from": "human", "value": "What actions could the ego vehicle take based on ? Why take this action and what's the probability?" }, { "from": "gpt", "value": "The action is to remain stationary because there is no safety issue. The probability of this action is high." } ] }, { "id": "5a2aac9df32945d183fc81924ff148b6_afe4823cbbd949d082f3d766514950dc_1", "image": [ "data/nuscenes/samples/CAM_FRONT/n015-2018-09-26-11-17-24+0800__CAM_FRONT__1537932336662460.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-26-11-17-24+0800__CAM_FRONT_LEFT__1537932336654845.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-26-11-17-24+0800__CAM_FRONT_RIGHT__1537932336670339.jpg", "data/nuscenes/samples/CAM_BACK/n015-2018-09-26-11-17-24+0800__CAM_BACK__1537932336687525.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-26-11-17-24+0800__CAM_BACK_LEFT__1537932336697423.jpg", "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-26-11-17-24+0800__CAM_BACK_RIGHT__1537932336677893.jpg" ], "tag": 1, "task": "planning", "conversations": [ { "from": "human", "value": "What actions taken by the ego vehicle can lead to a collision with ?" }, { "from": "gpt", "value": "Moderate left turn." } ] }, { "id": "5a2aac9df32945d183fc81924ff148b6_afe4823cbbd949d082f3d766514950dc_2", "image": [ "data/nuscenes/samples/CAM_FRONT/n015-2018-09-26-11-17-24+0800__CAM_FRONT__1537932336662460.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-26-11-17-24+0800__CAM_FRONT_LEFT__1537932336654845.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-26-11-17-24+0800__CAM_FRONT_RIGHT__1537932336670339.jpg", "data/nuscenes/samples/CAM_BACK/n015-2018-09-26-11-17-24+0800__CAM_BACK__1537932336687525.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-26-11-17-24+0800__CAM_BACK_LEFT__1537932336697423.jpg", "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-26-11-17-24+0800__CAM_BACK_RIGHT__1537932336677893.jpg" ], "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": "9047b53fd41540649dce014a128cbe1b_0f8910c8005d43029efa7de74e59ab44_0", "image": [ "data/nuscenes/samples/CAM_FRONT/n015-2018-07-18-11-50-34+0800__CAM_FRONT__1531886252412467.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_LEFT__1531886252404844.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_RIGHT__1531886252420339.jpg", "data/nuscenes/samples/CAM_BACK/n015-2018-07-18-11-50-34+0800__CAM_BACK__1531886252437658.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-18-11-50-34+0800__CAM_BACK_LEFT__1531886252447423.jpg", "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_BACK_RIGHT__1531886252427893.jpg" ], "tag": 2, "task": "perception", "conversations": [ { "from": "human", "value": "What are the 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 slow down to the front left of the ego vehicle, and a no parking to the front of the ego vehicle. The IDs of these objects are , , and ." } ] }, { "id": "9047b53fd41540649dce014a128cbe1b_0f8910c8005d43029efa7de74e59ab44_1", "image": [ "data/nuscenes/samples/CAM_FRONT/n015-2018-07-18-11-50-34+0800__CAM_FRONT__1531886252412467.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_LEFT__1531886252404844.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_RIGHT__1531886252420339.jpg", "data/nuscenes/samples/CAM_BACK/n015-2018-07-18-11-50-34+0800__CAM_BACK__1531886252437658.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-18-11-50-34+0800__CAM_BACK_LEFT__1531886252447423.jpg", "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_BACK_RIGHT__1531886252427893.jpg" ], "tag": 0, "task": "perception", "conversations": [ { "from": "human", "value": "What is the moving status of object ? Please select the correct answer from the following options: A. Turn left. B. Reverse parking. C. Going ahead. D. Stopped." }, { "from": "gpt", "value": "A" } ] }, { "id": "9047b53fd41540649dce014a128cbe1b_0f8910c8005d43029efa7de74e59ab44_0", "image": [ "data/nuscenes/samples/CAM_FRONT/n015-2018-07-18-11-50-34+0800__CAM_FRONT__1531886252412467.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_LEFT__1531886252404844.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_RIGHT__1531886252420339.jpg", "data/nuscenes/samples/CAM_BACK/n015-2018-07-18-11-50-34+0800__CAM_BACK__1531886252437658.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-18-11-50-34+0800__CAM_BACK_LEFT__1531886252447423.jpg", "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_BACK_RIGHT__1531886252427893.jpg" ], "tag": 1, "task": "planning", "conversations": [ { "from": "human", "value": "What actions taken by the ego vehicle can lead to a collision with ?" }, { "from": "gpt", "value": "Brake suddenly." } ] }, { "id": "9047b53fd41540649dce014a128cbe1b_0f8910c8005d43029efa7de74e59ab44_1", "image": [ "data/nuscenes/samples/CAM_FRONT/n015-2018-07-18-11-50-34+0800__CAM_FRONT__1531886252412467.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_LEFT__1531886252404844.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_RIGHT__1531886252420339.jpg", "data/nuscenes/samples/CAM_BACK/n015-2018-07-18-11-50-34+0800__CAM_BACK__1531886252437658.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-18-11-50-34+0800__CAM_BACK_LEFT__1531886252447423.jpg", "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_BACK_RIGHT__1531886252427893.jpg" ], "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, change to the right lane, slightly offset to the right, and brake gently to a stop." } ] }, { "id": "9047b53fd41540649dce014a128cbe1b_3e2583bef9e849a192c3c4ea21768237_0", "image": [ "data/nuscenes/samples/CAM_FRONT/n015-2018-07-18-11-50-34+0800__CAM_FRONT__1531886254012462.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_LEFT__1531886254004844.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_RIGHT__1531886254020339.jpg", "data/nuscenes/samples/CAM_BACK/n015-2018-07-18-11-50-34+0800__CAM_BACK__1531886254037525.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-18-11-50-34+0800__CAM_BACK_LEFT__1531886254047423.jpg", "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_BACK_RIGHT__1531886254027893.jpg" ], "tag": 2, "task": "perception", "conversations": [ { "from": "human", "value": "What are 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 to the back of the ego vehicle, a green to the front of the ego vehicle, and a purple to the front of the ego vehicle. The IDs of these objects are , , and ." } ] }, { "id": "9047b53fd41540649dce014a128cbe1b_3e2583bef9e849a192c3c4ea21768237_1", "image": [ "data/nuscenes/samples/CAM_FRONT/n015-2018-07-18-11-50-34+0800__CAM_FRONT__1531886254012462.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_LEFT__1531886254004844.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_RIGHT__1531886254020339.jpg", "data/nuscenes/samples/CAM_BACK/n015-2018-07-18-11-50-34+0800__CAM_BACK__1531886254037525.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-18-11-50-34+0800__CAM_BACK_LEFT__1531886254047423.jpg", "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_BACK_RIGHT__1531886254027893.jpg" ], "tag": 0, "task": "perception", "conversations": [ { "from": "human", "value": "What is the moving status of object ? Please select the correct answer from the following options: A. Turn left. B. Drive backward. C. Stopped. D. Reverse parking." }, { "from": "gpt", "value": "A" } ] }, { "id": "9047b53fd41540649dce014a128cbe1b_3e2583bef9e849a192c3c4ea21768237_0", "image": [ "data/nuscenes/samples/CAM_FRONT/n015-2018-07-18-11-50-34+0800__CAM_FRONT__1531886254012462.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_LEFT__1531886254004844.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_RIGHT__1531886254020339.jpg", "data/nuscenes/samples/CAM_BACK/n015-2018-07-18-11-50-34+0800__CAM_BACK__1531886254037525.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-18-11-50-34+0800__CAM_BACK_LEFT__1531886254047423.jpg", "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_BACK_RIGHT__1531886254027893.jpg" ], "tag": 1, "task": "planning", "conversations": [ { "from": "human", "value": "What actions taken by the ego vehicle can lead to a collision with ?" }, { "from": "gpt", "value": "Slight right turn." } ] }, { "id": "9047b53fd41540649dce014a128cbe1b_3e2583bef9e849a192c3c4ea21768237_0", "image": [ "data/nuscenes/samples/CAM_FRONT/n015-2018-07-18-11-50-34+0800__CAM_FRONT__1531886254012462.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_LEFT__1531886254004844.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_RIGHT__1531886254020339.jpg", "data/nuscenes/samples/CAM_BACK/n015-2018-07-18-11-50-34+0800__CAM_BACK__1531886254037525.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-18-11-50-34+0800__CAM_BACK_LEFT__1531886254047423.jpg", "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_BACK_RIGHT__1531886254027893.jpg" ], "tag": 0, "task": "behavior", "conversations": [ { "from": "human", "value": "Predict the behavior of the ego vehicle. Please select the correct answer from the following options: A. The ego vehicle is slightly steering to the left. The ego vehicle is driving fast. B. The ego vehicle is slightly steering to the left. The ego vehicle is driving with normal speed. C. The ego vehicle is steering to the left. The ego vehicle is driving slowly. D. The ego vehicle is steering to the left. The ego vehicle is driving with normal speed." }, { "from": "gpt", "value": "A" } ] }, { "id": "4431d97ea17044ad9c09c13d16684054_280db855c7ef46c6961128904870efcb_0", "image": [ "data/nuscenes/samples/CAM_FRONT/n015-2018-07-27-11-36-48+0800__CAM_FRONT__1532662753412460.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_LEFT__1532662753404844.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_RIGHT__1532662753420339.jpg", "data/nuscenes/samples/CAM_BACK/n015-2018-07-27-11-36-48+0800__CAM_BACK__1532662753437525.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-27-11-36-48+0800__CAM_BACK_LEFT__1532662753447423.jpg", "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-27-11-36-48+0800__CAM_BACK_RIGHT__1532662753427893.jpg" ], "tag": 2, "task": "perception", "conversations": [ { "from": "human", "value": "What are the 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 left of the ego vehicle, a brown 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 , , and ." } ] }, { "id": "4431d97ea17044ad9c09c13d16684054_280db855c7ef46c6961128904870efcb_0", "image": [ "data/nuscenes/samples/CAM_FRONT/n015-2018-07-27-11-36-48+0800__CAM_FRONT__1532662753412460.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_LEFT__1532662753404844.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_RIGHT__1532662753420339.jpg", "data/nuscenes/samples/CAM_BACK/n015-2018-07-27-11-36-48+0800__CAM_BACK__1532662753437525.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-27-11-36-48+0800__CAM_BACK_LEFT__1532662753447423.jpg", "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-27-11-36-48+0800__CAM_BACK_RIGHT__1532662753427893.jpg" ], "tag": 1, "task": "planning", "conversations": [ { "from": "human", "value": "What actions could the ego vehicle take based on ? Why take this action and what's the probability?" }, { "from": "gpt", "value": "The action is to turn right. The reason is to avoid a collision, which is high probability." } ] }, { "id": "4431d97ea17044ad9c09c13d16684054_280db855c7ef46c6961128904870efcb_1", "image": [ "data/nuscenes/samples/CAM_FRONT/n015-2018-07-27-11-36-48+0800__CAM_FRONT__1532662753412460.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_LEFT__1532662753404844.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_RIGHT__1532662753420339.jpg", "data/nuscenes/samples/CAM_BACK/n015-2018-07-27-11-36-48+0800__CAM_BACK__1532662753437525.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-27-11-36-48+0800__CAM_BACK_LEFT__1532662753447423.jpg", "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-27-11-36-48+0800__CAM_BACK_RIGHT__1532662753427893.jpg" ], "tag": 1, "task": "planning", "conversations": [ { "from": "human", "value": "What actions taken by the ego vehicle can lead to a collision with ?" }, { "from": "gpt", "value": "Slight left turn." } ] }, { "id": "4431d97ea17044ad9c09c13d16684054_280db855c7ef46c6961128904870efcb_2", "image": [ "data/nuscenes/samples/CAM_FRONT/n015-2018-07-27-11-36-48+0800__CAM_FRONT__1532662753412460.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_LEFT__1532662753404844.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_RIGHT__1532662753420339.jpg", "data/nuscenes/samples/CAM_BACK/n015-2018-07-27-11-36-48+0800__CAM_BACK__1532662753437525.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-27-11-36-48+0800__CAM_BACK_LEFT__1532662753447423.jpg", "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-27-11-36-48+0800__CAM_BACK_RIGHT__1532662753427893.jpg" ], "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": "2422d2652f4f42298a389a6e0dfef307_f765c2cac300448abca6cf1496140331_0", "image": [ "data/nuscenes/samples/CAM_FRONT/n015-2018-09-25-11-10-38+0800__CAM_FRONT__1537845385262460.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-25-11-10-38+0800__CAM_FRONT_LEFT__1537845385254844.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-25-11-10-38+0800__CAM_FRONT_RIGHT__1537845385270339.jpg", "data/nuscenes/samples/CAM_BACK/n015-2018-09-25-11-10-38+0800__CAM_BACK__1537845385287525.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-25-11-10-38+0800__CAM_BACK_LEFT__1537845385297423.jpg", "data/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 , , , and ." } ] }, { "id": "2422d2652f4f42298a389a6e0dfef307_f765c2cac300448abca6cf1496140331_0", "image": [ "data/nuscenes/samples/CAM_FRONT/n015-2018-09-25-11-10-38+0800__CAM_FRONT__1537845385262460.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-25-11-10-38+0800__CAM_FRONT_LEFT__1537845385254844.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-25-11-10-38+0800__CAM_FRONT_RIGHT__1537845385270339.jpg", "data/nuscenes/samples/CAM_BACK/n015-2018-09-25-11-10-38+0800__CAM_BACK__1537845385287525.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-25-11-10-38+0800__CAM_BACK_LEFT__1537845385297423.jpg", "data/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 ? 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_1", "image": [ "data/nuscenes/samples/CAM_FRONT/n015-2018-09-25-11-10-38+0800__CAM_FRONT__1537845385262460.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-25-11-10-38+0800__CAM_FRONT_LEFT__1537845385254844.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-25-11-10-38+0800__CAM_FRONT_RIGHT__1537845385270339.jpg", "data/nuscenes/samples/CAM_BACK/n015-2018-09-25-11-10-38+0800__CAM_BACK__1537845385287525.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-25-11-10-38+0800__CAM_BACK_LEFT__1537845385297423.jpg", "data/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 ?" }, { "from": "gpt", "value": "Change to the right lane." } ] }, { "id": "2422d2652f4f42298a389a6e0dfef307_f765c2cac300448abca6cf1496140331_2", "image": [ "data/nuscenes/samples/CAM_FRONT/n015-2018-09-25-11-10-38+0800__CAM_FRONT__1537845385262460.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-25-11-10-38+0800__CAM_FRONT_LEFT__1537845385254844.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-25-11-10-38+0800__CAM_FRONT_RIGHT__1537845385270339.jpg", "data/nuscenes/samples/CAM_BACK/n015-2018-09-25-11-10-38+0800__CAM_BACK__1537845385287525.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-25-11-10-38+0800__CAM_BACK_LEFT__1537845385297423.jpg", "data/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": "c7b8d96173bf41dc8df8c0d16adfc71e_097a13601efb4f0b83764523ab5402d9_0", "image": [ "data/nuscenes/samples/CAM_FRONT/n015-2018-10-08-15-52-24+0800__CAM_FRONT__1538985155662911.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_LEFT__1538985155654844.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_RIGHT__1538985155670339.jpg", "data/nuscenes/samples/CAM_BACK/n015-2018-10-08-15-52-24+0800__CAM_BACK__1538985155687525.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-10-08-15-52-24+0800__CAM_BACK_LEFT__1538985155697423.jpg", "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_BACK_RIGHT__1538985155677893.jpg" ], "tag": 2, "task": "perception", "conversations": [ { "from": "human", "value": "What are the 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 green bus to the back of the ego vehicle, a white truck to the back left of the ego vehicle, a gray SUV to the front right of the ego vehicle, and a white sedan to the front right of the ego vehicle. The IDs of these objects are , , , , and ." } ] }, { "id": "c7b8d96173bf41dc8df8c0d16adfc71e_097a13601efb4f0b83764523ab5402d9_0", "image": [ "data/nuscenes/samples/CAM_FRONT/n015-2018-10-08-15-52-24+0800__CAM_FRONT__1538985155662911.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_LEFT__1538985155654844.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_RIGHT__1538985155670339.jpg", "data/nuscenes/samples/CAM_BACK/n015-2018-10-08-15-52-24+0800__CAM_BACK__1538985155687525.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-10-08-15-52-24+0800__CAM_BACK_LEFT__1538985155697423.jpg", "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_BACK_RIGHT__1538985155677893.jpg" ], "tag": 1, "task": "planning", "conversations": [ { "from": "human", "value": "What actions could the ego vehicle take based on ? Why take this action and what's the probability?" }, { "from": "gpt", "value": "The action is to turn left. The reason is that there is no safety issue, and the probability is high." } ] }, { "id": "c7b8d96173bf41dc8df8c0d16adfc71e_097a13601efb4f0b83764523ab5402d9_1", "image": [ "data/nuscenes/samples/CAM_FRONT/n015-2018-10-08-15-52-24+0800__CAM_FRONT__1538985155662911.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_LEFT__1538985155654844.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_RIGHT__1538985155670339.jpg", "data/nuscenes/samples/CAM_BACK/n015-2018-10-08-15-52-24+0800__CAM_BACK__1538985155687525.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-10-08-15-52-24+0800__CAM_BACK_LEFT__1538985155697423.jpg", "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_BACK_RIGHT__1538985155677893.jpg" ], "tag": 1, "task": "planning", "conversations": [ { "from": "human", "value": "What actions taken by the ego vehicle can lead to a collision with ?" }, { "from": "gpt", "value": "Moderate right turn." } ] }, { "id": "c7b8d96173bf41dc8df8c0d16adfc71e_097a13601efb4f0b83764523ab5402d9_2", "image": [ "data/nuscenes/samples/CAM_FRONT/n015-2018-10-08-15-52-24+0800__CAM_FRONT__1538985155662911.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_LEFT__1538985155654844.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_RIGHT__1538985155670339.jpg", "data/nuscenes/samples/CAM_BACK/n015-2018-10-08-15-52-24+0800__CAM_BACK__1538985155687525.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-10-08-15-52-24+0800__CAM_BACK_LEFT__1538985155697423.jpg", "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_BACK_RIGHT__1538985155677893.jpg" ], "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": "c7b8d96173bf41dc8df8c0d16adfc71e_7edd6a2a09184cf09a5c1ad700eb6fd7_0", "image": [ "data/nuscenes/samples/CAM_FRONT/n015-2018-10-08-15-52-24+0800__CAM_FRONT__1538985168662460.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_LEFT__1538985168654844.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_RIGHT__1538985168670339.jpg", "data/nuscenes/samples/CAM_BACK/n015-2018-10-08-15-52-24+0800__CAM_BACK__1538985168687525.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-10-08-15-52-24+0800__CAM_BACK_LEFT__1538985168697423.jpg", "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_BACK_RIGHT__1538985168677893.jpg" ], "tag": 2, "task": "perception", "conversations": [ { "from": "human", "value": "What are the 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 motorcycle to the front right of the ego vehicle, a green bus to the back of the ego vehicle, a person wearing black clothes to the front of the ego vehicle, and a person wearing white clothes to the front of the ego vehicle. The IDs of these objects are , , , and ." } ] }, { "id": "c7b8d96173bf41dc8df8c0d16adfc71e_7edd6a2a09184cf09a5c1ad700eb6fd7_1", "image": [ "data/nuscenes/samples/CAM_FRONT/n015-2018-10-08-15-52-24+0800__CAM_FRONT__1538985168662460.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_LEFT__1538985168654844.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_RIGHT__1538985168670339.jpg", "data/nuscenes/samples/CAM_BACK/n015-2018-10-08-15-52-24+0800__CAM_BACK__1538985168687525.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-10-08-15-52-24+0800__CAM_BACK_LEFT__1538985168697423.jpg", "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_BACK_RIGHT__1538985168677893.jpg" ], "tag": 0, "task": "perception", "conversations": [ { "from": "human", "value": "What is the moving status of object ? Please select the correct answer from the following options: A. Reverse parking. B. Back up. C. Turn right. D. Drive backward." }, { "from": "gpt", "value": "C" } ] }, { "id": "c7b8d96173bf41dc8df8c0d16adfc71e_7edd6a2a09184cf09a5c1ad700eb6fd7_0", "image": [ "data/nuscenes/samples/CAM_FRONT/n015-2018-10-08-15-52-24+0800__CAM_FRONT__1538985168662460.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_LEFT__1538985168654844.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_RIGHT__1538985168670339.jpg", "data/nuscenes/samples/CAM_BACK/n015-2018-10-08-15-52-24+0800__CAM_BACK__1538985168687525.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-10-08-15-52-24+0800__CAM_BACK_LEFT__1538985168697423.jpg", "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_BACK_RIGHT__1538985168677893.jpg" ], "tag": 1, "task": "planning", "conversations": [ { "from": "human", "value": "What actions could the ego vehicle take based on ? Why take this action and what's the probability?" }, { "from": "gpt", "value": "The action is to turn left. The reason is that the object has little reference value for the ego vehicle, with a high probability." } ] }, { "id": "c7b8d96173bf41dc8df8c0d16adfc71e_7edd6a2a09184cf09a5c1ad700eb6fd7_1", "image": [ "data/nuscenes/samples/CAM_FRONT/n015-2018-10-08-15-52-24+0800__CAM_FRONT__1538985168662460.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_LEFT__1538985168654844.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_RIGHT__1538985168670339.jpg", "data/nuscenes/samples/CAM_BACK/n015-2018-10-08-15-52-24+0800__CAM_BACK__1538985168687525.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-10-08-15-52-24+0800__CAM_BACK_LEFT__1538985168697423.jpg", "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_BACK_RIGHT__1538985168677893.jpg" ], "tag": 1, "task": "planning", "conversations": [ { "from": "human", "value": "What actions taken by the ego vehicle can lead to a collision with ?" }, { "from": "gpt", "value": "Sharp right turn." } ] }, { "id": "c74a3a7265ae45f99f65628fbd7cd2a4_b75f3177b749411492f60c68d9507e0d_0", "image": [ "data/nuscenes/samples/CAM_FRONT/n015-2018-07-27-11-24-31+0800__CAM_FRONT__1532662086912460.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-27-11-24-31+0800__CAM_FRONT_LEFT__1532662086904844.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-27-11-24-31+0800__CAM_FRONT_RIGHT__1532662086920580.jpg", "data/nuscenes/samples/CAM_BACK/n015-2018-07-27-11-24-31+0800__CAM_BACK__1532662086937525.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-27-11-24-31+0800__CAM_BACK_LEFT__1532662086947423.jpg", "data/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 , , and ." } ] }, { "id": "c74a3a7265ae45f99f65628fbd7cd2a4_b75f3177b749411492f60c68d9507e0d_0", "image": [ "data/nuscenes/samples/CAM_FRONT/n015-2018-07-27-11-24-31+0800__CAM_FRONT__1532662086912460.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-27-11-24-31+0800__CAM_FRONT_LEFT__1532662086904844.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-27-11-24-31+0800__CAM_FRONT_RIGHT__1532662086920580.jpg", "data/nuscenes/samples/CAM_BACK/n015-2018-07-27-11-24-31+0800__CAM_BACK__1532662086937525.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-27-11-24-31+0800__CAM_BACK_LEFT__1532662086947423.jpg", "data/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 ?" }, { "from": "gpt", "value": "No such action will lead to a collision." } ] }, { "id": "c74a3a7265ae45f99f65628fbd7cd2a4_b75f3177b749411492f60c68d9507e0d_1", "image": [ "data/nuscenes/samples/CAM_FRONT/n015-2018-07-27-11-24-31+0800__CAM_FRONT__1532662086912460.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-27-11-24-31+0800__CAM_FRONT_LEFT__1532662086904844.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-27-11-24-31+0800__CAM_FRONT_RIGHT__1532662086920580.jpg", "data/nuscenes/samples/CAM_BACK/n015-2018-07-27-11-24-31+0800__CAM_BACK__1532662086937525.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-27-11-24-31+0800__CAM_BACK_LEFT__1532662086947423.jpg", "data/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_0", "image": [ "data/nuscenes/samples/CAM_FRONT/n015-2018-07-27-11-24-31+0800__CAM_FRONT__1532662086912460.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-27-11-24-31+0800__CAM_FRONT_LEFT__1532662086904844.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-27-11-24-31+0800__CAM_FRONT_RIGHT__1532662086920580.jpg", "data/nuscenes/samples/CAM_BACK/n015-2018-07-27-11-24-31+0800__CAM_BACK__1532662086937525.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-27-11-24-31+0800__CAM_BACK_LEFT__1532662086947423.jpg", "data/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. Please select the correct answer from the following options: A. The ego vehicle is going straight. The ego vehicle is driving fast. B. The ego vehicle is going straight. The ego vehicle is driving slowly. C. The ego vehicle is slightly steering to the right. The ego vehicle is driving fast. D. The ego vehicle is steering to the left. The ego vehicle is driving slowly." }, { "from": "gpt", "value": "C" } ] }, { "id": "c74a3a7265ae45f99f65628fbd7cd2a4_f81205e1d792497cba901c08e7812dc6_0", "image": [ "data/nuscenes/samples/CAM_FRONT/n015-2018-07-27-11-24-31+0800__CAM_FRONT__1532662086362460.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-27-11-24-31+0800__CAM_FRONT_LEFT__1532662086354844.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-27-11-24-31+0800__CAM_FRONT_RIGHT__1532662086370339.jpg", "data/nuscenes/samples/CAM_BACK/n015-2018-07-27-11-24-31+0800__CAM_BACK__1532662086387525.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-27-11-24-31+0800__CAM_BACK_LEFT__1532662086397423.jpg", "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-27-11-24-31+0800__CAM_BACK_RIGHT__1532662086377893.jpg" ], "tag": 2, "task": "perception", "conversations": [ { "from": "human", "value": "What are the important 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 bicycle to the front of the ego vehicle, and a road is relatively empty to the front of the ego vehicle. The IDs of these objects are , , and ." } ] }, { "id": "c74a3a7265ae45f99f65628fbd7cd2a4_f81205e1d792497cba901c08e7812dc6_1", "image": [ "data/nuscenes/samples/CAM_FRONT/n015-2018-07-27-11-24-31+0800__CAM_FRONT__1532662086362460.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-27-11-24-31+0800__CAM_FRONT_LEFT__1532662086354844.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-27-11-24-31+0800__CAM_FRONT_RIGHT__1532662086370339.jpg", "data/nuscenes/samples/CAM_BACK/n015-2018-07-27-11-24-31+0800__CAM_BACK__1532662086387525.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-27-11-24-31+0800__CAM_BACK_LEFT__1532662086397423.jpg", "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-27-11-24-31+0800__CAM_BACK_RIGHT__1532662086377893.jpg" ], "tag": 0, "task": "perception", "conversations": [ { "from": "human", "value": "What is the moving status of object ? Please select the correct answer from the following options: A. Turn right. B. Turn left. C. Stopped. D. Drive backward." }, { "from": "gpt", "value": "A" } ] }, { "id": "c74a3a7265ae45f99f65628fbd7cd2a4_f81205e1d792497cba901c08e7812dc6_0", "image": [ "data/nuscenes/samples/CAM_FRONT/n015-2018-07-27-11-24-31+0800__CAM_FRONT__1532662086362460.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-27-11-24-31+0800__CAM_FRONT_LEFT__1532662086354844.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-27-11-24-31+0800__CAM_FRONT_RIGHT__1532662086370339.jpg", "data/nuscenes/samples/CAM_BACK/n015-2018-07-27-11-24-31+0800__CAM_BACK__1532662086387525.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-27-11-24-31+0800__CAM_BACK_LEFT__1532662086397423.jpg", "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-27-11-24-31+0800__CAM_BACK_RIGHT__1532662086377893.jpg" ], "tag": 1, "task": "planning", "conversations": [ { "from": "human", "value": "What actions taken by the ego vehicle can lead to a collision with ?" }, { "from": "gpt", "value": "Back up." } ] }, { "id": "c74a3a7265ae45f99f65628fbd7cd2a4_f81205e1d792497cba901c08e7812dc6_1", "image": [ "data/nuscenes/samples/CAM_FRONT/n015-2018-07-27-11-24-31+0800__CAM_FRONT__1532662086362460.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-27-11-24-31+0800__CAM_FRONT_LEFT__1532662086354844.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-27-11-24-31+0800__CAM_FRONT_RIGHT__1532662086370339.jpg", "data/nuscenes/samples/CAM_BACK/n015-2018-07-27-11-24-31+0800__CAM_BACK__1532662086387525.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-27-11-24-31+0800__CAM_BACK_LEFT__1532662086397423.jpg", "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-27-11-24-31+0800__CAM_BACK_RIGHT__1532662086377893.jpg" ], "tag": 1, "task": "planning", "conversations": [ { "from": "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": "0d2cc345342a460e94ff54748338ac22_a3c8846cb5de4a6598532eb2c4698d0f_0", "image": [ "data/nuscenes/samples/CAM_FRONT/n008-2018-05-21-11-06-59-0400__CAM_FRONT__1526915246912465.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_LEFT__1526915246904917.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_RIGHT__1526915246919956.jpg", "data/nuscenes/samples/CAM_BACK/n008-2018-05-21-11-06-59-0400__CAM_BACK__1526915246937570.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-05-21-11-06-59-0400__CAM_BACK_LEFT__1526915246947295.jpg", "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_BACK_RIGHT__1526915246927813.jpg" ], "tag": 2, "task": "perception", "conversations": [ { "from": "human", "value": "What are the 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 right of the ego vehicle, a brown car 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 , , and ." } ] }, { "id": "0d2cc345342a460e94ff54748338ac22_a3c8846cb5de4a6598532eb2c4698d0f_0", "image": [ "data/nuscenes/samples/CAM_FRONT/n008-2018-05-21-11-06-59-0400__CAM_FRONT__1526915246912465.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_LEFT__1526915246904917.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_RIGHT__1526915246919956.jpg", "data/nuscenes/samples/CAM_BACK/n008-2018-05-21-11-06-59-0400__CAM_BACK__1526915246937570.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-05-21-11-06-59-0400__CAM_BACK_LEFT__1526915246947295.jpg", "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_BACK_RIGHT__1526915246927813.jpg" ], "tag": 0, "task": "prediction", "conversations": [ { "from": "human", "value": "Is a traffic sign or a road barrier?" }, { "from": "gpt", "value": "No." } ] }, { "id": "0d2cc345342a460e94ff54748338ac22_a3c8846cb5de4a6598532eb2c4698d0f_0", "image": [ "data/nuscenes/samples/CAM_FRONT/n008-2018-05-21-11-06-59-0400__CAM_FRONT__1526915246912465.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_LEFT__1526915246904917.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_RIGHT__1526915246919956.jpg", "data/nuscenes/samples/CAM_BACK/n008-2018-05-21-11-06-59-0400__CAM_BACK__1526915246937570.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-05-21-11-06-59-0400__CAM_BACK_LEFT__1526915246947295.jpg", "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_BACK_RIGHT__1526915246927813.jpg" ], "tag": 1, "task": "planning", "conversations": [ { "from": "human", "value": "What actions could the ego vehicle take based on ? Why take this action and what's the probability?" }, { "from": "gpt", "value": "The action is to remain stationary, as it aims to avoid a collision, with a high probability." } ] }, { "id": "0d2cc345342a460e94ff54748338ac22_a3c8846cb5de4a6598532eb2c4698d0f_1", "image": [ "data/nuscenes/samples/CAM_FRONT/n008-2018-05-21-11-06-59-0400__CAM_FRONT__1526915246912465.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_LEFT__1526915246904917.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_RIGHT__1526915246919956.jpg", "data/nuscenes/samples/CAM_BACK/n008-2018-05-21-11-06-59-0400__CAM_BACK__1526915246937570.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-05-21-11-06-59-0400__CAM_BACK_LEFT__1526915246947295.jpg", "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_BACK_RIGHT__1526915246927813.jpg" ], "tag": 1, "task": "planning", "conversations": [ { "from": "human", "value": "What actions taken by the ego vehicle can lead to a collision with ?" }, { "from": "gpt", "value": "Slight right turn." } ] }, { "id": "0d2cc345342a460e94ff54748338ac22_a3c8846cb5de4a6598532eb2c4698d0f_2", "image": [ "data/nuscenes/samples/CAM_FRONT/n008-2018-05-21-11-06-59-0400__CAM_FRONT__1526915246912465.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_LEFT__1526915246904917.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_RIGHT__1526915246919956.jpg", "data/nuscenes/samples/CAM_BACK/n008-2018-05-21-11-06-59-0400__CAM_BACK__1526915246937570.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-05-21-11-06-59-0400__CAM_BACK_LEFT__1526915246947295.jpg", "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_BACK_RIGHT__1526915246927813.jpg" ], "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": "c0d3796765e2452d990309b2568adac5_50387a28a1b34b6f9d9d916ba202bf79_0", "image": [ "data/nuscenes/samples/CAM_FRONT/n015-2018-08-01-17-13-57+0800__CAM_FRONT__1533115156112460.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-17-13-57+0800__CAM_FRONT_LEFT__1533115156104844.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-17-13-57+0800__CAM_FRONT_RIGHT__1533115156120339.jpg", "data/nuscenes/samples/CAM_BACK/n015-2018-08-01-17-13-57+0800__CAM_BACK__1533115156137525.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-17-13-57+0800__CAM_BACK_LEFT__1533115156147423.jpg", "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-17-13-57+0800__CAM_BACK_RIGHT__1533115156127893.jpg" ], "tag": 2, "task": "perception", "conversations": [ { "from": "human", "value": "What are the 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 left of the ego vehicle, a red and white traffic cone to the front of the ego vehicle, a white truck to the back left of the ego vehicle, a blue sedan to the back of the ego vehicle, a white truck to the front of the ego vehicle, and a worker wearing a white shirt to the front of the ego vehicle. The IDs of these objects are , , , , , and ." } ] }, { "id": "c0d3796765e2452d990309b2568adac5_50387a28a1b34b6f9d9d916ba202bf79_0", "image": [ "data/nuscenes/samples/CAM_FRONT/n015-2018-08-01-17-13-57+0800__CAM_FRONT__1533115156112460.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-17-13-57+0800__CAM_FRONT_LEFT__1533115156104844.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-17-13-57+0800__CAM_FRONT_RIGHT__1533115156120339.jpg", "data/nuscenes/samples/CAM_BACK/n015-2018-08-01-17-13-57+0800__CAM_BACK__1533115156137525.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-17-13-57+0800__CAM_BACK_LEFT__1533115156147423.jpg", "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-17-13-57+0800__CAM_BACK_RIGHT__1533115156127893.jpg" ], "tag": 1, "task": "planning", "conversations": [ { "from": "human", "value": "What actions could the ego vehicle take based on ? Why take this action and what's the probability?" }, { "from": "gpt", "value": "The action is to decelerate gradually without braking. The reason is to maintain a safe distance, which is high." } ] }, { "id": "c0d3796765e2452d990309b2568adac5_50387a28a1b34b6f9d9d916ba202bf79_1", "image": [ "data/nuscenes/samples/CAM_FRONT/n015-2018-08-01-17-13-57+0800__CAM_FRONT__1533115156112460.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-17-13-57+0800__CAM_FRONT_LEFT__1533115156104844.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-17-13-57+0800__CAM_FRONT_RIGHT__1533115156120339.jpg", "data/nuscenes/samples/CAM_BACK/n015-2018-08-01-17-13-57+0800__CAM_BACK__1533115156137525.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-17-13-57+0800__CAM_BACK_LEFT__1533115156147423.jpg", "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-17-13-57+0800__CAM_BACK_RIGHT__1533115156127893.jpg" ], "tag": 1, "task": "planning", "conversations": [ { "from": "human", "value": "What actions taken by the ego vehicle can lead to a collision with ?" }, { "from": "gpt", "value": "Sharp left turn." } ] }, { "id": "c0d3796765e2452d990309b2568adac5_50387a28a1b34b6f9d9d916ba202bf79_2", "image": [ "data/nuscenes/samples/CAM_FRONT/n015-2018-08-01-17-13-57+0800__CAM_FRONT__1533115156112460.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-17-13-57+0800__CAM_FRONT_LEFT__1533115156104844.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-17-13-57+0800__CAM_FRONT_RIGHT__1533115156120339.jpg", "data/nuscenes/samples/CAM_BACK/n015-2018-08-01-17-13-57+0800__CAM_BACK__1533115156137525.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-17-13-57+0800__CAM_BACK_LEFT__1533115156147423.jpg", "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-17-13-57+0800__CAM_BACK_RIGHT__1533115156127893.jpg" ], "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": "c0d3796765e2452d990309b2568adac5_5d53034012d343658e0aa45545f087b0_0", "image": [ "data/nuscenes/samples/CAM_FRONT/n015-2018-08-01-17-13-57+0800__CAM_FRONT__1533115159112460.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-17-13-57+0800__CAM_FRONT_LEFT__1533115159104844.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-17-13-57+0800__CAM_FRONT_RIGHT__1533115159120339.jpg", "data/nuscenes/samples/CAM_BACK/n015-2018-08-01-17-13-57+0800__CAM_BACK__1533115159137525.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-17-13-57+0800__CAM_BACK_LEFT__1533115159147423.jpg", "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-17-13-57+0800__CAM_BACK_RIGHT__1533115159127893.jpg" ], "tag": 2, "task": "perception", "conversations": [ { "from": "human", "value": "What are 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 left of the ego vehicle, a white truck to the back left of the ego vehicle, a blue sedan to the back of the ego vehicle, a white truck to the front of the ego vehicle, a worker wearing a yellow safety helmet to the front of the ego vehicle, and a black sedan to the back of the ego vehicle. The IDs of these objects are , , , , , and ." } ] }, { "id": "c0d3796765e2452d990309b2568adac5_5d53034012d343658e0aa45545f087b0_0", "image": [ "data/nuscenes/samples/CAM_FRONT/n015-2018-08-01-17-13-57+0800__CAM_FRONT__1533115159112460.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-17-13-57+0800__CAM_FRONT_LEFT__1533115159104844.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-17-13-57+0800__CAM_FRONT_RIGHT__1533115159120339.jpg", "data/nuscenes/samples/CAM_BACK/n015-2018-08-01-17-13-57+0800__CAM_BACK__1533115159137525.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-17-13-57+0800__CAM_BACK_LEFT__1533115159147423.jpg", "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-17-13-57+0800__CAM_BACK_RIGHT__1533115159127893.jpg" ], "tag": 1, "task": "planning", "conversations": [ { "from": "human", "value": "What actions could the ego vehicle take based on ? Why take this action and what's the probability?" }, { "from": "gpt", "value": "The action is to remain stationary. The reason for this action is to avoid a collision, which has a high probability." } ] }, { "id": "c0d3796765e2452d990309b2568adac5_5d53034012d343658e0aa45545f087b0_1", "image": [ "data/nuscenes/samples/CAM_FRONT/n015-2018-08-01-17-13-57+0800__CAM_FRONT__1533115159112460.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-17-13-57+0800__CAM_FRONT_LEFT__1533115159104844.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-17-13-57+0800__CAM_FRONT_RIGHT__1533115159120339.jpg", "data/nuscenes/samples/CAM_BACK/n015-2018-08-01-17-13-57+0800__CAM_BACK__1533115159137525.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-17-13-57+0800__CAM_BACK_LEFT__1533115159147423.jpg", "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-17-13-57+0800__CAM_BACK_RIGHT__1533115159127893.jpg" ], "tag": 1, "task": "planning", "conversations": [ { "from": "human", "value": "What actions taken by the ego vehicle can lead to a collision with ?" }, { "from": "gpt", "value": "Moderate left turn." } ] }, { "id": "c0d3796765e2452d990309b2568adac5_5d53034012d343658e0aa45545f087b0_2", "image": [ "data/nuscenes/samples/CAM_FRONT/n015-2018-08-01-17-13-57+0800__CAM_FRONT__1533115159112460.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-17-13-57+0800__CAM_FRONT_LEFT__1533115159104844.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-17-13-57+0800__CAM_FRONT_RIGHT__1533115159120339.jpg", "data/nuscenes/samples/CAM_BACK/n015-2018-08-01-17-13-57+0800__CAM_BACK__1533115159137525.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-17-13-57+0800__CAM_BACK_LEFT__1533115159147423.jpg", "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-17-13-57+0800__CAM_BACK_RIGHT__1533115159127893.jpg" ], "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": "7061c4fa99a44d02af4a3e2689be4457_69daf180f46040a7aacb5b495be16f7a_0", "image": [ "data/nuscenes/samples/CAM_FRONT/n015-2018-11-21-19-38-26+0800__CAM_FRONT__1542800366862460.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_LEFT__1542800366854844.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_RIGHT__1542800366870339.jpg", "data/nuscenes/samples/CAM_BACK/n015-2018-11-21-19-38-26+0800__CAM_BACK__1542800366887525.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-21-19-38-26+0800__CAM_BACK_LEFT__1542800366897569.jpg", "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_BACK_RIGHT__1542800366877893.jpg" ], "tag": 2, "task": "perception", "conversations": [ { "from": "human", "value": "What are the 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 front of the ego vehicle, 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 back of the ego vehicle, and a black van to the back right of the ego vehicle. The IDs of these objects are , , , , , and ." } ] }, { "id": "7061c4fa99a44d02af4a3e2689be4457_69daf180f46040a7aacb5b495be16f7a_0", "image": [ "data/nuscenes/samples/CAM_FRONT/n015-2018-11-21-19-38-26+0800__CAM_FRONT__1542800366862460.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_LEFT__1542800366854844.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_RIGHT__1542800366870339.jpg", "data/nuscenes/samples/CAM_BACK/n015-2018-11-21-19-38-26+0800__CAM_BACK__1542800366887525.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-21-19-38-26+0800__CAM_BACK_LEFT__1542800366897569.jpg", "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_BACK_RIGHT__1542800366877893.jpg" ], "tag": 1, "task": "planning", "conversations": [ { "from": "human", "value": "What actions taken by the ego vehicle can lead to a collision with ?" }, { "from": "gpt", "value": "Back up." } ] }, { "id": "7061c4fa99a44d02af4a3e2689be4457_69daf180f46040a7aacb5b495be16f7a_1", "image": [ "data/nuscenes/samples/CAM_FRONT/n015-2018-11-21-19-38-26+0800__CAM_FRONT__1542800366862460.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_LEFT__1542800366854844.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_RIGHT__1542800366870339.jpg", "data/nuscenes/samples/CAM_BACK/n015-2018-11-21-19-38-26+0800__CAM_BACK__1542800366887525.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-21-19-38-26+0800__CAM_BACK_LEFT__1542800366897569.jpg", "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_BACK_RIGHT__1542800366877893.jpg" ], "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, slightly offset to the left." } ] }, { "id": "7061c4fa99a44d02af4a3e2689be4457_69daf180f46040a7aacb5b495be16f7a_0", "image": [ "data/nuscenes/samples/CAM_FRONT/n015-2018-11-21-19-38-26+0800__CAM_FRONT__1542800366862460.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_LEFT__1542800366854844.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_RIGHT__1542800366870339.jpg", "data/nuscenes/samples/CAM_BACK/n015-2018-11-21-19-38-26+0800__CAM_BACK__1542800366887525.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-21-19-38-26+0800__CAM_BACK_LEFT__1542800366897569.jpg", "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_BACK_RIGHT__1542800366877893.jpg" ], "tag": 0, "task": "behavior", "conversations": [ { "from": "human", "value": "Predict the behavior of the ego vehicle. Please select the correct answer from the following options: A. The ego vehicle is steering to the left. The ego vehicle is driving very fast. B. The ego vehicle is going straight. The ego vehicle is driving very fast. C. The ego vehicle is steering to the left. The ego vehicle is driving with normal speed. D. The ego vehicle is slightly steering to the left. The ego vehicle is driving very fast." }, { "from": "gpt", "value": "C" } ] }, { "id": "453453c849304ad69741891946d46453_d7c32c8d9f014ddcb1984ae20a7544f7_0", "image": [ "data/nuscenes/samples/CAM_FRONT/n008-2018-09-18-12-53-31-0400__CAM_FRONT__1537289967162404.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-12-53-31-0400__CAM_FRONT_LEFT__1537289967154799.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-12-53-31-0400__CAM_FRONT_RIGHT__1537289967170482.jpg", "data/nuscenes/samples/CAM_BACK/n008-2018-09-18-12-53-31-0400__CAM_BACK__1537289967187558.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-12-53-31-0400__CAM_BACK_LEFT__1537289967197405.jpg", "data/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 , , , , , and ." } ] }, { "id": "453453c849304ad69741891946d46453_d7c32c8d9f014ddcb1984ae20a7544f7_0", "image": [ "data/nuscenes/samples/CAM_FRONT/n008-2018-09-18-12-53-31-0400__CAM_FRONT__1537289967162404.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-12-53-31-0400__CAM_FRONT_LEFT__1537289967154799.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-12-53-31-0400__CAM_FRONT_RIGHT__1537289967170482.jpg", "data/nuscenes/samples/CAM_BACK/n008-2018-09-18-12-53-31-0400__CAM_BACK__1537289967187558.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-12-53-31-0400__CAM_BACK_LEFT__1537289967197405.jpg", "data/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 a traffic sign or a road barrier?" }, { "from": "gpt", "value": "Yes." } ] }, { "id": "453453c849304ad69741891946d46453_d7c32c8d9f014ddcb1984ae20a7544f7_0", "image": [ "data/nuscenes/samples/CAM_FRONT/n008-2018-09-18-12-53-31-0400__CAM_FRONT__1537289967162404.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-12-53-31-0400__CAM_FRONT_LEFT__1537289967154799.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-12-53-31-0400__CAM_FRONT_RIGHT__1537289967170482.jpg", "data/nuscenes/samples/CAM_BACK/n008-2018-09-18-12-53-31-0400__CAM_BACK__1537289967187558.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-12-53-31-0400__CAM_BACK_LEFT__1537289967197405.jpg", "data/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 ?" }, { "from": "gpt", "value": "Back up." } ] }, { "id": "453453c849304ad69741891946d46453_d7c32c8d9f014ddcb1984ae20a7544f7_1", "image": [ "data/nuscenes/samples/CAM_FRONT/n008-2018-09-18-12-53-31-0400__CAM_FRONT__1537289967162404.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-12-53-31-0400__CAM_FRONT_LEFT__1537289967154799.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-12-53-31-0400__CAM_FRONT_RIGHT__1537289967170482.jpg", "data/nuscenes/samples/CAM_BACK/n008-2018-09-18-12-53-31-0400__CAM_BACK__1537289967187558.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-12-53-31-0400__CAM_BACK_LEFT__1537289967197405.jpg", "data/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": "febc1800b9ed432d96aee5ecf0156831_d45ef42ad042408bbd697de66d235820_0", "image": [ "data/nuscenes/samples/CAM_FRONT/n008-2018-07-27-12-07-38-0400__CAM_FRONT__1532707729012404.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_LEFT__1532707729004799.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_RIGHT__1532707729020482.jpg", "data/nuscenes/samples/CAM_BACK/n008-2018-07-27-12-07-38-0400__CAM_BACK__1532707729037558.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-07-27-12-07-38-0400__CAM_BACK_LEFT__1532707729047405.jpg", "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_BACK_RIGHT__1532707729028113.jpg" ], "tag": 2, "task": "perception", "conversations": [ { "from": "human", "value": "What are the important 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 man wearing white clothes 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 , , and ." } ] }, { "id": "febc1800b9ed432d96aee5ecf0156831_d45ef42ad042408bbd697de66d235820_0", "image": [ "data/nuscenes/samples/CAM_FRONT/n008-2018-07-27-12-07-38-0400__CAM_FRONT__1532707729012404.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_LEFT__1532707729004799.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_RIGHT__1532707729020482.jpg", "data/nuscenes/samples/CAM_BACK/n008-2018-07-27-12-07-38-0400__CAM_BACK__1532707729037558.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-07-27-12-07-38-0400__CAM_BACK_LEFT__1532707729047405.jpg", "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_BACK_RIGHT__1532707729028113.jpg" ], "tag": 1, "task": "planning", "conversations": [ { "from": "human", "value": "What actions could the ego vehicle take based on ? Why take this action and what's the probability?" }, { "from": "gpt", "value": "The action is to remain stationary because there is no safety issue. The probability of this action is high." } ] }, { "id": "febc1800b9ed432d96aee5ecf0156831_d45ef42ad042408bbd697de66d235820_1", "image": [ "data/nuscenes/samples/CAM_FRONT/n008-2018-07-27-12-07-38-0400__CAM_FRONT__1532707729012404.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_LEFT__1532707729004799.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_RIGHT__1532707729020482.jpg", "data/nuscenes/samples/CAM_BACK/n008-2018-07-27-12-07-38-0400__CAM_BACK__1532707729037558.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-07-27-12-07-38-0400__CAM_BACK_LEFT__1532707729047405.jpg", "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_BACK_RIGHT__1532707729028113.jpg" ], "tag": 1, "task": "planning", "conversations": [ { "from": "human", "value": "What actions taken by the ego vehicle can lead to a collision with ?" }, { "from": "gpt", "value": "Sharp left turn." } ] }, { "id": "febc1800b9ed432d96aee5ecf0156831_d45ef42ad042408bbd697de66d235820_2", "image": [ "data/nuscenes/samples/CAM_FRONT/n008-2018-07-27-12-07-38-0400__CAM_FRONT__1532707729012404.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_LEFT__1532707729004799.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_RIGHT__1532707729020482.jpg", "data/nuscenes/samples/CAM_BACK/n008-2018-07-27-12-07-38-0400__CAM_BACK__1532707729037558.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-07-27-12-07-38-0400__CAM_BACK_LEFT__1532707729047405.jpg", "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_BACK_RIGHT__1532707729028113.jpg" ], "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": "febc1800b9ed432d96aee5ecf0156831_4cfd5115d4324cd082c864bb505382e5_0", "image": [ "data/nuscenes/samples/CAM_FRONT/n008-2018-07-27-12-07-38-0400__CAM_FRONT__1532707739412404.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_LEFT__1532707739404799.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_RIGHT__1532707739420482.jpg", "data/nuscenes/samples/CAM_BACK/n008-2018-07-27-12-07-38-0400__CAM_BACK__1532707739437558.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-07-27-12-07-38-0400__CAM_BACK_LEFT__1532707739447405.jpg", "data/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 , , and ." } ] }, { "id": "febc1800b9ed432d96aee5ecf0156831_4cfd5115d4324cd082c864bb505382e5_0", "image": [ "data/nuscenes/samples/CAM_FRONT/n008-2018-07-27-12-07-38-0400__CAM_FRONT__1532707739412404.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_LEFT__1532707739404799.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_RIGHT__1532707739420482.jpg", "data/nuscenes/samples/CAM_BACK/n008-2018-07-27-12-07-38-0400__CAM_BACK__1532707739437558.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-07-27-12-07-38-0400__CAM_BACK_LEFT__1532707739447405.jpg", "data/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 ? 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_1", "image": [ "data/nuscenes/samples/CAM_FRONT/n008-2018-07-27-12-07-38-0400__CAM_FRONT__1532707739412404.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_LEFT__1532707739404799.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_RIGHT__1532707739420482.jpg", "data/nuscenes/samples/CAM_BACK/n008-2018-07-27-12-07-38-0400__CAM_BACK__1532707739437558.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-07-27-12-07-38-0400__CAM_BACK_LEFT__1532707739447405.jpg", "data/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 ?" }, { "from": "gpt", "value": "Moderate left turn." } ] }, { "id": "febc1800b9ed432d96aee5ecf0156831_4cfd5115d4324cd082c864bb505382e5_2", "image": [ "data/nuscenes/samples/CAM_FRONT/n008-2018-07-27-12-07-38-0400__CAM_FRONT__1532707739412404.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_LEFT__1532707739404799.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_RIGHT__1532707739420482.jpg", "data/nuscenes/samples/CAM_BACK/n008-2018-07-27-12-07-38-0400__CAM_BACK__1532707739437558.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-07-27-12-07-38-0400__CAM_BACK_LEFT__1532707739447405.jpg", "data/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_cfac4690755c4657a712e449e1ec3b2a_0", "image": [ "data/nuscenes/samples/CAM_FRONT/n008-2018-07-27-12-07-38-0400__CAM_FRONT__1532707731512404.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_LEFT__1532707731504799.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_RIGHT__1532707731520482.jpg", "data/nuscenes/samples/CAM_BACK/n008-2018-07-27-12-07-38-0400__CAM_BACK__1532707731537558.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-07-27-12-07-38-0400__CAM_BACK_LEFT__1532707731547405.jpg", "data/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 , , and ." } ] }, { "id": "febc1800b9ed432d96aee5ecf0156831_cfac4690755c4657a712e449e1ec3b2a_0", "image": [ "data/nuscenes/samples/CAM_FRONT/n008-2018-07-27-12-07-38-0400__CAM_FRONT__1532707731512404.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_LEFT__1532707731504799.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_RIGHT__1532707731520482.jpg", "data/nuscenes/samples/CAM_BACK/n008-2018-07-27-12-07-38-0400__CAM_BACK__1532707731537558.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-07-27-12-07-38-0400__CAM_BACK_LEFT__1532707731547405.jpg", "data/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 ? 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_1", "image": [ "data/nuscenes/samples/CAM_FRONT/n008-2018-07-27-12-07-38-0400__CAM_FRONT__1532707731512404.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_LEFT__1532707731504799.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_RIGHT__1532707731520482.jpg", "data/nuscenes/samples/CAM_BACK/n008-2018-07-27-12-07-38-0400__CAM_BACK__1532707731537558.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-07-27-12-07-38-0400__CAM_BACK_LEFT__1532707731547405.jpg", "data/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 ?" }, { "from": "gpt", "value": "Sharp left turn." } ] }, { "id": "febc1800b9ed432d96aee5ecf0156831_cfac4690755c4657a712e449e1ec3b2a_2", "image": [ "data/nuscenes/samples/CAM_FRONT/n008-2018-07-27-12-07-38-0400__CAM_FRONT__1532707731512404.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_LEFT__1532707731504799.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_RIGHT__1532707731520482.jpg", "data/nuscenes/samples/CAM_BACK/n008-2018-07-27-12-07-38-0400__CAM_BACK__1532707731537558.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-07-27-12-07-38-0400__CAM_BACK_LEFT__1532707731547405.jpg", "data/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_cdca0e249bcd4712a033a728be1d8bb0_0", "image": [ "data/nuscenes/samples/CAM_FRONT/n008-2018-07-27-12-07-38-0400__CAM_FRONT__1532707734512404.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_LEFT__1532707734504799.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_RIGHT__1532707734520482.jpg", "data/nuscenes/samples/CAM_BACK/n008-2018-07-27-12-07-38-0400__CAM_BACK__1532707734537558.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-07-27-12-07-38-0400__CAM_BACK_LEFT__1532707734547405.jpg", "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_BACK_RIGHT__1532707734528113.jpg" ], "tag": 2, "task": "perception", "conversations": [ { "from": "human", "value": "What are the 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 left of the ego vehicle, a pedestrian to the front left of the ego vehicle, and a pedestrian to the front of the ego vehicle. The IDs of these objects are , , and ." } ] }, { "id": "febc1800b9ed432d96aee5ecf0156831_cdca0e249bcd4712a033a728be1d8bb0_0", "image": [ "data/nuscenes/samples/CAM_FRONT/n008-2018-07-27-12-07-38-0400__CAM_FRONT__1532707734512404.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_LEFT__1532707734504799.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_RIGHT__1532707734520482.jpg", "data/nuscenes/samples/CAM_BACK/n008-2018-07-27-12-07-38-0400__CAM_BACK__1532707734537558.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-07-27-12-07-38-0400__CAM_BACK_LEFT__1532707734547405.jpg", "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_BACK_RIGHT__1532707734528113.jpg" ], "tag": 1, "task": "planning", "conversations": [ { "from": "human", "value": "What actions could the ego vehicle take based on ? Why take this action and what's the probability?" }, { "from": "gpt", "value": "The action is to remain stationary because there is no safety issue. The probability of this action is high." } ] }, { "id": "febc1800b9ed432d96aee5ecf0156831_cdca0e249bcd4712a033a728be1d8bb0_1", "image": [ "data/nuscenes/samples/CAM_FRONT/n008-2018-07-27-12-07-38-0400__CAM_FRONT__1532707734512404.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_LEFT__1532707734504799.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_RIGHT__1532707734520482.jpg", "data/nuscenes/samples/CAM_BACK/n008-2018-07-27-12-07-38-0400__CAM_BACK__1532707734537558.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-07-27-12-07-38-0400__CAM_BACK_LEFT__1532707734547405.jpg", "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_BACK_RIGHT__1532707734528113.jpg" ], "tag": 1, "task": "planning", "conversations": [ { "from": "human", "value": "What actions taken by the ego vehicle can lead to a collision with ?" }, { "from": "gpt", "value": "Sharp left turn." } ] }, { "id": "febc1800b9ed432d96aee5ecf0156831_cdca0e249bcd4712a033a728be1d8bb0_2", "image": [ "data/nuscenes/samples/CAM_FRONT/n008-2018-07-27-12-07-38-0400__CAM_FRONT__1532707734512404.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_LEFT__1532707734504799.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_RIGHT__1532707734520482.jpg", "data/nuscenes/samples/CAM_BACK/n008-2018-07-27-12-07-38-0400__CAM_BACK__1532707734537558.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-07-27-12-07-38-0400__CAM_BACK_LEFT__1532707734547405.jpg", "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_BACK_RIGHT__1532707734528113.jpg" ], "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, and brake gently to a stop." } ] }, { "id": "1623e7fab5174f2a84cf1b539233e3a6_a385bb47325647bd804731c389a96097_0", "image": [ "data/nuscenes/samples/CAM_FRONT/n008-2018-08-30-15-16-55-0400__CAM_FRONT__1535656621662404.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-30-15-16-55-0400__CAM_FRONT_LEFT__1535656621654799.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-30-15-16-55-0400__CAM_FRONT_RIGHT__1535656621670482.jpg", "data/nuscenes/samples/CAM_BACK/n008-2018-08-30-15-16-55-0400__CAM_BACK__1535656621687562.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-30-15-16-55-0400__CAM_BACK_LEFT__1535656621697405.jpg", "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-30-15-16-55-0400__CAM_BACK_RIGHT__1535656621678113.jpg" ], "tag": 2, "task": "perception", "conversations": [ { "from": "human", "value": "What are the important 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 yellow and white truck to the front of the ego vehicle, and a blue car to the back of the ego vehicle. The IDs of these objects are , , and ." } ] }, { "id": "1623e7fab5174f2a84cf1b539233e3a6_a385bb47325647bd804731c389a96097_0", "image": [ "data/nuscenes/samples/CAM_FRONT/n008-2018-08-30-15-16-55-0400__CAM_FRONT__1535656621662404.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-30-15-16-55-0400__CAM_FRONT_LEFT__1535656621654799.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-30-15-16-55-0400__CAM_FRONT_RIGHT__1535656621670482.jpg", "data/nuscenes/samples/CAM_BACK/n008-2018-08-30-15-16-55-0400__CAM_BACK__1535656621687562.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-30-15-16-55-0400__CAM_BACK_LEFT__1535656621697405.jpg", "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-30-15-16-55-0400__CAM_BACK_RIGHT__1535656621678113.jpg" ], "tag": 1, "task": "planning", "conversations": [ { "from": "human", "value": "What actions could the ego vehicle take based on ? Why take this action and what's the probability?" }, { "from": "gpt", "value": "The action is to remain stationary. The reason for this action is that the object has little reference value for the ego vehicle, which is high probability." } ] }, { "id": "1623e7fab5174f2a84cf1b539233e3a6_a385bb47325647bd804731c389a96097_1", "image": [ "data/nuscenes/samples/CAM_FRONT/n008-2018-08-30-15-16-55-0400__CAM_FRONT__1535656621662404.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-30-15-16-55-0400__CAM_FRONT_LEFT__1535656621654799.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-30-15-16-55-0400__CAM_FRONT_RIGHT__1535656621670482.jpg", "data/nuscenes/samples/CAM_BACK/n008-2018-08-30-15-16-55-0400__CAM_BACK__1535656621687562.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-30-15-16-55-0400__CAM_BACK_LEFT__1535656621697405.jpg", "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-30-15-16-55-0400__CAM_BACK_RIGHT__1535656621678113.jpg" ], "tag": 1, "task": "planning", "conversations": [ { "from": "human", "value": "What actions taken by the ego vehicle can lead to a collision with ?" }, { "from": "gpt", "value": "Moderate left turn." } ] }, { "id": "1623e7fab5174f2a84cf1b539233e3a6_a385bb47325647bd804731c389a96097_2", "image": [ "data/nuscenes/samples/CAM_FRONT/n008-2018-08-30-15-16-55-0400__CAM_FRONT__1535656621662404.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-30-15-16-55-0400__CAM_FRONT_LEFT__1535656621654799.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-30-15-16-55-0400__CAM_FRONT_RIGHT__1535656621670482.jpg", "data/nuscenes/samples/CAM_BACK/n008-2018-08-30-15-16-55-0400__CAM_BACK__1535656621687562.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-30-15-16-55-0400__CAM_BACK_LEFT__1535656621697405.jpg", "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-30-15-16-55-0400__CAM_BACK_RIGHT__1535656621678113.jpg" ], "tag": 1, "task": "planning", "conversations": [ { "from": "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": "1623e7fab5174f2a84cf1b539233e3a6_021fe3dfd6554cffb439538942767ac7_0", "image": [ "data/nuscenes/samples/CAM_FRONT/n008-2018-08-30-15-16-55-0400__CAM_FRONT__1535656632662404.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-30-15-16-55-0400__CAM_FRONT_LEFT__1535656632654799.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-30-15-16-55-0400__CAM_FRONT_RIGHT__1535656632670482.jpg", "data/nuscenes/samples/CAM_BACK/n008-2018-08-30-15-16-55-0400__CAM_BACK__1535656632687558.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-30-15-16-55-0400__CAM_BACK_LEFT__1535656632697405.jpg", "data/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 , , and ." } ] }, { "id": "1623e7fab5174f2a84cf1b539233e3a6_021fe3dfd6554cffb439538942767ac7_0", "image": [ "data/nuscenes/samples/CAM_FRONT/n008-2018-08-30-15-16-55-0400__CAM_FRONT__1535656632662404.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-30-15-16-55-0400__CAM_FRONT_LEFT__1535656632654799.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-30-15-16-55-0400__CAM_FRONT_RIGHT__1535656632670482.jpg", "data/nuscenes/samples/CAM_BACK/n008-2018-08-30-15-16-55-0400__CAM_BACK__1535656632687558.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-30-15-16-55-0400__CAM_BACK_LEFT__1535656632697405.jpg", "data/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 ? 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_1", "image": [ "data/nuscenes/samples/CAM_FRONT/n008-2018-08-30-15-16-55-0400__CAM_FRONT__1535656632662404.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-30-15-16-55-0400__CAM_FRONT_LEFT__1535656632654799.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-30-15-16-55-0400__CAM_FRONT_RIGHT__1535656632670482.jpg", "data/nuscenes/samples/CAM_BACK/n008-2018-08-30-15-16-55-0400__CAM_BACK__1535656632687558.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-30-15-16-55-0400__CAM_BACK_LEFT__1535656632697405.jpg", "data/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 ?" }, { "from": "gpt", "value": "Back up." } ] }, { "id": "1623e7fab5174f2a84cf1b539233e3a6_021fe3dfd6554cffb439538942767ac7_2", "image": [ "data/nuscenes/samples/CAM_FRONT/n008-2018-08-30-15-16-55-0400__CAM_FRONT__1535656632662404.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-30-15-16-55-0400__CAM_FRONT_LEFT__1535656632654799.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-30-15-16-55-0400__CAM_FRONT_RIGHT__1535656632670482.jpg", "data/nuscenes/samples/CAM_BACK/n008-2018-08-30-15-16-55-0400__CAM_BACK__1535656632687558.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-30-15-16-55-0400__CAM_BACK_LEFT__1535656632697405.jpg", "data/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": "433a14f8dcf5457fb2c4def5c749122a_763dafaff2924e2899184c0cc9f3cfdc_0", "image": [ "data/nuscenes/samples/CAM_FRONT/n015-2018-07-24-11-22-45+0800__CAM_FRONT__1532402751662460.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-24-11-22-45+0800__CAM_FRONT_LEFT__1532402751654844.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-24-11-22-45+0800__CAM_FRONT_RIGHT__1532402751670339.jpg", "data/nuscenes/samples/CAM_BACK/n015-2018-07-24-11-22-45+0800__CAM_BACK__1532402751687525.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-24-11-22-45+0800__CAM_BACK_LEFT__1532402751697423.jpg", "data/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 , , , , and ." } ] }, { "id": "433a14f8dcf5457fb2c4def5c749122a_763dafaff2924e2899184c0cc9f3cfdc_0", "image": [ "data/nuscenes/samples/CAM_FRONT/n015-2018-07-24-11-22-45+0800__CAM_FRONT__1532402751662460.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-24-11-22-45+0800__CAM_FRONT_LEFT__1532402751654844.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-24-11-22-45+0800__CAM_FRONT_RIGHT__1532402751670339.jpg", "data/nuscenes/samples/CAM_BACK/n015-2018-07-24-11-22-45+0800__CAM_BACK__1532402751687525.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-24-11-22-45+0800__CAM_BACK_LEFT__1532402751697423.jpg", "data/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 ?" }, { "from": "gpt", "value": "Sharp left turn." } ] }, { "id": "433a14f8dcf5457fb2c4def5c749122a_763dafaff2924e2899184c0cc9f3cfdc_1", "image": [ "data/nuscenes/samples/CAM_FRONT/n015-2018-07-24-11-22-45+0800__CAM_FRONT__1532402751662460.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-24-11-22-45+0800__CAM_FRONT_LEFT__1532402751654844.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-24-11-22-45+0800__CAM_FRONT_RIGHT__1532402751670339.jpg", "data/nuscenes/samples/CAM_BACK/n015-2018-07-24-11-22-45+0800__CAM_BACK__1532402751687525.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-24-11-22-45+0800__CAM_BACK_LEFT__1532402751697423.jpg", "data/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_0", "image": [ "data/nuscenes/samples/CAM_FRONT/n015-2018-07-24-11-22-45+0800__CAM_FRONT__1532402751662460.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-24-11-22-45+0800__CAM_FRONT_LEFT__1532402751654844.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-24-11-22-45+0800__CAM_FRONT_RIGHT__1532402751670339.jpg", "data/nuscenes/samples/CAM_BACK/n015-2018-07-24-11-22-45+0800__CAM_BACK__1532402751687525.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-24-11-22-45+0800__CAM_BACK_LEFT__1532402751697423.jpg", "data/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. Please select the correct answer from the following options: A. The ego vehicle is slightly steering to the left. The ego vehicle is driving very fast. B. The ego vehicle is slightly steering to the right. The ego vehicle is driving slowly. C. The ego vehicle is slightly steering to the right. The ego vehicle is driving with normal speed. D. The ego vehicle is slightly steering to the right. The ego vehicle is driving fast." }, { "from": "gpt", "value": "A" } ] }, { "id": "433a14f8dcf5457fb2c4def5c749122a_c518e13716c94ea68094c6173ee586b1_0", "image": [ "data/nuscenes/samples/CAM_FRONT/n015-2018-07-24-11-22-45+0800__CAM_FRONT__1532402745612460.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-24-11-22-45+0800__CAM_FRONT_LEFT__1532402745604844.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-24-11-22-45+0800__CAM_FRONT_RIGHT__1532402745620339.jpg", "data/nuscenes/samples/CAM_BACK/n015-2018-07-24-11-22-45+0800__CAM_BACK__1532402745637525.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-24-11-22-45+0800__CAM_BACK_LEFT__1532402745647423.jpg", "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-24-11-22-45+0800__CAM_BACK_RIGHT__1532402745627893.jpg" ], "tag": 2, "task": "perception", "conversations": [ { "from": "human", "value": "What are the 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 truck to the front right of the ego vehicle, a white sedan to the front left of the ego vehicle, a pedestrian preparing to cross the road to the front of the ego vehicle, and a woman in a black top to the front of the ego vehicle. The IDs of these objects are , , , , and ." } ] }, { "id": "433a14f8dcf5457fb2c4def5c749122a_c518e13716c94ea68094c6173ee586b1_0", "image": [ "data/nuscenes/samples/CAM_FRONT/n015-2018-07-24-11-22-45+0800__CAM_FRONT__1532402745612460.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-24-11-22-45+0800__CAM_FRONT_LEFT__1532402745604844.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-24-11-22-45+0800__CAM_FRONT_RIGHT__1532402745620339.jpg", "data/nuscenes/samples/CAM_BACK/n015-2018-07-24-11-22-45+0800__CAM_BACK__1532402745637525.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-24-11-22-45+0800__CAM_BACK_LEFT__1532402745647423.jpg", "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-24-11-22-45+0800__CAM_BACK_RIGHT__1532402745627893.jpg" ], "tag": 1, "task": "planning", "conversations": [ { "from": "human", "value": "What actions taken by the ego vehicle can lead to a collision with ?" }, { "from": "gpt", "value": "Changing to the left lane." } ] }, { "id": "433a14f8dcf5457fb2c4def5c749122a_c518e13716c94ea68094c6173ee586b1_1", "image": [ "data/nuscenes/samples/CAM_FRONT/n015-2018-07-24-11-22-45+0800__CAM_FRONT__1532402745612460.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-24-11-22-45+0800__CAM_FRONT_LEFT__1532402745604844.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-24-11-22-45+0800__CAM_FRONT_RIGHT__1532402745620339.jpg", "data/nuscenes/samples/CAM_BACK/n015-2018-07-24-11-22-45+0800__CAM_BACK__1532402745637525.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-24-11-22-45+0800__CAM_BACK_LEFT__1532402745647423.jpg", "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-24-11-22-45+0800__CAM_BACK_RIGHT__1532402745627893.jpg" ], "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": "433a14f8dcf5457fb2c4def5c749122a_c518e13716c94ea68094c6173ee586b1_0", "image": [ "data/nuscenes/samples/CAM_FRONT/n015-2018-07-24-11-22-45+0800__CAM_FRONT__1532402745612460.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-24-11-22-45+0800__CAM_FRONT_LEFT__1532402745604844.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-24-11-22-45+0800__CAM_FRONT_RIGHT__1532402745620339.jpg", "data/nuscenes/samples/CAM_BACK/n015-2018-07-24-11-22-45+0800__CAM_BACK__1532402745637525.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-24-11-22-45+0800__CAM_BACK_LEFT__1532402745647423.jpg", "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-24-11-22-45+0800__CAM_BACK_RIGHT__1532402745627893.jpg" ], "tag": 0, "task": "behavior", "conversations": [ { "from": "human", "value": "Predict the behavior of the ego vehicle. Please select the correct answer from the following options: A. The ego vehicle is slightly steering to the right. The ego vehicle is driving fast. B. The ego vehicle is going straight. The ego vehicle is not moving. C. The ego vehicle is slightly steering to the left. The ego vehicle is driving very fast. D. The ego vehicle is steering to the left. The ego vehicle is driving very fast." }, { "from": "gpt", "value": "C" } ] }, { "id": "d033fb0d79ea42b9a356fa5162172598_27aa95ee3d714029baa023f4a8791085_0", "image": [ "data/nuscenes/samples/CAM_FRONT/n008-2018-09-18-14-54-39-0400__CAM_FRONT__1537297251162404.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_LEFT__1537297251154799.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_RIGHT__1537297251170482.jpg", "data/nuscenes/samples/CAM_BACK/n008-2018-09-18-14-54-39-0400__CAM_BACK__1537297251187558.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-14-54-39-0400__CAM_BACK_LEFT__1537297251197409.jpg", "data/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 , , , and ." } ] }, { "id": "d033fb0d79ea42b9a356fa5162172598_27aa95ee3d714029baa023f4a8791085_0", "image": [ "data/nuscenes/samples/CAM_FRONT/n008-2018-09-18-14-54-39-0400__CAM_FRONT__1537297251162404.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_LEFT__1537297251154799.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_RIGHT__1537297251170482.jpg", "data/nuscenes/samples/CAM_BACK/n008-2018-09-18-14-54-39-0400__CAM_BACK__1537297251187558.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-14-54-39-0400__CAM_BACK_LEFT__1537297251197409.jpg", "data/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 ?" }, { "from": "gpt", "value": "No such action will lead to a collision." } ] }, { "id": "d033fb0d79ea42b9a356fa5162172598_27aa95ee3d714029baa023f4a8791085_1", "image": [ "data/nuscenes/samples/CAM_FRONT/n008-2018-09-18-14-54-39-0400__CAM_FRONT__1537297251162404.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_LEFT__1537297251154799.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_RIGHT__1537297251170482.jpg", "data/nuscenes/samples/CAM_BACK/n008-2018-09-18-14-54-39-0400__CAM_BACK__1537297251187558.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-14-54-39-0400__CAM_BACK_LEFT__1537297251197409.jpg", "data/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_0", "image": [ "data/nuscenes/samples/CAM_FRONT/n008-2018-09-18-14-54-39-0400__CAM_FRONT__1537297251162404.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_LEFT__1537297251154799.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_RIGHT__1537297251170482.jpg", "data/nuscenes/samples/CAM_BACK/n008-2018-09-18-14-54-39-0400__CAM_BACK__1537297251187558.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-14-54-39-0400__CAM_BACK_LEFT__1537297251197409.jpg", "data/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. Please select the correct answer from the following options: A. The ego vehicle is slightly steering to the right. The ego vehicle is driving with normal speed. B. The ego vehicle is slightly steering to the left. The ego vehicle is driving with normal speed. C. The ego vehicle is going straight. The ego vehicle is not moving. D. The ego vehicle is slightly steering to the left. The ego vehicle is driving fast." }, { "from": "gpt", "value": "D" } ] }, { "id": "44f25e0b668e4077abf57f3df320bb57_0fa1ac8c76084bce872dd92ce35854c8_0", "image": [ "data/nuscenes/samples/CAM_FRONT/n008-2018-08-30-15-52-26-0400__CAM_FRONT__1535658900012404.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_LEFT__1535658900004799.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_RIGHT__1535658900020482.jpg", "data/nuscenes/samples/CAM_BACK/n008-2018-08-30-15-52-26-0400__CAM_BACK__1535658900037558.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-30-15-52-26-0400__CAM_BACK_LEFT__1535658900047405.jpg", "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_BACK_RIGHT__1535658900028113.jpg" ], "tag": 2, "task": "perception", "conversations": [ { "from": "human", "value": "What are the 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 yellow truck to the front of the ego vehicle, a black pickup truck 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 , , , and ." } ] }, { "id": "44f25e0b668e4077abf57f3df320bb57_0fa1ac8c76084bce872dd92ce35854c8_0", "image": [ "data/nuscenes/samples/CAM_FRONT/n008-2018-08-30-15-52-26-0400__CAM_FRONT__1535658900012404.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_LEFT__1535658900004799.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_RIGHT__1535658900020482.jpg", "data/nuscenes/samples/CAM_BACK/n008-2018-08-30-15-52-26-0400__CAM_BACK__1535658900037558.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-30-15-52-26-0400__CAM_BACK_LEFT__1535658900047405.jpg", "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_BACK_RIGHT__1535658900028113.jpg" ], "tag": 0, "task": "prediction", "conversations": [ { "from": "human", "value": "Is a traffic sign or a road barrier?" }, { "from": "gpt", "value": "No." } ] }, { "id": "44f25e0b668e4077abf57f3df320bb57_0fa1ac8c76084bce872dd92ce35854c8_0", "image": [ "data/nuscenes/samples/CAM_FRONT/n008-2018-08-30-15-52-26-0400__CAM_FRONT__1535658900012404.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_LEFT__1535658900004799.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_RIGHT__1535658900020482.jpg", "data/nuscenes/samples/CAM_BACK/n008-2018-08-30-15-52-26-0400__CAM_BACK__1535658900037558.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-30-15-52-26-0400__CAM_BACK_LEFT__1535658900047405.jpg", "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_BACK_RIGHT__1535658900028113.jpg" ], "tag": 1, "task": "planning", "conversations": [ { "from": "human", "value": "What actions taken by the ego vehicle can lead to a collision with ?" }, { "from": "gpt", "value": "Moderate right turn." } ] }, { "id": "44f25e0b668e4077abf57f3df320bb57_0fa1ac8c76084bce872dd92ce35854c8_1", "image": [ "data/nuscenes/samples/CAM_FRONT/n008-2018-08-30-15-52-26-0400__CAM_FRONT__1535658900012404.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_LEFT__1535658900004799.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_RIGHT__1535658900020482.jpg", "data/nuscenes/samples/CAM_BACK/n008-2018-08-30-15-52-26-0400__CAM_BACK__1535658900037558.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-30-15-52-26-0400__CAM_BACK_LEFT__1535658900047405.jpg", "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_BACK_RIGHT__1535658900028113.jpg" ], "tag": 1, "task": "planning", "conversations": [ { "from": "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": "1d4db80d13f342aba4881b38099bc4b7_eea0d4122fe8431f879d5a8242398f4b_0", "image": [ "data/nuscenes/samples/CAM_FRONT/n015-2018-07-18-11-50-34+0800__CAM_FRONT__1531886125912469.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_LEFT__1531886125904844.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_RIGHT__1531886125920339.jpg", "data/nuscenes/samples/CAM_BACK/n015-2018-07-18-11-50-34+0800__CAM_BACK__1531886125937525.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-18-11-50-34+0800__CAM_BACK_LEFT__1531886125947423.jpg", "data/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 , , and ." } ] }, { "id": "1d4db80d13f342aba4881b38099bc4b7_eea0d4122fe8431f879d5a8242398f4b_0", "image": [ "data/nuscenes/samples/CAM_FRONT/n015-2018-07-18-11-50-34+0800__CAM_FRONT__1531886125912469.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_LEFT__1531886125904844.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_RIGHT__1531886125920339.jpg", "data/nuscenes/samples/CAM_BACK/n015-2018-07-18-11-50-34+0800__CAM_BACK__1531886125937525.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-18-11-50-34+0800__CAM_BACK_LEFT__1531886125947423.jpg", "data/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 ? 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_1", "image": [ "data/nuscenes/samples/CAM_FRONT/n015-2018-07-18-11-50-34+0800__CAM_FRONT__1531886125912469.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_LEFT__1531886125904844.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_RIGHT__1531886125920339.jpg", "data/nuscenes/samples/CAM_BACK/n015-2018-07-18-11-50-34+0800__CAM_BACK__1531886125937525.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-18-11-50-34+0800__CAM_BACK_LEFT__1531886125947423.jpg", "data/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 ?" }, { "from": "gpt", "value": "Sharp left turn." } ] }, { "id": "1d4db80d13f342aba4881b38099bc4b7_eea0d4122fe8431f879d5a8242398f4b_2", "image": [ "data/nuscenes/samples/CAM_FRONT/n015-2018-07-18-11-50-34+0800__CAM_FRONT__1531886125912469.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_LEFT__1531886125904844.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_RIGHT__1531886125920339.jpg", "data/nuscenes/samples/CAM_BACK/n015-2018-07-18-11-50-34+0800__CAM_BACK__1531886125937525.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-18-11-50-34+0800__CAM_BACK_LEFT__1531886125947423.jpg", "data/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_89612e28f64b415f8fe05f396a92238d_0", "image": [ "data/nuscenes/samples/CAM_FRONT/n015-2018-07-18-11-50-34+0800__CAM_FRONT__1531886121412465.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_LEFT__1531886121404844.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_RIGHT__1531886121420339.jpg", "data/nuscenes/samples/CAM_BACK/n015-2018-07-18-11-50-34+0800__CAM_BACK__1531886121437525.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-18-11-50-34+0800__CAM_BACK_LEFT__1531886121447423.jpg", "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_BACK_RIGHT__1531886121427893.jpg" ], "tag": 2, "task": "perception", "conversations": [ { "from": "human", "value": "What are the 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 red clothes riding a black motorcycle to the front left 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 black traffic light to the front of the ego vehicle. The IDs of these objects are , , , and ." } ] }, { "id": "1d4db80d13f342aba4881b38099bc4b7_89612e28f64b415f8fe05f396a92238d_1", "image": [ "data/nuscenes/samples/CAM_FRONT/n015-2018-07-18-11-50-34+0800__CAM_FRONT__1531886121412465.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_LEFT__1531886121404844.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_RIGHT__1531886121420339.jpg", "data/nuscenes/samples/CAM_BACK/n015-2018-07-18-11-50-34+0800__CAM_BACK__1531886121437525.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-18-11-50-34+0800__CAM_BACK_LEFT__1531886121447423.jpg", "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_BACK_RIGHT__1531886121427893.jpg" ], "tag": 0, "task": "perception", "conversations": [ { "from": "human", "value": "What is the moving status of object ? Please select the correct answer from the following options: A. Drive backward. B. Going ahead. C. Turn left. D. Back up." }, { "from": "gpt", "value": "C" } ] }, { "id": "1d4db80d13f342aba4881b38099bc4b7_89612e28f64b415f8fe05f396a92238d_0", "image": [ "data/nuscenes/samples/CAM_FRONT/n015-2018-07-18-11-50-34+0800__CAM_FRONT__1531886121412465.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_LEFT__1531886121404844.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_RIGHT__1531886121420339.jpg", "data/nuscenes/samples/CAM_BACK/n015-2018-07-18-11-50-34+0800__CAM_BACK__1531886121437525.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-18-11-50-34+0800__CAM_BACK_LEFT__1531886121447423.jpg", "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_BACK_RIGHT__1531886121427893.jpg" ], "tag": 1, "task": "planning", "conversations": [ { "from": "human", "value": "What actions taken by the ego vehicle can lead to a collision with ?" }, { "from": "gpt", "value": "Sharp left turn." } ] }, { "id": "1d4db80d13f342aba4881b38099bc4b7_89612e28f64b415f8fe05f396a92238d_1", "image": [ "data/nuscenes/samples/CAM_FRONT/n015-2018-07-18-11-50-34+0800__CAM_FRONT__1531886121412465.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_LEFT__1531886121404844.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_RIGHT__1531886121420339.jpg", "data/nuscenes/samples/CAM_BACK/n015-2018-07-18-11-50-34+0800__CAM_BACK__1531886121437525.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-18-11-50-34+0800__CAM_BACK_LEFT__1531886121447423.jpg", "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_BACK_RIGHT__1531886121427893.jpg" ], "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 keep going at the same speed." } ] }, { "id": "63252988084b4943a50734990c47e039_f5fa654ebe844ef888f9190dedd43323_0", "image": [ "data/nuscenes/samples/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535729207862404.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535729207854799.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535729207870482.jpg", "data/nuscenes/samples/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535729207887558.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535729207897405.jpg", "data/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 , , , , , and ." } ] }, { "id": "63252988084b4943a50734990c47e039_f5fa654ebe844ef888f9190dedd43323_0", "image": [ "data/nuscenes/samples/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535729207862404.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535729207854799.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535729207870482.jpg", "data/nuscenes/samples/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535729207887558.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535729207897405.jpg", "data/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 ? 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_1", "image": [ "data/nuscenes/samples/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535729207862404.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535729207854799.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535729207870482.jpg", "data/nuscenes/samples/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535729207887558.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535729207897405.jpg", "data/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 ?" }, { "from": "gpt", "value": "Slight left turn." } ] }, { "id": "63252988084b4943a50734990c47e039_f5fa654ebe844ef888f9190dedd43323_2", "image": [ "data/nuscenes/samples/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535729207862404.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535729207854799.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535729207870482.jpg", "data/nuscenes/samples/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535729207887558.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535729207897405.jpg", "data/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": "eae0cfe3be5f44a5be4f3e2c961397ed_b8a343023b9349ec81e49a81d1c5ef57_0", "image": [ "data/nuscenes/samples/CAM_FRONT/n008-2018-07-27-12-07-38-0400__CAM_FRONT__1532707969412404.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_LEFT__1532707969404799.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_RIGHT__1532707969420482.jpg", "data/nuscenes/samples/CAM_BACK/n008-2018-07-27-12-07-38-0400__CAM_BACK__1532707969437558.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-07-27-12-07-38-0400__CAM_BACK_LEFT__1532707969447405.jpg", "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_BACK_RIGHT__1532707969428113.jpg" ], "tag": 2, "task": "perception", "conversations": [ { "from": "human", "value": "What are the important 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 truck to the front of the ego vehicle, a black sedan to the back of the ego vehicle, a white truck to the back left of the ego vehicle, and a traffic light to the front of the ego vehicle. The IDs of these objects are , , , , and ." } ] }, { "id": "eae0cfe3be5f44a5be4f3e2c961397ed_b8a343023b9349ec81e49a81d1c5ef57_0", "image": [ "data/nuscenes/samples/CAM_FRONT/n008-2018-07-27-12-07-38-0400__CAM_FRONT__1532707969412404.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_LEFT__1532707969404799.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_RIGHT__1532707969420482.jpg", "data/nuscenes/samples/CAM_BACK/n008-2018-07-27-12-07-38-0400__CAM_BACK__1532707969437558.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-07-27-12-07-38-0400__CAM_BACK_LEFT__1532707969447405.jpg", "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_BACK_RIGHT__1532707969428113.jpg" ], "tag": 1, "task": "planning", "conversations": [ { "from": "human", "value": "What actions could the ego vehicle take based on ? Why take this action and what's the probability?" }, { "from": "gpt", "value": "The action is to remain stationary. The reason for taking this action is to follow the traffic rules, with a high probability." } ] }, { "id": "eae0cfe3be5f44a5be4f3e2c961397ed_b8a343023b9349ec81e49a81d1c5ef57_1", "image": [ "data/nuscenes/samples/CAM_FRONT/n008-2018-07-27-12-07-38-0400__CAM_FRONT__1532707969412404.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_LEFT__1532707969404799.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_RIGHT__1532707969420482.jpg", "data/nuscenes/samples/CAM_BACK/n008-2018-07-27-12-07-38-0400__CAM_BACK__1532707969437558.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-07-27-12-07-38-0400__CAM_BACK_LEFT__1532707969447405.jpg", "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_BACK_RIGHT__1532707969428113.jpg" ], "tag": 1, "task": "planning", "conversations": [ { "from": "human", "value": "What actions taken by the ego vehicle can lead to a collision with ?" }, { "from": "gpt", "value": "Sharp left turn." } ] }, { "id": "eae0cfe3be5f44a5be4f3e2c961397ed_b8a343023b9349ec81e49a81d1c5ef57_2", "image": [ "data/nuscenes/samples/CAM_FRONT/n008-2018-07-27-12-07-38-0400__CAM_FRONT__1532707969412404.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_LEFT__1532707969404799.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_RIGHT__1532707969420482.jpg", "data/nuscenes/samples/CAM_BACK/n008-2018-07-27-12-07-38-0400__CAM_BACK__1532707969437558.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-07-27-12-07-38-0400__CAM_BACK_LEFT__1532707969447405.jpg", "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_BACK_RIGHT__1532707969428113.jpg" ], "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": "eae0cfe3be5f44a5be4f3e2c961397ed_d3c5ecd820f143d0b5aee6cc87264803_0", "image": [ "data/nuscenes/samples/CAM_FRONT/n008-2018-07-27-12-07-38-0400__CAM_FRONT__1532707974862455.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_LEFT__1532707974854799.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_RIGHT__1532707974870482.jpg", "data/nuscenes/samples/CAM_BACK/n008-2018-07-27-12-07-38-0400__CAM_BACK__1532707974887558.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-07-27-12-07-38-0400__CAM_BACK_LEFT__1532707974897405.jpg", "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_BACK_RIGHT__1532707974878113.jpg" ], "tag": 2, "task": "perception", "conversations": [ { "from": "human", "value": "What are the 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 van to the front left of the ego vehicle, a black 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 , , , and ." } ] }, { "id": "eae0cfe3be5f44a5be4f3e2c961397ed_d3c5ecd820f143d0b5aee6cc87264803_0", "image": [ "data/nuscenes/samples/CAM_FRONT/n008-2018-07-27-12-07-38-0400__CAM_FRONT__1532707974862455.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_LEFT__1532707974854799.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_RIGHT__1532707974870482.jpg", "data/nuscenes/samples/CAM_BACK/n008-2018-07-27-12-07-38-0400__CAM_BACK__1532707974887558.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-07-27-12-07-38-0400__CAM_BACK_LEFT__1532707974897405.jpg", "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_BACK_RIGHT__1532707974878113.jpg" ], "tag": 1, "task": "planning", "conversations": [ { "from": "human", "value": "What actions could the ego vehicle take based on ? Why take this action and what's the probability?" }, { "from": "gpt", "value": "The action is to turn right. The reason is that the object has little reference value for the ego vehicle, and the probability is high." } ] }, { "id": "eae0cfe3be5f44a5be4f3e2c961397ed_d3c5ecd820f143d0b5aee6cc87264803_1", "image": [ "data/nuscenes/samples/CAM_FRONT/n008-2018-07-27-12-07-38-0400__CAM_FRONT__1532707974862455.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_LEFT__1532707974854799.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_RIGHT__1532707974870482.jpg", "data/nuscenes/samples/CAM_BACK/n008-2018-07-27-12-07-38-0400__CAM_BACK__1532707974887558.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-07-27-12-07-38-0400__CAM_BACK_LEFT__1532707974897405.jpg", "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_BACK_RIGHT__1532707974878113.jpg" ], "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": "eae0cfe3be5f44a5be4f3e2c961397ed_d3c5ecd820f143d0b5aee6cc87264803_0", "image": [ "data/nuscenes/samples/CAM_FRONT/n008-2018-07-27-12-07-38-0400__CAM_FRONT__1532707974862455.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_LEFT__1532707974854799.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_RIGHT__1532707974870482.jpg", "data/nuscenes/samples/CAM_BACK/n008-2018-07-27-12-07-38-0400__CAM_BACK__1532707974887558.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-07-27-12-07-38-0400__CAM_BACK_LEFT__1532707974897405.jpg", "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_BACK_RIGHT__1532707974878113.jpg" ], "tag": 0, "task": "behavior", "conversations": [ { "from": "human", "value": "Predict the behavior of the ego vehicle. Please select the correct answer from the following options: A. The ego vehicle is going straight. The ego vehicle is driving slowly. B. The ego vehicle is steering to the right. The ego vehicle is driving slowly. C. The ego vehicle is slightly steering to the right. The ego vehicle is driving slowly. D. The ego vehicle is steering to the right. The ego vehicle is driving with normal speed." }, { "from": "gpt", "value": "C" } ] }, { "id": "1319a9c0288f4ff9ae32d3f33b3bae17_55650e727b764ea0bcb8366ddeeade53_0", "image": [ "data/nuscenes/samples/CAM_FRONT/n015-2018-09-25-11-10-38+0800__CAM_FRONT__1537845300362589.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-25-11-10-38+0800__CAM_FRONT_LEFT__1537845300354844.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-25-11-10-38+0800__CAM_FRONT_RIGHT__1537845300370339.jpg", "data/nuscenes/samples/CAM_BACK/n015-2018-09-25-11-10-38+0800__CAM_BACK__1537845300387525.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-25-11-10-38+0800__CAM_BACK_LEFT__1537845300397423.jpg", "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-25-11-10-38+0800__CAM_BACK_RIGHT__1537845300377893.jpg" ], "tag": 2, "task": "perception", "conversations": [ { "from": "human", "value": "What are the 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 black sedan to the back of the ego vehicle, a silver sedan to the back of the ego vehicle, a white sedan car to the back left of the ego vehicle, and a traffic light to the front of the ego vehicle. The IDs of these objects are , , , , and ." } ] }, { "id": "1319a9c0288f4ff9ae32d3f33b3bae17_55650e727b764ea0bcb8366ddeeade53_1", "image": [ "data/nuscenes/samples/CAM_FRONT/n015-2018-09-25-11-10-38+0800__CAM_FRONT__1537845300362589.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-25-11-10-38+0800__CAM_FRONT_LEFT__1537845300354844.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-25-11-10-38+0800__CAM_FRONT_RIGHT__1537845300370339.jpg", "data/nuscenes/samples/CAM_BACK/n015-2018-09-25-11-10-38+0800__CAM_BACK__1537845300387525.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-25-11-10-38+0800__CAM_BACK_LEFT__1537845300397423.jpg", "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-25-11-10-38+0800__CAM_BACK_RIGHT__1537845300377893.jpg" ], "tag": 0, "task": "perception", "conversations": [ { "from": "human", "value": "What is the moving status of object ? Please select the correct answer from the following options: A. Going ahead. B. Turn right. C. Drive backward. D. Stopped." }, { "from": "gpt", "value": "B" } ] }, { "id": "1319a9c0288f4ff9ae32d3f33b3bae17_55650e727b764ea0bcb8366ddeeade53_0", "image": [ "data/nuscenes/samples/CAM_FRONT/n015-2018-09-25-11-10-38+0800__CAM_FRONT__1537845300362589.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-25-11-10-38+0800__CAM_FRONT_LEFT__1537845300354844.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-25-11-10-38+0800__CAM_FRONT_RIGHT__1537845300370339.jpg", "data/nuscenes/samples/CAM_BACK/n015-2018-09-25-11-10-38+0800__CAM_BACK__1537845300387525.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-25-11-10-38+0800__CAM_BACK_LEFT__1537845300397423.jpg", "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-25-11-10-38+0800__CAM_BACK_RIGHT__1537845300377893.jpg" ], "tag": 1, "task": "planning", "conversations": [ { "from": "human", "value": "What actions could the ego vehicle take based on ? Why take this action and what's the probability?" }, { "from": "gpt", "value": "The action is to keep stationary. The reason is to follow the traffic rules, which is high probability." } ] }, { "id": "1319a9c0288f4ff9ae32d3f33b3bae17_55650e727b764ea0bcb8366ddeeade53_1", "image": [ "data/nuscenes/samples/CAM_FRONT/n015-2018-09-25-11-10-38+0800__CAM_FRONT__1537845300362589.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-25-11-10-38+0800__CAM_FRONT_LEFT__1537845300354844.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-25-11-10-38+0800__CAM_FRONT_RIGHT__1537845300370339.jpg", "data/nuscenes/samples/CAM_BACK/n015-2018-09-25-11-10-38+0800__CAM_BACK__1537845300387525.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-25-11-10-38+0800__CAM_BACK_LEFT__1537845300397423.jpg", "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-25-11-10-38+0800__CAM_BACK_RIGHT__1537845300377893.jpg" ], "tag": 1, "task": "planning", "conversations": [ { "from": "human", "value": "What actions taken by the ego vehicle can lead to a collision with ?" }, { "from": "gpt", "value": "Moderate left turn." } ] }, { "id": "1319a9c0288f4ff9ae32d3f33b3bae17_55650e727b764ea0bcb8366ddeeade53_2", "image": [ "data/nuscenes/samples/CAM_FRONT/n015-2018-09-25-11-10-38+0800__CAM_FRONT__1537845300362589.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-25-11-10-38+0800__CAM_FRONT_LEFT__1537845300354844.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-25-11-10-38+0800__CAM_FRONT_RIGHT__1537845300370339.jpg", "data/nuscenes/samples/CAM_BACK/n015-2018-09-25-11-10-38+0800__CAM_BACK__1537845300387525.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-25-11-10-38+0800__CAM_BACK_LEFT__1537845300397423.jpg", "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-25-11-10-38+0800__CAM_BACK_RIGHT__1537845300377893.jpg" ], "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": "1319a9c0288f4ff9ae32d3f33b3bae17_3765b3cc89aa4e7a8a4ce508dedb3c9d_0", "image": [ "data/nuscenes/samples/CAM_FRONT/n015-2018-09-25-11-10-38+0800__CAM_FRONT__1537845298262460.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-25-11-10-38+0800__CAM_FRONT_LEFT__1537845298254844.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-25-11-10-38+0800__CAM_FRONT_RIGHT__1537845298270339.jpg", "data/nuscenes/samples/CAM_BACK/n015-2018-09-25-11-10-38+0800__CAM_BACK__1537845298287525.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-25-11-10-38+0800__CAM_BACK_LEFT__1537845298297423.jpg", "data/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 , , , , and ." } ] }, { "id": "1319a9c0288f4ff9ae32d3f33b3bae17_3765b3cc89aa4e7a8a4ce508dedb3c9d_1", "image": [ "data/nuscenes/samples/CAM_FRONT/n015-2018-09-25-11-10-38+0800__CAM_FRONT__1537845298262460.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-25-11-10-38+0800__CAM_FRONT_LEFT__1537845298254844.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-25-11-10-38+0800__CAM_FRONT_RIGHT__1537845298270339.jpg", "data/nuscenes/samples/CAM_BACK/n015-2018-09-25-11-10-38+0800__CAM_BACK__1537845298287525.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-25-11-10-38+0800__CAM_BACK_LEFT__1537845298297423.jpg", "data/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 ? Please select the correct answer from the following options: A. Turn left. B. Stopped. C. Turn right. D. Reverse parking." }, { "from": "gpt", "value": "A" } ] }, { "id": "1319a9c0288f4ff9ae32d3f33b3bae17_3765b3cc89aa4e7a8a4ce508dedb3c9d_0", "image": [ "data/nuscenes/samples/CAM_FRONT/n015-2018-09-25-11-10-38+0800__CAM_FRONT__1537845298262460.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-25-11-10-38+0800__CAM_FRONT_LEFT__1537845298254844.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-25-11-10-38+0800__CAM_FRONT_RIGHT__1537845298270339.jpg", "data/nuscenes/samples/CAM_BACK/n015-2018-09-25-11-10-38+0800__CAM_BACK__1537845298287525.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-25-11-10-38+0800__CAM_BACK_LEFT__1537845298297423.jpg", "data/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 ? 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_1", "image": [ "data/nuscenes/samples/CAM_FRONT/n015-2018-09-25-11-10-38+0800__CAM_FRONT__1537845298262460.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-25-11-10-38+0800__CAM_FRONT_LEFT__1537845298254844.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-25-11-10-38+0800__CAM_FRONT_RIGHT__1537845298270339.jpg", "data/nuscenes/samples/CAM_BACK/n015-2018-09-25-11-10-38+0800__CAM_BACK__1537845298287525.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-25-11-10-38+0800__CAM_BACK_LEFT__1537845298297423.jpg", "data/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 ?" }, { "from": "gpt", "value": "Accelerate and go straight." } ] }, { "id": "1319a9c0288f4ff9ae32d3f33b3bae17_3765b3cc89aa4e7a8a4ce508dedb3c9d_2", "image": [ "data/nuscenes/samples/CAM_FRONT/n015-2018-09-25-11-10-38+0800__CAM_FRONT__1537845298262460.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-25-11-10-38+0800__CAM_FRONT_LEFT__1537845298254844.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-25-11-10-38+0800__CAM_FRONT_RIGHT__1537845298270339.jpg", "data/nuscenes/samples/CAM_BACK/n015-2018-09-25-11-10-38+0800__CAM_BACK__1537845298287525.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-25-11-10-38+0800__CAM_BACK_LEFT__1537845298297423.jpg", "data/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_7eba5e04a1df44bfae6e6a01e0dc9f26_0", "image": [ "data/nuscenes/samples/CAM_FRONT/n015-2018-09-25-11-10-38+0800__CAM_FRONT__1537845289162460.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-25-11-10-38+0800__CAM_FRONT_LEFT__1537845289154844.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-25-11-10-38+0800__CAM_FRONT_RIGHT__1537845289170339.jpg", "data/nuscenes/samples/CAM_BACK/n015-2018-09-25-11-10-38+0800__CAM_BACK__1537845289187525.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-25-11-10-38+0800__CAM_BACK_LEFT__1537845289197423.jpg", "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-25-11-10-38+0800__CAM_BACK_RIGHT__1537845289177893.jpg" ], "tag": 2, "task": "perception", "conversations": [ { "from": "human", "value": "What are the 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 back of the ego vehicle, a people on the roadside 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 , , , , and ." } ] }, { "id": "1319a9c0288f4ff9ae32d3f33b3bae17_7eba5e04a1df44bfae6e6a01e0dc9f26_0", "image": [ "data/nuscenes/samples/CAM_FRONT/n015-2018-09-25-11-10-38+0800__CAM_FRONT__1537845289162460.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-25-11-10-38+0800__CAM_FRONT_LEFT__1537845289154844.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-25-11-10-38+0800__CAM_FRONT_RIGHT__1537845289170339.jpg", "data/nuscenes/samples/CAM_BACK/n015-2018-09-25-11-10-38+0800__CAM_BACK__1537845289187525.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-25-11-10-38+0800__CAM_BACK_LEFT__1537845289197423.jpg", "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-25-11-10-38+0800__CAM_BACK_RIGHT__1537845289177893.jpg" ], "tag": 1, "task": "planning", "conversations": [ { "from": "human", "value": "What actions could the ego vehicle take based on ? Why take this action and what's the probability?" }, { "from": "gpt", "value": "The action is to remain stationary. The reason for this action is to follow the traffic rules, which has a high probability." } ] }, { "id": "1319a9c0288f4ff9ae32d3f33b3bae17_7eba5e04a1df44bfae6e6a01e0dc9f26_1", "image": [ "data/nuscenes/samples/CAM_FRONT/n015-2018-09-25-11-10-38+0800__CAM_FRONT__1537845289162460.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-25-11-10-38+0800__CAM_FRONT_LEFT__1537845289154844.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-25-11-10-38+0800__CAM_FRONT_RIGHT__1537845289170339.jpg", "data/nuscenes/samples/CAM_BACK/n015-2018-09-25-11-10-38+0800__CAM_BACK__1537845289187525.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-25-11-10-38+0800__CAM_BACK_LEFT__1537845289197423.jpg", "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-25-11-10-38+0800__CAM_BACK_RIGHT__1537845289177893.jpg" ], "tag": 1, "task": "planning", "conversations": [ { "from": "human", "value": "What actions taken by the ego vehicle can lead to a collision with ?" }, { "from": "gpt", "value": "Back up." } ] }, { "id": "1319a9c0288f4ff9ae32d3f33b3bae17_7eba5e04a1df44bfae6e6a01e0dc9f26_2", "image": [ "data/nuscenes/samples/CAM_FRONT/n015-2018-09-25-11-10-38+0800__CAM_FRONT__1537845289162460.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-25-11-10-38+0800__CAM_FRONT_LEFT__1537845289154844.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-25-11-10-38+0800__CAM_FRONT_RIGHT__1537845289170339.jpg", "data/nuscenes/samples/CAM_BACK/n015-2018-09-25-11-10-38+0800__CAM_BACK__1537845289187525.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-25-11-10-38+0800__CAM_BACK_LEFT__1537845289197423.jpg", "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-25-11-10-38+0800__CAM_BACK_RIGHT__1537845289177893.jpg" ], "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": "1319a9c0288f4ff9ae32d3f33b3bae17_98abca7362824580becab023c2f5abb4_0", "image": [ "data/nuscenes/samples/CAM_FRONT/n015-2018-09-25-11-10-38+0800__CAM_FRONT__1537845296262460.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-25-11-10-38+0800__CAM_FRONT_LEFT__1537845296254844.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-25-11-10-38+0800__CAM_FRONT_RIGHT__1537845296270339.jpg", "data/nuscenes/samples/CAM_BACK/n015-2018-09-25-11-10-38+0800__CAM_BACK__1537845296287525.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-25-11-10-38+0800__CAM_BACK_LEFT__1537845296297423.jpg", "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-25-11-10-38+0800__CAM_BACK_RIGHT__1537845296277893.jpg" ], "tag": 2, "task": "perception", "conversations": [ { "from": "human", "value": "What are the 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 sedan to the back of the ego vehicle, a silver sedan to the back of the ego vehicle, a white SUV to the back left of the ego vehicle, a black 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 , , , , , and ." } ] }, { "id": "1319a9c0288f4ff9ae32d3f33b3bae17_98abca7362824580becab023c2f5abb4_0", "image": [ "data/nuscenes/samples/CAM_FRONT/n015-2018-09-25-11-10-38+0800__CAM_FRONT__1537845296262460.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-25-11-10-38+0800__CAM_FRONT_LEFT__1537845296254844.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-25-11-10-38+0800__CAM_FRONT_RIGHT__1537845296270339.jpg", "data/nuscenes/samples/CAM_BACK/n015-2018-09-25-11-10-38+0800__CAM_BACK__1537845296287525.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-25-11-10-38+0800__CAM_BACK_LEFT__1537845296297423.jpg", "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-25-11-10-38+0800__CAM_BACK_RIGHT__1537845296277893.jpg" ], "tag": 1, "task": "planning", "conversations": [ { "from": "human", "value": "What actions could the ego vehicle take based on ? Why take this action and what's the probability?" }, { "from": "gpt", "value": "The action is to remain stationary. The reason for this action is to follow the traffic rules, which is considered high probability." } ] }, { "id": "1319a9c0288f4ff9ae32d3f33b3bae17_98abca7362824580becab023c2f5abb4_1", "image": [ "data/nuscenes/samples/CAM_FRONT/n015-2018-09-25-11-10-38+0800__CAM_FRONT__1537845296262460.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-25-11-10-38+0800__CAM_FRONT_LEFT__1537845296254844.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-25-11-10-38+0800__CAM_FRONT_RIGHT__1537845296270339.jpg", "data/nuscenes/samples/CAM_BACK/n015-2018-09-25-11-10-38+0800__CAM_BACK__1537845296287525.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-25-11-10-38+0800__CAM_BACK_LEFT__1537845296297423.jpg", "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-25-11-10-38+0800__CAM_BACK_RIGHT__1537845296277893.jpg" ], "tag": 1, "task": "planning", "conversations": [ { "from": "human", "value": "What actions taken by the ego vehicle can lead to a collision with ?" }, { "from": "gpt", "value": "Moderate right turn." } ] }, { "id": "1319a9c0288f4ff9ae32d3f33b3bae17_98abca7362824580becab023c2f5abb4_2", "image": [ "data/nuscenes/samples/CAM_FRONT/n015-2018-09-25-11-10-38+0800__CAM_FRONT__1537845296262460.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-25-11-10-38+0800__CAM_FRONT_LEFT__1537845296254844.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-25-11-10-38+0800__CAM_FRONT_RIGHT__1537845296270339.jpg", "data/nuscenes/samples/CAM_BACK/n015-2018-09-25-11-10-38+0800__CAM_BACK__1537845296287525.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-25-11-10-38+0800__CAM_BACK_LEFT__1537845296297423.jpg", "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-25-11-10-38+0800__CAM_BACK_RIGHT__1537845296277893.jpg" ], "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": "1319a9c0288f4ff9ae32d3f33b3bae17_8cc4c06b11f649ad916ddf153eb206c5_0", "image": [ "data/nuscenes/samples/CAM_FRONT/n015-2018-09-25-11-10-38+0800__CAM_FRONT__1537845286262460.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-25-11-10-38+0800__CAM_FRONT_LEFT__1537845286254844.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-25-11-10-38+0800__CAM_FRONT_RIGHT__1537845286270339.jpg", "data/nuscenes/samples/CAM_BACK/n015-2018-09-25-11-10-38+0800__CAM_BACK__1537845286287525.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-25-11-10-38+0800__CAM_BACK_LEFT__1537845286297423.jpg", "data/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 , , , , and ." } ] }, { "id": "1319a9c0288f4ff9ae32d3f33b3bae17_8cc4c06b11f649ad916ddf153eb206c5_0", "image": [ "data/nuscenes/samples/CAM_FRONT/n015-2018-09-25-11-10-38+0800__CAM_FRONT__1537845286262460.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-25-11-10-38+0800__CAM_FRONT_LEFT__1537845286254844.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-25-11-10-38+0800__CAM_FRONT_RIGHT__1537845286270339.jpg", "data/nuscenes/samples/CAM_BACK/n015-2018-09-25-11-10-38+0800__CAM_BACK__1537845286287525.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-25-11-10-38+0800__CAM_BACK_LEFT__1537845286297423.jpg", "data/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 ? 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_1", "image": [ "data/nuscenes/samples/CAM_FRONT/n015-2018-09-25-11-10-38+0800__CAM_FRONT__1537845286262460.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-25-11-10-38+0800__CAM_FRONT_LEFT__1537845286254844.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-25-11-10-38+0800__CAM_FRONT_RIGHT__1537845286270339.jpg", "data/nuscenes/samples/CAM_BACK/n015-2018-09-25-11-10-38+0800__CAM_BACK__1537845286287525.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-25-11-10-38+0800__CAM_BACK_LEFT__1537845286297423.jpg", "data/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 ?" }, { "from": "gpt", "value": "Back up." } ] }, { "id": "1319a9c0288f4ff9ae32d3f33b3bae17_8cc4c06b11f649ad916ddf153eb206c5_2", "image": [ "data/nuscenes/samples/CAM_FRONT/n015-2018-09-25-11-10-38+0800__CAM_FRONT__1537845286262460.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-25-11-10-38+0800__CAM_FRONT_LEFT__1537845286254844.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-25-11-10-38+0800__CAM_FRONT_RIGHT__1537845286270339.jpg", "data/nuscenes/samples/CAM_BACK/n015-2018-09-25-11-10-38+0800__CAM_BACK__1537845286287525.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-25-11-10-38+0800__CAM_BACK_LEFT__1537845286297423.jpg", "data/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_fc9bd5dafdae470e83f02fcc5b0d1e4b_0", "image": [ "data/nuscenes/samples/CAM_FRONT/n015-2018-09-25-11-10-38+0800__CAM_FRONT__1537845292762460.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-25-11-10-38+0800__CAM_FRONT_LEFT__1537845292754844.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-25-11-10-38+0800__CAM_FRONT_RIGHT__1537845292770339.jpg", "data/nuscenes/samples/CAM_BACK/n015-2018-09-25-11-10-38+0800__CAM_BACK__1537845292787525.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-25-11-10-38+0800__CAM_BACK_LEFT__1537845292797423.jpg", "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-25-11-10-38+0800__CAM_BACK_RIGHT__1537845292777893.jpg" ], "tag": 2, "task": "perception", "conversations": [ { "from": "human", "value": "What are the 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 person wearing a white shirt and black pants to the front of the ego vehicle, a white SUV to the back left of the ego vehicle, and a black and red traffic light to the front of the ego vehicle. The IDs of these objects are , , , , and ." } ] }, { "id": "1319a9c0288f4ff9ae32d3f33b3bae17_fc9bd5dafdae470e83f02fcc5b0d1e4b_0", "image": [ "data/nuscenes/samples/CAM_FRONT/n015-2018-09-25-11-10-38+0800__CAM_FRONT__1537845292762460.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-25-11-10-38+0800__CAM_FRONT_LEFT__1537845292754844.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-25-11-10-38+0800__CAM_FRONT_RIGHT__1537845292770339.jpg", "data/nuscenes/samples/CAM_BACK/n015-2018-09-25-11-10-38+0800__CAM_BACK__1537845292787525.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-25-11-10-38+0800__CAM_BACK_LEFT__1537845292797423.jpg", "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-25-11-10-38+0800__CAM_BACK_RIGHT__1537845292777893.jpg" ], "tag": 1, "task": "planning", "conversations": [ { "from": "human", "value": "What actions could the ego vehicle take based on ? Why take this action and what's the probability?" }, { "from": "gpt", "value": "The action is to keep stationary. The reason is to follow the traffic rules, which is high probability." } ] }, { "id": "1319a9c0288f4ff9ae32d3f33b3bae17_fc9bd5dafdae470e83f02fcc5b0d1e4b_1", "image": [ "data/nuscenes/samples/CAM_FRONT/n015-2018-09-25-11-10-38+0800__CAM_FRONT__1537845292762460.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-25-11-10-38+0800__CAM_FRONT_LEFT__1537845292754844.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-25-11-10-38+0800__CAM_FRONT_RIGHT__1537845292770339.jpg", "data/nuscenes/samples/CAM_BACK/n015-2018-09-25-11-10-38+0800__CAM_BACK__1537845292787525.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-25-11-10-38+0800__CAM_BACK_LEFT__1537845292797423.jpg", "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-25-11-10-38+0800__CAM_BACK_RIGHT__1537845292777893.jpg" ], "tag": 1, "task": "planning", "conversations": [ { "from": "human", "value": "What actions taken by the ego vehicle can lead to a collision with ?" }, { "from": "gpt", "value": "Back up." } ] }, { "id": "1319a9c0288f4ff9ae32d3f33b3bae17_fc9bd5dafdae470e83f02fcc5b0d1e4b_2", "image": [ "data/nuscenes/samples/CAM_FRONT/n015-2018-09-25-11-10-38+0800__CAM_FRONT__1537845292762460.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-25-11-10-38+0800__CAM_FRONT_LEFT__1537845292754844.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-25-11-10-38+0800__CAM_FRONT_RIGHT__1537845292770339.jpg", "data/nuscenes/samples/CAM_BACK/n015-2018-09-25-11-10-38+0800__CAM_BACK__1537845292787525.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-25-11-10-38+0800__CAM_BACK_LEFT__1537845292797423.jpg", "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-25-11-10-38+0800__CAM_BACK_RIGHT__1537845292777893.jpg" ], "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 a stop." } ] }, { "id": "4098aaf3c7074e7d87285e2fc95369e0_c15cee7f58454b5884f8331d5638d2be_0", "image": [ "data/nuscenes/samples/CAM_FRONT/n015-2018-08-03-15-00-36+0800__CAM_FRONT__1533279697262460.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_LEFT__1533279697254844.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_RIGHT__1533279697270339.jpg", "data/nuscenes/samples/CAM_BACK/n015-2018-08-03-15-00-36+0800__CAM_BACK__1533279697287525.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-03-15-00-36+0800__CAM_BACK_LEFT__1533279697297423.jpg", "data/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 , , , and ." } ] }, { "id": "4098aaf3c7074e7d87285e2fc95369e0_c15cee7f58454b5884f8331d5638d2be_0", "image": [ "data/nuscenes/samples/CAM_FRONT/n015-2018-08-03-15-00-36+0800__CAM_FRONT__1533279697262460.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_LEFT__1533279697254844.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_RIGHT__1533279697270339.jpg", "data/nuscenes/samples/CAM_BACK/n015-2018-08-03-15-00-36+0800__CAM_BACK__1533279697287525.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-03-15-00-36+0800__CAM_BACK_LEFT__1533279697297423.jpg", "data/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 a traffic sign or a road barrier?" }, { "from": "gpt", "value": "No." } ] }, { "id": "4098aaf3c7074e7d87285e2fc95369e0_c15cee7f58454b5884f8331d5638d2be_0", "image": [ "data/nuscenes/samples/CAM_FRONT/n015-2018-08-03-15-00-36+0800__CAM_FRONT__1533279697262460.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_LEFT__1533279697254844.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_RIGHT__1533279697270339.jpg", "data/nuscenes/samples/CAM_BACK/n015-2018-08-03-15-00-36+0800__CAM_BACK__1533279697287525.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-03-15-00-36+0800__CAM_BACK_LEFT__1533279697297423.jpg", "data/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 ?" }, { "from": "gpt", "value": "Back up." } ] }, { "id": "4098aaf3c7074e7d87285e2fc95369e0_c15cee7f58454b5884f8331d5638d2be_1", "image": [ "data/nuscenes/samples/CAM_FRONT/n015-2018-08-03-15-00-36+0800__CAM_FRONT__1533279697262460.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_LEFT__1533279697254844.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_RIGHT__1533279697270339.jpg", "data/nuscenes/samples/CAM_BACK/n015-2018-08-03-15-00-36+0800__CAM_BACK__1533279697287525.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-03-15-00-36+0800__CAM_BACK_LEFT__1533279697297423.jpg", "data/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": "b526c20f7eed49f0886cdb4ba6b733e8_da73249615da477f85a0821852ca8d3b_0", "image": [ "data/nuscenes/samples/CAM_FRONT/n015-2018-09-27-15-33-17+0800__CAM_FRONT__1538034031112460.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_LEFT__1538034031104844.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_RIGHT__1538034031120339.jpg", "data/nuscenes/samples/CAM_BACK/n015-2018-09-27-15-33-17+0800__CAM_BACK__1538034031137525.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-27-15-33-17+0800__CAM_BACK_LEFT__1538034031147423.jpg", "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_BACK_RIGHT__1538034031127893.jpg" ], "tag": 2, "task": "perception", "conversations": [ { "from": "human", "value": "What are the important objects in the current scene? Those objects will be considered for the future reasoning and driving decision." }, { "from": "gpt", "value": "There is a red and white sign to the back left of the ego vehicle, a signpost to the front left of the ego vehicle, and a blue-green signpost to the back right of the ego vehicle. The IDs of these objects are , , and ." } ] }, { "id": "b526c20f7eed49f0886cdb4ba6b733e8_da73249615da477f85a0821852ca8d3b_0", "image": [ "data/nuscenes/samples/CAM_FRONT/n015-2018-09-27-15-33-17+0800__CAM_FRONT__1538034031112460.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_LEFT__1538034031104844.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_RIGHT__1538034031120339.jpg", "data/nuscenes/samples/CAM_BACK/n015-2018-09-27-15-33-17+0800__CAM_BACK__1538034031137525.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-27-15-33-17+0800__CAM_BACK_LEFT__1538034031147423.jpg", "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_BACK_RIGHT__1538034031127893.jpg" ], "tag": 0, "task": "prediction", "conversations": [ { "from": "human", "value": "Is a traffic sign or a road barrier?" }, { "from": "gpt", "value": "Yes." } ] }, { "id": "b526c20f7eed49f0886cdb4ba6b733e8_da73249615da477f85a0821852ca8d3b_0", "image": [ "data/nuscenes/samples/CAM_FRONT/n015-2018-09-27-15-33-17+0800__CAM_FRONT__1538034031112460.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_LEFT__1538034031104844.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_RIGHT__1538034031120339.jpg", "data/nuscenes/samples/CAM_BACK/n015-2018-09-27-15-33-17+0800__CAM_BACK__1538034031137525.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-27-15-33-17+0800__CAM_BACK_LEFT__1538034031147423.jpg", "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_BACK_RIGHT__1538034031127893.jpg" ], "tag": 1, "task": "planning", "conversations": [ { "from": "human", "value": "In this scenario, what are safe actions to take for the ego vehicle?" }, { "from": "gpt", "value": "Keep going at the same speed, slightly offset to the right, and slightly offset to the left." } ] }, { "id": "b526c20f7eed49f0886cdb4ba6b733e8_da73249615da477f85a0821852ca8d3b_0", "image": [ "data/nuscenes/samples/CAM_FRONT/n015-2018-09-27-15-33-17+0800__CAM_FRONT__1538034031112460.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_LEFT__1538034031104844.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_RIGHT__1538034031120339.jpg", "data/nuscenes/samples/CAM_BACK/n015-2018-09-27-15-33-17+0800__CAM_BACK__1538034031137525.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-27-15-33-17+0800__CAM_BACK_LEFT__1538034031147423.jpg", "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_BACK_RIGHT__1538034031127893.jpg" ], "tag": 0, "task": "behavior", "conversations": [ { "from": "human", "value": "Predict the behavior of the ego vehicle. Please select the correct answer from the following options: A. The ego vehicle is slightly steering to the left. The ego vehicle is driving fast. B. The ego vehicle is steering to the right. The ego vehicle is driving very fast. C. The ego vehicle is going straight. The ego vehicle is driving with normal speed. D. The ego vehicle is steering to the left. The ego vehicle is driving slowly." }, { "from": "gpt", "value": "A" } ] }, { "id": "491322eec05043c9907c59aa35b046ea_56ff4010b9ee4666bc98b460bb77494e_0", "image": [ "data/nuscenes/samples/CAM_FRONT/n008-2018-09-18-14-43-59-0400__CAM_FRONT__1537296465362404.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-14-43-59-0400__CAM_FRONT_LEFT__1537296465354799.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-14-43-59-0400__CAM_FRONT_RIGHT__1537296465370482.jpg", "data/nuscenes/samples/CAM_BACK/n008-2018-09-18-14-43-59-0400__CAM_BACK__1537296465387558.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-14-43-59-0400__CAM_BACK_LEFT__1537296465397405.jpg", "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-14-43-59-0400__CAM_BACK_RIGHT__1537296465378113.jpg" ], "tag": 2, "task": "perception", "conversations": [ { "from": "human", "value": "What are the important 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 van to the back of the ego vehicle, a red and white truck to the front left of the ego vehicle, and a gray commercial vehicle to the front of the ego vehicle. The IDs of these objects are , , and ." } ] }, { "id": "491322eec05043c9907c59aa35b046ea_56ff4010b9ee4666bc98b460bb77494e_1", "image": [ "data/nuscenes/samples/CAM_FRONT/n008-2018-09-18-14-43-59-0400__CAM_FRONT__1537296465362404.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-14-43-59-0400__CAM_FRONT_LEFT__1537296465354799.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-14-43-59-0400__CAM_FRONT_RIGHT__1537296465370482.jpg", "data/nuscenes/samples/CAM_BACK/n008-2018-09-18-14-43-59-0400__CAM_BACK__1537296465387558.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-14-43-59-0400__CAM_BACK_LEFT__1537296465397405.jpg", "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-14-43-59-0400__CAM_BACK_RIGHT__1537296465378113.jpg" ], "tag": 0, "task": "perception", "conversations": [ { "from": "human", "value": "What is the moving status of object ? Please select the correct answer from the following options: A. Drive backward. B. Turn left. C. Turn right. D. Going ahead." }, { "from": "gpt", "value": "B" } ] }, { "id": "491322eec05043c9907c59aa35b046ea_56ff4010b9ee4666bc98b460bb77494e_0", "image": [ "data/nuscenes/samples/CAM_FRONT/n008-2018-09-18-14-43-59-0400__CAM_FRONT__1537296465362404.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-14-43-59-0400__CAM_FRONT_LEFT__1537296465354799.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-14-43-59-0400__CAM_FRONT_RIGHT__1537296465370482.jpg", "data/nuscenes/samples/CAM_BACK/n008-2018-09-18-14-43-59-0400__CAM_BACK__1537296465387558.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-14-43-59-0400__CAM_BACK_LEFT__1537296465397405.jpg", "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-14-43-59-0400__CAM_BACK_RIGHT__1537296465378113.jpg" ], "tag": 1, "task": "planning", "conversations": [ { "from": "human", "value": "What actions taken by the ego vehicle can lead to a collision with ?" }, { "from": "gpt", "value": "Back up." } ] }, { "id": "491322eec05043c9907c59aa35b046ea_56ff4010b9ee4666bc98b460bb77494e_0", "image": [ "data/nuscenes/samples/CAM_FRONT/n008-2018-09-18-14-43-59-0400__CAM_FRONT__1537296465362404.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-14-43-59-0400__CAM_FRONT_LEFT__1537296465354799.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-14-43-59-0400__CAM_FRONT_RIGHT__1537296465370482.jpg", "data/nuscenes/samples/CAM_BACK/n008-2018-09-18-14-43-59-0400__CAM_BACK__1537296465387558.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-14-43-59-0400__CAM_BACK_LEFT__1537296465397405.jpg", "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-14-43-59-0400__CAM_BACK_RIGHT__1537296465378113.jpg" ], "tag": 0, "task": "behavior", "conversations": [ { "from": "human", "value": "Predict the behavior of the ego vehicle. Please select the correct answer from the following options: A. The ego vehicle is steering to the right. The ego vehicle is driving very fast. B. The ego vehicle is slightly steering to the right. The ego vehicle is driving fast. C. The ego vehicle is slightly steering to the left. The ego vehicle is driving very fast. D. The ego vehicle is slightly steering to the right. The ego vehicle is driving slowly." }, { "from": "gpt", "value": "B" } ] }, { "id": "59530445fcc04c2090bfaf63f342f794_79025431db8a4c8083c4e381d9704e62_0", "image": [ "data/nuscenes/samples/CAM_FRONT/n008-2018-08-01-15-52-19-0400__CAM_FRONT__1533153347162404.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_LEFT__1533153347154807.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_RIGHT__1533153347170482.jpg", "data/nuscenes/samples/CAM_BACK/n008-2018-08-01-15-52-19-0400__CAM_BACK__1533153347187558.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-01-15-52-19-0400__CAM_BACK_LEFT__1533153347197405.jpg", "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_BACK_RIGHT__1533153347178115.jpg" ], "tag": 2, "task": "perception", "conversations": [ { "from": "human", "value": "What are the important 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 yellow clothes and gray pants to the front of the ego vehicle, a white van to the back of the ego vehicle, a white truck to the front of the ego vehicle, and a person wearing a blue shirt and gray pants to the back of the ego vehicle. The IDs of these objects are , , , , and ." } ] }, { "id": "59530445fcc04c2090bfaf63f342f794_79025431db8a4c8083c4e381d9704e62_0", "image": [ "data/nuscenes/samples/CAM_FRONT/n008-2018-08-01-15-52-19-0400__CAM_FRONT__1533153347162404.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_LEFT__1533153347154807.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_RIGHT__1533153347170482.jpg", "data/nuscenes/samples/CAM_BACK/n008-2018-08-01-15-52-19-0400__CAM_BACK__1533153347187558.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-01-15-52-19-0400__CAM_BACK_LEFT__1533153347197405.jpg", "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_BACK_RIGHT__1533153347178115.jpg" ], "tag": 1, "task": "planning", "conversations": [ { "from": "human", "value": "What actions could the ego vehicle take based on ? Why take this action and what's the probability?" }, { "from": "gpt", "value": "The action is to turn right. The reason is that there is no safety issue, which is high." } ] }, { "id": "59530445fcc04c2090bfaf63f342f794_79025431db8a4c8083c4e381d9704e62_1", "image": [ "data/nuscenes/samples/CAM_FRONT/n008-2018-08-01-15-52-19-0400__CAM_FRONT__1533153347162404.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_LEFT__1533153347154807.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_RIGHT__1533153347170482.jpg", "data/nuscenes/samples/CAM_BACK/n008-2018-08-01-15-52-19-0400__CAM_BACK__1533153347187558.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-01-15-52-19-0400__CAM_BACK_LEFT__1533153347197405.jpg", "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_BACK_RIGHT__1533153347178115.jpg" ], "tag": 1, "task": "planning", "conversations": [ { "from": "human", "value": "What actions taken by the ego vehicle can lead to a collision with ?" }, { "from": "gpt", "value": "Slight left turn." } ] }, { "id": "59530445fcc04c2090bfaf63f342f794_79025431db8a4c8083c4e381d9704e62_2", "image": [ "data/nuscenes/samples/CAM_FRONT/n008-2018-08-01-15-52-19-0400__CAM_FRONT__1533153347162404.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_LEFT__1533153347154807.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_RIGHT__1533153347170482.jpg", "data/nuscenes/samples/CAM_BACK/n008-2018-08-01-15-52-19-0400__CAM_BACK__1533153347187558.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-01-15-52-19-0400__CAM_BACK_LEFT__1533153347197405.jpg", "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_BACK_RIGHT__1533153347178115.jpg" ], "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." } ] }, { "id": "4f28b42169f4404cbab4b43476e13885_6da82e1adba0424b8718060134b2f8ca_0", "image": [ "data/nuscenes/samples/CAM_FRONT/n015-2018-08-01-16-41-59+0800__CAM_FRONT__1533112982912460.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-16-41-59+0800__CAM_FRONT_LEFT__1533112982904844.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-16-41-59+0800__CAM_FRONT_RIGHT__1533112982920339.jpg", "data/nuscenes/samples/CAM_BACK/n015-2018-08-01-16-41-59+0800__CAM_BACK__1533112982937525.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-16-41-59+0800__CAM_BACK_LEFT__1533112982947423.jpg", "data/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 , , , , and ." } ] }, { "id": "4f28b42169f4404cbab4b43476e13885_6da82e1adba0424b8718060134b2f8ca_0", "image": [ "data/nuscenes/samples/CAM_FRONT/n015-2018-08-01-16-41-59+0800__CAM_FRONT__1533112982912460.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-16-41-59+0800__CAM_FRONT_LEFT__1533112982904844.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-16-41-59+0800__CAM_FRONT_RIGHT__1533112982920339.jpg", "data/nuscenes/samples/CAM_BACK/n015-2018-08-01-16-41-59+0800__CAM_BACK__1533112982937525.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-16-41-59+0800__CAM_BACK_LEFT__1533112982947423.jpg", "data/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 ?" }, { "from": "gpt", "value": "Moderate right turn." } ] }, { "id": "4f28b42169f4404cbab4b43476e13885_6da82e1adba0424b8718060134b2f8ca_1", "image": [ "data/nuscenes/samples/CAM_FRONT/n015-2018-08-01-16-41-59+0800__CAM_FRONT__1533112982912460.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-16-41-59+0800__CAM_FRONT_LEFT__1533112982904844.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-16-41-59+0800__CAM_FRONT_RIGHT__1533112982920339.jpg", "data/nuscenes/samples/CAM_BACK/n015-2018-08-01-16-41-59+0800__CAM_BACK__1533112982937525.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-16-41-59+0800__CAM_BACK_LEFT__1533112982947423.jpg", "data/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_0", "image": [ "data/nuscenes/samples/CAM_FRONT/n015-2018-08-01-16-41-59+0800__CAM_FRONT__1533112982912460.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-16-41-59+0800__CAM_FRONT_LEFT__1533112982904844.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-16-41-59+0800__CAM_FRONT_RIGHT__1533112982920339.jpg", "data/nuscenes/samples/CAM_BACK/n015-2018-08-01-16-41-59+0800__CAM_BACK__1533112982937525.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-16-41-59+0800__CAM_BACK_LEFT__1533112982947423.jpg", "data/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. Please select the correct answer from the following options: A. The ego vehicle is steering to the right. The ego vehicle is driving with normal speed. B. The ego vehicle is going straight. The ego vehicle is driving fast. C. The ego vehicle is slightly steering to the left. The ego vehicle is driving slowly. D. The ego vehicle is steering to the left. The ego vehicle is driving slowly." }, { "from": "gpt", "value": "C" } ] }, { "id": "9eaabad9385b4fe1b9f397edead326ac_47f47fbab98a46639ee3a0366d8b8fef_0", "image": [ "data/nuscenes/samples/CAM_FRONT/n015-2018-08-01-17-13-57+0800__CAM_FRONT__1533115300512460.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-17-13-57+0800__CAM_FRONT_LEFT__1533115300504844.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-17-13-57+0800__CAM_FRONT_RIGHT__1533115300520339.jpg", "data/nuscenes/samples/CAM_BACK/n015-2018-08-01-17-13-57+0800__CAM_BACK__1533115300537525.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-17-13-57+0800__CAM_BACK_LEFT__1533115300547423.jpg", "data/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 , , , and ." } ] }, { "id": "9eaabad9385b4fe1b9f397edead326ac_47f47fbab98a46639ee3a0366d8b8fef_0", "image": [ "data/nuscenes/samples/CAM_FRONT/n015-2018-08-01-17-13-57+0800__CAM_FRONT__1533115300512460.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-17-13-57+0800__CAM_FRONT_LEFT__1533115300504844.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-17-13-57+0800__CAM_FRONT_RIGHT__1533115300520339.jpg", "data/nuscenes/samples/CAM_BACK/n015-2018-08-01-17-13-57+0800__CAM_BACK__1533115300537525.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-17-13-57+0800__CAM_BACK_LEFT__1533115300547423.jpg", "data/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 ? 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_1", "image": [ "data/nuscenes/samples/CAM_FRONT/n015-2018-08-01-17-13-57+0800__CAM_FRONT__1533115300512460.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-17-13-57+0800__CAM_FRONT_LEFT__1533115300504844.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-17-13-57+0800__CAM_FRONT_RIGHT__1533115300520339.jpg", "data/nuscenes/samples/CAM_BACK/n015-2018-08-01-17-13-57+0800__CAM_BACK__1533115300537525.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-17-13-57+0800__CAM_BACK_LEFT__1533115300547423.jpg", "data/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 ?" }, { "from": "gpt", "value": "Slight right turn." } ] }, { "id": "9eaabad9385b4fe1b9f397edead326ac_47f47fbab98a46639ee3a0366d8b8fef_2", "image": [ "data/nuscenes/samples/CAM_FRONT/n015-2018-08-01-17-13-57+0800__CAM_FRONT__1533115300512460.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-17-13-57+0800__CAM_FRONT_LEFT__1533115300504844.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-17-13-57+0800__CAM_FRONT_RIGHT__1533115300520339.jpg", "data/nuscenes/samples/CAM_BACK/n015-2018-08-01-17-13-57+0800__CAM_BACK__1533115300537525.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-17-13-57+0800__CAM_BACK_LEFT__1533115300547423.jpg", "data/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_1bc73dc401434b5192f8db4190021478_0", "image": [ "data/nuscenes/samples/CAM_FRONT/n015-2018-08-01-17-13-57+0800__CAM_FRONT__1533115288012460.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-17-13-57+0800__CAM_FRONT_LEFT__1533115288004844.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-17-13-57+0800__CAM_FRONT_RIGHT__1533115288020339.jpg", "data/nuscenes/samples/CAM_BACK/n015-2018-08-01-17-13-57+0800__CAM_BACK__1533115288037525.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-17-13-57+0800__CAM_BACK_LEFT__1533115288047423.jpg", "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-17-13-57+0800__CAM_BACK_RIGHT__1533115288027893.jpg" ], "tag": 2, "task": "perception", "conversations": [ { "from": "human", "value": "What are the 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 car to the front of the ego vehicle, and a white and red traffic sign to the back right of the ego vehicle. The IDs of these objects are , , and ." } ] }, { "id": "9eaabad9385b4fe1b9f397edead326ac_1bc73dc401434b5192f8db4190021478_0", "image": [ "data/nuscenes/samples/CAM_FRONT/n015-2018-08-01-17-13-57+0800__CAM_FRONT__1533115288012460.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-17-13-57+0800__CAM_FRONT_LEFT__1533115288004844.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-17-13-57+0800__CAM_FRONT_RIGHT__1533115288020339.jpg", "data/nuscenes/samples/CAM_BACK/n015-2018-08-01-17-13-57+0800__CAM_BACK__1533115288037525.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-17-13-57+0800__CAM_BACK_LEFT__1533115288047423.jpg", "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-17-13-57+0800__CAM_BACK_RIGHT__1533115288027893.jpg" ], "tag": 1, "task": "planning", "conversations": [ { "from": "human", "value": "What actions could the ego vehicle take based on ? Why take this action and what's the probability?" }, { "from": "gpt", "value": "The action is to slightly offset to the right in maneuvering. The reason for taking this action is to avoid a collision, which is highly probable." } ] }, { "id": "9eaabad9385b4fe1b9f397edead326ac_1bc73dc401434b5192f8db4190021478_1", "image": [ "data/nuscenes/samples/CAM_FRONT/n015-2018-08-01-17-13-57+0800__CAM_FRONT__1533115288012460.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-17-13-57+0800__CAM_FRONT_LEFT__1533115288004844.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-17-13-57+0800__CAM_FRONT_RIGHT__1533115288020339.jpg", "data/nuscenes/samples/CAM_BACK/n015-2018-08-01-17-13-57+0800__CAM_BACK__1533115288037525.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-17-13-57+0800__CAM_BACK_LEFT__1533115288047423.jpg", "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-17-13-57+0800__CAM_BACK_RIGHT__1533115288027893.jpg" ], "tag": 1, "task": "planning", "conversations": [ { "from": "human", "value": "What actions taken by the ego vehicle can lead to a collision with ?" }, { "from": "gpt", "value": "Accelerate and go straight can lead to a collision with ." } ] }, { "id": "9eaabad9385b4fe1b9f397edead326ac_1bc73dc401434b5192f8db4190021478_2", "image": [ "data/nuscenes/samples/CAM_FRONT/n015-2018-08-01-17-13-57+0800__CAM_FRONT__1533115288012460.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-17-13-57+0800__CAM_FRONT_LEFT__1533115288004844.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-17-13-57+0800__CAM_FRONT_RIGHT__1533115288020339.jpg", "data/nuscenes/samples/CAM_BACK/n015-2018-08-01-17-13-57+0800__CAM_BACK__1533115288037525.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-17-13-57+0800__CAM_BACK_LEFT__1533115288047423.jpg", "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-17-13-57+0800__CAM_BACK_RIGHT__1533115288027893.jpg" ], "tag": 1, "task": "planning", "conversations": [ { "from": "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": "b886756c3fd641eeba9dda3932e196c0_104cf0e570644c9782227fb0ed90490a_0", "image": [ "data/nuscenes/samples/CAM_FRONT/n015-2018-07-27-11-36-48+0800__CAM_FRONT__1532663021412460.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_LEFT__1532663021404844.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_RIGHT__1532663021420339.jpg", "data/nuscenes/samples/CAM_BACK/n015-2018-07-27-11-36-48+0800__CAM_BACK__1532663021437525.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-27-11-36-48+0800__CAM_BACK_LEFT__1532663021447423.jpg", "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-27-11-36-48+0800__CAM_BACK_RIGHT__1532663021427893.jpg" ], "tag": 2, "task": "perception", "conversations": [ { "from": "human", "value": "What are the important objects in the current scene? Those objects will be considered for the future reasoning and driving decision." }, { "from": "gpt", "value": "There are pedestrians on the roadside to the front left of the ego vehicle, a white sedan to the back of the ego vehicle, and pedestrians on the road to the front of the ego vehicle. The IDs of these objects are , , and ." } ] }, { "id": "b886756c3fd641eeba9dda3932e196c0_104cf0e570644c9782227fb0ed90490a_0", "image": [ "data/nuscenes/samples/CAM_FRONT/n015-2018-07-27-11-36-48+0800__CAM_FRONT__1532663021412460.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_LEFT__1532663021404844.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_RIGHT__1532663021420339.jpg", "data/nuscenes/samples/CAM_BACK/n015-2018-07-27-11-36-48+0800__CAM_BACK__1532663021437525.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-27-11-36-48+0800__CAM_BACK_LEFT__1532663021447423.jpg", "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-27-11-36-48+0800__CAM_BACK_RIGHT__1532663021427893.jpg" ], "tag": 1, "task": "planning", "conversations": [ { "from": "human", "value": "What actions could the ego vehicle take based on ? Why take this action and what's the probability?" }, { "from": "gpt", "value": "The action is to decelerate gradually without braking. The reason for taking this action is to avoid a collision. The probability of this action is high." } ] }, { "id": "b886756c3fd641eeba9dda3932e196c0_104cf0e570644c9782227fb0ed90490a_1", "image": [ "data/nuscenes/samples/CAM_FRONT/n015-2018-07-27-11-36-48+0800__CAM_FRONT__1532663021412460.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_LEFT__1532663021404844.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_RIGHT__1532663021420339.jpg", "data/nuscenes/samples/CAM_BACK/n015-2018-07-27-11-36-48+0800__CAM_BACK__1532663021437525.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-27-11-36-48+0800__CAM_BACK_LEFT__1532663021447423.jpg", "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-27-11-36-48+0800__CAM_BACK_RIGHT__1532663021427893.jpg" ], "tag": 1, "task": "planning", "conversations": [ { "from": "human", "value": "What actions taken by the ego vehicle can lead to a collision with ?" }, { "from": "gpt", "value": "Sharp left turn." } ] }, { "id": "b886756c3fd641eeba9dda3932e196c0_104cf0e570644c9782227fb0ed90490a_2", "image": [ "data/nuscenes/samples/CAM_FRONT/n015-2018-07-27-11-36-48+0800__CAM_FRONT__1532663021412460.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_LEFT__1532663021404844.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_RIGHT__1532663021420339.jpg", "data/nuscenes/samples/CAM_BACK/n015-2018-07-27-11-36-48+0800__CAM_BACK__1532663021437525.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-27-11-36-48+0800__CAM_BACK_LEFT__1532663021447423.jpg", "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-27-11-36-48+0800__CAM_BACK_RIGHT__1532663021427893.jpg" ], "tag": 1, "task": "planning", "conversations": [ { "from": "human", "value": "In this scenario, what are safe actions to take for the ego vehicle?" }, { "from": "gpt", "value": "Brake gently to a stop, slightly offset to the right." } ] }, { "id": "b886756c3fd641eeba9dda3932e196c0_b15005c22b7f44c39336edaf751ae5f0_0", "image": [ "data/nuscenes/samples/CAM_FRONT/n015-2018-07-27-11-36-48+0800__CAM_FRONT__1532663024412460.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_LEFT__1532663024404844.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_RIGHT__1532663024420339.jpg", "data/nuscenes/samples/CAM_BACK/n015-2018-07-27-11-36-48+0800__CAM_BACK__1532663024437525.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-27-11-36-48+0800__CAM_BACK_LEFT__1532663024447423.jpg", "data/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 , , and ." } ] }, { "id": "b886756c3fd641eeba9dda3932e196c0_b15005c22b7f44c39336edaf751ae5f0_0", "image": [ "data/nuscenes/samples/CAM_FRONT/n015-2018-07-27-11-36-48+0800__CAM_FRONT__1532663024412460.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_LEFT__1532663024404844.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_RIGHT__1532663024420339.jpg", "data/nuscenes/samples/CAM_BACK/n015-2018-07-27-11-36-48+0800__CAM_BACK__1532663024437525.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-27-11-36-48+0800__CAM_BACK_LEFT__1532663024447423.jpg", "data/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 ? 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_1", "image": [ "data/nuscenes/samples/CAM_FRONT/n015-2018-07-27-11-36-48+0800__CAM_FRONT__1532663024412460.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_LEFT__1532663024404844.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_RIGHT__1532663024420339.jpg", "data/nuscenes/samples/CAM_BACK/n015-2018-07-27-11-36-48+0800__CAM_BACK__1532663024437525.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-27-11-36-48+0800__CAM_BACK_LEFT__1532663024447423.jpg", "data/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 ?" }, { "from": "gpt", "value": "Back up." } ] }, { "id": "b886756c3fd641eeba9dda3932e196c0_b15005c22b7f44c39336edaf751ae5f0_2", "image": [ "data/nuscenes/samples/CAM_FRONT/n015-2018-07-27-11-36-48+0800__CAM_FRONT__1532663024412460.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_LEFT__1532663024404844.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_RIGHT__1532663024420339.jpg", "data/nuscenes/samples/CAM_BACK/n015-2018-07-27-11-36-48+0800__CAM_BACK__1532663024437525.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-27-11-36-48+0800__CAM_BACK_LEFT__1532663024447423.jpg", "data/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": "881c0b8d8efe4006a6c974128ee7f7c2_2732220f823a4adfb65470a903f23968_0", "image": [ "data/nuscenes/samples/CAM_FRONT/n008-2018-08-27-11-48-51-0400__CAM_FRONT__1535385314662404.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_LEFT__1535385314654799.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_RIGHT__1535385314670482.jpg", "data/nuscenes/samples/CAM_BACK/n008-2018-08-27-11-48-51-0400__CAM_BACK__1535385314687558.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-27-11-48-51-0400__CAM_BACK_LEFT__1535385314697405.jpg", "data/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 , , and ." } ] }, { "id": "881c0b8d8efe4006a6c974128ee7f7c2_2732220f823a4adfb65470a903f23968_0", "image": [ "data/nuscenes/samples/CAM_FRONT/n008-2018-08-27-11-48-51-0400__CAM_FRONT__1535385314662404.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_LEFT__1535385314654799.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_RIGHT__1535385314670482.jpg", "data/nuscenes/samples/CAM_BACK/n008-2018-08-27-11-48-51-0400__CAM_BACK__1535385314687558.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-27-11-48-51-0400__CAM_BACK_LEFT__1535385314697405.jpg", "data/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 ?" }, { "from": "gpt", "value": "Brake suddenly." } ] }, { "id": "881c0b8d8efe4006a6c974128ee7f7c2_2732220f823a4adfb65470a903f23968_1", "image": [ "data/nuscenes/samples/CAM_FRONT/n008-2018-08-27-11-48-51-0400__CAM_FRONT__1535385314662404.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_LEFT__1535385314654799.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_RIGHT__1535385314670482.jpg", "data/nuscenes/samples/CAM_BACK/n008-2018-08-27-11-48-51-0400__CAM_BACK__1535385314687558.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-27-11-48-51-0400__CAM_BACK_LEFT__1535385314697405.jpg", "data/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_0", "image": [ "data/nuscenes/samples/CAM_FRONT/n008-2018-08-27-11-48-51-0400__CAM_FRONT__1535385314662404.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_LEFT__1535385314654799.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_RIGHT__1535385314670482.jpg", "data/nuscenes/samples/CAM_BACK/n008-2018-08-27-11-48-51-0400__CAM_BACK__1535385314687558.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-27-11-48-51-0400__CAM_BACK_LEFT__1535385314697405.jpg", "data/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. Please select the correct answer from the following options: A. The ego vehicle is slightly steering to the left. The ego vehicle is driving slowly. B. The ego vehicle is going straight. The ego vehicle is driving very fast. C. The ego vehicle is going straight. The ego vehicle is driving fast. D. The ego vehicle is slightly steering to the right. The ego vehicle is driving very fast." }, { "from": "gpt", "value": "A" } ] }, { "id": "e3d714da71d2477695a055716ede7130_543012c2ed3248fea272ecda2b9f55f6_0", "image": [ "data/nuscenes/samples/CAM_FRONT/n008-2018-09-18-12-07-26-0400__CAM_FRONT__1537287176412404.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-12-07-26-0400__CAM_FRONT_LEFT__1537287176404799.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-12-07-26-0400__CAM_FRONT_RIGHT__1537287176420482.jpg", "data/nuscenes/samples/CAM_BACK/n008-2018-09-18-12-07-26-0400__CAM_BACK__1537287176437558.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-12-07-26-0400__CAM_BACK_LEFT__1537287176447405.jpg", "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-12-07-26-0400__CAM_BACK_RIGHT__1537287176428113.jpg" ], "tag": 2, "task": "perception", "conversations": [ { "from": "human", "value": "What are the 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 gray SUV to the back left of the ego vehicle, a white sedan to the back left of the ego vehicle, and a roadblock to the back right of the ego vehicle. The IDs of these objects are , , , and ." } ] }, { "id": "e3d714da71d2477695a055716ede7130_543012c2ed3248fea272ecda2b9f55f6_0", "image": [ "data/nuscenes/samples/CAM_FRONT/n008-2018-09-18-12-07-26-0400__CAM_FRONT__1537287176412404.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-12-07-26-0400__CAM_FRONT_LEFT__1537287176404799.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-12-07-26-0400__CAM_FRONT_RIGHT__1537287176420482.jpg", "data/nuscenes/samples/CAM_BACK/n008-2018-09-18-12-07-26-0400__CAM_BACK__1537287176437558.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-12-07-26-0400__CAM_BACK_LEFT__1537287176447405.jpg", "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-12-07-26-0400__CAM_BACK_RIGHT__1537287176428113.jpg" ], "tag": 1, "task": "planning", "conversations": [ { "from": "human", "value": "What actions taken by the ego vehicle can lead to a collision with ?" }, { "from": "gpt", "value": "Sharp left turn." } ] }, { "id": "e3d714da71d2477695a055716ede7130_543012c2ed3248fea272ecda2b9f55f6_1", "image": [ "data/nuscenes/samples/CAM_FRONT/n008-2018-09-18-12-07-26-0400__CAM_FRONT__1537287176412404.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-12-07-26-0400__CAM_FRONT_LEFT__1537287176404799.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-12-07-26-0400__CAM_FRONT_RIGHT__1537287176420482.jpg", "data/nuscenes/samples/CAM_BACK/n008-2018-09-18-12-07-26-0400__CAM_BACK__1537287176437558.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-12-07-26-0400__CAM_BACK_LEFT__1537287176447405.jpg", "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-12-07-26-0400__CAM_BACK_RIGHT__1537287176428113.jpg" ], "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, turn left." } ] }, { "id": "e3d714da71d2477695a055716ede7130_543012c2ed3248fea272ecda2b9f55f6_0", "image": [ "data/nuscenes/samples/CAM_FRONT/n008-2018-09-18-12-07-26-0400__CAM_FRONT__1537287176412404.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-12-07-26-0400__CAM_FRONT_LEFT__1537287176404799.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-12-07-26-0400__CAM_FRONT_RIGHT__1537287176420482.jpg", "data/nuscenes/samples/CAM_BACK/n008-2018-09-18-12-07-26-0400__CAM_BACK__1537287176437558.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-12-07-26-0400__CAM_BACK_LEFT__1537287176447405.jpg", "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-12-07-26-0400__CAM_BACK_RIGHT__1537287176428113.jpg" ], "tag": 0, "task": "behavior", "conversations": [ { "from": "human", "value": "Predict the behavior of the ego vehicle. Please select the correct answer from the following options: A. The ego vehicle is steering to the right. The ego vehicle is driving with normal speed. B. The ego vehicle is slightly steering to the left. The ego vehicle is driving fast. C. The ego vehicle is steering to the left. The ego vehicle is driving slowly. D. The ego vehicle is slightly steering to the right. The ego vehicle is driving slowly." }, { "from": "gpt", "value": "C" } ] }, { "id": "0ced08ea43754420a23b2fbec667a763_a0cfd83ec1bc47bdabd4afe3320b303f_0", "image": [ "data/nuscenes/samples/CAM_FRONT/n008-2018-09-18-12-07-26-0400__CAM_FRONT__1537287220662404.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-12-07-26-0400__CAM_FRONT_LEFT__1537287220654799.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-12-07-26-0400__CAM_FRONT_RIGHT__1537287220670482.jpg", "data/nuscenes/samples/CAM_BACK/n008-2018-09-18-12-07-26-0400__CAM_BACK__1537287220687558.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-12-07-26-0400__CAM_BACK_LEFT__1537287220697405.jpg", "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-12-07-26-0400__CAM_BACK_RIGHT__1537287220678113.jpg" ], "tag": 2, "task": "perception", "conversations": [ { "from": "human", "value": "What are the important 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 back right of the ego vehicle, a blue truck to the front right of the ego vehicle, and a black sedan to the front of the ego vehicle. The IDs of these objects are , , , and ." } ] }, { "id": "0ced08ea43754420a23b2fbec667a763_a0cfd83ec1bc47bdabd4afe3320b303f_0", "image": [ "data/nuscenes/samples/CAM_FRONT/n008-2018-09-18-12-07-26-0400__CAM_FRONT__1537287220662404.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-12-07-26-0400__CAM_FRONT_LEFT__1537287220654799.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-12-07-26-0400__CAM_FRONT_RIGHT__1537287220670482.jpg", "data/nuscenes/samples/CAM_BACK/n008-2018-09-18-12-07-26-0400__CAM_BACK__1537287220687558.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-12-07-26-0400__CAM_BACK_LEFT__1537287220697405.jpg", "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-12-07-26-0400__CAM_BACK_RIGHT__1537287220678113.jpg" ], "tag": 1, "task": "planning", "conversations": [ { "from": "human", "value": "What actions taken by the ego vehicle can lead to a collision with ?" }, { "from": "gpt", "value": "Sharp right turn." } ] }, { "id": "0ced08ea43754420a23b2fbec667a763_a0cfd83ec1bc47bdabd4afe3320b303f_1", "image": [ "data/nuscenes/samples/CAM_FRONT/n008-2018-09-18-12-07-26-0400__CAM_FRONT__1537287220662404.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-12-07-26-0400__CAM_FRONT_LEFT__1537287220654799.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-12-07-26-0400__CAM_FRONT_RIGHT__1537287220670482.jpg", "data/nuscenes/samples/CAM_BACK/n008-2018-09-18-12-07-26-0400__CAM_BACK__1537287220687558.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-12-07-26-0400__CAM_BACK_LEFT__1537287220697405.jpg", "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-12-07-26-0400__CAM_BACK_RIGHT__1537287220678113.jpg" ], "tag": 1, "task": "planning", "conversations": [ { "from": "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_a0cfd83ec1bc47bdabd4afe3320b303f_0", "image": [ "data/nuscenes/samples/CAM_FRONT/n008-2018-09-18-12-07-26-0400__CAM_FRONT__1537287220662404.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-12-07-26-0400__CAM_FRONT_LEFT__1537287220654799.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-12-07-26-0400__CAM_FRONT_RIGHT__1537287220670482.jpg", "data/nuscenes/samples/CAM_BACK/n008-2018-09-18-12-07-26-0400__CAM_BACK__1537287220687558.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-12-07-26-0400__CAM_BACK_LEFT__1537287220697405.jpg", "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-12-07-26-0400__CAM_BACK_RIGHT__1537287220678113.jpg" ], "tag": 0, "task": "behavior", "conversations": [ { "from": "human", "value": "Predict the behavior of the ego vehicle. Please select the correct answer from the following options: A. The ego vehicle is going straight. The ego vehicle is driving slowly. B. The ego vehicle is slightly steering to the left. The ego vehicle is driving fast. C. The ego vehicle is going straight. The ego vehicle is not moving. D. The ego vehicle is steering to the left. The ego vehicle is driving with normal speed." }, { "from": "gpt", "value": "B" } ] }, { "id": "359f9c029ae44e1d9d47c05bc7915561_3bae34beb13648d6822fd39c94da2749_0", "image": [ "data/nuscenes/samples/CAM_FRONT/n015-2018-07-24-11-03-52+0800__CAM_FRONT__1532401494662460.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-24-11-03-52+0800__CAM_FRONT_LEFT__1532401494654844.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-24-11-03-52+0800__CAM_FRONT_RIGHT__1532401494670339.jpg", "data/nuscenes/samples/CAM_BACK/n015-2018-07-24-11-03-52+0800__CAM_BACK__1532401494687525.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-24-11-03-52+0800__CAM_BACK_LEFT__1532401494697423.jpg", "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-24-11-03-52+0800__CAM_BACK_RIGHT__1532401494677902.jpg" ], "tag": 2, "task": "perception", "conversations": [ { "from": "human", "value": "What are the 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 right of the ego vehicle, a traffic light 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 , , and ." } ] }, { "id": "359f9c029ae44e1d9d47c05bc7915561_3bae34beb13648d6822fd39c94da2749_0", "image": [ "data/nuscenes/samples/CAM_FRONT/n015-2018-07-24-11-03-52+0800__CAM_FRONT__1532401494662460.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-24-11-03-52+0800__CAM_FRONT_LEFT__1532401494654844.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-24-11-03-52+0800__CAM_FRONT_RIGHT__1532401494670339.jpg", "data/nuscenes/samples/CAM_BACK/n015-2018-07-24-11-03-52+0800__CAM_BACK__1532401494687525.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-24-11-03-52+0800__CAM_BACK_LEFT__1532401494697423.jpg", "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-24-11-03-52+0800__CAM_BACK_RIGHT__1532401494677902.jpg" ], "tag": 1, "task": "planning", "conversations": [ { "from": "human", "value": "What actions could the ego vehicle take based on ? Why take this action and what's the probability?" }, { "from": "gpt", "value": "The action is to turn left. The reason is that the object has little reference value for the ego vehicle, with a high probability." } ] }, { "id": "359f9c029ae44e1d9d47c05bc7915561_3bae34beb13648d6822fd39c94da2749_1", "image": [ "data/nuscenes/samples/CAM_FRONT/n015-2018-07-24-11-03-52+0800__CAM_FRONT__1532401494662460.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-24-11-03-52+0800__CAM_FRONT_LEFT__1532401494654844.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-24-11-03-52+0800__CAM_FRONT_RIGHT__1532401494670339.jpg", "data/nuscenes/samples/CAM_BACK/n015-2018-07-24-11-03-52+0800__CAM_BACK__1532401494687525.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-24-11-03-52+0800__CAM_BACK_LEFT__1532401494697423.jpg", "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-24-11-03-52+0800__CAM_BACK_RIGHT__1532401494677902.jpg" ], "tag": 1, "task": "planning", "conversations": [ { "from": "human", "value": "What actions taken by the ego vehicle can lead to a collision with ?" }, { "from": "gpt", "value": "Accelerate and go straight." } ] }, { "id": "359f9c029ae44e1d9d47c05bc7915561_3bae34beb13648d6822fd39c94da2749_2", "image": [ "data/nuscenes/samples/CAM_FRONT/n015-2018-07-24-11-03-52+0800__CAM_FRONT__1532401494662460.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-24-11-03-52+0800__CAM_FRONT_LEFT__1532401494654844.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-24-11-03-52+0800__CAM_FRONT_RIGHT__1532401494670339.jpg", "data/nuscenes/samples/CAM_BACK/n015-2018-07-24-11-03-52+0800__CAM_BACK__1532401494687525.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-24-11-03-52+0800__CAM_BACK_LEFT__1532401494697423.jpg", "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-24-11-03-52+0800__CAM_BACK_RIGHT__1532401494677902.jpg" ], "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": "2f0e54af35964a3fb347359836bec035_e7080b204c77441bb6d2e845b58b8699_0", "image": [ "data/nuscenes/samples/CAM_FRONT/n008-2018-08-30-15-52-26-0400__CAM_FRONT__1535659341012404.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_LEFT__1535659341004799.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_RIGHT__1535659341020482.jpg", "data/nuscenes/samples/CAM_BACK/n008-2018-08-30-15-52-26-0400__CAM_BACK__1535659341037558.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-30-15-52-26-0400__CAM_BACK_LEFT__1535659341047405.jpg", "data/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 , , , and ." } ] }, { "id": "2f0e54af35964a3fb347359836bec035_e7080b204c77441bb6d2e845b58b8699_0", "image": [ "data/nuscenes/samples/CAM_FRONT/n008-2018-08-30-15-52-26-0400__CAM_FRONT__1535659341012404.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_LEFT__1535659341004799.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_RIGHT__1535659341020482.jpg", "data/nuscenes/samples/CAM_BACK/n008-2018-08-30-15-52-26-0400__CAM_BACK__1535659341037558.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-30-15-52-26-0400__CAM_BACK_LEFT__1535659341047405.jpg", "data/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 ?" }, { "from": "gpt", "value": "Sharp left turn." } ] }, { "id": "2f0e54af35964a3fb347359836bec035_e7080b204c77441bb6d2e845b58b8699_1", "image": [ "data/nuscenes/samples/CAM_FRONT/n008-2018-08-30-15-52-26-0400__CAM_FRONT__1535659341012404.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_LEFT__1535659341004799.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_RIGHT__1535659341020482.jpg", "data/nuscenes/samples/CAM_BACK/n008-2018-08-30-15-52-26-0400__CAM_BACK__1535659341037558.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-30-15-52-26-0400__CAM_BACK_LEFT__1535659341047405.jpg", "data/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_0", "image": [ "data/nuscenes/samples/CAM_FRONT/n008-2018-08-30-15-52-26-0400__CAM_FRONT__1535659341012404.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_LEFT__1535659341004799.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_RIGHT__1535659341020482.jpg", "data/nuscenes/samples/CAM_BACK/n008-2018-08-30-15-52-26-0400__CAM_BACK__1535659341037558.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-30-15-52-26-0400__CAM_BACK_LEFT__1535659341047405.jpg", "data/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. Please select the correct answer from the following options: A. The ego vehicle is slightly steering to the right. The ego vehicle is driving with normal speed. B. The ego vehicle is steering to the right. The ego vehicle is driving slowly. C. The ego vehicle is steering to the right. The ego vehicle is driving with normal speed. D. The ego vehicle is slightly steering to the right. The ego vehicle is driving fast." }, { "from": "gpt", "value": "D" } ] }, { "id": "798e8504b4364d378270333a349ef508_164353442084444991643f97a148df91_0", "image": [ "data/nuscenes/samples/CAM_FRONT/n015-2018-07-24-11-13-19+0800__CAM_FRONT__1532402059762460.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_LEFT__1532402059754844.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_RIGHT__1532402059770339.jpg", "data/nuscenes/samples/CAM_BACK/n015-2018-07-24-11-13-19+0800__CAM_BACK__1532402059787525.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-24-11-13-19+0800__CAM_BACK_LEFT__1532402059797423.jpg", "data/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 , , and ." } ] }, { "id": "798e8504b4364d378270333a349ef508_164353442084444991643f97a148df91_0", "image": [ "data/nuscenes/samples/CAM_FRONT/n015-2018-07-24-11-13-19+0800__CAM_FRONT__1532402059762460.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_LEFT__1532402059754844.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_RIGHT__1532402059770339.jpg", "data/nuscenes/samples/CAM_BACK/n015-2018-07-24-11-13-19+0800__CAM_BACK__1532402059787525.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-24-11-13-19+0800__CAM_BACK_LEFT__1532402059797423.jpg", "data/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 ? 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_1", "image": [ "data/nuscenes/samples/CAM_FRONT/n015-2018-07-24-11-13-19+0800__CAM_FRONT__1532402059762460.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_LEFT__1532402059754844.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_RIGHT__1532402059770339.jpg", "data/nuscenes/samples/CAM_BACK/n015-2018-07-24-11-13-19+0800__CAM_BACK__1532402059787525.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-24-11-13-19+0800__CAM_BACK_LEFT__1532402059797423.jpg", "data/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 ?" }, { "from": "gpt", "value": "Accelerate and go straight." } ] }, { "id": "798e8504b4364d378270333a349ef508_164353442084444991643f97a148df91_2", "image": [ "data/nuscenes/samples/CAM_FRONT/n015-2018-07-24-11-13-19+0800__CAM_FRONT__1532402059762460.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_LEFT__1532402059754844.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_RIGHT__1532402059770339.jpg", "data/nuscenes/samples/CAM_BACK/n015-2018-07-24-11-13-19+0800__CAM_BACK__1532402059787525.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-24-11-13-19+0800__CAM_BACK_LEFT__1532402059797423.jpg", "data/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_f31932ce754b408db390251167423dcc_0", "image": [ "data/nuscenes/samples/CAM_FRONT/n015-2018-07-24-11-13-19+0800__CAM_FRONT__1532402043512460.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_LEFT__1532402043504844.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_RIGHT__1532402043520339.jpg", "data/nuscenes/samples/CAM_BACK/n015-2018-07-24-11-13-19+0800__CAM_BACK__1532402043537525.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-24-11-13-19+0800__CAM_BACK_LEFT__1532402043547423.jpg", "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-24-11-13-19+0800__CAM_BACK_RIGHT__1532402043527893.jpg" ], "tag": 2, "task": "perception", "conversations": [ { "from": "human", "value": "What are the important objects in the current scene? Those objects will be considered for the future reasoning and driving decision." }, { "from": "gpt", "value": "There is a left turn after reversing to the back left of the ego vehicle, a white truck 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 , , and ." } ] }, { "id": "798e8504b4364d378270333a349ef508_f31932ce754b408db390251167423dcc_0", "image": [ "data/nuscenes/samples/CAM_FRONT/n015-2018-07-24-11-13-19+0800__CAM_FRONT__1532402043512460.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_LEFT__1532402043504844.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_RIGHT__1532402043520339.jpg", "data/nuscenes/samples/CAM_BACK/n015-2018-07-24-11-13-19+0800__CAM_BACK__1532402043537525.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-24-11-13-19+0800__CAM_BACK_LEFT__1532402043547423.jpg", "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-24-11-13-19+0800__CAM_BACK_RIGHT__1532402043527893.jpg" ], "tag": 1, "task": "planning", "conversations": [ { "from": "human", "value": "What actions could the ego vehicle take based on ? Why take this action and what's the probability?" }, { "from": "gpt", "value": "The action is to decelerate gradually without braking. The reason for taking this action is that the object has little reference value for the ego vehicle. The probability of this action is high." } ] }, { "id": "798e8504b4364d378270333a349ef508_f31932ce754b408db390251167423dcc_1", "image": [ "data/nuscenes/samples/CAM_FRONT/n015-2018-07-24-11-13-19+0800__CAM_FRONT__1532402043512460.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_LEFT__1532402043504844.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_RIGHT__1532402043520339.jpg", "data/nuscenes/samples/CAM_BACK/n015-2018-07-24-11-13-19+0800__CAM_BACK__1532402043537525.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-24-11-13-19+0800__CAM_BACK_LEFT__1532402043547423.jpg", "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-24-11-13-19+0800__CAM_BACK_RIGHT__1532402043527893.jpg" ], "tag": 1, "task": "planning", "conversations": [ { "from": "human", "value": "What actions taken by the ego vehicle can lead to a collision with ?" }, { "from": "gpt", "value": "Sharp left turn." } ] }, { "id": "798e8504b4364d378270333a349ef508_f31932ce754b408db390251167423dcc_2", "image": [ "data/nuscenes/samples/CAM_FRONT/n015-2018-07-24-11-13-19+0800__CAM_FRONT__1532402043512460.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_LEFT__1532402043504844.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_RIGHT__1532402043520339.jpg", "data/nuscenes/samples/CAM_BACK/n015-2018-07-24-11-13-19+0800__CAM_BACK__1532402043537525.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-24-11-13-19+0800__CAM_BACK_LEFT__1532402043547423.jpg", "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-24-11-13-19+0800__CAM_BACK_RIGHT__1532402043527893.jpg" ], "tag": 1, "task": "planning", "conversations": [ { "from": "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 change to the left lane." } ] }, { "id": "9f5f2211d6f943a89dd87bbe9703539d_ff3a1f35ce244a60a1631fcb8975f443_0", "image": [ "data/nuscenes/samples/CAM_FRONT/n015-2018-09-27-15-33-17+0800__CAM_FRONT__1538033645262460.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_LEFT__1538033645254844.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_RIGHT__1538033645270339.jpg", "data/nuscenes/samples/CAM_BACK/n015-2018-09-27-15-33-17+0800__CAM_BACK__1538033645287525.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-27-15-33-17+0800__CAM_BACK_LEFT__1538033645297423.jpg", "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_BACK_RIGHT__1538033645277893.jpg" ], "tag": 2, "task": "perception", "conversations": [ { "from": "human", "value": "What are the 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 white sedan to the front right of the ego vehicle, a red car to the back of the ego vehicle, and a drive on the left side of the road to the back right of the ego vehicle. The IDs of these objects are , , , and ." } ] }, { "id": "9f5f2211d6f943a89dd87bbe9703539d_ff3a1f35ce244a60a1631fcb8975f443_0", "image": [ "data/nuscenes/samples/CAM_FRONT/n015-2018-09-27-15-33-17+0800__CAM_FRONT__1538033645262460.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_LEFT__1538033645254844.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_RIGHT__1538033645270339.jpg", "data/nuscenes/samples/CAM_BACK/n015-2018-09-27-15-33-17+0800__CAM_BACK__1538033645287525.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-27-15-33-17+0800__CAM_BACK_LEFT__1538033645297423.jpg", "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_BACK_RIGHT__1538033645277893.jpg" ], "tag": 1, "task": "planning", "conversations": [ { "from": "human", "value": "What actions could the ego vehicle take based on ? Why take this action and what's the probability?" }, { "from": "gpt", "value": "The action is to remain stationary because there is no safety issue. The probability of this action is high." } ] }, { "id": "9f5f2211d6f943a89dd87bbe9703539d_ff3a1f35ce244a60a1631fcb8975f443_1", "image": [ "data/nuscenes/samples/CAM_FRONT/n015-2018-09-27-15-33-17+0800__CAM_FRONT__1538033645262460.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_LEFT__1538033645254844.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_RIGHT__1538033645270339.jpg", "data/nuscenes/samples/CAM_BACK/n015-2018-09-27-15-33-17+0800__CAM_BACK__1538033645287525.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-27-15-33-17+0800__CAM_BACK_LEFT__1538033645297423.jpg", "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_BACK_RIGHT__1538033645277893.jpg" ], "tag": 1, "task": "planning", "conversations": [ { "from": "human", "value": "What actions taken by the ego vehicle can lead to a collision with ?" }, { "from": "gpt", "value": "Slight right turn." } ] }, { "id": "9f5f2211d6f943a89dd87bbe9703539d_ff3a1f35ce244a60a1631fcb8975f443_2", "image": [ "data/nuscenes/samples/CAM_FRONT/n015-2018-09-27-15-33-17+0800__CAM_FRONT__1538033645262460.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_LEFT__1538033645254844.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_RIGHT__1538033645270339.jpg", "data/nuscenes/samples/CAM_BACK/n015-2018-09-27-15-33-17+0800__CAM_BACK__1538033645287525.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-27-15-33-17+0800__CAM_BACK_LEFT__1538033645297423.jpg", "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_BACK_RIGHT__1538033645277893.jpg" ], "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": "1e9283d1ce98428aaa3b851487eb4f58_3f379b633db647bea8019688d2302fa1_0", "image": [ "data/nuscenes/samples/CAM_FRONT/n008-2018-08-30-15-16-55-0400__CAM_FRONT__1535657489612404.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-30-15-16-55-0400__CAM_FRONT_LEFT__1535657489604799.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-30-15-16-55-0400__CAM_FRONT_RIGHT__1535657489620482.jpg", "data/nuscenes/samples/CAM_BACK/n008-2018-08-30-15-16-55-0400__CAM_BACK__1535657489637558.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-30-15-16-55-0400__CAM_BACK_LEFT__1535657489647405.jpg", "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-30-15-16-55-0400__CAM_BACK_RIGHT__1535657489628113.jpg" ], "tag": 2, "task": "perception", "conversations": [ { "from": "human", "value": "What are the 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-black 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 of the ego vehicle. The IDs of these objects are , , and ." } ] }, { "id": "1e9283d1ce98428aaa3b851487eb4f58_3f379b633db647bea8019688d2302fa1_1", "image": [ "data/nuscenes/samples/CAM_FRONT/n008-2018-08-30-15-16-55-0400__CAM_FRONT__1535657489612404.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-30-15-16-55-0400__CAM_FRONT_LEFT__1535657489604799.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-30-15-16-55-0400__CAM_FRONT_RIGHT__1535657489620482.jpg", "data/nuscenes/samples/CAM_BACK/n008-2018-08-30-15-16-55-0400__CAM_BACK__1535657489637558.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-30-15-16-55-0400__CAM_BACK_LEFT__1535657489647405.jpg", "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-30-15-16-55-0400__CAM_BACK_RIGHT__1535657489628113.jpg" ], "tag": 0, "task": "perception", "conversations": [ { "from": "human", "value": "What is the moving status of object ? Please select the correct answer from the following options: A. Drive backward. B. Turn right. C. Stopped. D. Going ahead." }, { "from": "gpt", "value": "B" } ] }, { "id": "1e9283d1ce98428aaa3b851487eb4f58_3f379b633db647bea8019688d2302fa1_0", "image": [ "data/nuscenes/samples/CAM_FRONT/n008-2018-08-30-15-16-55-0400__CAM_FRONT__1535657489612404.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-30-15-16-55-0400__CAM_FRONT_LEFT__1535657489604799.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-30-15-16-55-0400__CAM_FRONT_RIGHT__1535657489620482.jpg", "data/nuscenes/samples/CAM_BACK/n008-2018-08-30-15-16-55-0400__CAM_BACK__1535657489637558.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-30-15-16-55-0400__CAM_BACK_LEFT__1535657489647405.jpg", "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-30-15-16-55-0400__CAM_BACK_RIGHT__1535657489628113.jpg" ], "tag": 1, "task": "planning", "conversations": [ { "from": "human", "value": "What actions taken by the ego vehicle can lead to a collision with ?" }, { "from": "gpt", "value": "Back up." } ] }, { "id": "1e9283d1ce98428aaa3b851487eb4f58_3f379b633db647bea8019688d2302fa1_1", "image": [ "data/nuscenes/samples/CAM_FRONT/n008-2018-08-30-15-16-55-0400__CAM_FRONT__1535657489612404.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-30-15-16-55-0400__CAM_FRONT_LEFT__1535657489604799.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-30-15-16-55-0400__CAM_FRONT_RIGHT__1535657489620482.jpg", "data/nuscenes/samples/CAM_BACK/n008-2018-08-30-15-16-55-0400__CAM_BACK__1535657489637558.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-30-15-16-55-0400__CAM_BACK_LEFT__1535657489647405.jpg", "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-30-15-16-55-0400__CAM_BACK_RIGHT__1535657489628113.jpg" ], "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 keep going at the same speed." } ] }, { "id": "1e9283d1ce98428aaa3b851487eb4f58_e3218c93800a4cfdbd1778b2091213f6_0", "image": [ "data/nuscenes/samples/CAM_FRONT/n008-2018-08-30-15-16-55-0400__CAM_FRONT__1535657491612404.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-30-15-16-55-0400__CAM_FRONT_LEFT__1535657491604799.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-30-15-16-55-0400__CAM_FRONT_RIGHT__1535657491620482.jpg", "data/nuscenes/samples/CAM_BACK/n008-2018-08-30-15-16-55-0400__CAM_BACK__1535657491637558.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-30-15-16-55-0400__CAM_BACK_LEFT__1535657491647405.jpg", "data/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 , , and ." } ] }, { "id": "1e9283d1ce98428aaa3b851487eb4f58_e3218c93800a4cfdbd1778b2091213f6_0", "image": [ "data/nuscenes/samples/CAM_FRONT/n008-2018-08-30-15-16-55-0400__CAM_FRONT__1535657491612404.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-30-15-16-55-0400__CAM_FRONT_LEFT__1535657491604799.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-30-15-16-55-0400__CAM_FRONT_RIGHT__1535657491620482.jpg", "data/nuscenes/samples/CAM_BACK/n008-2018-08-30-15-16-55-0400__CAM_BACK__1535657491637558.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-30-15-16-55-0400__CAM_BACK_LEFT__1535657491647405.jpg", "data/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 ?" }, { "from": "gpt", "value": "Back up." } ] }, { "id": "1e9283d1ce98428aaa3b851487eb4f58_e3218c93800a4cfdbd1778b2091213f6_1", "image": [ "data/nuscenes/samples/CAM_FRONT/n008-2018-08-30-15-16-55-0400__CAM_FRONT__1535657491612404.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-30-15-16-55-0400__CAM_FRONT_LEFT__1535657491604799.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-30-15-16-55-0400__CAM_FRONT_RIGHT__1535657491620482.jpg", "data/nuscenes/samples/CAM_BACK/n008-2018-08-30-15-16-55-0400__CAM_BACK__1535657491637558.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-30-15-16-55-0400__CAM_BACK_LEFT__1535657491647405.jpg", "data/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_0", "image": [ "data/nuscenes/samples/CAM_FRONT/n008-2018-08-30-15-16-55-0400__CAM_FRONT__1535657491612404.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-30-15-16-55-0400__CAM_FRONT_LEFT__1535657491604799.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-30-15-16-55-0400__CAM_FRONT_RIGHT__1535657491620482.jpg", "data/nuscenes/samples/CAM_BACK/n008-2018-08-30-15-16-55-0400__CAM_BACK__1535657491637558.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-30-15-16-55-0400__CAM_BACK_LEFT__1535657491647405.jpg", "data/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. Please select the correct answer from the following options: A. The ego vehicle is going straight. The ego vehicle is not moving. B. The ego vehicle is slightly steering to the left. The ego vehicle is driving very fast. C. The ego vehicle is slightly steering to the right. The ego vehicle is driving with normal speed. D. The ego vehicle is steering to the left. The ego vehicle is driving very fast." }, { "from": "gpt", "value": "C" } ] }, { "id": "4a4d09496d594c7385a1ec227bdb3a7f_a4bfa219eb0146f19c1e29622cfdc4ef_0", "image": [ "data/nuscenes/samples/CAM_FRONT/n008-2018-09-18-12-53-31-0400__CAM_FRONT__1537289815262404.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-12-53-31-0400__CAM_FRONT_LEFT__1537289815254799.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-12-53-31-0400__CAM_FRONT_RIGHT__1537289815270482.jpg", "data/nuscenes/samples/CAM_BACK/n008-2018-09-18-12-53-31-0400__CAM_BACK__1537289815287558.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-12-53-31-0400__CAM_BACK_LEFT__1537289815297405.jpg", "data/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 , , , , and ." } ] }, { "id": "4a4d09496d594c7385a1ec227bdb3a7f_a4bfa219eb0146f19c1e29622cfdc4ef_0", "image": [ "data/nuscenes/samples/CAM_FRONT/n008-2018-09-18-12-53-31-0400__CAM_FRONT__1537289815262404.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-12-53-31-0400__CAM_FRONT_LEFT__1537289815254799.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-12-53-31-0400__CAM_FRONT_RIGHT__1537289815270482.jpg", "data/nuscenes/samples/CAM_BACK/n008-2018-09-18-12-53-31-0400__CAM_BACK__1537289815287558.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-12-53-31-0400__CAM_BACK_LEFT__1537289815297405.jpg", "data/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 ? 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_1", "image": [ "data/nuscenes/samples/CAM_FRONT/n008-2018-09-18-12-53-31-0400__CAM_FRONT__1537289815262404.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-12-53-31-0400__CAM_FRONT_LEFT__1537289815254799.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-12-53-31-0400__CAM_FRONT_RIGHT__1537289815270482.jpg", "data/nuscenes/samples/CAM_BACK/n008-2018-09-18-12-53-31-0400__CAM_BACK__1537289815287558.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-12-53-31-0400__CAM_BACK_LEFT__1537289815297405.jpg", "data/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 ?" }, { "from": "gpt", "value": "Back up." } ] }, { "id": "4a4d09496d594c7385a1ec227bdb3a7f_a4bfa219eb0146f19c1e29622cfdc4ef_2", "image": [ "data/nuscenes/samples/CAM_FRONT/n008-2018-09-18-12-53-31-0400__CAM_FRONT__1537289815262404.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-12-53-31-0400__CAM_FRONT_LEFT__1537289815254799.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-12-53-31-0400__CAM_FRONT_RIGHT__1537289815270482.jpg", "data/nuscenes/samples/CAM_BACK/n008-2018-09-18-12-53-31-0400__CAM_BACK__1537289815287558.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-12-53-31-0400__CAM_BACK_LEFT__1537289815297405.jpg", "data/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_d885687979384c1eb6bf37a5a0b8d9c3_0", "image": [ "data/nuscenes/samples/CAM_FRONT/n008-2018-09-18-12-53-31-0400__CAM_FRONT__1537289816662404.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-12-53-31-0400__CAM_FRONT_LEFT__1537289816654811.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-12-53-31-0400__CAM_FRONT_RIGHT__1537289816670482.jpg", "data/nuscenes/samples/CAM_BACK/n008-2018-09-18-12-53-31-0400__CAM_BACK__1537289816689759.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-12-53-31-0400__CAM_BACK_LEFT__1537289816697405.jpg", "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-12-53-31-0400__CAM_BACK_RIGHT__1537289816678113.jpg" ], "tag": 2, "task": "perception", "conversations": [ { "from": "human", "value": "What are the important 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 to the front of the ego vehicle, a black SUV 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 , , , and ." } ] }, { "id": "4a4d09496d594c7385a1ec227bdb3a7f_d885687979384c1eb6bf37a5a0b8d9c3_1", "image": [ "data/nuscenes/samples/CAM_FRONT/n008-2018-09-18-12-53-31-0400__CAM_FRONT__1537289816662404.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-12-53-31-0400__CAM_FRONT_LEFT__1537289816654811.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-12-53-31-0400__CAM_FRONT_RIGHT__1537289816670482.jpg", "data/nuscenes/samples/CAM_BACK/n008-2018-09-18-12-53-31-0400__CAM_BACK__1537289816689759.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-12-53-31-0400__CAM_BACK_LEFT__1537289816697405.jpg", "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-12-53-31-0400__CAM_BACK_RIGHT__1537289816678113.jpg" ], "tag": 0, "task": "perception", "conversations": [ { "from": "human", "value": "What is the moving status of object ? Please select the correct answer from the following options: A. Turn left. B. Stopped. C. Reverse parking. D. Back up." }, { "from": "gpt", "value": "A" } ] }, { "id": "4a4d09496d594c7385a1ec227bdb3a7f_d885687979384c1eb6bf37a5a0b8d9c3_0", "image": [ "data/nuscenes/samples/CAM_FRONT/n008-2018-09-18-12-53-31-0400__CAM_FRONT__1537289816662404.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-12-53-31-0400__CAM_FRONT_LEFT__1537289816654811.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-12-53-31-0400__CAM_FRONT_RIGHT__1537289816670482.jpg", "data/nuscenes/samples/CAM_BACK/n008-2018-09-18-12-53-31-0400__CAM_BACK__1537289816689759.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-12-53-31-0400__CAM_BACK_LEFT__1537289816697405.jpg", "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-12-53-31-0400__CAM_BACK_RIGHT__1537289816678113.jpg" ], "tag": 1, "task": "planning", "conversations": [ { "from": "human", "value": "What actions taken by the ego vehicle can lead to a collision with ?" }, { "from": "gpt", "value": "Back up." } ] }, { "id": "4a4d09496d594c7385a1ec227bdb3a7f_d885687979384c1eb6bf37a5a0b8d9c3_0", "image": [ "data/nuscenes/samples/CAM_FRONT/n008-2018-09-18-12-53-31-0400__CAM_FRONT__1537289816662404.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-12-53-31-0400__CAM_FRONT_LEFT__1537289816654811.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-12-53-31-0400__CAM_FRONT_RIGHT__1537289816670482.jpg", "data/nuscenes/samples/CAM_BACK/n008-2018-09-18-12-53-31-0400__CAM_BACK__1537289816689759.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-12-53-31-0400__CAM_BACK_LEFT__1537289816697405.jpg", "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-12-53-31-0400__CAM_BACK_RIGHT__1537289816678113.jpg" ], "tag": 0, "task": "behavior", "conversations": [ { "from": "human", "value": "Predict the behavior of the ego vehicle. Please select the correct answer from the following options: A. The ego vehicle is steering to the right. The ego vehicle is driving fast. B. The ego vehicle is steering to the right. The ego vehicle is driving very fast. C. The ego vehicle is slightly steering to the right. The ego vehicle is driving fast. D. The ego vehicle is slightly steering to the left. The ego vehicle is driving fast." }, { "from": "gpt", "value": "C" } ] }, { "id": "e329b73341204af7a9de29e65291ce1c_e3822333607844f8afdc115dbcc24ddc_0", "image": [ "data/nuscenes/samples/CAM_FRONT/n008-2018-09-18-13-10-39-0400__CAM_FRONT__1537290880262404.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_LEFT__1537290880254799.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_RIGHT__1537290880270482.jpg", "data/nuscenes/samples/CAM_BACK/n008-2018-09-18-13-10-39-0400__CAM_BACK__1537290880287558.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-13-10-39-0400__CAM_BACK_LEFT__1537290880297405.jpg", "data/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 , , and ." } ] }, { "id": "e329b73341204af7a9de29e65291ce1c_e3822333607844f8afdc115dbcc24ddc_1", "image": [ "data/nuscenes/samples/CAM_FRONT/n008-2018-09-18-13-10-39-0400__CAM_FRONT__1537290880262404.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_LEFT__1537290880254799.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_RIGHT__1537290880270482.jpg", "data/nuscenes/samples/CAM_BACK/n008-2018-09-18-13-10-39-0400__CAM_BACK__1537290880287558.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-13-10-39-0400__CAM_BACK_LEFT__1537290880297405.jpg", "data/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 ? Please select the correct answer from the following options: A. Stopped. B. Turn right. C. Back up. D. Going ahead." }, { "from": "gpt", "value": "B" } ] }, { "id": "e329b73341204af7a9de29e65291ce1c_e3822333607844f8afdc115dbcc24ddc_0", "image": [ "data/nuscenes/samples/CAM_FRONT/n008-2018-09-18-13-10-39-0400__CAM_FRONT__1537290880262404.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_LEFT__1537290880254799.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_RIGHT__1537290880270482.jpg", "data/nuscenes/samples/CAM_BACK/n008-2018-09-18-13-10-39-0400__CAM_BACK__1537290880287558.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-13-10-39-0400__CAM_BACK_LEFT__1537290880297405.jpg", "data/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 ?" }, { "from": "gpt", "value": "Back up." } ] }, { "id": "e329b73341204af7a9de29e65291ce1c_e3822333607844f8afdc115dbcc24ddc_0", "image": [ "data/nuscenes/samples/CAM_FRONT/n008-2018-09-18-13-10-39-0400__CAM_FRONT__1537290880262404.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_LEFT__1537290880254799.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_RIGHT__1537290880270482.jpg", "data/nuscenes/samples/CAM_BACK/n008-2018-09-18-13-10-39-0400__CAM_BACK__1537290880287558.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-13-10-39-0400__CAM_BACK_LEFT__1537290880297405.jpg", "data/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. Please select the correct answer from the following options: A. The ego vehicle is steering to the right. The ego vehicle is driving fast. B. The ego vehicle is steering to the left. The ego vehicle is driving very fast. C. The ego vehicle is slightly steering to the left. The ego vehicle is driving fast. D. The ego vehicle is slightly steering to the right. The ego vehicle is driving fast." }, { "from": "gpt", "value": "D" } ] }, { "id": "ab6eea0e06c84f70be411a9d36636a7a_ec3c5922922148ea90ac073d03623c93_0", "image": [ "data/nuscenes/samples/CAM_FRONT/n008-2018-05-21-11-06-59-0400__CAM_FRONT__1526915622862465.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_LEFT__1526915622854917.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_RIGHT__1526915622869956.jpg", "data/nuscenes/samples/CAM_BACK/n008-2018-05-21-11-06-59-0400__CAM_BACK__1526915622887570.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-05-21-11-06-59-0400__CAM_BACK_LEFT__1526915622897295.jpg", "data/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 , , , and ." } ] }, { "id": "ab6eea0e06c84f70be411a9d36636a7a_ec3c5922922148ea90ac073d03623c93_0", "image": [ "data/nuscenes/samples/CAM_FRONT/n008-2018-05-21-11-06-59-0400__CAM_FRONT__1526915622862465.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_LEFT__1526915622854917.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_RIGHT__1526915622869956.jpg", "data/nuscenes/samples/CAM_BACK/n008-2018-05-21-11-06-59-0400__CAM_BACK__1526915622887570.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-05-21-11-06-59-0400__CAM_BACK_LEFT__1526915622897295.jpg", "data/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 ?" }, { "from": "gpt", "value": "Back up." } ] }, { "id": "ab6eea0e06c84f70be411a9d36636a7a_ec3c5922922148ea90ac073d03623c93_1", "image": [ "data/nuscenes/samples/CAM_FRONT/n008-2018-05-21-11-06-59-0400__CAM_FRONT__1526915622862465.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_LEFT__1526915622854917.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_RIGHT__1526915622869956.jpg", "data/nuscenes/samples/CAM_BACK/n008-2018-05-21-11-06-59-0400__CAM_BACK__1526915622887570.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-05-21-11-06-59-0400__CAM_BACK_LEFT__1526915622897295.jpg", "data/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_0", "image": [ "data/nuscenes/samples/CAM_FRONT/n008-2018-05-21-11-06-59-0400__CAM_FRONT__1526915622862465.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_LEFT__1526915622854917.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_RIGHT__1526915622869956.jpg", "data/nuscenes/samples/CAM_BACK/n008-2018-05-21-11-06-59-0400__CAM_BACK__1526915622887570.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-05-21-11-06-59-0400__CAM_BACK_LEFT__1526915622897295.jpg", "data/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. Please select the correct answer from the following options: A. The ego vehicle is steering to the left. The ego vehicle is driving slowly. B. The ego vehicle is going straight. The ego vehicle is driving slowly. C. The ego vehicle is steering to the left. The ego vehicle is driving fast. D. The ego vehicle is slightly steering to the left. The ego vehicle is driving with normal speed." }, { "from": "gpt", "value": "A" } ] }, { "id": "c0990deaa8954a54afc86f7710f349a1_751e48d05ae640218842e5230776f5e7_0", "image": [ "data/nuscenes/samples/CAM_FRONT/n015-2018-10-08-16-03-24+0800__CAM_FRONT__1538986206912460.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_LEFT__1538986206904844.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_RIGHT__1538986206920339.jpg", "data/nuscenes/samples/CAM_BACK/n015-2018-10-08-16-03-24+0800__CAM_BACK__1538986206937525.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-10-08-16-03-24+0800__CAM_BACK_LEFT__1538986206947423.jpg", "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_BACK_RIGHT__1538986206927893.jpg" ], "tag": 2, "task": "perception", "conversations": [ { "from": "human", "value": "What are the 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-clad pedestrian to the front of the ego vehicle, a pedestrian in black clothes to the front of the ego vehicle, a yellow cyclist to the back of the ego vehicle, and a white SUV to the back of the ego vehicle. The IDs of these objects are , , , , and ." } ] }, { "id": "c0990deaa8954a54afc86f7710f349a1_751e48d05ae640218842e5230776f5e7_1", "image": [ "data/nuscenes/samples/CAM_FRONT/n015-2018-10-08-16-03-24+0800__CAM_FRONT__1538986206912460.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_LEFT__1538986206904844.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_RIGHT__1538986206920339.jpg", "data/nuscenes/samples/CAM_BACK/n015-2018-10-08-16-03-24+0800__CAM_BACK__1538986206937525.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-10-08-16-03-24+0800__CAM_BACK_LEFT__1538986206947423.jpg", "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_BACK_RIGHT__1538986206927893.jpg" ], "tag": 0, "task": "perception", "conversations": [ { "from": "human", "value": "What is the moving status of object ? Please select the correct answer from the following options: A. Going ahead. B. Turn right. C. Stopped. D. Back up." }, { "from": "gpt", "value": "B" } ] }, { "id": "c0990deaa8954a54afc86f7710f349a1_751e48d05ae640218842e5230776f5e7_0", "image": [ "data/nuscenes/samples/CAM_FRONT/n015-2018-10-08-16-03-24+0800__CAM_FRONT__1538986206912460.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_LEFT__1538986206904844.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_RIGHT__1538986206920339.jpg", "data/nuscenes/samples/CAM_BACK/n015-2018-10-08-16-03-24+0800__CAM_BACK__1538986206937525.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-10-08-16-03-24+0800__CAM_BACK_LEFT__1538986206947423.jpg", "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_BACK_RIGHT__1538986206927893.jpg" ], "tag": 1, "task": "planning", "conversations": [ { "from": "human", "value": "What actions could the ego vehicle take based on ? Why take this action and what's the probability?" }, { "from": "gpt", "value": "The action is to remain stationary. The reason for this action is that there is no safety issue. The probability of this action is high." } ] }, { "id": "c0990deaa8954a54afc86f7710f349a1_751e48d05ae640218842e5230776f5e7_1", "image": [ "data/nuscenes/samples/CAM_FRONT/n015-2018-10-08-16-03-24+0800__CAM_FRONT__1538986206912460.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_LEFT__1538986206904844.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_RIGHT__1538986206920339.jpg", "data/nuscenes/samples/CAM_BACK/n015-2018-10-08-16-03-24+0800__CAM_BACK__1538986206937525.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-10-08-16-03-24+0800__CAM_BACK_LEFT__1538986206947423.jpg", "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_BACK_RIGHT__1538986206927893.jpg" ], "tag": 1, "task": "planning", "conversations": [ { "from": "human", "value": "What actions taken by the ego vehicle can lead to a collision with ?" }, { "from": "gpt", "value": "No actions taken by the ego vehicle will lead to a collision with ." } ] }, { "id": "448cf480b0b8400a86881d28c2c5f734_a3e6096501ba403f8bb9b3b26c1db065_0", "image": [ "data/nuscenes/samples/CAM_FRONT/n008-2018-05-21-11-06-59-0400__CAM_FRONT__1526915428762465.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_LEFT__1526915428754917.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_RIGHT__1526915428769962.jpg", "data/nuscenes/samples/CAM_BACK/n008-2018-05-21-11-06-59-0400__CAM_BACK__1526915428787570.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-05-21-11-06-59-0400__CAM_BACK_LEFT__1526915428797295.jpg", "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_BACK_RIGHT__1526915428777813.jpg" ], "tag": 2, "task": "perception", "conversations": [ { "from": "human", "value": "What are the 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 silver sedan to the back of the ego vehicle, a man wearing jeans to the front left of the ego vehicle, and a white business to the front of the ego vehicle. The IDs of these objects are , , , and ." } ] }, { "id": "448cf480b0b8400a86881d28c2c5f734_a3e6096501ba403f8bb9b3b26c1db065_0", "image": [ "data/nuscenes/samples/CAM_FRONT/n008-2018-05-21-11-06-59-0400__CAM_FRONT__1526915428762465.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_LEFT__1526915428754917.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_RIGHT__1526915428769962.jpg", "data/nuscenes/samples/CAM_BACK/n008-2018-05-21-11-06-59-0400__CAM_BACK__1526915428787570.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-05-21-11-06-59-0400__CAM_BACK_LEFT__1526915428797295.jpg", "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_BACK_RIGHT__1526915428777813.jpg" ], "tag": 1, "task": "planning", "conversations": [ { "from": "human", "value": "What actions taken by the ego vehicle can lead to a collision with ?" }, { "from": "gpt", "value": "Back up." } ] }, { "id": "448cf480b0b8400a86881d28c2c5f734_a3e6096501ba403f8bb9b3b26c1db065_1", "image": [ "data/nuscenes/samples/CAM_FRONT/n008-2018-05-21-11-06-59-0400__CAM_FRONT__1526915428762465.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_LEFT__1526915428754917.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_RIGHT__1526915428769962.jpg", "data/nuscenes/samples/CAM_BACK/n008-2018-05-21-11-06-59-0400__CAM_BACK__1526915428787570.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-05-21-11-06-59-0400__CAM_BACK_LEFT__1526915428797295.jpg", "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_BACK_RIGHT__1526915428777813.jpg" ], "tag": 1, "task": "planning", "conversations": [ { "from": "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." } ] }, { "id": "448cf480b0b8400a86881d28c2c5f734_a3e6096501ba403f8bb9b3b26c1db065_0", "image": [ "data/nuscenes/samples/CAM_FRONT/n008-2018-05-21-11-06-59-0400__CAM_FRONT__1526915428762465.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_LEFT__1526915428754917.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_RIGHT__1526915428769962.jpg", "data/nuscenes/samples/CAM_BACK/n008-2018-05-21-11-06-59-0400__CAM_BACK__1526915428787570.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-05-21-11-06-59-0400__CAM_BACK_LEFT__1526915428797295.jpg", "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_BACK_RIGHT__1526915428777813.jpg" ], "tag": 0, "task": "behavior", "conversations": [ { "from": "human", "value": "Predict the behavior of the ego vehicle. Please select the correct answer from the following options: A. The ego vehicle is slightly steering to the left. The ego vehicle is driving very fast. B. The ego vehicle is steering to the right. The ego vehicle is driving fast. C. The ego vehicle is slightly steering to the right. The ego vehicle is driving slowly. D. The ego vehicle is slightly steering to the right. The ego vehicle is driving very fast." }, { "from": "gpt", "value": "B" } ] }, { "id": "448cf480b0b8400a86881d28c2c5f734_4bd17f5cd7f74444bfbe6cf54f12ea9b_0", "image": [ "data/nuscenes/samples/CAM_FRONT/n008-2018-05-21-11-06-59-0400__CAM_FRONT__1526915431262465.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_LEFT__1526915431254917.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_RIGHT__1526915431269956.jpg", "data/nuscenes/samples/CAM_BACK/n008-2018-05-21-11-06-59-0400__CAM_BACK__1526915431287570.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-05-21-11-06-59-0400__CAM_BACK_LEFT__1526915431297295.jpg", "data/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 , , , and ." } ] }, { "id": "448cf480b0b8400a86881d28c2c5f734_4bd17f5cd7f74444bfbe6cf54f12ea9b_0", "image": [ "data/nuscenes/samples/CAM_FRONT/n008-2018-05-21-11-06-59-0400__CAM_FRONT__1526915431262465.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_LEFT__1526915431254917.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_RIGHT__1526915431269956.jpg", "data/nuscenes/samples/CAM_BACK/n008-2018-05-21-11-06-59-0400__CAM_BACK__1526915431287570.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-05-21-11-06-59-0400__CAM_BACK_LEFT__1526915431297295.jpg", "data/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 ?" }, { "from": "gpt", "value": "Back up." } ] }, { "id": "448cf480b0b8400a86881d28c2c5f734_4bd17f5cd7f74444bfbe6cf54f12ea9b_1", "image": [ "data/nuscenes/samples/CAM_FRONT/n008-2018-05-21-11-06-59-0400__CAM_FRONT__1526915431262465.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_LEFT__1526915431254917.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_RIGHT__1526915431269956.jpg", "data/nuscenes/samples/CAM_BACK/n008-2018-05-21-11-06-59-0400__CAM_BACK__1526915431287570.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-05-21-11-06-59-0400__CAM_BACK_LEFT__1526915431297295.jpg", "data/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_0", "image": [ "data/nuscenes/samples/CAM_FRONT/n008-2018-05-21-11-06-59-0400__CAM_FRONT__1526915431262465.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_LEFT__1526915431254917.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_RIGHT__1526915431269956.jpg", "data/nuscenes/samples/CAM_BACK/n008-2018-05-21-11-06-59-0400__CAM_BACK__1526915431287570.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-05-21-11-06-59-0400__CAM_BACK_LEFT__1526915431297295.jpg", "data/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. Please select the correct answer from the following options: A. The ego vehicle is slightly steering to the right. The ego vehicle is driving fast. B. The ego vehicle is steering to the left. The ego vehicle is driving fast. C. The ego vehicle is slightly steering to the right. The ego vehicle is driving with normal speed. D. The ego vehicle is going straight. The ego vehicle is driving with normal speed." }, { "from": "gpt", "value": "A" } ] }, { "id": "d90b94e8bfd446cd9407f48665122268_786371ca58704994aa3c3e6ca593ee92_0", "image": [ "data/nuscenes/samples/CAM_FRONT/n015-2018-08-01-16-41-59+0800__CAM_FRONT__1533113026362460.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-16-41-59+0800__CAM_FRONT_LEFT__1533113026354844.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-16-41-59+0800__CAM_FRONT_RIGHT__1533113026370339.jpg", "data/nuscenes/samples/CAM_BACK/n015-2018-08-01-16-41-59+0800__CAM_BACK__1533113026387525.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-16-41-59+0800__CAM_BACK_LEFT__1533113026397423.jpg", "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-16-41-59+0800__CAM_BACK_RIGHT__1533113026377893.jpg" ], "tag": 2, "task": "perception", "conversations": [ { "from": "human", "value": "What are the 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 pedestrian on the roadside to the front of the ego vehicle, and an orange bicycle to the front right of the ego vehicle. The IDs of these objects are , , and ." } ] }, { "id": "d90b94e8bfd446cd9407f48665122268_786371ca58704994aa3c3e6ca593ee92_1", "image": [ "data/nuscenes/samples/CAM_FRONT/n015-2018-08-01-16-41-59+0800__CAM_FRONT__1533113026362460.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-16-41-59+0800__CAM_FRONT_LEFT__1533113026354844.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-16-41-59+0800__CAM_FRONT_RIGHT__1533113026370339.jpg", "data/nuscenes/samples/CAM_BACK/n015-2018-08-01-16-41-59+0800__CAM_BACK__1533113026387525.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-16-41-59+0800__CAM_BACK_LEFT__1533113026397423.jpg", "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-16-41-59+0800__CAM_BACK_RIGHT__1533113026377893.jpg" ], "tag": 0, "task": "perception", "conversations": [ { "from": "human", "value": "What is the moving status of object ? Please select the correct answer from the following options: A. Turn left. B. Going ahead. C. Turn right. D. Back up." }, { "from": "gpt", "value": "C" } ] }, { "id": "d90b94e8bfd446cd9407f48665122268_786371ca58704994aa3c3e6ca593ee92_0", "image": [ "data/nuscenes/samples/CAM_FRONT/n015-2018-08-01-16-41-59+0800__CAM_FRONT__1533113026362460.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-16-41-59+0800__CAM_FRONT_LEFT__1533113026354844.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-16-41-59+0800__CAM_FRONT_RIGHT__1533113026370339.jpg", "data/nuscenes/samples/CAM_BACK/n015-2018-08-01-16-41-59+0800__CAM_BACK__1533113026387525.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-16-41-59+0800__CAM_BACK_LEFT__1533113026397423.jpg", "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-16-41-59+0800__CAM_BACK_RIGHT__1533113026377893.jpg" ], "tag": 1, "task": "planning", "conversations": [ { "from": "human", "value": "What actions taken by the ego vehicle can lead to a collision with ?" }, { "from": "gpt", "value": "Brake suddenly." } ] }, { "id": "d90b94e8bfd446cd9407f48665122268_786371ca58704994aa3c3e6ca593ee92_0", "image": [ "data/nuscenes/samples/CAM_FRONT/n015-2018-08-01-16-41-59+0800__CAM_FRONT__1533113026362460.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-16-41-59+0800__CAM_FRONT_LEFT__1533113026354844.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-16-41-59+0800__CAM_FRONT_RIGHT__1533113026370339.jpg", "data/nuscenes/samples/CAM_BACK/n015-2018-08-01-16-41-59+0800__CAM_BACK__1533113026387525.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-16-41-59+0800__CAM_BACK_LEFT__1533113026397423.jpg", "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-16-41-59+0800__CAM_BACK_RIGHT__1533113026377893.jpg" ], "tag": 0, "task": "behavior", "conversations": [ { "from": "human", "value": "Predict the behavior of the ego vehicle. Please select the correct answer from the following options: A. The ego vehicle is steering to the left. The ego vehicle is driving fast. B. The ego vehicle is slightly steering to the right. The ego vehicle is driving very fast. C. The ego vehicle is steering to the left. The ego vehicle is driving with normal speed. D. The ego vehicle is steering to the right. The ego vehicle is driving slowly." }, { "from": "gpt", "value": "A" } ] }, { "id": "97ba0e14805b42f292db7f06b6d1121b_62a89c84926b4df5b5c9c1b89fe1b4de_0", "image": [ "data/nuscenes/samples/CAM_FRONT/n008-2018-09-18-12-07-26-0400__CAM_FRONT__1537287357012404.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-12-07-26-0400__CAM_FRONT_LEFT__1537287357004799.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-12-07-26-0400__CAM_FRONT_RIGHT__1537287357020482.jpg", "data/nuscenes/samples/CAM_BACK/n008-2018-09-18-12-07-26-0400__CAM_BACK__1537287357037558.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-12-07-26-0400__CAM_BACK_LEFT__1537287357047405.jpg", "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-12-07-26-0400__CAM_BACK_RIGHT__1537287357028113.jpg" ], "tag": 2, "task": "perception", "conversations": [ { "from": "human", "value": "What are the important 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 sedan to the front right of the ego vehicle, and a white truck to the back of the ego vehicle. The IDs of these objects are , , and ." } ] }, { "id": "97ba0e14805b42f292db7f06b6d1121b_62a89c84926b4df5b5c9c1b89fe1b4de_0", "image": [ "data/nuscenes/samples/CAM_FRONT/n008-2018-09-18-12-07-26-0400__CAM_FRONT__1537287357012404.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-12-07-26-0400__CAM_FRONT_LEFT__1537287357004799.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-12-07-26-0400__CAM_FRONT_RIGHT__1537287357020482.jpg", "data/nuscenes/samples/CAM_BACK/n008-2018-09-18-12-07-26-0400__CAM_BACK__1537287357037558.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-12-07-26-0400__CAM_BACK_LEFT__1537287357047405.jpg", "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-12-07-26-0400__CAM_BACK_RIGHT__1537287357028113.jpg" ], "tag": 1, "task": "planning", "conversations": [ { "from": "human", "value": "What actions taken by the ego vehicle can lead to a collision with ?" }, { "from": "gpt", "value": "No such action will lead to a collision." } ] }, { "id": "97ba0e14805b42f292db7f06b6d1121b_62a89c84926b4df5b5c9c1b89fe1b4de_1", "image": [ "data/nuscenes/samples/CAM_FRONT/n008-2018-09-18-12-07-26-0400__CAM_FRONT__1537287357012404.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-12-07-26-0400__CAM_FRONT_LEFT__1537287357004799.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-12-07-26-0400__CAM_FRONT_RIGHT__1537287357020482.jpg", "data/nuscenes/samples/CAM_BACK/n008-2018-09-18-12-07-26-0400__CAM_BACK__1537287357037558.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-12-07-26-0400__CAM_BACK_LEFT__1537287357047405.jpg", "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-12-07-26-0400__CAM_BACK_RIGHT__1537287357028113.jpg" ], "tag": 1, "task": "planning", "conversations": [ { "from": "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": "97ba0e14805b42f292db7f06b6d1121b_62a89c84926b4df5b5c9c1b89fe1b4de_0", "image": [ "data/nuscenes/samples/CAM_FRONT/n008-2018-09-18-12-07-26-0400__CAM_FRONT__1537287357012404.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-12-07-26-0400__CAM_FRONT_LEFT__1537287357004799.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-12-07-26-0400__CAM_FRONT_RIGHT__1537287357020482.jpg", "data/nuscenes/samples/CAM_BACK/n008-2018-09-18-12-07-26-0400__CAM_BACK__1537287357037558.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-12-07-26-0400__CAM_BACK_LEFT__1537287357047405.jpg", "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-12-07-26-0400__CAM_BACK_RIGHT__1537287357028113.jpg" ], "tag": 0, "task": "behavior", "conversations": [ { "from": "human", "value": "Predict the behavior of the ego vehicle. Please select the correct answer from the following options: A. The ego vehicle is steering to the right. The ego vehicle is driving fast. B. The ego vehicle is going straight. The ego vehicle is driving very fast. C. The ego vehicle is slightly steering to the left. The ego vehicle is driving slowly. D. The ego vehicle is slightly steering to the left. The ego vehicle is driving fast." }, { "from": "gpt", "value": "A" } ] }, { "id": "d39c6835da754adfa0f75183e685c403_3dfd0c83966a4ecf80b7703872f479f0_0", "image": [ "data/nuscenes/samples/CAM_FRONT/n008-2018-08-28-16-16-48-0400__CAM_FRONT__1535487532262404.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_LEFT__1535487532254799.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_RIGHT__1535487532270482.jpg", "data/nuscenes/samples/CAM_BACK/n008-2018-08-28-16-16-48-0400__CAM_BACK__1535487532287558.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-28-16-16-48-0400__CAM_BACK_LEFT__1535487532297405.jpg", "data/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 , , , , and ." } ] }, { "id": "d39c6835da754adfa0f75183e685c403_3dfd0c83966a4ecf80b7703872f479f0_0", "image": [ "data/nuscenes/samples/CAM_FRONT/n008-2018-08-28-16-16-48-0400__CAM_FRONT__1535487532262404.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_LEFT__1535487532254799.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_RIGHT__1535487532270482.jpg", "data/nuscenes/samples/CAM_BACK/n008-2018-08-28-16-16-48-0400__CAM_BACK__1535487532287558.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-28-16-16-48-0400__CAM_BACK_LEFT__1535487532297405.jpg", "data/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 a traffic sign or a road barrier?" }, { "from": "gpt", "value": "No." } ] }, { "id": "d39c6835da754adfa0f75183e685c403_3dfd0c83966a4ecf80b7703872f479f0_0", "image": [ "data/nuscenes/samples/CAM_FRONT/n008-2018-08-28-16-16-48-0400__CAM_FRONT__1535487532262404.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_LEFT__1535487532254799.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_RIGHT__1535487532270482.jpg", "data/nuscenes/samples/CAM_BACK/n008-2018-08-28-16-16-48-0400__CAM_BACK__1535487532287558.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-28-16-16-48-0400__CAM_BACK_LEFT__1535487532297405.jpg", "data/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 ?" }, { "from": "gpt", "value": "Slight right turn." } ] }, { "id": "d39c6835da754adfa0f75183e685c403_3dfd0c83966a4ecf80b7703872f479f0_1", "image": [ "data/nuscenes/samples/CAM_FRONT/n008-2018-08-28-16-16-48-0400__CAM_FRONT__1535487532262404.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_LEFT__1535487532254799.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_RIGHT__1535487532270482.jpg", "data/nuscenes/samples/CAM_BACK/n008-2018-08-28-16-16-48-0400__CAM_BACK__1535487532287558.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-28-16-16-48-0400__CAM_BACK_LEFT__1535487532297405.jpg", "data/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_5164402a205f48ce8f3d38e056f35679_0", "image": [ "data/nuscenes/samples/CAM_FRONT/n008-2018-08-28-16-16-48-0400__CAM_FRONT__1535487548162404.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_LEFT__1535487548154799.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_RIGHT__1535487548170482.jpg", "data/nuscenes/samples/CAM_BACK/n008-2018-08-28-16-16-48-0400__CAM_BACK__1535487548187558.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-28-16-16-48-0400__CAM_BACK_LEFT__1535487548197405.jpg", "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_BACK_RIGHT__1535487548178113.jpg" ], "tag": 2, "task": "perception", "conversations": [ { "from": "human", "value": "What are the important 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 coach to the back of the ego vehicle, a silver minivan to the back of the ego vehicle, and a white SUV to the front right of the ego vehicle. The IDs of these objects are , , , and ." } ] }, { "id": "d39c6835da754adfa0f75183e685c403_5164402a205f48ce8f3d38e056f35679_0", "image": [ "data/nuscenes/samples/CAM_FRONT/n008-2018-08-28-16-16-48-0400__CAM_FRONT__1535487548162404.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_LEFT__1535487548154799.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_RIGHT__1535487548170482.jpg", "data/nuscenes/samples/CAM_BACK/n008-2018-08-28-16-16-48-0400__CAM_BACK__1535487548187558.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-28-16-16-48-0400__CAM_BACK_LEFT__1535487548197405.jpg", "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_BACK_RIGHT__1535487548178113.jpg" ], "tag": 1, "task": "planning", "conversations": [ { "from": "human", "value": "What actions could the ego vehicle take based on ? Why take this action and what's the probability?" }, { "from": "gpt", "value": "The action is to accelerate and go ahead. The reason is that the object has little reference value for the ego vehicle, and the probability is high." } ] }, { "id": "d39c6835da754adfa0f75183e685c403_5164402a205f48ce8f3d38e056f35679_1", "image": [ "data/nuscenes/samples/CAM_FRONT/n008-2018-08-28-16-16-48-0400__CAM_FRONT__1535487548162404.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_LEFT__1535487548154799.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_RIGHT__1535487548170482.jpg", "data/nuscenes/samples/CAM_BACK/n008-2018-08-28-16-16-48-0400__CAM_BACK__1535487548187558.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-28-16-16-48-0400__CAM_BACK_LEFT__1535487548197405.jpg", "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_BACK_RIGHT__1535487548178113.jpg" ], "tag": 1, "task": "planning", "conversations": [ { "from": "human", "value": "What actions taken by the ego vehicle can lead to a collision with ?" }, { "from": "gpt", "value": "No such action will lead to a collision." } ] }, { "id": "d39c6835da754adfa0f75183e685c403_5164402a205f48ce8f3d38e056f35679_2", "image": [ "data/nuscenes/samples/CAM_FRONT/n008-2018-08-28-16-16-48-0400__CAM_FRONT__1535487548162404.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_LEFT__1535487548154799.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_RIGHT__1535487548170482.jpg", "data/nuscenes/samples/CAM_BACK/n008-2018-08-28-16-16-48-0400__CAM_BACK__1535487548187558.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-28-16-16-48-0400__CAM_BACK_LEFT__1535487548197405.jpg", "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_BACK_RIGHT__1535487548178113.jpg" ], "tag": 1, "task": "planning", "conversations": [ { "from": "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": "c31adab2faea4db6ae5673eb8a507d00_57d884946c734a7cbb70f902eab29c9a_0", "image": [ "data/nuscenes/samples/CAM_FRONT/n008-2018-09-18-14-54-39-0400__CAM_FRONT__1537297349862404.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_LEFT__1537297349854799.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_RIGHT__1537297349870482.jpg", "data/nuscenes/samples/CAM_BACK/n008-2018-09-18-14-54-39-0400__CAM_BACK__1537297349887558.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-14-54-39-0400__CAM_BACK_LEFT__1537297349897405.jpg", "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_BACK_RIGHT__1537297349878113.jpg" ], "tag": 2, "task": "perception", "conversations": [ { "from": "human", "value": "What are the 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 person with an umbrella to the front right of the ego vehicle, a white truck to the front right of the ego vehicle, a white truck to the back right of the ego vehicle, and a person in black shirt to the front of the ego vehicle. The IDs of these objects are , , , , and ." } ] }, { "id": "c31adab2faea4db6ae5673eb8a507d00_57d884946c734a7cbb70f902eab29c9a_0", "image": [ "data/nuscenes/samples/CAM_FRONT/n008-2018-09-18-14-54-39-0400__CAM_FRONT__1537297349862404.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_LEFT__1537297349854799.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_RIGHT__1537297349870482.jpg", "data/nuscenes/samples/CAM_BACK/n008-2018-09-18-14-54-39-0400__CAM_BACK__1537297349887558.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-14-54-39-0400__CAM_BACK_LEFT__1537297349897405.jpg", "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_BACK_RIGHT__1537297349878113.jpg" ], "tag": 1, "task": "planning", "conversations": [ { "from": "human", "value": "What actions could the ego vehicle take based on ? Why take this action and what's the probability?" }, { "from": "gpt", "value": "The action is to turn left. The reason is that there is no safety issue, and the probability is high." } ] }, { "id": "c31adab2faea4db6ae5673eb8a507d00_57d884946c734a7cbb70f902eab29c9a_1", "image": [ "data/nuscenes/samples/CAM_FRONT/n008-2018-09-18-14-54-39-0400__CAM_FRONT__1537297349862404.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_LEFT__1537297349854799.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_RIGHT__1537297349870482.jpg", "data/nuscenes/samples/CAM_BACK/n008-2018-09-18-14-54-39-0400__CAM_BACK__1537297349887558.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-14-54-39-0400__CAM_BACK_LEFT__1537297349897405.jpg", "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_BACK_RIGHT__1537297349878113.jpg" ], "tag": 1, "task": "planning", "conversations": [ { "from": "human", "value": "What actions taken by the ego vehicle can lead to a collision with ?" }, { "from": "gpt", "value": "Sharp left turn." } ] }, { "id": "c31adab2faea4db6ae5673eb8a507d00_57d884946c734a7cbb70f902eab29c9a_2", "image": [ "data/nuscenes/samples/CAM_FRONT/n008-2018-09-18-14-54-39-0400__CAM_FRONT__1537297349862404.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_LEFT__1537297349854799.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_RIGHT__1537297349870482.jpg", "data/nuscenes/samples/CAM_BACK/n008-2018-09-18-14-54-39-0400__CAM_BACK__1537297349887558.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-14-54-39-0400__CAM_BACK_LEFT__1537297349897405.jpg", "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_BACK_RIGHT__1537297349878113.jpg" ], "tag": 1, "task": "planning", "conversations": [ { "from": "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_57d884946c734a7cbb70f902eab29c9a_0", "image": [ "data/nuscenes/samples/CAM_FRONT/n008-2018-09-18-14-54-39-0400__CAM_FRONT__1537297349862404.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_LEFT__1537297349854799.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_RIGHT__1537297349870482.jpg", "data/nuscenes/samples/CAM_BACK/n008-2018-09-18-14-54-39-0400__CAM_BACK__1537297349887558.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-14-54-39-0400__CAM_BACK_LEFT__1537297349897405.jpg", "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_BACK_RIGHT__1537297349878113.jpg" ], "tag": 0, "task": "behavior", "conversations": [ { "from": "human", "value": "Predict the behavior of the ego vehicle. Please select the correct answer from the following options: A. The ego vehicle is steering to the left. The ego vehicle is driving slowly. B. The ego vehicle is steering to the right. The ego vehicle is driving very fast. C. The ego vehicle is slightly steering to the right. The ego vehicle is driving slowly. D. The ego vehicle is steering to the right. The ego vehicle is driving with normal speed." }, { "from": "gpt", "value": "A" } ] }, { "id": "599c50b42e294116bd702c9e5cc830a3_9b57b4bfd0c64f7bbe8933dc3d4721c1_0", "image": [ "data/nuscenes/samples/CAM_FRONT/n015-2018-11-14-18-57-54+0800__CAM_FRONT__1542193260362460.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_LEFT__1542193260354844.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_RIGHT__1542193260370339.jpg", "data/nuscenes/samples/CAM_BACK/n015-2018-11-14-18-57-54+0800__CAM_BACK__1542193260387525.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-14-18-57-54+0800__CAM_BACK_LEFT__1542193260397423.jpg", "data/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 , , and ." } ] }, { "id": "599c50b42e294116bd702c9e5cc830a3_9b57b4bfd0c64f7bbe8933dc3d4721c1_0", "image": [ "data/nuscenes/samples/CAM_FRONT/n015-2018-11-14-18-57-54+0800__CAM_FRONT__1542193260362460.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_LEFT__1542193260354844.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_RIGHT__1542193260370339.jpg", "data/nuscenes/samples/CAM_BACK/n015-2018-11-14-18-57-54+0800__CAM_BACK__1542193260387525.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-14-18-57-54+0800__CAM_BACK_LEFT__1542193260397423.jpg", "data/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 ? 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_1", "image": [ "data/nuscenes/samples/CAM_FRONT/n015-2018-11-14-18-57-54+0800__CAM_FRONT__1542193260362460.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_LEFT__1542193260354844.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_RIGHT__1542193260370339.jpg", "data/nuscenes/samples/CAM_BACK/n015-2018-11-14-18-57-54+0800__CAM_BACK__1542193260387525.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-14-18-57-54+0800__CAM_BACK_LEFT__1542193260397423.jpg", "data/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 ?" }, { "from": "gpt", "value": "No such action will lead to a collision." } ] }, { "id": "599c50b42e294116bd702c9e5cc830a3_9b57b4bfd0c64f7bbe8933dc3d4721c1_2", "image": [ "data/nuscenes/samples/CAM_FRONT/n015-2018-11-14-18-57-54+0800__CAM_FRONT__1542193260362460.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_LEFT__1542193260354844.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_RIGHT__1542193260370339.jpg", "data/nuscenes/samples/CAM_BACK/n015-2018-11-14-18-57-54+0800__CAM_BACK__1542193260387525.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-14-18-57-54+0800__CAM_BACK_LEFT__1542193260397423.jpg", "data/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_86abc0810cd349148b3a1b35a5b109e4_0", "image": [ "data/nuscenes/samples/CAM_FRONT/n015-2018-11-14-18-57-54+0800__CAM_FRONT__1542193246112460.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_LEFT__1542193246104844.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_RIGHT__1542193246120339.jpg", "data/nuscenes/samples/CAM_BACK/n015-2018-11-14-18-57-54+0800__CAM_BACK__1542193246137525.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-14-18-57-54+0800__CAM_BACK_LEFT__1542193246147423.jpg", "data/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 , , , , and ." } ] }, { "id": "599c50b42e294116bd702c9e5cc830a3_86abc0810cd349148b3a1b35a5b109e4_1", "image": [ "data/nuscenes/samples/CAM_FRONT/n015-2018-11-14-18-57-54+0800__CAM_FRONT__1542193246112460.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_LEFT__1542193246104844.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_RIGHT__1542193246120339.jpg", "data/nuscenes/samples/CAM_BACK/n015-2018-11-14-18-57-54+0800__CAM_BACK__1542193246137525.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-14-18-57-54+0800__CAM_BACK_LEFT__1542193246147423.jpg", "data/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 ? Please select the correct answer from the following options: A. Back up. B. Going ahead. C. Stopped. D. Turn left." }, { "from": "gpt", "value": "D" } ] }, { "id": "599c50b42e294116bd702c9e5cc830a3_86abc0810cd349148b3a1b35a5b109e4_0", "image": [ "data/nuscenes/samples/CAM_FRONT/n015-2018-11-14-18-57-54+0800__CAM_FRONT__1542193246112460.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_LEFT__1542193246104844.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_RIGHT__1542193246120339.jpg", "data/nuscenes/samples/CAM_BACK/n015-2018-11-14-18-57-54+0800__CAM_BACK__1542193246137525.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-14-18-57-54+0800__CAM_BACK_LEFT__1542193246147423.jpg", "data/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_0", "image": [ "data/nuscenes/samples/CAM_FRONT/n015-2018-11-14-18-57-54+0800__CAM_FRONT__1542193246112460.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_LEFT__1542193246104844.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_RIGHT__1542193246120339.jpg", "data/nuscenes/samples/CAM_BACK/n015-2018-11-14-18-57-54+0800__CAM_BACK__1542193246137525.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-14-18-57-54+0800__CAM_BACK_LEFT__1542193246147423.jpg", "data/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. Please select the correct answer from the following options: A. The ego vehicle is slightly steering to the right. The ego vehicle is driving with normal speed. B. The ego vehicle is slightly steering to the left. The ego vehicle is driving fast. C. The ego vehicle is slightly steering to the right. The ego vehicle is driving fast. D. The ego vehicle is slightly steering to the left. The ego vehicle is driving slowly." }, { "from": "gpt", "value": "C" } ] }, { "id": "c9d654d4279c4efa9745a25ba6b373ee_e493c2fddd1b4f819ff05033fa4e6a55_0", "image": [ "data/nuscenes/samples/CAM_FRONT/n008-2018-08-21-11-53-44-0400__CAM_FRONT__1534867157862404.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-21-11-53-44-0400__CAM_FRONT_LEFT__1534867157855177.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-21-11-53-44-0400__CAM_FRONT_RIGHT__1534867157870482.jpg", "data/nuscenes/samples/CAM_BACK/n008-2018-08-21-11-53-44-0400__CAM_BACK__1534867157887558.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-21-11-53-44-0400__CAM_BACK_LEFT__1534867157897405.jpg", "data/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 , , , , , and ." } ] }, { "id": "c9d654d4279c4efa9745a25ba6b373ee_e493c2fddd1b4f819ff05033fa4e6a55_0", "image": [ "data/nuscenes/samples/CAM_FRONT/n008-2018-08-21-11-53-44-0400__CAM_FRONT__1534867157862404.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-21-11-53-44-0400__CAM_FRONT_LEFT__1534867157855177.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-21-11-53-44-0400__CAM_FRONT_RIGHT__1534867157870482.jpg", "data/nuscenes/samples/CAM_BACK/n008-2018-08-21-11-53-44-0400__CAM_BACK__1534867157887558.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-21-11-53-44-0400__CAM_BACK_LEFT__1534867157897405.jpg", "data/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 ? 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_1", "image": [ "data/nuscenes/samples/CAM_FRONT/n008-2018-08-21-11-53-44-0400__CAM_FRONT__1534867157862404.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-21-11-53-44-0400__CAM_FRONT_LEFT__1534867157855177.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-21-11-53-44-0400__CAM_FRONT_RIGHT__1534867157870482.jpg", "data/nuscenes/samples/CAM_BACK/n008-2018-08-21-11-53-44-0400__CAM_BACK__1534867157887558.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-21-11-53-44-0400__CAM_BACK_LEFT__1534867157897405.jpg", "data/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 ?" }, { "from": "gpt", "value": "Brake suddenly." } ] }, { "id": "c9d654d4279c4efa9745a25ba6b373ee_e493c2fddd1b4f819ff05033fa4e6a55_2", "image": [ "data/nuscenes/samples/CAM_FRONT/n008-2018-08-21-11-53-44-0400__CAM_FRONT__1534867157862404.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-21-11-53-44-0400__CAM_FRONT_LEFT__1534867157855177.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-21-11-53-44-0400__CAM_FRONT_RIGHT__1534867157870482.jpg", "data/nuscenes/samples/CAM_BACK/n008-2018-08-21-11-53-44-0400__CAM_BACK__1534867157887558.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-21-11-53-44-0400__CAM_BACK_LEFT__1534867157897405.jpg", "data/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": "a8819942e8bb43b6a832c56dfb78cfc6_31e890702ba847fe973eac8852110ed8_0", "image": [ "data/nuscenes/samples/CAM_FRONT/n008-2018-08-01-15-52-19-0400__CAM_FRONT__1533153287412404.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_LEFT__1533153287404799.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_RIGHT__1533153287420482.jpg", "data/nuscenes/samples/CAM_BACK/n008-2018-08-01-15-52-19-0400__CAM_BACK__1533153287437558.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-01-15-52-19-0400__CAM_BACK_LEFT__1533153287447405.jpg", "data/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 , , and ." } ] }, { "id": "a8819942e8bb43b6a832c56dfb78cfc6_31e890702ba847fe973eac8852110ed8_1", "image": [ "data/nuscenes/samples/CAM_FRONT/n008-2018-08-01-15-52-19-0400__CAM_FRONT__1533153287412404.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_LEFT__1533153287404799.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_RIGHT__1533153287420482.jpg", "data/nuscenes/samples/CAM_BACK/n008-2018-08-01-15-52-19-0400__CAM_BACK__1533153287437558.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-01-15-52-19-0400__CAM_BACK_LEFT__1533153287447405.jpg", "data/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 ? Please select the correct answer from the following options: A. Stopped. B. Back up. C. Reverse parking. D. Turn right." }, { "from": "gpt", "value": "D" } ] }, { "id": "a8819942e8bb43b6a832c56dfb78cfc6_31e890702ba847fe973eac8852110ed8_0", "image": [ "data/nuscenes/samples/CAM_FRONT/n008-2018-08-01-15-52-19-0400__CAM_FRONT__1533153287412404.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_LEFT__1533153287404799.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_RIGHT__1533153287420482.jpg", "data/nuscenes/samples/CAM_BACK/n008-2018-08-01-15-52-19-0400__CAM_BACK__1533153287437558.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-01-15-52-19-0400__CAM_BACK_LEFT__1533153287447405.jpg", "data/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 a traffic sign or a road barrier?" }, { "from": "gpt", "value": "No." } ] }, { "id": "a8819942e8bb43b6a832c56dfb78cfc6_31e890702ba847fe973eac8852110ed8_0", "image": [ "data/nuscenes/samples/CAM_FRONT/n008-2018-08-01-15-52-19-0400__CAM_FRONT__1533153287412404.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_LEFT__1533153287404799.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_RIGHT__1533153287420482.jpg", "data/nuscenes/samples/CAM_BACK/n008-2018-08-01-15-52-19-0400__CAM_BACK__1533153287437558.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-01-15-52-19-0400__CAM_BACK_LEFT__1533153287447405.jpg", "data/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 ?" }, { "from": "gpt", "value": "Moderate left turn." } ] }, { "id": "5c6620829a1f492b8482218670aa0541_cb7e40b70225494eadf981024e210dfc_0", "image": [ "data/nuscenes/samples/CAM_FRONT/n015-2018-09-27-15-33-17+0800__CAM_FRONT__1538033861362460.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_LEFT__1538033861354844.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_RIGHT__1538033861370339.jpg", "data/nuscenes/samples/CAM_BACK/n015-2018-09-27-15-33-17+0800__CAM_BACK__1538033861387525.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-27-15-33-17+0800__CAM_BACK_LEFT__1538033861397423.jpg", "data/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 , , and ." } ] }, { "id": "5c6620829a1f492b8482218670aa0541_cb7e40b70225494eadf981024e210dfc_1", "image": [ "data/nuscenes/samples/CAM_FRONT/n015-2018-09-27-15-33-17+0800__CAM_FRONT__1538033861362460.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_LEFT__1538033861354844.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_RIGHT__1538033861370339.jpg", "data/nuscenes/samples/CAM_BACK/n015-2018-09-27-15-33-17+0800__CAM_BACK__1538033861387525.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-27-15-33-17+0800__CAM_BACK_LEFT__1538033861397423.jpg", "data/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 ? Please select the correct answer from the following options: A. Turn left. B. Stopped. C. Turn right. D. Back up." }, { "from": "gpt", "value": "A" } ] }, { "id": "5c6620829a1f492b8482218670aa0541_cb7e40b70225494eadf981024e210dfc_0", "image": [ "data/nuscenes/samples/CAM_FRONT/n015-2018-09-27-15-33-17+0800__CAM_FRONT__1538033861362460.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_LEFT__1538033861354844.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_RIGHT__1538033861370339.jpg", "data/nuscenes/samples/CAM_BACK/n015-2018-09-27-15-33-17+0800__CAM_BACK__1538033861387525.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-27-15-33-17+0800__CAM_BACK_LEFT__1538033861397423.jpg", "data/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 ?" }, { "from": "gpt", "value": "Moderate right turn." } ] }, { "id": "5c6620829a1f492b8482218670aa0541_cb7e40b70225494eadf981024e210dfc_1", "image": [ "data/nuscenes/samples/CAM_FRONT/n015-2018-09-27-15-33-17+0800__CAM_FRONT__1538033861362460.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_LEFT__1538033861354844.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_RIGHT__1538033861370339.jpg", "data/nuscenes/samples/CAM_BACK/n015-2018-09-27-15-33-17+0800__CAM_BACK__1538033861387525.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-27-15-33-17+0800__CAM_BACK_LEFT__1538033861397423.jpg", "data/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": "45275e709d4a4b0592d57850d8e8bd8d_a02918af3c62447dbb9de1d0e0c56aa6_0", "image": [ "data/nuscenes/samples/CAM_FRONT/n008-2018-08-28-16-16-48-0400__CAM_FRONT__1535487480162404.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_LEFT__1535487480154799.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_RIGHT__1535487480170482.jpg", "data/nuscenes/samples/CAM_BACK/n008-2018-08-28-16-16-48-0400__CAM_BACK__1535487480187558.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-28-16-16-48-0400__CAM_BACK_LEFT__1535487480197405.jpg", "data/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 , , , , and ." } ] }, { "id": "45275e709d4a4b0592d57850d8e8bd8d_a02918af3c62447dbb9de1d0e0c56aa6_1", "image": [ "data/nuscenes/samples/CAM_FRONT/n008-2018-08-28-16-16-48-0400__CAM_FRONT__1535487480162404.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_LEFT__1535487480154799.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_RIGHT__1535487480170482.jpg", "data/nuscenes/samples/CAM_BACK/n008-2018-08-28-16-16-48-0400__CAM_BACK__1535487480187558.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-28-16-16-48-0400__CAM_BACK_LEFT__1535487480197405.jpg", "data/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 ? Please select the correct answer from the following options: A. Turn left. B. Reverse parking. C. Turn right. D. Back up." }, { "from": "gpt", "value": "A" } ] }, { "id": "45275e709d4a4b0592d57850d8e8bd8d_a02918af3c62447dbb9de1d0e0c56aa6_0", "image": [ "data/nuscenes/samples/CAM_FRONT/n008-2018-08-28-16-16-48-0400__CAM_FRONT__1535487480162404.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_LEFT__1535487480154799.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_RIGHT__1535487480170482.jpg", "data/nuscenes/samples/CAM_BACK/n008-2018-08-28-16-16-48-0400__CAM_BACK__1535487480187558.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-28-16-16-48-0400__CAM_BACK_LEFT__1535487480197405.jpg", "data/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 ?" }, { "from": "gpt", "value": "Sharp right turn." } ] }, { "id": "45275e709d4a4b0592d57850d8e8bd8d_a02918af3c62447dbb9de1d0e0c56aa6_1", "image": [ "data/nuscenes/samples/CAM_FRONT/n008-2018-08-28-16-16-48-0400__CAM_FRONT__1535487480162404.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_LEFT__1535487480154799.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_RIGHT__1535487480170482.jpg", "data/nuscenes/samples/CAM_BACK/n008-2018-08-28-16-16-48-0400__CAM_BACK__1535487480187558.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-28-16-16-48-0400__CAM_BACK_LEFT__1535487480197405.jpg", "data/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_5f81e1b2572d42ada134e007e304ae7b_0", "image": [ "data/nuscenes/samples/CAM_FRONT/n008-2018-08-28-16-16-48-0400__CAM_FRONT__1535487475162404.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_LEFT__1535487475154799.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_RIGHT__1535487475170482.jpg", "data/nuscenes/samples/CAM_BACK/n008-2018-08-28-16-16-48-0400__CAM_BACK__1535487475187566.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-28-16-16-48-0400__CAM_BACK_LEFT__1535487475197405.jpg", "data/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 , , and ." } ] }, { "id": "45275e709d4a4b0592d57850d8e8bd8d_5f81e1b2572d42ada134e007e304ae7b_1", "image": [ "data/nuscenes/samples/CAM_FRONT/n008-2018-08-28-16-16-48-0400__CAM_FRONT__1535487475162404.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_LEFT__1535487475154799.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_RIGHT__1535487475170482.jpg", "data/nuscenes/samples/CAM_BACK/n008-2018-08-28-16-16-48-0400__CAM_BACK__1535487475187566.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-28-16-16-48-0400__CAM_BACK_LEFT__1535487475197405.jpg", "data/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 ? Please select the correct answer from the following options: A. Stopped. B. Turn left. C. Turn right. D. Reverse parking." }, { "from": "gpt", "value": "B" } ] }, { "id": "45275e709d4a4b0592d57850d8e8bd8d_5f81e1b2572d42ada134e007e304ae7b_0", "image": [ "data/nuscenes/samples/CAM_FRONT/n008-2018-08-28-16-16-48-0400__CAM_FRONT__1535487475162404.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_LEFT__1535487475154799.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_RIGHT__1535487475170482.jpg", "data/nuscenes/samples/CAM_BACK/n008-2018-08-28-16-16-48-0400__CAM_BACK__1535487475187566.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-28-16-16-48-0400__CAM_BACK_LEFT__1535487475197405.jpg", "data/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 ? 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_1", "image": [ "data/nuscenes/samples/CAM_FRONT/n008-2018-08-28-16-16-48-0400__CAM_FRONT__1535487475162404.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_LEFT__1535487475154799.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_RIGHT__1535487475170482.jpg", "data/nuscenes/samples/CAM_BACK/n008-2018-08-28-16-16-48-0400__CAM_BACK__1535487475187566.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-28-16-16-48-0400__CAM_BACK_LEFT__1535487475197405.jpg", "data/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 ?" }, { "from": "gpt", "value": "Sharp right turn." } ] }, { "id": "45275e709d4a4b0592d57850d8e8bd8d_5f81e1b2572d42ada134e007e304ae7b_2", "image": [ "data/nuscenes/samples/CAM_FRONT/n008-2018-08-28-16-16-48-0400__CAM_FRONT__1535487475162404.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_LEFT__1535487475154799.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_RIGHT__1535487475170482.jpg", "data/nuscenes/samples/CAM_BACK/n008-2018-08-28-16-16-48-0400__CAM_BACK__1535487475187566.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-28-16-16-48-0400__CAM_BACK_LEFT__1535487475197405.jpg", "data/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": "78c5f7d7b547483c906d8524a8c3190f_76ed31da2e6b4a60986764cb6dd79c0f_0", "image": [ "data/nuscenes/samples/CAM_FRONT/n008-2018-08-01-15-52-19-0400__CAM_FRONT__1533153699662404.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_LEFT__1533153699654799.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_RIGHT__1533153699670482.jpg", "data/nuscenes/samples/CAM_BACK/n008-2018-08-01-15-52-19-0400__CAM_BACK__1533153699687558.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-01-15-52-19-0400__CAM_BACK_LEFT__1533153699697405.jpg", "data/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 , , , and ." } ] }, { "id": "78c5f7d7b547483c906d8524a8c3190f_76ed31da2e6b4a60986764cb6dd79c0f_1", "image": [ "data/nuscenes/samples/CAM_FRONT/n008-2018-08-01-15-52-19-0400__CAM_FRONT__1533153699662404.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_LEFT__1533153699654799.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_RIGHT__1533153699670482.jpg", "data/nuscenes/samples/CAM_BACK/n008-2018-08-01-15-52-19-0400__CAM_BACK__1533153699687558.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-01-15-52-19-0400__CAM_BACK_LEFT__1533153699697405.jpg", "data/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 ? Please select the correct answer from the following options: A. Reverse parking. B. Stopped. C. Turn right. D. Turn left." }, { "from": "gpt", "value": "D" } ] }, { "id": "78c5f7d7b547483c906d8524a8c3190f_76ed31da2e6b4a60986764cb6dd79c0f_0", "image": [ "data/nuscenes/samples/CAM_FRONT/n008-2018-08-01-15-52-19-0400__CAM_FRONT__1533153699662404.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_LEFT__1533153699654799.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_RIGHT__1533153699670482.jpg", "data/nuscenes/samples/CAM_BACK/n008-2018-08-01-15-52-19-0400__CAM_BACK__1533153699687558.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-01-15-52-19-0400__CAM_BACK_LEFT__1533153699697405.jpg", "data/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 ?" }, { "from": "gpt", "value": "Accelerate and go straight." } ] }, { "id": "78c5f7d7b547483c906d8524a8c3190f_76ed31da2e6b4a60986764cb6dd79c0f_1", "image": [ "data/nuscenes/samples/CAM_FRONT/n008-2018-08-01-15-52-19-0400__CAM_FRONT__1533153699662404.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_LEFT__1533153699654799.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_RIGHT__1533153699670482.jpg", "data/nuscenes/samples/CAM_BACK/n008-2018-08-01-15-52-19-0400__CAM_BACK__1533153699687558.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-01-15-52-19-0400__CAM_BACK_LEFT__1533153699697405.jpg", "data/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": "b0b26c1e5a1140e69598422f12ae1dc0_7b06c6bd641e4060a607f3db4d3c3109_0", "image": [ "data/nuscenes/samples/CAM_FRONT/n008-2018-08-01-15-52-19-0400__CAM_FRONT__1533153468862404.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_LEFT__1533153468854799.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_RIGHT__1533153468870482.jpg", "data/nuscenes/samples/CAM_BACK/n008-2018-08-01-15-52-19-0400__CAM_BACK__1533153468887558.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-01-15-52-19-0400__CAM_BACK_LEFT__1533153468897405.jpg", "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_BACK_RIGHT__1533153468878113.jpg" ], "tag": 2, "task": "perception", "conversations": [ { "from": "human", "value": "What are the 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 truck to the front of the ego vehicle, a red truck to the back of the ego vehicle, a gray SUV to the front left of the ego vehicle, a black SUV to the back right of the ego vehicle, and a bluish-gray truck to the front of the ego vehicle. The IDs of these objects are , , , , , and ." } ] }, { "id": "b0b26c1e5a1140e69598422f12ae1dc0_7b06c6bd641e4060a607f3db4d3c3109_0", "image": [ "data/nuscenes/samples/CAM_FRONT/n008-2018-08-01-15-52-19-0400__CAM_FRONT__1533153468862404.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_LEFT__1533153468854799.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_RIGHT__1533153468870482.jpg", "data/nuscenes/samples/CAM_BACK/n008-2018-08-01-15-52-19-0400__CAM_BACK__1533153468887558.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-01-15-52-19-0400__CAM_BACK_LEFT__1533153468897405.jpg", "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_BACK_RIGHT__1533153468878113.jpg" ], "tag": 1, "task": "planning", "conversations": [ { "from": "human", "value": "What actions could the ego vehicle take based on ? Why take this action and what's the probability?" }, { "from": "gpt", "value": "The action is to brake gently to a stop, the reason is to avoid a collision, high." } ] }, { "id": "b0b26c1e5a1140e69598422f12ae1dc0_7b06c6bd641e4060a607f3db4d3c3109_1", "image": [ "data/nuscenes/samples/CAM_FRONT/n008-2018-08-01-15-52-19-0400__CAM_FRONT__1533153468862404.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_LEFT__1533153468854799.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_RIGHT__1533153468870482.jpg", "data/nuscenes/samples/CAM_BACK/n008-2018-08-01-15-52-19-0400__CAM_BACK__1533153468887558.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-01-15-52-19-0400__CAM_BACK_LEFT__1533153468897405.jpg", "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_BACK_RIGHT__1533153468878113.jpg" ], "tag": 1, "task": "planning", "conversations": [ { "from": "human", "value": "What actions taken by the ego vehicle can lead to a collision with ?" }, { "from": "gpt", "value": "Brake suddenly." } ] }, { "id": "b0b26c1e5a1140e69598422f12ae1dc0_7b06c6bd641e4060a607f3db4d3c3109_2", "image": [ "data/nuscenes/samples/CAM_FRONT/n008-2018-08-01-15-52-19-0400__CAM_FRONT__1533153468862404.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_LEFT__1533153468854799.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_RIGHT__1533153468870482.jpg", "data/nuscenes/samples/CAM_BACK/n008-2018-08-01-15-52-19-0400__CAM_BACK__1533153468887558.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-01-15-52-19-0400__CAM_BACK_LEFT__1533153468897405.jpg", "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_BACK_RIGHT__1533153468878113.jpg" ], "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": "d9a3087bab26405cb005221b979edd39_8cacfbc91bfe422bb5f9b2c9993e15f6_0", "image": [ "data/nuscenes/samples/CAM_FRONT/n008-2018-08-28-16-16-48-0400__CAM_FRONT__1535488375762404.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_LEFT__1535488375754799.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_RIGHT__1535488375770482.jpg", "data/nuscenes/samples/CAM_BACK/n008-2018-08-28-16-16-48-0400__CAM_BACK__1535488375787558.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-28-16-16-48-0400__CAM_BACK_LEFT__1535488375797405.jpg", "data/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 , , , , and ." } ] }, { "id": "d9a3087bab26405cb005221b979edd39_8cacfbc91bfe422bb5f9b2c9993e15f6_0", "image": [ "data/nuscenes/samples/CAM_FRONT/n008-2018-08-28-16-16-48-0400__CAM_FRONT__1535488375762404.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_LEFT__1535488375754799.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_RIGHT__1535488375770482.jpg", "data/nuscenes/samples/CAM_BACK/n008-2018-08-28-16-16-48-0400__CAM_BACK__1535488375787558.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-28-16-16-48-0400__CAM_BACK_LEFT__1535488375797405.jpg", "data/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 ? 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_1", "image": [ "data/nuscenes/samples/CAM_FRONT/n008-2018-08-28-16-16-48-0400__CAM_FRONT__1535488375762404.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_LEFT__1535488375754799.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_RIGHT__1535488375770482.jpg", "data/nuscenes/samples/CAM_BACK/n008-2018-08-28-16-16-48-0400__CAM_BACK__1535488375787558.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-28-16-16-48-0400__CAM_BACK_LEFT__1535488375797405.jpg", "data/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 ?" }, { "from": "gpt", "value": "Accelerate and go straight." } ] }, { "id": "d9a3087bab26405cb005221b979edd39_8cacfbc91bfe422bb5f9b2c9993e15f6_2", "image": [ "data/nuscenes/samples/CAM_FRONT/n008-2018-08-28-16-16-48-0400__CAM_FRONT__1535488375762404.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_LEFT__1535488375754799.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_RIGHT__1535488375770482.jpg", "data/nuscenes/samples/CAM_BACK/n008-2018-08-28-16-16-48-0400__CAM_BACK__1535488375787558.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-28-16-16-48-0400__CAM_BACK_LEFT__1535488375797405.jpg", "data/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": "36b7b02f0f034f0595e3437a85554151_51b48af1c06349c39a416d1d82daad48_0", "image": [ "data/nuscenes/samples/CAM_FRONT/n008-2018-08-21-11-53-44-0400__CAM_FRONT__1534867321412417.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-21-11-53-44-0400__CAM_FRONT_LEFT__1534867321404799.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-21-11-53-44-0400__CAM_FRONT_RIGHT__1534867321420482.jpg", "data/nuscenes/samples/CAM_BACK/n008-2018-08-21-11-53-44-0400__CAM_BACK__1534867321437558.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-21-11-53-44-0400__CAM_BACK_LEFT__1534867321447405.jpg", "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-21-11-53-44-0400__CAM_BACK_RIGHT__1534867321428113.jpg" ], "tag": 2, "task": "perception", "conversations": [ { "from": "human", "value": "What are the important 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 SUV to the front of the ego vehicle, and a traffic light to the front of the ego vehicle. The IDs of these objects are , , and ." } ] }, { "id": "36b7b02f0f034f0595e3437a85554151_51b48af1c06349c39a416d1d82daad48_0", "image": [ "data/nuscenes/samples/CAM_FRONT/n008-2018-08-21-11-53-44-0400__CAM_FRONT__1534867321412417.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-21-11-53-44-0400__CAM_FRONT_LEFT__1534867321404799.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-21-11-53-44-0400__CAM_FRONT_RIGHT__1534867321420482.jpg", "data/nuscenes/samples/CAM_BACK/n008-2018-08-21-11-53-44-0400__CAM_BACK__1534867321437558.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-21-11-53-44-0400__CAM_BACK_LEFT__1534867321447405.jpg", "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-21-11-53-44-0400__CAM_BACK_RIGHT__1534867321428113.jpg" ], "tag": 1, "task": "planning", "conversations": [ { "from": "human", "value": "What actions could the ego vehicle take based on ? Why take this action and what's the probability?" }, { "from": "gpt", "value": "The action is to brake gently to a stop. The reason is to follow the traffic rules, which is high probability." } ] }, { "id": "36b7b02f0f034f0595e3437a85554151_51b48af1c06349c39a416d1d82daad48_1", "image": [ "data/nuscenes/samples/CAM_FRONT/n008-2018-08-21-11-53-44-0400__CAM_FRONT__1534867321412417.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-21-11-53-44-0400__CAM_FRONT_LEFT__1534867321404799.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-21-11-53-44-0400__CAM_FRONT_RIGHT__1534867321420482.jpg", "data/nuscenes/samples/CAM_BACK/n008-2018-08-21-11-53-44-0400__CAM_BACK__1534867321437558.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-21-11-53-44-0400__CAM_BACK_LEFT__1534867321447405.jpg", "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-21-11-53-44-0400__CAM_BACK_RIGHT__1534867321428113.jpg" ], "tag": 1, "task": "planning", "conversations": [ { "from": "human", "value": "What actions taken by the ego vehicle can lead to a collision with ?" }, { "from": "gpt", "value": "Back up." } ] }, { "id": "36b7b02f0f034f0595e3437a85554151_51b48af1c06349c39a416d1d82daad48_2", "image": [ "data/nuscenes/samples/CAM_FRONT/n008-2018-08-21-11-53-44-0400__CAM_FRONT__1534867321412417.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-21-11-53-44-0400__CAM_FRONT_LEFT__1534867321404799.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-21-11-53-44-0400__CAM_FRONT_RIGHT__1534867321420482.jpg", "data/nuscenes/samples/CAM_BACK/n008-2018-08-21-11-53-44-0400__CAM_BACK__1534867321437558.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-21-11-53-44-0400__CAM_BACK_LEFT__1534867321447405.jpg", "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-21-11-53-44-0400__CAM_BACK_RIGHT__1534867321428113.jpg" ], "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_036f20c2c7f940b39795e6b16285c38d_0", "image": [ "data/nuscenes/samples/CAM_FRONT/n008-2018-08-21-11-53-44-0400__CAM_FRONT__1534867303912404.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-21-11-53-44-0400__CAM_FRONT_LEFT__1534867303904799.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-21-11-53-44-0400__CAM_FRONT_RIGHT__1534867303920482.jpg", "data/nuscenes/samples/CAM_BACK/n008-2018-08-21-11-53-44-0400__CAM_BACK__1534867303937558.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-21-11-53-44-0400__CAM_BACK_LEFT__1534867303947405.jpg", "data/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 , , , and ." } ] }, { "id": "36b7b02f0f034f0595e3437a85554151_036f20c2c7f940b39795e6b16285c38d_1", "image": [ "data/nuscenes/samples/CAM_FRONT/n008-2018-08-21-11-53-44-0400__CAM_FRONT__1534867303912404.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-21-11-53-44-0400__CAM_FRONT_LEFT__1534867303904799.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-21-11-53-44-0400__CAM_FRONT_RIGHT__1534867303920482.jpg", "data/nuscenes/samples/CAM_BACK/n008-2018-08-21-11-53-44-0400__CAM_BACK__1534867303937558.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-21-11-53-44-0400__CAM_BACK_LEFT__1534867303947405.jpg", "data/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 ? Please select the correct answer from the following options: A. Turn right. B. Drive backward. C. Going ahead. D. Turn left." }, { "from": "gpt", "value": "D" } ] }, { "id": "36b7b02f0f034f0595e3437a85554151_036f20c2c7f940b39795e6b16285c38d_0", "image": [ "data/nuscenes/samples/CAM_FRONT/n008-2018-08-21-11-53-44-0400__CAM_FRONT__1534867303912404.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-21-11-53-44-0400__CAM_FRONT_LEFT__1534867303904799.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-21-11-53-44-0400__CAM_FRONT_RIGHT__1534867303920482.jpg", "data/nuscenes/samples/CAM_BACK/n008-2018-08-21-11-53-44-0400__CAM_BACK__1534867303937558.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-21-11-53-44-0400__CAM_BACK_LEFT__1534867303947405.jpg", "data/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 ? 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_1", "image": [ "data/nuscenes/samples/CAM_FRONT/n008-2018-08-21-11-53-44-0400__CAM_FRONT__1534867303912404.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-21-11-53-44-0400__CAM_FRONT_LEFT__1534867303904799.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-21-11-53-44-0400__CAM_FRONT_RIGHT__1534867303920482.jpg", "data/nuscenes/samples/CAM_BACK/n008-2018-08-21-11-53-44-0400__CAM_BACK__1534867303937558.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-21-11-53-44-0400__CAM_BACK_LEFT__1534867303947405.jpg", "data/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": "faa975eaad804c85bd8f2da9b30c8d9a_99bcb06196bb4974bd600b4fc553caad_0", "image": [ "data/nuscenes/samples/CAM_FRONT/n015-2018-11-14-19-09-14+0800__CAM_FRONT__1542194076662460.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-14-19-09-14+0800__CAM_FRONT_LEFT__1542194076654844.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-14-19-09-14+0800__CAM_FRONT_RIGHT__1542194076670339.jpg", "data/nuscenes/samples/CAM_BACK/n015-2018-11-14-19-09-14+0800__CAM_BACK__1542194076687525.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-14-19-09-14+0800__CAM_BACK_LEFT__1542194076697423.jpg", "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-14-19-09-14+0800__CAM_BACK_RIGHT__1542194076677893.jpg" ], "tag": 2, "task": "perception", "conversations": [ { "from": "human", "value": "What are 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 right of the ego vehicle, a black commercial vehicle to the back of the ego vehicle, a silver sedan to the front of the ego vehicle, a red car to the front of the ego vehicle, and a please pass to the front of the ego vehicle. The IDs of these objects are , , , , and ." } ] }, { "id": "faa975eaad804c85bd8f2da9b30c8d9a_99bcb06196bb4974bd600b4fc553caad_1", "image": [ "data/nuscenes/samples/CAM_FRONT/n015-2018-11-14-19-09-14+0800__CAM_FRONT__1542194076662460.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-14-19-09-14+0800__CAM_FRONT_LEFT__1542194076654844.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-14-19-09-14+0800__CAM_FRONT_RIGHT__1542194076670339.jpg", "data/nuscenes/samples/CAM_BACK/n015-2018-11-14-19-09-14+0800__CAM_BACK__1542194076687525.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-14-19-09-14+0800__CAM_BACK_LEFT__1542194076697423.jpg", "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-14-19-09-14+0800__CAM_BACK_RIGHT__1542194076677893.jpg" ], "tag": 0, "task": "perception", "conversations": [ { "from": "human", "value": "What is the moving status of object ? Please select the correct answer from the following options: A. Drive backward. B. Turn left. C. Stopped. D. Reverse parking." }, { "from": "gpt", "value": "B" } ] }, { "id": "faa975eaad804c85bd8f2da9b30c8d9a_99bcb06196bb4974bd600b4fc553caad_0", "image": [ "data/nuscenes/samples/CAM_FRONT/n015-2018-11-14-19-09-14+0800__CAM_FRONT__1542194076662460.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-14-19-09-14+0800__CAM_FRONT_LEFT__1542194076654844.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-14-19-09-14+0800__CAM_FRONT_RIGHT__1542194076670339.jpg", "data/nuscenes/samples/CAM_BACK/n015-2018-11-14-19-09-14+0800__CAM_BACK__1542194076687525.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-14-19-09-14+0800__CAM_BACK_LEFT__1542194076697423.jpg", "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-14-19-09-14+0800__CAM_BACK_RIGHT__1542194076677893.jpg" ], "tag": 1, "task": "planning", "conversations": [ { "from": "human", "value": "What actions taken by the ego vehicle can lead to a collision with ?" }, { "from": "gpt", "value": "Moderate right turn." } ] }, { "id": "faa975eaad804c85bd8f2da9b30c8d9a_99bcb06196bb4974bd600b4fc553caad_1", "image": [ "data/nuscenes/samples/CAM_FRONT/n015-2018-11-14-19-09-14+0800__CAM_FRONT__1542194076662460.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-14-19-09-14+0800__CAM_FRONT_LEFT__1542194076654844.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-14-19-09-14+0800__CAM_FRONT_RIGHT__1542194076670339.jpg", "data/nuscenes/samples/CAM_BACK/n015-2018-11-14-19-09-14+0800__CAM_BACK__1542194076687525.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-14-19-09-14+0800__CAM_BACK_LEFT__1542194076697423.jpg", "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-14-19-09-14+0800__CAM_BACK_RIGHT__1542194076677893.jpg" ], "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": "faa975eaad804c85bd8f2da9b30c8d9a_99bcb06196bb4974bd600b4fc553caad_0", "image": [ "data/nuscenes/samples/CAM_FRONT/n015-2018-11-14-19-09-14+0800__CAM_FRONT__1542194076662460.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-14-19-09-14+0800__CAM_FRONT_LEFT__1542194076654844.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-14-19-09-14+0800__CAM_FRONT_RIGHT__1542194076670339.jpg", "data/nuscenes/samples/CAM_BACK/n015-2018-11-14-19-09-14+0800__CAM_BACK__1542194076687525.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-14-19-09-14+0800__CAM_BACK_LEFT__1542194076697423.jpg", "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-14-19-09-14+0800__CAM_BACK_RIGHT__1542194076677893.jpg" ], "tag": 0, "task": "behavior", "conversations": [ { "from": "human", "value": "Predict the behavior of the ego vehicle. Please select the correct answer from the following options: A. The ego vehicle is steering to the right. The ego vehicle is driving slowly. B. The ego vehicle is steering to the right. The ego vehicle is driving with normal speed. C. The ego vehicle is slightly steering to the left. The ego vehicle is driving fast. D. The ego vehicle is slightly steering to the right. The ego vehicle is driving with normal speed." }, { "from": "gpt", "value": "B" } ] }, { "id": "2d8e61ea27fd419ba9b708488e3f2f10_af3b7b66edbb454eac41a56a2dd79688_0", "image": [ "data/nuscenes/samples/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535728804862404.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535728804854799.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535728804870482.jpg", "data/nuscenes/samples/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535728804887558.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535728804897405.jpg", "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_BACK_RIGHT__1535728804878113.jpg" ], "tag": 2, "task": "perception", "conversations": [ { "from": "human", "value": "What are the 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 traffic police to the front of the ego vehicle, and a road sign to the front right of the ego vehicle. The IDs of these objects are , , and ." } ] }, { "id": "2d8e61ea27fd419ba9b708488e3f2f10_af3b7b66edbb454eac41a56a2dd79688_0", "image": [ "data/nuscenes/samples/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535728804862404.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535728804854799.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535728804870482.jpg", "data/nuscenes/samples/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535728804887558.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535728804897405.jpg", "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_BACK_RIGHT__1535728804878113.jpg" ], "tag": 1, "task": "planning", "conversations": [ { "from": "human", "value": "What actions could the ego vehicle take based on ? Why take this action and what's the probability?" }, { "from": "gpt", "value": "The action is to turn right. The reason is that there is no safety issue, which is high probability." } ] }, { "id": "2d8e61ea27fd419ba9b708488e3f2f10_af3b7b66edbb454eac41a56a2dd79688_1", "image": [ "data/nuscenes/samples/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535728804862404.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535728804854799.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535728804870482.jpg", "data/nuscenes/samples/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535728804887558.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535728804897405.jpg", "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_BACK_RIGHT__1535728804878113.jpg" ], "tag": 1, "task": "planning", "conversations": [ { "from": "human", "value": "What actions taken by the ego vehicle can lead to a collision with ?" }, { "from": "gpt", "value": "Slight right turn." } ] }, { "id": "2d8e61ea27fd419ba9b708488e3f2f10_af3b7b66edbb454eac41a56a2dd79688_2", "image": [ "data/nuscenes/samples/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535728804862404.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535728804854799.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535728804870482.jpg", "data/nuscenes/samples/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535728804887558.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535728804897405.jpg", "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_BACK_RIGHT__1535728804878113.jpg" ], "tag": 1, "task": "planning", "conversations": [ { "from": "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": "17302a41218442ffbb0b094adb0669ab_072f15feb492466fb2c4536cb8445ede_0", "image": [ "data/nuscenes/samples/CAM_FRONT/n015-2018-08-03-15-00-36+0800__CAM_FRONT__1533280168162460.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_LEFT__1533280168154844.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_RIGHT__1533280168170339.jpg", "data/nuscenes/samples/CAM_BACK/n015-2018-08-03-15-00-36+0800__CAM_BACK__1533280168187525.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-03-15-00-36+0800__CAM_BACK_LEFT__1533280168197423.jpg", "data/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 , , and ." } ] }, { "id": "17302a41218442ffbb0b094adb0669ab_072f15feb492466fb2c4536cb8445ede_1", "image": [ "data/nuscenes/samples/CAM_FRONT/n015-2018-08-03-15-00-36+0800__CAM_FRONT__1533280168162460.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_LEFT__1533280168154844.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_RIGHT__1533280168170339.jpg", "data/nuscenes/samples/CAM_BACK/n015-2018-08-03-15-00-36+0800__CAM_BACK__1533280168187525.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-03-15-00-36+0800__CAM_BACK_LEFT__1533280168197423.jpg", "data/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 ? Please select the correct answer from the following options: A. Turn right. B. Stopped. C. Turn left. D. Reverse parking." }, { "from": "gpt", "value": "C" } ] }, { "id": "17302a41218442ffbb0b094adb0669ab_072f15feb492466fb2c4536cb8445ede_0", "image": [ "data/nuscenes/samples/CAM_FRONT/n015-2018-08-03-15-00-36+0800__CAM_FRONT__1533280168162460.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_LEFT__1533280168154844.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_RIGHT__1533280168170339.jpg", "data/nuscenes/samples/CAM_BACK/n015-2018-08-03-15-00-36+0800__CAM_BACK__1533280168187525.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-03-15-00-36+0800__CAM_BACK_LEFT__1533280168197423.jpg", "data/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 ?" }, { "from": "gpt", "value": "Sharp left turn." } ] }, { "id": "17302a41218442ffbb0b094adb0669ab_072f15feb492466fb2c4536cb8445ede_1", "image": [ "data/nuscenes/samples/CAM_FRONT/n015-2018-08-03-15-00-36+0800__CAM_FRONT__1533280168162460.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_LEFT__1533280168154844.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_RIGHT__1533280168170339.jpg", "data/nuscenes/samples/CAM_BACK/n015-2018-08-03-15-00-36+0800__CAM_BACK__1533280168187525.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-03-15-00-36+0800__CAM_BACK_LEFT__1533280168197423.jpg", "data/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": "2dc89e0f9c6c4dbab908d341fab020c6_8034fcccce954b4ba926d5d23bcda7df_0", "image": [ "data/nuscenes/samples/CAM_FRONT/n015-2018-08-03-15-00-36+0800__CAM_FRONT__1533279699862460.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_LEFT__1533279699854844.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_RIGHT__1533279699870339.jpg", "data/nuscenes/samples/CAM_BACK/n015-2018-08-03-15-00-36+0800__CAM_BACK__1533279699887525.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-03-15-00-36+0800__CAM_BACK_LEFT__1533279699897423.jpg", "data/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 , , and ." } ] }, { "id": "2dc89e0f9c6c4dbab908d341fab020c6_8034fcccce954b4ba926d5d23bcda7df_0", "image": [ "data/nuscenes/samples/CAM_FRONT/n015-2018-08-03-15-00-36+0800__CAM_FRONT__1533279699862460.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_LEFT__1533279699854844.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_RIGHT__1533279699870339.jpg", "data/nuscenes/samples/CAM_BACK/n015-2018-08-03-15-00-36+0800__CAM_BACK__1533279699887525.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-03-15-00-36+0800__CAM_BACK_LEFT__1533279699897423.jpg", "data/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 ? 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_1", "image": [ "data/nuscenes/samples/CAM_FRONT/n015-2018-08-03-15-00-36+0800__CAM_FRONT__1533279699862460.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_LEFT__1533279699854844.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_RIGHT__1533279699870339.jpg", "data/nuscenes/samples/CAM_BACK/n015-2018-08-03-15-00-36+0800__CAM_BACK__1533279699887525.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-03-15-00-36+0800__CAM_BACK_LEFT__1533279699897423.jpg", "data/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 ?" }, { "from": "gpt", "value": "Slight right turn." } ] }, { "id": "2dc89e0f9c6c4dbab908d341fab020c6_8034fcccce954b4ba926d5d23bcda7df_2", "image": [ "data/nuscenes/samples/CAM_FRONT/n015-2018-08-03-15-00-36+0800__CAM_FRONT__1533279699862460.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_LEFT__1533279699854844.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_RIGHT__1533279699870339.jpg", "data/nuscenes/samples/CAM_BACK/n015-2018-08-03-15-00-36+0800__CAM_BACK__1533279699887525.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-03-15-00-36+0800__CAM_BACK_LEFT__1533279699897423.jpg", "data/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_0", "image": [ "data/nuscenes/samples/CAM_FRONT/n015-2018-08-03-15-00-36+0800__CAM_FRONT__1533279699862460.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_LEFT__1533279699854844.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_RIGHT__1533279699870339.jpg", "data/nuscenes/samples/CAM_BACK/n015-2018-08-03-15-00-36+0800__CAM_BACK__1533279699887525.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-03-15-00-36+0800__CAM_BACK_LEFT__1533279699897423.jpg", "data/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. Please select the correct answer from the following options: A. The ego vehicle is steering to the left. The ego vehicle is driving with normal speed. B. The ego vehicle is slightly steering to the left. The ego vehicle is driving very fast. C. The ego vehicle is slightly steering to the right. The ego vehicle is driving very fast. D. The ego vehicle is going straight. The ego vehicle is driving very fast." }, { "from": "gpt", "value": "A" } ] }, { "id": "3bc4553925494890a21ef7a15c40eaed_8ae438c8302a4174a5721b682316f3c9_0", "image": [ "data/nuscenes/samples/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535729239912404.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535729239904799.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535729239920482.jpg", "data/nuscenes/samples/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535729239937558.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535729239947405.jpg", "data/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 , , , , and ." } ] }, { "id": "3bc4553925494890a21ef7a15c40eaed_8ae438c8302a4174a5721b682316f3c9_0", "image": [ "data/nuscenes/samples/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535729239912404.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535729239904799.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535729239920482.jpg", "data/nuscenes/samples/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535729239937558.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535729239947405.jpg", "data/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 ? 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_1", "image": [ "data/nuscenes/samples/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535729239912404.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535729239904799.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535729239920482.jpg", "data/nuscenes/samples/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535729239937558.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535729239947405.jpg", "data/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 ?" }, { "from": "gpt", "value": "Moderate right turn." } ] }, { "id": "3bc4553925494890a21ef7a15c40eaed_8ae438c8302a4174a5721b682316f3c9_2", "image": [ "data/nuscenes/samples/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535729239912404.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535729239904799.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535729239920482.jpg", "data/nuscenes/samples/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535729239937558.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535729239947405.jpg", "data/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": "53d4c9a634df4fdfadf057d3a216e98f_a752fbc5ed644b3aac84bd830921fbc6_0", "image": [ "data/nuscenes/samples/CAM_FRONT/n008-2018-08-28-16-16-48-0400__CAM_FRONT__1535488204762404.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_LEFT__1535488204754799.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_RIGHT__1535488204770482.jpg", "data/nuscenes/samples/CAM_BACK/n008-2018-08-28-16-16-48-0400__CAM_BACK__1535488204787558.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-28-16-16-48-0400__CAM_BACK_LEFT__1535488204797405.jpg", "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_BACK_RIGHT__1535488204778113.jpg" ], "tag": 2, "task": "perception", "conversations": [ { "from": "human", "value": "What are the important 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 car to the front of the ego vehicle, a person wearing a white shirt and blue pants to the back right of the ego vehicle, a black SUV to the back left of the ego vehicle, a people crossing the road to the front of the ego vehicle, and a person wearing a black top and gray pants to the front of the ego vehicle. The IDs of these objects are , , , , , and ." } ] }, { "id": "53d4c9a634df4fdfadf057d3a216e98f_a752fbc5ed644b3aac84bd830921fbc6_0", "image": [ "data/nuscenes/samples/CAM_FRONT/n008-2018-08-28-16-16-48-0400__CAM_FRONT__1535488204762404.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_LEFT__1535488204754799.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_RIGHT__1535488204770482.jpg", "data/nuscenes/samples/CAM_BACK/n008-2018-08-28-16-16-48-0400__CAM_BACK__1535488204787558.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-28-16-16-48-0400__CAM_BACK_LEFT__1535488204797405.jpg", "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_BACK_RIGHT__1535488204778113.jpg" ], "tag": 1, "task": "planning", "conversations": [ { "from": "human", "value": "What actions taken by the ego vehicle can lead to a collision with ?" }, { "from": "gpt", "value": "Brake suddenly." } ] }, { "id": "53d4c9a634df4fdfadf057d3a216e98f_a752fbc5ed644b3aac84bd830921fbc6_1", "image": [ "data/nuscenes/samples/CAM_FRONT/n008-2018-08-28-16-16-48-0400__CAM_FRONT__1535488204762404.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_LEFT__1535488204754799.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_RIGHT__1535488204770482.jpg", "data/nuscenes/samples/CAM_BACK/n008-2018-08-28-16-16-48-0400__CAM_BACK__1535488204787558.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-28-16-16-48-0400__CAM_BACK_LEFT__1535488204797405.jpg", "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_BACK_RIGHT__1535488204778113.jpg" ], "tag": 1, "task": "planning", "conversations": [ { "from": "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": "53d4c9a634df4fdfadf057d3a216e98f_a752fbc5ed644b3aac84bd830921fbc6_0", "image": [ "data/nuscenes/samples/CAM_FRONT/n008-2018-08-28-16-16-48-0400__CAM_FRONT__1535488204762404.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_LEFT__1535488204754799.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_RIGHT__1535488204770482.jpg", "data/nuscenes/samples/CAM_BACK/n008-2018-08-28-16-16-48-0400__CAM_BACK__1535488204787558.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-28-16-16-48-0400__CAM_BACK_LEFT__1535488204797405.jpg", "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_BACK_RIGHT__1535488204778113.jpg" ], "tag": 0, "task": "behavior", "conversations": [ { "from": "human", "value": "Predict the behavior of the ego vehicle. Please select the correct answer from the following options: A. The ego vehicle is steering to the left. The ego vehicle is driving very fast. B. The ego vehicle is slightly steering to the left. The ego vehicle is driving fast. C. The ego vehicle is slightly steering to the right. The ego vehicle is driving with normal speed. D. The ego vehicle is slightly steering to the right. The ego vehicle is driving slowly." }, { "from": "gpt", "value": "D" } ] }, { "id": "105c227c304b4cb18e98a5be6b2d8302_202c6c73d8a94a7a95493001a24077cf_0", "image": [ "data/nuscenes/samples/CAM_FRONT/n015-2018-08-03-15-00-36+0800__CAM_FRONT__1533280138662460.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_LEFT__1533280138654844.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_RIGHT__1533280138670339.jpg", "data/nuscenes/samples/CAM_BACK/n015-2018-08-03-15-00-36+0800__CAM_BACK__1533280138687525.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-03-15-00-36+0800__CAM_BACK_LEFT__1533280138697423.jpg", "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_BACK_RIGHT__1533280138677893.jpg" ], "tag": 2, "task": "perception", "conversations": [ { "from": "human", "value": "What are the 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 silver bicycle to the front left of the ego vehicle, and a parking sign to the front of the ego vehicle. The IDs of these objects are , , and ." } ] }, { "id": "105c227c304b4cb18e98a5be6b2d8302_202c6c73d8a94a7a95493001a24077cf_0", "image": [ "data/nuscenes/samples/CAM_FRONT/n015-2018-08-03-15-00-36+0800__CAM_FRONT__1533280138662460.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_LEFT__1533280138654844.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_RIGHT__1533280138670339.jpg", "data/nuscenes/samples/CAM_BACK/n015-2018-08-03-15-00-36+0800__CAM_BACK__1533280138687525.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-03-15-00-36+0800__CAM_BACK_LEFT__1533280138697423.jpg", "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_BACK_RIGHT__1533280138677893.jpg" ], "tag": 0, "task": "prediction", "conversations": [ { "from": "human", "value": "Is a traffic sign or a road barrier?" }, { "from": "gpt", "value": "Yes." } ] }, { "id": "105c227c304b4cb18e98a5be6b2d8302_202c6c73d8a94a7a95493001a24077cf_0", "image": [ "data/nuscenes/samples/CAM_FRONT/n015-2018-08-03-15-00-36+0800__CAM_FRONT__1533280138662460.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_LEFT__1533280138654844.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_RIGHT__1533280138670339.jpg", "data/nuscenes/samples/CAM_BACK/n015-2018-08-03-15-00-36+0800__CAM_BACK__1533280138687525.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-03-15-00-36+0800__CAM_BACK_LEFT__1533280138697423.jpg", "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_BACK_RIGHT__1533280138677893.jpg" ], "tag": 1, "task": "planning", "conversations": [ { "from": "human", "value": "What actions taken by the ego vehicle can lead to a collision with ?" }, { "from": "gpt", "value": "No such action will lead to a collision." } ] }, { "id": "105c227c304b4cb18e98a5be6b2d8302_202c6c73d8a94a7a95493001a24077cf_1", "image": [ "data/nuscenes/samples/CAM_FRONT/n015-2018-08-03-15-00-36+0800__CAM_FRONT__1533280138662460.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_LEFT__1533280138654844.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_RIGHT__1533280138670339.jpg", "data/nuscenes/samples/CAM_BACK/n015-2018-08-03-15-00-36+0800__CAM_BACK__1533280138687525.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-03-15-00-36+0800__CAM_BACK_LEFT__1533280138697423.jpg", "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_BACK_RIGHT__1533280138677893.jpg" ], "tag": 1, "task": "planning", "conversations": [ { "from": "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": "ef5f216134a94e308697ab4c75402a20_f063228252aa4508ad723f6cc57f9782_0", "image": [ "data/nuscenes/samples/CAM_FRONT/n015-2018-08-01-16-32-59+0800__CAM_FRONT__1533112851662460.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-16-32-59+0800__CAM_FRONT_LEFT__1533112851654844.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-16-32-59+0800__CAM_FRONT_RIGHT__1533112851670339.jpg", "data/nuscenes/samples/CAM_BACK/n015-2018-08-01-16-32-59+0800__CAM_BACK__1533112851687525.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-16-32-59+0800__CAM_BACK_LEFT__1533112851697423.jpg", "data/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 , , and ." } ] }, { "id": "ef5f216134a94e308697ab4c75402a20_f063228252aa4508ad723f6cc57f9782_0", "image": [ "data/nuscenes/samples/CAM_FRONT/n015-2018-08-01-16-32-59+0800__CAM_FRONT__1533112851662460.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-16-32-59+0800__CAM_FRONT_LEFT__1533112851654844.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-16-32-59+0800__CAM_FRONT_RIGHT__1533112851670339.jpg", "data/nuscenes/samples/CAM_BACK/n015-2018-08-01-16-32-59+0800__CAM_BACK__1533112851687525.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-16-32-59+0800__CAM_BACK_LEFT__1533112851697423.jpg", "data/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 ?" }, { "from": "gpt", "value": "Slight right turn." } ] }, { "id": "ef5f216134a94e308697ab4c75402a20_f063228252aa4508ad723f6cc57f9782_1", "image": [ "data/nuscenes/samples/CAM_FRONT/n015-2018-08-01-16-32-59+0800__CAM_FRONT__1533112851662460.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-16-32-59+0800__CAM_FRONT_LEFT__1533112851654844.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-16-32-59+0800__CAM_FRONT_RIGHT__1533112851670339.jpg", "data/nuscenes/samples/CAM_BACK/n015-2018-08-01-16-32-59+0800__CAM_BACK__1533112851687525.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-16-32-59+0800__CAM_BACK_LEFT__1533112851697423.jpg", "data/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_0", "image": [ "data/nuscenes/samples/CAM_FRONT/n015-2018-08-01-16-32-59+0800__CAM_FRONT__1533112851662460.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-16-32-59+0800__CAM_FRONT_LEFT__1533112851654844.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-16-32-59+0800__CAM_FRONT_RIGHT__1533112851670339.jpg", "data/nuscenes/samples/CAM_BACK/n015-2018-08-01-16-32-59+0800__CAM_BACK__1533112851687525.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-16-32-59+0800__CAM_BACK_LEFT__1533112851697423.jpg", "data/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. Please select the correct answer from the following options: A. The ego vehicle is slightly steering to the left. The ego vehicle is driving very fast. B. The ego vehicle is slightly steering to the right. The ego vehicle is driving very fast. C. The ego vehicle is steering to the left. The ego vehicle is driving very fast. D. The ego vehicle is steering to the right. The ego vehicle is driving fast." }, { "from": "gpt", "value": "D" } ] }, { "id": "cfa36eca40364e5bb15f550a077a21c5_dcd5692dcbfa46d6818875e73d221a4b_0", "image": [ "data/nuscenes/samples/CAM_FRONT/n015-2018-11-21-19-38-26+0800__CAM_FRONT__1542801014412475.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_LEFT__1542801014404844.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_RIGHT__1542801014420339.jpg", "data/nuscenes/samples/CAM_BACK/n015-2018-11-21-19-38-26+0800__CAM_BACK__1542801014437525.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-21-19-38-26+0800__CAM_BACK_LEFT__1542801014447423.jpg", "data/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 , , and ." } ] }, { "id": "cfa36eca40364e5bb15f550a077a21c5_dcd5692dcbfa46d6818875e73d221a4b_0", "image": [ "data/nuscenes/samples/CAM_FRONT/n015-2018-11-21-19-38-26+0800__CAM_FRONT__1542801014412475.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_LEFT__1542801014404844.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_RIGHT__1542801014420339.jpg", "data/nuscenes/samples/CAM_BACK/n015-2018-11-21-19-38-26+0800__CAM_BACK__1542801014437525.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-21-19-38-26+0800__CAM_BACK_LEFT__1542801014447423.jpg", "data/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 ? 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_1", "image": [ "data/nuscenes/samples/CAM_FRONT/n015-2018-11-21-19-38-26+0800__CAM_FRONT__1542801014412475.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_LEFT__1542801014404844.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_RIGHT__1542801014420339.jpg", "data/nuscenes/samples/CAM_BACK/n015-2018-11-21-19-38-26+0800__CAM_BACK__1542801014437525.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-21-19-38-26+0800__CAM_BACK_LEFT__1542801014447423.jpg", "data/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 ?" }, { "from": "gpt", "value": "Change to the right lane." } ] }, { "id": "cfa36eca40364e5bb15f550a077a21c5_dcd5692dcbfa46d6818875e73d221a4b_2", "image": [ "data/nuscenes/samples/CAM_FRONT/n015-2018-11-21-19-38-26+0800__CAM_FRONT__1542801014412475.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_LEFT__1542801014404844.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_RIGHT__1542801014420339.jpg", "data/nuscenes/samples/CAM_BACK/n015-2018-11-21-19-38-26+0800__CAM_BACK__1542801014437525.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-21-19-38-26+0800__CAM_BACK_LEFT__1542801014447423.jpg", "data/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_0", "image": [ "data/nuscenes/samples/CAM_FRONT/n015-2018-11-21-19-38-26+0800__CAM_FRONT__1542801014412475.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_LEFT__1542801014404844.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_RIGHT__1542801014420339.jpg", "data/nuscenes/samples/CAM_BACK/n015-2018-11-21-19-38-26+0800__CAM_BACK__1542801014437525.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-21-19-38-26+0800__CAM_BACK_LEFT__1542801014447423.jpg", "data/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. Please select the correct answer from the following options: A. The ego vehicle is steering to the right. The ego vehicle is driving fast. B. The ego vehicle is slightly steering to the right. The ego vehicle is driving fast. C. The ego vehicle is going straight. The ego vehicle is not moving. D. The ego vehicle is slightly steering to the right. The ego vehicle is driving very fast." }, { "from": "gpt", "value": "A" } ] }, { "id": "52b30ecd104a4f4eab6f8f5684a73e56_7eabe2d8ab144cfcbae406b4fc84db00_0", "image": [ "data/nuscenes/samples/CAM_FRONT/n015-2018-08-01-16-32-59+0800__CAM_FRONT__1533112789162473.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-16-32-59+0800__CAM_FRONT_LEFT__1533112789154844.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-16-32-59+0800__CAM_FRONT_RIGHT__1533112789170339.jpg", "data/nuscenes/samples/CAM_BACK/n015-2018-08-01-16-32-59+0800__CAM_BACK__1533112789187525.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-16-32-59+0800__CAM_BACK_LEFT__1533112789197423.jpg", "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-16-32-59+0800__CAM_BACK_RIGHT__1533112789177893.jpg" ], "tag": 2, "task": "perception", "conversations": [ { "from": "human", "value": "What are the important 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 sedan to the front of the ego vehicle, a white truck to the front of the ego vehicle, and a white truck to the back of the ego vehicle. The IDs of these objects are , , , and ." } ] }, { "id": "52b30ecd104a4f4eab6f8f5684a73e56_7eabe2d8ab144cfcbae406b4fc84db00_1", "image": [ "data/nuscenes/samples/CAM_FRONT/n015-2018-08-01-16-32-59+0800__CAM_FRONT__1533112789162473.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-16-32-59+0800__CAM_FRONT_LEFT__1533112789154844.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-16-32-59+0800__CAM_FRONT_RIGHT__1533112789170339.jpg", "data/nuscenes/samples/CAM_BACK/n015-2018-08-01-16-32-59+0800__CAM_BACK__1533112789187525.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-16-32-59+0800__CAM_BACK_LEFT__1533112789197423.jpg", "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-16-32-59+0800__CAM_BACK_RIGHT__1533112789177893.jpg" ], "tag": 0, "task": "perception", "conversations": [ { "from": "human", "value": "What is the moving status of object ? Please select the correct answer from the following options: A. Turn left. B. Turn right. C. Stopped. D. Reverse parking." }, { "from": "gpt", "value": "A" } ] }, { "id": "52b30ecd104a4f4eab6f8f5684a73e56_7eabe2d8ab144cfcbae406b4fc84db00_0", "image": [ "data/nuscenes/samples/CAM_FRONT/n015-2018-08-01-16-32-59+0800__CAM_FRONT__1533112789162473.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-16-32-59+0800__CAM_FRONT_LEFT__1533112789154844.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-16-32-59+0800__CAM_FRONT_RIGHT__1533112789170339.jpg", "data/nuscenes/samples/CAM_BACK/n015-2018-08-01-16-32-59+0800__CAM_BACK__1533112789187525.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-16-32-59+0800__CAM_BACK_LEFT__1533112789197423.jpg", "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-16-32-59+0800__CAM_BACK_RIGHT__1533112789177893.jpg" ], "tag": 1, "task": "planning", "conversations": [ { "from": "human", "value": "What actions could the ego vehicle take based on ? Why take this action and what's the probability?" }, { "from": "gpt", "value": "The action is to decelerate gradually without braking because there is no safety issue. The probability is high." } ] }, { "id": "52b30ecd104a4f4eab6f8f5684a73e56_7eabe2d8ab144cfcbae406b4fc84db00_1", "image": [ "data/nuscenes/samples/CAM_FRONT/n015-2018-08-01-16-32-59+0800__CAM_FRONT__1533112789162473.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-01-16-32-59+0800__CAM_FRONT_LEFT__1533112789154844.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-01-16-32-59+0800__CAM_FRONT_RIGHT__1533112789170339.jpg", "data/nuscenes/samples/CAM_BACK/n015-2018-08-01-16-32-59+0800__CAM_BACK__1533112789187525.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-01-16-32-59+0800__CAM_BACK_LEFT__1533112789197423.jpg", "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-01-16-32-59+0800__CAM_BACK_RIGHT__1533112789177893.jpg" ], "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": "363bb6c0fdaf465aa54c39f082bb92c6_e4d6e83093534c4582ff7396a7bd132d_0", "image": [ "data/nuscenes/samples/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535728923912404.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535728923904799.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535728923920482.jpg", "data/nuscenes/samples/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535728923937558.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535728923947405.jpg", "data/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 , , , , and ." } ] }, { "id": "363bb6c0fdaf465aa54c39f082bb92c6_e4d6e83093534c4582ff7396a7bd132d_0", "image": [ "data/nuscenes/samples/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535728923912404.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535728923904799.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535728923920482.jpg", "data/nuscenes/samples/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535728923937558.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535728923947405.jpg", "data/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 ?" }, { "from": "gpt", "value": "Sharp left turn." } ] }, { "id": "363bb6c0fdaf465aa54c39f082bb92c6_e4d6e83093534c4582ff7396a7bd132d_1", "image": [ "data/nuscenes/samples/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535728923912404.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535728923904799.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535728923920482.jpg", "data/nuscenes/samples/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535728923937558.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535728923947405.jpg", "data/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_0", "image": [ "data/nuscenes/samples/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535728923912404.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535728923904799.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535728923920482.jpg", "data/nuscenes/samples/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535728923937558.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535728923947405.jpg", "data/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. Please select the correct answer from the following options: A. The ego vehicle is slightly steering to the right. The ego vehicle is driving fast. B. The ego vehicle is slightly steering to the left. The ego vehicle is driving slowly. C. The ego vehicle is going straight. The ego vehicle is not moving. D. The ego vehicle is steering to the right. The ego vehicle is driving with normal speed." }, { "from": "gpt", "value": "A" } ] }, { "id": "d654cae175de44319ace178994ed0329_b1f38bad109f4291990f27d05295141f_0", "image": [ "data/nuscenes/samples/CAM_FRONT/n008-2018-08-06-15-06-32-0400__CAM_FRONT__1533583267162404.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-06-15-06-32-0400__CAM_FRONT_LEFT__1533583267154799.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-06-15-06-32-0400__CAM_FRONT_RIGHT__1533583267170482.jpg", "data/nuscenes/samples/CAM_BACK/n008-2018-08-06-15-06-32-0400__CAM_BACK__1533583267187558.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-06-15-06-32-0400__CAM_BACK_LEFT__1533583267197405.jpg", "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-06-15-06-32-0400__CAM_BACK_RIGHT__1533583267178113.jpg" ], "tag": 2, "task": "perception", "conversations": [ { "from": "human", "value": "What are the important 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 back right of the ego vehicle, a black car to the front of the ego vehicle, a black car to the back of the ego vehicle, and a pedestrian in red clothes to the front of the ego vehicle. The IDs of these objects are , , , , and ." } ] }, { "id": "d654cae175de44319ace178994ed0329_b1f38bad109f4291990f27d05295141f_0", "image": [ "data/nuscenes/samples/CAM_FRONT/n008-2018-08-06-15-06-32-0400__CAM_FRONT__1533583267162404.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-06-15-06-32-0400__CAM_FRONT_LEFT__1533583267154799.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-06-15-06-32-0400__CAM_FRONT_RIGHT__1533583267170482.jpg", "data/nuscenes/samples/CAM_BACK/n008-2018-08-06-15-06-32-0400__CAM_BACK__1533583267187558.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-06-15-06-32-0400__CAM_BACK_LEFT__1533583267197405.jpg", "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-06-15-06-32-0400__CAM_BACK_RIGHT__1533583267178113.jpg" ], "tag": 1, "task": "planning", "conversations": [ { "from": "human", "value": "What actions taken by the ego vehicle can lead to a collision with ?" }, { "from": "gpt", "value": "Accelerate and go straight." } ] }, { "id": "d654cae175de44319ace178994ed0329_b1f38bad109f4291990f27d05295141f_1", "image": [ "data/nuscenes/samples/CAM_FRONT/n008-2018-08-06-15-06-32-0400__CAM_FRONT__1533583267162404.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-06-15-06-32-0400__CAM_FRONT_LEFT__1533583267154799.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-06-15-06-32-0400__CAM_FRONT_RIGHT__1533583267170482.jpg", "data/nuscenes/samples/CAM_BACK/n008-2018-08-06-15-06-32-0400__CAM_BACK__1533583267187558.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-06-15-06-32-0400__CAM_BACK_LEFT__1533583267197405.jpg", "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-06-15-06-32-0400__CAM_BACK_RIGHT__1533583267178113.jpg" ], "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": "d654cae175de44319ace178994ed0329_b1f38bad109f4291990f27d05295141f_0", "image": [ "data/nuscenes/samples/CAM_FRONT/n008-2018-08-06-15-06-32-0400__CAM_FRONT__1533583267162404.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-06-15-06-32-0400__CAM_FRONT_LEFT__1533583267154799.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-06-15-06-32-0400__CAM_FRONT_RIGHT__1533583267170482.jpg", "data/nuscenes/samples/CAM_BACK/n008-2018-08-06-15-06-32-0400__CAM_BACK__1533583267187558.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-06-15-06-32-0400__CAM_BACK_LEFT__1533583267197405.jpg", "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-06-15-06-32-0400__CAM_BACK_RIGHT__1533583267178113.jpg" ], "tag": 0, "task": "behavior", "conversations": [ { "from": "human", "value": "Predict the behavior of the ego vehicle. Please select the correct answer from the following options: A. The ego vehicle is slightly steering to the right. The ego vehicle is driving with normal speed. B. The ego vehicle is slightly steering to the right. The ego vehicle is driving slowly. C. The ego vehicle is steering to the left. The ego vehicle is driving with normal speed. D. The ego vehicle is going straight. The ego vehicle is driving slowly." }, { "from": "gpt", "value": "B" } ] }, { "id": "782f9486adbd4546a492e69b6697ef70_59a32e24ef6c413bb81af6cfb9c7d608_0", "image": [ "data/nuscenes/samples/CAM_FRONT/n008-2018-09-18-14-54-39-0400__CAM_FRONT__1537297560912404.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_LEFT__1537297560904799.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_RIGHT__1537297560920482.jpg", "data/nuscenes/samples/CAM_BACK/n008-2018-09-18-14-54-39-0400__CAM_BACK__1537297560937558.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-14-54-39-0400__CAM_BACK_LEFT__1537297560947405.jpg", "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_BACK_RIGHT__1537297560928113.jpg" ], "tag": 2, "task": "perception", "conversations": [ { "from": "human", "value": "What are the 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 of the ego vehicle, a black truck to the front left of the ego vehicle, a white sedan to the front right of the ego vehicle, and a black pickup truck to the front right of the ego vehicle. The IDs of these objects are , , , , and ." } ] }, { "id": "782f9486adbd4546a492e69b6697ef70_59a32e24ef6c413bb81af6cfb9c7d608_1", "image": [ "data/nuscenes/samples/CAM_FRONT/n008-2018-09-18-14-54-39-0400__CAM_FRONT__1537297560912404.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_LEFT__1537297560904799.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_RIGHT__1537297560920482.jpg", "data/nuscenes/samples/CAM_BACK/n008-2018-09-18-14-54-39-0400__CAM_BACK__1537297560937558.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-14-54-39-0400__CAM_BACK_LEFT__1537297560947405.jpg", "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_BACK_RIGHT__1537297560928113.jpg" ], "tag": 0, "task": "perception", "conversations": [ { "from": "human", "value": "What is the moving status of object ? Please select the correct answer from the following options: A. Turn right. B. Back up. C. Going ahead. D. Turn left." }, { "from": "gpt", "value": "D" } ] }, { "id": "782f9486adbd4546a492e69b6697ef70_59a32e24ef6c413bb81af6cfb9c7d608_0", "image": [ "data/nuscenes/samples/CAM_FRONT/n008-2018-09-18-14-54-39-0400__CAM_FRONT__1537297560912404.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_LEFT__1537297560904799.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_RIGHT__1537297560920482.jpg", "data/nuscenes/samples/CAM_BACK/n008-2018-09-18-14-54-39-0400__CAM_BACK__1537297560937558.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-14-54-39-0400__CAM_BACK_LEFT__1537297560947405.jpg", "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_BACK_RIGHT__1537297560928113.jpg" ], "tag": 1, "task": "planning", "conversations": [ { "from": "human", "value": "What actions taken by the ego vehicle can lead to a collision with ?" }, { "from": "gpt", "value": "Back up." } ] }, { "id": "782f9486adbd4546a492e69b6697ef70_59a32e24ef6c413bb81af6cfb9c7d608_1", "image": [ "data/nuscenes/samples/CAM_FRONT/n008-2018-09-18-14-54-39-0400__CAM_FRONT__1537297560912404.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_LEFT__1537297560904799.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_RIGHT__1537297560920482.jpg", "data/nuscenes/samples/CAM_BACK/n008-2018-09-18-14-54-39-0400__CAM_BACK__1537297560937558.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-14-54-39-0400__CAM_BACK_LEFT__1537297560947405.jpg", "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_BACK_RIGHT__1537297560928113.jpg" ], "tag": 1, "task": "planning", "conversations": [ { "from": "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": "41e0d46e715a476ab05e4d62e415ea41_b4300050e763421486b64e78736aa814_0", "image": [ "data/nuscenes/samples/CAM_FRONT/n008-2018-08-29-16-04-13-0400__CAM_FRONT__1535573173012404.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_LEFT__1535573173004799.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_RIGHT__1535573173020482.jpg", "data/nuscenes/samples/CAM_BACK/n008-2018-08-29-16-04-13-0400__CAM_BACK__1535573173037558.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-29-16-04-13-0400__CAM_BACK_LEFT__1535573173047405.jpg", "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_BACK_RIGHT__1535573173028113.jpg" ], "tag": 2, "task": "perception", "conversations": [ { "from": "human", "value": "What are the important 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 front left of the ego vehicle, a white sedan 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 , , , and ." } ] }, { "id": "41e0d46e715a476ab05e4d62e415ea41_b4300050e763421486b64e78736aa814_1", "image": [ "data/nuscenes/samples/CAM_FRONT/n008-2018-08-29-16-04-13-0400__CAM_FRONT__1535573173012404.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_LEFT__1535573173004799.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_RIGHT__1535573173020482.jpg", "data/nuscenes/samples/CAM_BACK/n008-2018-08-29-16-04-13-0400__CAM_BACK__1535573173037558.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-29-16-04-13-0400__CAM_BACK_LEFT__1535573173047405.jpg", "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_BACK_RIGHT__1535573173028113.jpg" ], "tag": 0, "task": "perception", "conversations": [ { "from": "human", "value": "What is the moving status of object ? Please select the correct answer from the following options: A. Back up. B. Going ahead. C. Turn right. D. Reverse parking." }, { "from": "gpt", "value": "C" } ] }, { "id": "41e0d46e715a476ab05e4d62e415ea41_b4300050e763421486b64e78736aa814_0", "image": [ "data/nuscenes/samples/CAM_FRONT/n008-2018-08-29-16-04-13-0400__CAM_FRONT__1535573173012404.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_LEFT__1535573173004799.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_RIGHT__1535573173020482.jpg", "data/nuscenes/samples/CAM_BACK/n008-2018-08-29-16-04-13-0400__CAM_BACK__1535573173037558.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-29-16-04-13-0400__CAM_BACK_LEFT__1535573173047405.jpg", "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_BACK_RIGHT__1535573173028113.jpg" ], "tag": 1, "task": "planning", "conversations": [ { "from": "human", "value": "What actions taken by the ego vehicle can lead to a collision with ?" }, { "from": "gpt", "value": "Slight left turn." } ] }, { "id": "41e0d46e715a476ab05e4d62e415ea41_b4300050e763421486b64e78736aa814_1", "image": [ "data/nuscenes/samples/CAM_FRONT/n008-2018-08-29-16-04-13-0400__CAM_FRONT__1535573173012404.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_LEFT__1535573173004799.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_RIGHT__1535573173020482.jpg", "data/nuscenes/samples/CAM_BACK/n008-2018-08-29-16-04-13-0400__CAM_BACK__1535573173037558.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-29-16-04-13-0400__CAM_BACK_LEFT__1535573173047405.jpg", "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_BACK_RIGHT__1535573173028113.jpg" ], "tag": 1, "task": "planning", "conversations": [ { "from": "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, accelerate, and proceed ahead." } ] }, { "id": "41e0d46e715a476ab05e4d62e415ea41_b4300050e763421486b64e78736aa814_0", "image": [ "data/nuscenes/samples/CAM_FRONT/n008-2018-08-29-16-04-13-0400__CAM_FRONT__1535573173012404.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_LEFT__1535573173004799.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_RIGHT__1535573173020482.jpg", "data/nuscenes/samples/CAM_BACK/n008-2018-08-29-16-04-13-0400__CAM_BACK__1535573173037558.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-29-16-04-13-0400__CAM_BACK_LEFT__1535573173047405.jpg", "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_BACK_RIGHT__1535573173028113.jpg" ], "tag": 0, "task": "behavior", "conversations": [ { "from": "human", "value": "Predict the behavior of the ego vehicle. Please select the correct answer from the following options: A. The ego vehicle is going straight. The ego vehicle is driving very fast. B. The ego vehicle is slightly steering to the right. The ego vehicle is driving fast. C. The ego vehicle is slightly steering to the left. The ego vehicle is driving slowly. D. The ego vehicle is slightly steering to the left. The ego vehicle is driving very fast." }, { "from": "gpt", "value": "B" } ] }, { "id": "cc8c0bf57f984915a77078b10eb33198_378a3a3e9af346308ab9dff8ced46d9c_0", "image": [ "data/nuscenes/samples/CAM_FRONT/n015-2018-07-24-11-22-45+0800__CAM_FRONT__1532402942162460.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-24-11-22-45+0800__CAM_FRONT_LEFT__1532402942154844.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-24-11-22-45+0800__CAM_FRONT_RIGHT__1532402942170339.jpg", "data/nuscenes/samples/CAM_BACK/n015-2018-07-24-11-22-45+0800__CAM_BACK__1532402942187525.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-24-11-22-45+0800__CAM_BACK_LEFT__1532402942197423.jpg", "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-24-11-22-45+0800__CAM_BACK_RIGHT__1532402942177893.jpg" ], "tag": 2, "task": "perception", "conversations": [ { "from": "human", "value": "What are the important 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 motorcycle to the back left of the ego vehicle, a white commercial vehicle to the front of the ego vehicle, a gray sedan to the back right of the ego vehicle, and an orange traffic cone to the front of the ego vehicle. The IDs of these objects are , , , , and ." } ] }, { "id": "cc8c0bf57f984915a77078b10eb33198_378a3a3e9af346308ab9dff8ced46d9c_1", "image": [ "data/nuscenes/samples/CAM_FRONT/n015-2018-07-24-11-22-45+0800__CAM_FRONT__1532402942162460.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-24-11-22-45+0800__CAM_FRONT_LEFT__1532402942154844.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-24-11-22-45+0800__CAM_FRONT_RIGHT__1532402942170339.jpg", "data/nuscenes/samples/CAM_BACK/n015-2018-07-24-11-22-45+0800__CAM_BACK__1532402942187525.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-24-11-22-45+0800__CAM_BACK_LEFT__1532402942197423.jpg", "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-24-11-22-45+0800__CAM_BACK_RIGHT__1532402942177893.jpg" ], "tag": 0, "task": "perception", "conversations": [ { "from": "human", "value": "What is the moving status of object ? Please select the correct answer from the following options: A. Turn left. B. Drive backward. C. Back up. D. Reverse parking." }, { "from": "gpt", "value": "A" } ] }, { "id": "cc8c0bf57f984915a77078b10eb33198_378a3a3e9af346308ab9dff8ced46d9c_0", "image": [ "data/nuscenes/samples/CAM_FRONT/n015-2018-07-24-11-22-45+0800__CAM_FRONT__1532402942162460.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-24-11-22-45+0800__CAM_FRONT_LEFT__1532402942154844.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-24-11-22-45+0800__CAM_FRONT_RIGHT__1532402942170339.jpg", "data/nuscenes/samples/CAM_BACK/n015-2018-07-24-11-22-45+0800__CAM_BACK__1532402942187525.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-24-11-22-45+0800__CAM_BACK_LEFT__1532402942197423.jpg", "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-24-11-22-45+0800__CAM_BACK_RIGHT__1532402942177893.jpg" ], "tag": 1, "task": "planning", "conversations": [ { "from": "human", "value": "What actions taken by the ego vehicle can lead to a collision with ?" }, { "from": "gpt", "value": "Moderate right turn." } ] }, { "id": "cc8c0bf57f984915a77078b10eb33198_378a3a3e9af346308ab9dff8ced46d9c_1", "image": [ "data/nuscenes/samples/CAM_FRONT/n015-2018-07-24-11-22-45+0800__CAM_FRONT__1532402942162460.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-24-11-22-45+0800__CAM_FRONT_LEFT__1532402942154844.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-24-11-22-45+0800__CAM_FRONT_RIGHT__1532402942170339.jpg", "data/nuscenes/samples/CAM_BACK/n015-2018-07-24-11-22-45+0800__CAM_BACK__1532402942187525.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-24-11-22-45+0800__CAM_BACK_LEFT__1532402942197423.jpg", "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-24-11-22-45+0800__CAM_BACK_RIGHT__1532402942177893.jpg" ], "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": "d9161e521b1644cea4cb9e3f21ef9f79_e79f9ad74f0c442fbf74227b96da9316_0", "image": [ "data/nuscenes/samples/CAM_FRONT/n015-2018-11-14-19-09-14+0800__CAM_FRONT__1542194181362460.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-14-19-09-14+0800__CAM_FRONT_LEFT__1542194181354844.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-14-19-09-14+0800__CAM_FRONT_RIGHT__1542194181370339.jpg", "data/nuscenes/samples/CAM_BACK/n015-2018-11-14-19-09-14+0800__CAM_BACK__1542194181387525.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-14-19-09-14+0800__CAM_BACK_LEFT__1542194181397423.jpg", "data/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 , , and ." } ] }, { "id": "d9161e521b1644cea4cb9e3f21ef9f79_e79f9ad74f0c442fbf74227b96da9316_0", "image": [ "data/nuscenes/samples/CAM_FRONT/n015-2018-11-14-19-09-14+0800__CAM_FRONT__1542194181362460.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-14-19-09-14+0800__CAM_FRONT_LEFT__1542194181354844.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-14-19-09-14+0800__CAM_FRONT_RIGHT__1542194181370339.jpg", "data/nuscenes/samples/CAM_BACK/n015-2018-11-14-19-09-14+0800__CAM_BACK__1542194181387525.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-14-19-09-14+0800__CAM_BACK_LEFT__1542194181397423.jpg", "data/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 ? 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_1", "image": [ "data/nuscenes/samples/CAM_FRONT/n015-2018-11-14-19-09-14+0800__CAM_FRONT__1542194181362460.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-14-19-09-14+0800__CAM_FRONT_LEFT__1542194181354844.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-14-19-09-14+0800__CAM_FRONT_RIGHT__1542194181370339.jpg", "data/nuscenes/samples/CAM_BACK/n015-2018-11-14-19-09-14+0800__CAM_BACK__1542194181387525.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-14-19-09-14+0800__CAM_BACK_LEFT__1542194181397423.jpg", "data/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 ?" }, { "from": "gpt", "value": "Accelerate and go straight." } ] }, { "id": "d9161e521b1644cea4cb9e3f21ef9f79_e79f9ad74f0c442fbf74227b96da9316_2", "image": [ "data/nuscenes/samples/CAM_FRONT/n015-2018-11-14-19-09-14+0800__CAM_FRONT__1542194181362460.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-14-19-09-14+0800__CAM_FRONT_LEFT__1542194181354844.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-14-19-09-14+0800__CAM_FRONT_RIGHT__1542194181370339.jpg", "data/nuscenes/samples/CAM_BACK/n015-2018-11-14-19-09-14+0800__CAM_BACK__1542194181387525.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-14-19-09-14+0800__CAM_BACK_LEFT__1542194181397423.jpg", "data/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_c5d61d6df6884797a2759a765e87bbdb_0", "image": [ "data/nuscenes/samples/CAM_FRONT/n015-2018-11-14-19-09-14+0800__CAM_FRONT__1542194182862460.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-14-19-09-14+0800__CAM_FRONT_LEFT__1542194182854844.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-14-19-09-14+0800__CAM_FRONT_RIGHT__1542194182870339.jpg", "data/nuscenes/samples/CAM_BACK/n015-2018-11-14-19-09-14+0800__CAM_BACK__1542194182887525.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-14-19-09-14+0800__CAM_BACK_LEFT__1542194182897423.jpg", "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-14-19-09-14+0800__CAM_BACK_RIGHT__1542194182877893.jpg" ], "tag": 2, "task": "perception", "conversations": [ { "from": "human", "value": "What are the 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, a unclear to the front right of the ego vehicle, a yellow bus to the back of the ego vehicle, and a black car to the front of the ego vehicle. The IDs of these objects are , , , , and ." } ] }, { "id": "d9161e521b1644cea4cb9e3f21ef9f79_c5d61d6df6884797a2759a765e87bbdb_0", "image": [ "data/nuscenes/samples/CAM_FRONT/n015-2018-11-14-19-09-14+0800__CAM_FRONT__1542194182862460.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-14-19-09-14+0800__CAM_FRONT_LEFT__1542194182854844.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-14-19-09-14+0800__CAM_FRONT_RIGHT__1542194182870339.jpg", "data/nuscenes/samples/CAM_BACK/n015-2018-11-14-19-09-14+0800__CAM_BACK__1542194182887525.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-14-19-09-14+0800__CAM_BACK_LEFT__1542194182897423.jpg", "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-14-19-09-14+0800__CAM_BACK_RIGHT__1542194182877893.jpg" ], "tag": 1, "task": "planning", "conversations": [ { "from": "human", "value": "What actions could the ego vehicle take based on ? Why take this action and what's the probability?" }, { "from": "gpt", "value": "The action is to keep stationary. The reason is that the object has little reference value for the ego vehicle, with a high probability." } ] }, { "id": "d9161e521b1644cea4cb9e3f21ef9f79_c5d61d6df6884797a2759a765e87bbdb_1", "image": [ "data/nuscenes/samples/CAM_FRONT/n015-2018-11-14-19-09-14+0800__CAM_FRONT__1542194182862460.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-14-19-09-14+0800__CAM_FRONT_LEFT__1542194182854844.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-14-19-09-14+0800__CAM_FRONT_RIGHT__1542194182870339.jpg", "data/nuscenes/samples/CAM_BACK/n015-2018-11-14-19-09-14+0800__CAM_BACK__1542194182887525.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-14-19-09-14+0800__CAM_BACK_LEFT__1542194182897423.jpg", "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-14-19-09-14+0800__CAM_BACK_RIGHT__1542194182877893.jpg" ], "tag": 1, "task": "planning", "conversations": [ { "from": "human", "value": "What actions taken by the ego vehicle can lead to a collision with ?" }, { "from": "gpt", "value": "Moderate left turn." } ] }, { "id": "d9161e521b1644cea4cb9e3f21ef9f79_c5d61d6df6884797a2759a765e87bbdb_2", "image": [ "data/nuscenes/samples/CAM_FRONT/n015-2018-11-14-19-09-14+0800__CAM_FRONT__1542194182862460.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-14-19-09-14+0800__CAM_FRONT_LEFT__1542194182854844.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-14-19-09-14+0800__CAM_FRONT_RIGHT__1542194182870339.jpg", "data/nuscenes/samples/CAM_BACK/n015-2018-11-14-19-09-14+0800__CAM_BACK__1542194182887525.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-14-19-09-14+0800__CAM_BACK_LEFT__1542194182897423.jpg", "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-14-19-09-14+0800__CAM_BACK_RIGHT__1542194182877893.jpg" ], "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": "b7bb8ec5bf22476f8ba8ca0b2e57e8f6_e4700cf5fa7a4aa8b673be3d257a08c4_0", "image": [ "data/nuscenes/samples/CAM_FRONT/n008-2018-09-18-14-43-59-0400__CAM_FRONT__1537296543162404.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-14-43-59-0400__CAM_FRONT_LEFT__1537296543154799.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-14-43-59-0400__CAM_FRONT_RIGHT__1537296543170482.jpg", "data/nuscenes/samples/CAM_BACK/n008-2018-09-18-14-43-59-0400__CAM_BACK__1537296543187558.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-14-43-59-0400__CAM_BACK_LEFT__1537296543197405.jpg", "data/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 , , , and ." } ] }, { "id": "b7bb8ec5bf22476f8ba8ca0b2e57e8f6_e4700cf5fa7a4aa8b673be3d257a08c4_0", "image": [ "data/nuscenes/samples/CAM_FRONT/n008-2018-09-18-14-43-59-0400__CAM_FRONT__1537296543162404.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-14-43-59-0400__CAM_FRONT_LEFT__1537296543154799.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-14-43-59-0400__CAM_FRONT_RIGHT__1537296543170482.jpg", "data/nuscenes/samples/CAM_BACK/n008-2018-09-18-14-43-59-0400__CAM_BACK__1537296543187558.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-14-43-59-0400__CAM_BACK_LEFT__1537296543197405.jpg", "data/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 ? 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_1", "image": [ "data/nuscenes/samples/CAM_FRONT/n008-2018-09-18-14-43-59-0400__CAM_FRONT__1537296543162404.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-14-43-59-0400__CAM_FRONT_LEFT__1537296543154799.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-14-43-59-0400__CAM_FRONT_RIGHT__1537296543170482.jpg", "data/nuscenes/samples/CAM_BACK/n008-2018-09-18-14-43-59-0400__CAM_BACK__1537296543187558.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-14-43-59-0400__CAM_BACK_LEFT__1537296543197405.jpg", "data/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 ?" }, { "from": "gpt", "value": "Moderate left turn." } ] }, { "id": "b7bb8ec5bf22476f8ba8ca0b2e57e8f6_e4700cf5fa7a4aa8b673be3d257a08c4_2", "image": [ "data/nuscenes/samples/CAM_FRONT/n008-2018-09-18-14-43-59-0400__CAM_FRONT__1537296543162404.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-14-43-59-0400__CAM_FRONT_LEFT__1537296543154799.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-14-43-59-0400__CAM_FRONT_RIGHT__1537296543170482.jpg", "data/nuscenes/samples/CAM_BACK/n008-2018-09-18-14-43-59-0400__CAM_BACK__1537296543187558.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-14-43-59-0400__CAM_BACK_LEFT__1537296543197405.jpg", "data/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_b988567cb7244e418b9c2e92938ce501_0", "image": [ "data/nuscenes/samples/CAM_FRONT/n008-2018-09-18-14-43-59-0400__CAM_FRONT__1537296534112419.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-14-43-59-0400__CAM_FRONT_LEFT__1537296534104799.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-14-43-59-0400__CAM_FRONT_RIGHT__1537296534120482.jpg", "data/nuscenes/samples/CAM_BACK/n008-2018-09-18-14-43-59-0400__CAM_BACK__1537296534137558.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-14-43-59-0400__CAM_BACK_LEFT__1537296534147405.jpg", "data/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 , , and ." } ] }, { "id": "b7bb8ec5bf22476f8ba8ca0b2e57e8f6_b988567cb7244e418b9c2e92938ce501_0", "image": [ "data/nuscenes/samples/CAM_FRONT/n008-2018-09-18-14-43-59-0400__CAM_FRONT__1537296534112419.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-14-43-59-0400__CAM_FRONT_LEFT__1537296534104799.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-14-43-59-0400__CAM_FRONT_RIGHT__1537296534120482.jpg", "data/nuscenes/samples/CAM_BACK/n008-2018-09-18-14-43-59-0400__CAM_BACK__1537296534137558.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-14-43-59-0400__CAM_BACK_LEFT__1537296534147405.jpg", "data/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 ? 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_1", "image": [ "data/nuscenes/samples/CAM_FRONT/n008-2018-09-18-14-43-59-0400__CAM_FRONT__1537296534112419.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-14-43-59-0400__CAM_FRONT_LEFT__1537296534104799.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-14-43-59-0400__CAM_FRONT_RIGHT__1537296534120482.jpg", "data/nuscenes/samples/CAM_BACK/n008-2018-09-18-14-43-59-0400__CAM_BACK__1537296534137558.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-14-43-59-0400__CAM_BACK_LEFT__1537296534147405.jpg", "data/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 ?" }, { "from": "gpt", "value": "Accelerate and go straight." } ] }, { "id": "b7bb8ec5bf22476f8ba8ca0b2e57e8f6_b988567cb7244e418b9c2e92938ce501_2", "image": [ "data/nuscenes/samples/CAM_FRONT/n008-2018-09-18-14-43-59-0400__CAM_FRONT__1537296534112419.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-14-43-59-0400__CAM_FRONT_LEFT__1537296534104799.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-14-43-59-0400__CAM_FRONT_RIGHT__1537296534120482.jpg", "data/nuscenes/samples/CAM_BACK/n008-2018-09-18-14-43-59-0400__CAM_BACK__1537296534137558.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-14-43-59-0400__CAM_BACK_LEFT__1537296534147405.jpg", "data/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": "73030fb67d3c46cfb5e590168088ae39_8de7ec06e1ac48c689c4d24d6cc64fd7_0", "image": [ "data/nuscenes/samples/CAM_FRONT/n015-2018-07-18-11-07-57+0800__CAM_FRONT__1531883531912467.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-18-11-07-57+0800__CAM_FRONT_LEFT__1531883531904844.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-18-11-07-57+0800__CAM_FRONT_RIGHT__1531883531920339.jpg", "data/nuscenes/samples/CAM_BACK/n015-2018-07-18-11-07-57+0800__CAM_BACK__1531883531937525.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-18-11-07-57+0800__CAM_BACK_LEFT__1531883531947423.jpg", "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-18-11-07-57+0800__CAM_BACK_RIGHT__1531883531927893.jpg" ], "tag": 2, "task": "perception", "conversations": [ { "from": "human", "value": "What are the important objects in the current scene? Those objects will be considered for the future reasoning and driving decision." }, { "from": "gpt", "value": "There is a blue and white truck to the front of the ego vehicle, a black sedan to the back of the ego vehicle, a blue sedan to the back of the ego vehicle, and a black traffic light to the front right of the ego vehicle. The IDs of these objects are , , , and ." } ] }, { "id": "73030fb67d3c46cfb5e590168088ae39_8de7ec06e1ac48c689c4d24d6cc64fd7_0", "image": [ "data/nuscenes/samples/CAM_FRONT/n015-2018-07-18-11-07-57+0800__CAM_FRONT__1531883531912467.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-18-11-07-57+0800__CAM_FRONT_LEFT__1531883531904844.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-18-11-07-57+0800__CAM_FRONT_RIGHT__1531883531920339.jpg", "data/nuscenes/samples/CAM_BACK/n015-2018-07-18-11-07-57+0800__CAM_BACK__1531883531937525.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-18-11-07-57+0800__CAM_BACK_LEFT__1531883531947423.jpg", "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-18-11-07-57+0800__CAM_BACK_RIGHT__1531883531927893.jpg" ], "tag": 1, "task": "planning", "conversations": [ { "from": "human", "value": "What actions taken by the ego vehicle can lead to a collision with ?" }, { "from": "gpt", "value": "Sharp right turn." } ] }, { "id": "73030fb67d3c46cfb5e590168088ae39_8de7ec06e1ac48c689c4d24d6cc64fd7_1", "image": [ "data/nuscenes/samples/CAM_FRONT/n015-2018-07-18-11-07-57+0800__CAM_FRONT__1531883531912467.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-18-11-07-57+0800__CAM_FRONT_LEFT__1531883531904844.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-18-11-07-57+0800__CAM_FRONT_RIGHT__1531883531920339.jpg", "data/nuscenes/samples/CAM_BACK/n015-2018-07-18-11-07-57+0800__CAM_BACK__1531883531937525.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-18-11-07-57+0800__CAM_BACK_LEFT__1531883531947423.jpg", "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-18-11-07-57+0800__CAM_BACK_RIGHT__1531883531927893.jpg" ], "tag": 1, "task": "planning", "conversations": [ { "from": "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": "73030fb67d3c46cfb5e590168088ae39_8de7ec06e1ac48c689c4d24d6cc64fd7_0", "image": [ "data/nuscenes/samples/CAM_FRONT/n015-2018-07-18-11-07-57+0800__CAM_FRONT__1531883531912467.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-18-11-07-57+0800__CAM_FRONT_LEFT__1531883531904844.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-18-11-07-57+0800__CAM_FRONT_RIGHT__1531883531920339.jpg", "data/nuscenes/samples/CAM_BACK/n015-2018-07-18-11-07-57+0800__CAM_BACK__1531883531937525.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-18-11-07-57+0800__CAM_BACK_LEFT__1531883531947423.jpg", "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-18-11-07-57+0800__CAM_BACK_RIGHT__1531883531927893.jpg" ], "tag": 0, "task": "behavior", "conversations": [ { "from": "human", "value": "Predict the behavior of the ego vehicle. Please select the correct answer from the following options: A. The ego vehicle is going straight. The ego vehicle is driving with normal speed. B. The ego vehicle is steering to the left. The ego vehicle is driving with normal speed. C. The ego vehicle is going straight. The ego vehicle is not moving. D. The ego vehicle is slightly steering to the left. The ego vehicle is driving with normal speed." }, { "from": "gpt", "value": "B" } ] }, { "id": "d3d94f2ce3dc4db4b3ba6f4aa81c3987_bce37b41351648388549e0107d1673e7_0", "image": [ "data/nuscenes/samples/CAM_FRONT/n008-2018-08-29-16-04-13-0400__CAM_FRONT__1535574119262404.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_LEFT__1535574119254799.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_RIGHT__1535574119270482.jpg", "data/nuscenes/samples/CAM_BACK/n008-2018-08-29-16-04-13-0400__CAM_BACK__1535574119287558.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-29-16-04-13-0400__CAM_BACK_LEFT__1535574119297405.jpg", "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_BACK_RIGHT__1535574119278113.jpg" ], "tag": 2, "task": "perception", "conversations": [ { "from": "human", "value": "What are the 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 container to the front right of the ego vehicle, a white truck to the back left of the ego vehicle, and a white coach to the front left of the ego vehicle. The IDs of these objects are , , , and ." } ] }, { "id": "d3d94f2ce3dc4db4b3ba6f4aa81c3987_bce37b41351648388549e0107d1673e7_0", "image": [ "data/nuscenes/samples/CAM_FRONT/n008-2018-08-29-16-04-13-0400__CAM_FRONT__1535574119262404.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_LEFT__1535574119254799.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_RIGHT__1535574119270482.jpg", "data/nuscenes/samples/CAM_BACK/n008-2018-08-29-16-04-13-0400__CAM_BACK__1535574119287558.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-29-16-04-13-0400__CAM_BACK_LEFT__1535574119297405.jpg", "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_BACK_RIGHT__1535574119278113.jpg" ], "tag": 1, "task": "planning", "conversations": [ { "from": "human", "value": "What actions taken by the ego vehicle can lead to a collision with ?" }, { "from": "gpt", "value": "Brake suddenly." } ] }, { "id": "d3d94f2ce3dc4db4b3ba6f4aa81c3987_bce37b41351648388549e0107d1673e7_1", "image": [ "data/nuscenes/samples/CAM_FRONT/n008-2018-08-29-16-04-13-0400__CAM_FRONT__1535574119262404.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_LEFT__1535574119254799.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_RIGHT__1535574119270482.jpg", "data/nuscenes/samples/CAM_BACK/n008-2018-08-29-16-04-13-0400__CAM_BACK__1535574119287558.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-29-16-04-13-0400__CAM_BACK_LEFT__1535574119297405.jpg", "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_BACK_RIGHT__1535574119278113.jpg" ], "tag": 1, "task": "planning", "conversations": [ { "from": "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": "d3d94f2ce3dc4db4b3ba6f4aa81c3987_bce37b41351648388549e0107d1673e7_0", "image": [ "data/nuscenes/samples/CAM_FRONT/n008-2018-08-29-16-04-13-0400__CAM_FRONT__1535574119262404.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_LEFT__1535574119254799.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_RIGHT__1535574119270482.jpg", "data/nuscenes/samples/CAM_BACK/n008-2018-08-29-16-04-13-0400__CAM_BACK__1535574119287558.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-29-16-04-13-0400__CAM_BACK_LEFT__1535574119297405.jpg", "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_BACK_RIGHT__1535574119278113.jpg" ], "tag": 0, "task": "behavior", "conversations": [ { "from": "human", "value": "Predict the behavior of the ego vehicle. Please select the correct answer from the following options: A. The ego vehicle is steering to the left. The ego vehicle is driving with normal speed. B. The ego vehicle is going straight. The ego vehicle is not moving. C. The ego vehicle is steering to the right. The ego vehicle is driving fast. D. The ego vehicle is steering to the right. The ego vehicle is driving with normal speed." }, { "from": "gpt", "value": "C" } ] }, { "id": "209e9e9c3a2e4a399c44b6aa8be659d6_4d737c92e9f14f86b7ee3988066bf13d_0", "image": [ "data/nuscenes/samples/CAM_FRONT/n015-2018-09-26-11-17-24+0800__CAM_FRONT__1537931875162460.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-26-11-17-24+0800__CAM_FRONT_LEFT__1537931875154844.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-26-11-17-24+0800__CAM_FRONT_RIGHT__1537931875170339.jpg", "data/nuscenes/samples/CAM_BACK/n015-2018-09-26-11-17-24+0800__CAM_BACK__1537931875187525.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-26-11-17-24+0800__CAM_BACK_LEFT__1537931875197423.jpg", "data/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 , , , and ." } ] }, { "id": "209e9e9c3a2e4a399c44b6aa8be659d6_4d737c92e9f14f86b7ee3988066bf13d_0", "image": [ "data/nuscenes/samples/CAM_FRONT/n015-2018-09-26-11-17-24+0800__CAM_FRONT__1537931875162460.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-26-11-17-24+0800__CAM_FRONT_LEFT__1537931875154844.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-26-11-17-24+0800__CAM_FRONT_RIGHT__1537931875170339.jpg", "data/nuscenes/samples/CAM_BACK/n015-2018-09-26-11-17-24+0800__CAM_BACK__1537931875187525.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-26-11-17-24+0800__CAM_BACK_LEFT__1537931875197423.jpg", "data/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 a traffic sign or a road barrier?" }, { "from": "gpt", "value": "Yes." } ] }, { "id": "209e9e9c3a2e4a399c44b6aa8be659d6_4d737c92e9f14f86b7ee3988066bf13d_0", "image": [ "data/nuscenes/samples/CAM_FRONT/n015-2018-09-26-11-17-24+0800__CAM_FRONT__1537931875162460.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-26-11-17-24+0800__CAM_FRONT_LEFT__1537931875154844.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-26-11-17-24+0800__CAM_FRONT_RIGHT__1537931875170339.jpg", "data/nuscenes/samples/CAM_BACK/n015-2018-09-26-11-17-24+0800__CAM_BACK__1537931875187525.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-26-11-17-24+0800__CAM_BACK_LEFT__1537931875197423.jpg", "data/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 ?" }, { "from": "gpt", "value": "Back up." } ] }, { "id": "209e9e9c3a2e4a399c44b6aa8be659d6_4d737c92e9f14f86b7ee3988066bf13d_1", "image": [ "data/nuscenes/samples/CAM_FRONT/n015-2018-09-26-11-17-24+0800__CAM_FRONT__1537931875162460.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-26-11-17-24+0800__CAM_FRONT_LEFT__1537931875154844.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-26-11-17-24+0800__CAM_FRONT_RIGHT__1537931875170339.jpg", "data/nuscenes/samples/CAM_BACK/n015-2018-09-26-11-17-24+0800__CAM_BACK__1537931875187525.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-26-11-17-24+0800__CAM_BACK_LEFT__1537931875197423.jpg", "data/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_ca0aeae4acfb43358c2af8fe637f2aa3_0", "image": [ "data/nuscenes/samples/CAM_FRONT/n015-2018-09-26-11-17-24+0800__CAM_FRONT__1537931884262460.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-26-11-17-24+0800__CAM_FRONT_LEFT__1537931884254844.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-26-11-17-24+0800__CAM_FRONT_RIGHT__1537931884270359.jpg", "data/nuscenes/samples/CAM_BACK/n015-2018-09-26-11-17-24+0800__CAM_BACK__1537931884287525.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-26-11-17-24+0800__CAM_BACK_LEFT__1537931884297423.jpg", "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-26-11-17-24+0800__CAM_BACK_RIGHT__1537931884277893.jpg" ], "tag": 2, "task": "perception", "conversations": [ { "from": "human", "value": "What are the 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 person wearing a skirt to the front left of the ego vehicle, a person wearing a blue shirt to the front left of the ego vehicle, a roadblock to the back of the ego vehicle, and a red and white sign to the front left of the ego vehicle. The IDs of these objects are , , , , and ." } ] }, { "id": "209e9e9c3a2e4a399c44b6aa8be659d6_ca0aeae4acfb43358c2af8fe637f2aa3_0", "image": [ "data/nuscenes/samples/CAM_FRONT/n015-2018-09-26-11-17-24+0800__CAM_FRONT__1537931884262460.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-26-11-17-24+0800__CAM_FRONT_LEFT__1537931884254844.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-26-11-17-24+0800__CAM_FRONT_RIGHT__1537931884270359.jpg", "data/nuscenes/samples/CAM_BACK/n015-2018-09-26-11-17-24+0800__CAM_BACK__1537931884287525.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-26-11-17-24+0800__CAM_BACK_LEFT__1537931884297423.jpg", "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-26-11-17-24+0800__CAM_BACK_RIGHT__1537931884277893.jpg" ], "tag": 1, "task": "planning", "conversations": [ { "from": "human", "value": "What actions taken by the ego vehicle can lead to a collision with ?" }, { "from": "gpt", "value": "No such action will lead to a collision." } ] }, { "id": "209e9e9c3a2e4a399c44b6aa8be659d6_ca0aeae4acfb43358c2af8fe637f2aa3_1", "image": [ "data/nuscenes/samples/CAM_FRONT/n015-2018-09-26-11-17-24+0800__CAM_FRONT__1537931884262460.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-26-11-17-24+0800__CAM_FRONT_LEFT__1537931884254844.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-26-11-17-24+0800__CAM_FRONT_RIGHT__1537931884270359.jpg", "data/nuscenes/samples/CAM_BACK/n015-2018-09-26-11-17-24+0800__CAM_BACK__1537931884287525.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-26-11-17-24+0800__CAM_BACK_LEFT__1537931884297423.jpg", "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-26-11-17-24+0800__CAM_BACK_RIGHT__1537931884277893.jpg" ], "tag": 1, "task": "planning", "conversations": [ { "from": "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": "209e9e9c3a2e4a399c44b6aa8be659d6_ca0aeae4acfb43358c2af8fe637f2aa3_0", "image": [ "data/nuscenes/samples/CAM_FRONT/n015-2018-09-26-11-17-24+0800__CAM_FRONT__1537931884262460.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-26-11-17-24+0800__CAM_FRONT_LEFT__1537931884254844.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-26-11-17-24+0800__CAM_FRONT_RIGHT__1537931884270359.jpg", "data/nuscenes/samples/CAM_BACK/n015-2018-09-26-11-17-24+0800__CAM_BACK__1537931884287525.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-26-11-17-24+0800__CAM_BACK_LEFT__1537931884297423.jpg", "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-26-11-17-24+0800__CAM_BACK_RIGHT__1537931884277893.jpg" ], "tag": 0, "task": "behavior", "conversations": [ { "from": "human", "value": "Predict the behavior of the ego vehicle. Please select the correct answer from the following options: A. The ego vehicle is steering to the right. The ego vehicle is driving with normal speed. B. The ego vehicle is steering to the right. The ego vehicle is driving very fast. C. The ego vehicle is going straight. The ego vehicle is driving fast. D. The ego vehicle is slightly steering to the left. The ego vehicle is driving slowly." }, { "from": "gpt", "value": "D" } ] }, { "id": "095d9b93b583425f910ae2afaf1d017d_ad5ef7b2d0d6478e84d8aa573a004aae_0", "image": [ "data/nuscenes/samples/CAM_FRONT/n015-2018-07-24-11-13-19+0800__CAM_FRONT__1532402188762460.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_LEFT__1532402188754844.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_RIGHT__1532402188770342.jpg", "data/nuscenes/samples/CAM_BACK/n015-2018-07-24-11-13-19+0800__CAM_BACK__1532402188787525.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-24-11-13-19+0800__CAM_BACK_LEFT__1532402188797423.jpg", "data/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 , , , and ." } ] }, { "id": "095d9b93b583425f910ae2afaf1d017d_ad5ef7b2d0d6478e84d8aa573a004aae_0", "image": [ "data/nuscenes/samples/CAM_FRONT/n015-2018-07-24-11-13-19+0800__CAM_FRONT__1532402188762460.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_LEFT__1532402188754844.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_RIGHT__1532402188770342.jpg", "data/nuscenes/samples/CAM_BACK/n015-2018-07-24-11-13-19+0800__CAM_BACK__1532402188787525.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-24-11-13-19+0800__CAM_BACK_LEFT__1532402188797423.jpg", "data/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 ?" }, { "from": "gpt", "value": "Moderate right turn." } ] }, { "id": "095d9b93b583425f910ae2afaf1d017d_ad5ef7b2d0d6478e84d8aa573a004aae_1", "image": [ "data/nuscenes/samples/CAM_FRONT/n015-2018-07-24-11-13-19+0800__CAM_FRONT__1532402188762460.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_LEFT__1532402188754844.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_RIGHT__1532402188770342.jpg", "data/nuscenes/samples/CAM_BACK/n015-2018-07-24-11-13-19+0800__CAM_BACK__1532402188787525.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-24-11-13-19+0800__CAM_BACK_LEFT__1532402188797423.jpg", "data/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_0", "image": [ "data/nuscenes/samples/CAM_FRONT/n015-2018-07-24-11-13-19+0800__CAM_FRONT__1532402188762460.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_LEFT__1532402188754844.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_RIGHT__1532402188770342.jpg", "data/nuscenes/samples/CAM_BACK/n015-2018-07-24-11-13-19+0800__CAM_BACK__1532402188787525.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-24-11-13-19+0800__CAM_BACK_LEFT__1532402188797423.jpg", "data/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. Please select the correct answer from the following options: A. The ego vehicle is steering to the left. The ego vehicle is driving slowly. B. The ego vehicle is slightly steering to the left. The ego vehicle is driving slowly. C. The ego vehicle is steering to the right. The ego vehicle is driving fast. D. The ego vehicle is slightly steering to the left. The ego vehicle is driving very fast." }, { "from": "gpt", "value": "A" } ] }, { "id": "af128e79b77a4a4b8bfcd997c320b2a9_f894634842c34825a6a71b655f061b19_0", "image": [ "data/nuscenes/samples/CAM_FRONT/n015-2018-08-02-17-28-51+0800__CAM_FRONT__1533202210662460.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-02-17-28-51+0800__CAM_FRONT_LEFT__1533202210654844.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-02-17-28-51+0800__CAM_FRONT_RIGHT__1533202210670339.jpg", "data/nuscenes/samples/CAM_BACK/n015-2018-08-02-17-28-51+0800__CAM_BACK__1533202210687525.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-02-17-28-51+0800__CAM_BACK_LEFT__1533202210697423.jpg", "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-02-17-28-51+0800__CAM_BACK_RIGHT__1533202210677893.jpg" ], "tag": 2, "task": "perception", "conversations": [ { "from": "human", "value": "What are the 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 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 , , and ." } ] }, { "id": "af128e79b77a4a4b8bfcd997c320b2a9_f894634842c34825a6a71b655f061b19_0", "image": [ "data/nuscenes/samples/CAM_FRONT/n015-2018-08-02-17-28-51+0800__CAM_FRONT__1533202210662460.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-02-17-28-51+0800__CAM_FRONT_LEFT__1533202210654844.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-02-17-28-51+0800__CAM_FRONT_RIGHT__1533202210670339.jpg", "data/nuscenes/samples/CAM_BACK/n015-2018-08-02-17-28-51+0800__CAM_BACK__1533202210687525.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-02-17-28-51+0800__CAM_BACK_LEFT__1533202210697423.jpg", "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-02-17-28-51+0800__CAM_BACK_RIGHT__1533202210677893.jpg" ], "tag": 0, "task": "prediction", "conversations": [ { "from": "human", "value": "Is a traffic sign or a road barrier?" }, { "from": "gpt", "value": "Yes." } ] }, { "id": "af128e79b77a4a4b8bfcd997c320b2a9_f894634842c34825a6a71b655f061b19_0", "image": [ "data/nuscenes/samples/CAM_FRONT/n015-2018-08-02-17-28-51+0800__CAM_FRONT__1533202210662460.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-02-17-28-51+0800__CAM_FRONT_LEFT__1533202210654844.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-02-17-28-51+0800__CAM_FRONT_RIGHT__1533202210670339.jpg", "data/nuscenes/samples/CAM_BACK/n015-2018-08-02-17-28-51+0800__CAM_BACK__1533202210687525.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-02-17-28-51+0800__CAM_BACK_LEFT__1533202210697423.jpg", "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-02-17-28-51+0800__CAM_BACK_RIGHT__1533202210677893.jpg" ], "tag": 1, "task": "planning", "conversations": [ { "from": "human", "value": "What actions taken by the ego vehicle can lead to a collision with ?" }, { "from": "gpt", "value": "Changing to the right lane." } ] }, { "id": "af128e79b77a4a4b8bfcd997c320b2a9_f894634842c34825a6a71b655f061b19_1", "image": [ "data/nuscenes/samples/CAM_FRONT/n015-2018-08-02-17-28-51+0800__CAM_FRONT__1533202210662460.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-02-17-28-51+0800__CAM_FRONT_LEFT__1533202210654844.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-02-17-28-51+0800__CAM_FRONT_RIGHT__1533202210670339.jpg", "data/nuscenes/samples/CAM_BACK/n015-2018-08-02-17-28-51+0800__CAM_BACK__1533202210687525.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-02-17-28-51+0800__CAM_BACK_LEFT__1533202210697423.jpg", "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-02-17-28-51+0800__CAM_BACK_RIGHT__1533202210677893.jpg" ], "tag": 1, "task": "planning", "conversations": [ { "from": "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": "df8dfada99a04a81bd1b102eeb84e9bc_1f1309a70c89443fbf02b5bb96359d52_0", "image": [ "data/nuscenes/samples/CAM_FRONT/n008-2018-08-29-16-04-13-0400__CAM_FRONT__1535574103412404.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_LEFT__1535574103404799.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_RIGHT__1535574103420482.jpg", "data/nuscenes/samples/CAM_BACK/n008-2018-08-29-16-04-13-0400__CAM_BACK__1535574103437558.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-29-16-04-13-0400__CAM_BACK_LEFT__1535574103447405.jpg", "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_BACK_RIGHT__1535574103428113.jpg" ], "tag": 2, "task": "perception", "conversations": [ { "from": "human", "value": "What are the 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 motorcycle to the front left of the ego vehicle, a silver business to the front left of the ego vehicle, a black car to the front left of the ego vehicle, and a white bus to the back left of the ego vehicle. The IDs of these objects are , , , , and ." } ] }, { "id": "df8dfada99a04a81bd1b102eeb84e9bc_1f1309a70c89443fbf02b5bb96359d52_0", "image": [ "data/nuscenes/samples/CAM_FRONT/n008-2018-08-29-16-04-13-0400__CAM_FRONT__1535574103412404.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_LEFT__1535574103404799.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_RIGHT__1535574103420482.jpg", "data/nuscenes/samples/CAM_BACK/n008-2018-08-29-16-04-13-0400__CAM_BACK__1535574103437558.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-29-16-04-13-0400__CAM_BACK_LEFT__1535574103447405.jpg", "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_BACK_RIGHT__1535574103428113.jpg" ], "tag": 0, "task": "prediction", "conversations": [ { "from": "human", "value": "Is a traffic sign or a road barrier?" }, { "from": "gpt", "value": "Yes." } ] }, { "id": "df8dfada99a04a81bd1b102eeb84e9bc_1f1309a70c89443fbf02b5bb96359d52_0", "image": [ "data/nuscenes/samples/CAM_FRONT/n008-2018-08-29-16-04-13-0400__CAM_FRONT__1535574103412404.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_LEFT__1535574103404799.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_RIGHT__1535574103420482.jpg", "data/nuscenes/samples/CAM_BACK/n008-2018-08-29-16-04-13-0400__CAM_BACK__1535574103437558.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-29-16-04-13-0400__CAM_BACK_LEFT__1535574103447405.jpg", "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_BACK_RIGHT__1535574103428113.jpg" ], "tag": 1, "task": "planning", "conversations": [ { "from": "human", "value": "What actions taken by the ego vehicle can lead to a collision with ?" }, { "from": "gpt", "value": "Sharp left turn." } ] }, { "id": "df8dfada99a04a81bd1b102eeb84e9bc_1f1309a70c89443fbf02b5bb96359d52_0", "image": [ "data/nuscenes/samples/CAM_FRONT/n008-2018-08-29-16-04-13-0400__CAM_FRONT__1535574103412404.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_LEFT__1535574103404799.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_RIGHT__1535574103420482.jpg", "data/nuscenes/samples/CAM_BACK/n008-2018-08-29-16-04-13-0400__CAM_BACK__1535574103437558.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-29-16-04-13-0400__CAM_BACK_LEFT__1535574103447405.jpg", "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_BACK_RIGHT__1535574103428113.jpg" ], "tag": 0, "task": "behavior", "conversations": [ { "from": "human", "value": "Predict the behavior of the ego vehicle. Please select the correct answer from the following options: A. The ego vehicle is slightly steering to the right. The ego vehicle is driving fast. B. The ego vehicle is steering to the left. The ego vehicle is driving slowly. C. The ego vehicle is steering to the left. The ego vehicle is driving fast. D. The ego vehicle is steering to the right. The ego vehicle is driving slowly." }, { "from": "gpt", "value": "A" } ] }, { "id": "83773bcf46ac486383529098de0542dd_97915d59900b472687a7baed3280dddf_0", "image": [ "data/nuscenes/samples/CAM_FRONT/n015-2018-07-24-11-22-45+0800__CAM_FRONT__1532402734412460.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-24-11-22-45+0800__CAM_FRONT_LEFT__1532402734404844.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-24-11-22-45+0800__CAM_FRONT_RIGHT__1532402734420339.jpg", "data/nuscenes/samples/CAM_BACK/n015-2018-07-24-11-22-45+0800__CAM_BACK__1532402734437525.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-24-11-22-45+0800__CAM_BACK_LEFT__1532402734447423.jpg", "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-24-11-22-45+0800__CAM_BACK_RIGHT__1532402734428280.jpg" ], "tag": 2, "task": "perception", "conversations": [ { "from": "human", "value": "What are the 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 of the ego vehicle, a pedestrian wearing black clothes to the front right of the ego vehicle, a white line to the front of the ego vehicle, and a white line to the front of the ego vehicle. The IDs of these objects are , , , and ." } ] }, { "id": "83773bcf46ac486383529098de0542dd_97915d59900b472687a7baed3280dddf_1", "image": [ "data/nuscenes/samples/CAM_FRONT/n015-2018-07-24-11-22-45+0800__CAM_FRONT__1532402734412460.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-24-11-22-45+0800__CAM_FRONT_LEFT__1532402734404844.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-24-11-22-45+0800__CAM_FRONT_RIGHT__1532402734420339.jpg", "data/nuscenes/samples/CAM_BACK/n015-2018-07-24-11-22-45+0800__CAM_BACK__1532402734437525.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-24-11-22-45+0800__CAM_BACK_LEFT__1532402734447423.jpg", "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-24-11-22-45+0800__CAM_BACK_RIGHT__1532402734428280.jpg" ], "tag": 0, "task": "perception", "conversations": [ { "from": "human", "value": "What is the moving status of object ? Please select the correct answer from the following options: A. Turn right. B. Turn left. C. Reverse parking. D. Back up." }, { "from": "gpt", "value": "A" } ] }, { "id": "83773bcf46ac486383529098de0542dd_97915d59900b472687a7baed3280dddf_0", "image": [ "data/nuscenes/samples/CAM_FRONT/n015-2018-07-24-11-22-45+0800__CAM_FRONT__1532402734412460.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-24-11-22-45+0800__CAM_FRONT_LEFT__1532402734404844.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-24-11-22-45+0800__CAM_FRONT_RIGHT__1532402734420339.jpg", "data/nuscenes/samples/CAM_BACK/n015-2018-07-24-11-22-45+0800__CAM_BACK__1532402734437525.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-24-11-22-45+0800__CAM_BACK_LEFT__1532402734447423.jpg", "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-24-11-22-45+0800__CAM_BACK_RIGHT__1532402734428280.jpg" ], "tag": 1, "task": "planning", "conversations": [ { "from": "human", "value": "What actions taken by the ego vehicle can lead to a collision with ?" }, { "from": "gpt", "value": "Accelerate and go straight." } ] }, { "id": "83773bcf46ac486383529098de0542dd_97915d59900b472687a7baed3280dddf_1", "image": [ "data/nuscenes/samples/CAM_FRONT/n015-2018-07-24-11-22-45+0800__CAM_FRONT__1532402734412460.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-24-11-22-45+0800__CAM_FRONT_LEFT__1532402734404844.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-24-11-22-45+0800__CAM_FRONT_RIGHT__1532402734420339.jpg", "data/nuscenes/samples/CAM_BACK/n015-2018-07-24-11-22-45+0800__CAM_BACK__1532402734437525.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-24-11-22-45+0800__CAM_BACK_LEFT__1532402734447423.jpg", "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-24-11-22-45+0800__CAM_BACK_RIGHT__1532402734428280.jpg" ], "tag": 1, "task": "planning", "conversations": [ { "from": "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, brake gently to a stop." } ] }, { "id": "83773bcf46ac486383529098de0542dd_97915d59900b472687a7baed3280dddf_0", "image": [ "data/nuscenes/samples/CAM_FRONT/n015-2018-07-24-11-22-45+0800__CAM_FRONT__1532402734412460.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-24-11-22-45+0800__CAM_FRONT_LEFT__1532402734404844.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-24-11-22-45+0800__CAM_FRONT_RIGHT__1532402734420339.jpg", "data/nuscenes/samples/CAM_BACK/n015-2018-07-24-11-22-45+0800__CAM_BACK__1532402734437525.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-24-11-22-45+0800__CAM_BACK_LEFT__1532402734447423.jpg", "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-07-24-11-22-45+0800__CAM_BACK_RIGHT__1532402734428280.jpg" ], "tag": 0, "task": "behavior", "conversations": [ { "from": "human", "value": "Predict the behavior of the ego vehicle. Please select the correct answer from the following options: A. The ego vehicle is steering to the left. The ego vehicle is driving fast. B. The ego vehicle is steering to the right. The ego vehicle is driving with normal speed. C. The ego vehicle is slightly steering to the left. The ego vehicle is driving fast. D. The ego vehicle is steering to the left. The ego vehicle is driving very fast." }, { "from": "gpt", "value": "A" } ] }, { "id": "ea4c42715ae24b0b952c57a9af1e7731_b6fb3149948349059b7009b7301722f4_0", "image": [ "data/nuscenes/samples/CAM_FRONT/n008-2018-08-30-15-16-55-0400__CAM_FRONT__1535657187112404.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-30-15-16-55-0400__CAM_FRONT_LEFT__1535657187104799.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-30-15-16-55-0400__CAM_FRONT_RIGHT__1535657187120482.jpg", "data/nuscenes/samples/CAM_BACK/n008-2018-08-30-15-16-55-0400__CAM_BACK__1535657187137558.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-30-15-16-55-0400__CAM_BACK_LEFT__1535657187147405.jpg", "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-30-15-16-55-0400__CAM_BACK_RIGHT__1535657187128113.jpg" ], "tag": 2, "task": "perception", "conversations": [ { "from": "human", "value": "What are the 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 pedestrian to the front right of the ego vehicle, a black SUV 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 sedan to the front of the ego vehicle. The IDs of these objects are , , , , , and ." } ] }, { "id": "ea4c42715ae24b0b952c57a9af1e7731_b6fb3149948349059b7009b7301722f4_0", "image": [ "data/nuscenes/samples/CAM_FRONT/n008-2018-08-30-15-16-55-0400__CAM_FRONT__1535657187112404.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-30-15-16-55-0400__CAM_FRONT_LEFT__1535657187104799.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-30-15-16-55-0400__CAM_FRONT_RIGHT__1535657187120482.jpg", "data/nuscenes/samples/CAM_BACK/n008-2018-08-30-15-16-55-0400__CAM_BACK__1535657187137558.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-30-15-16-55-0400__CAM_BACK_LEFT__1535657187147405.jpg", "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-30-15-16-55-0400__CAM_BACK_RIGHT__1535657187128113.jpg" ], "tag": 1, "task": "planning", "conversations": [ { "from": "human", "value": "What actions could the ego vehicle take based on ? Why take this action and what's the probability?" }, { "from": "gpt", "value": "The action is to decelerate gradually without braking. The reason is that there is no safety issue. The probability is high." } ] }, { "id": "ea4c42715ae24b0b952c57a9af1e7731_b6fb3149948349059b7009b7301722f4_1", "image": [ "data/nuscenes/samples/CAM_FRONT/n008-2018-08-30-15-16-55-0400__CAM_FRONT__1535657187112404.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-30-15-16-55-0400__CAM_FRONT_LEFT__1535657187104799.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-30-15-16-55-0400__CAM_FRONT_RIGHT__1535657187120482.jpg", "data/nuscenes/samples/CAM_BACK/n008-2018-08-30-15-16-55-0400__CAM_BACK__1535657187137558.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-30-15-16-55-0400__CAM_BACK_LEFT__1535657187147405.jpg", "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-30-15-16-55-0400__CAM_BACK_RIGHT__1535657187128113.jpg" ], "tag": 1, "task": "planning", "conversations": [ { "from": "human", "value": "What actions taken by the ego vehicle can lead to a collision with ?" }, { "from": "gpt", "value": "No such action will lead to a collision." } ] }, { "id": "ea4c42715ae24b0b952c57a9af1e7731_b6fb3149948349059b7009b7301722f4_2", "image": [ "data/nuscenes/samples/CAM_FRONT/n008-2018-08-30-15-16-55-0400__CAM_FRONT__1535657187112404.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-30-15-16-55-0400__CAM_FRONT_LEFT__1535657187104799.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-30-15-16-55-0400__CAM_FRONT_RIGHT__1535657187120482.jpg", "data/nuscenes/samples/CAM_BACK/n008-2018-08-30-15-16-55-0400__CAM_BACK__1535657187137558.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-30-15-16-55-0400__CAM_BACK_LEFT__1535657187147405.jpg", "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-30-15-16-55-0400__CAM_BACK_RIGHT__1535657187128113.jpg" ], "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 brake suddenly." } ] }, { "id": "295c6c85275e4376bc8446b4a76504cd_7873d8dc74614f6db6009da9aaf8d402_0", "image": [ "data/nuscenes/samples/CAM_FRONT/n015-2018-09-27-15-33-17+0800__CAM_FRONT__1538033765412460.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_LEFT__1538033765404844.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_RIGHT__1538033765420366.jpg", "data/nuscenes/samples/CAM_BACK/n015-2018-09-27-15-33-17+0800__CAM_BACK__1538033765437525.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-27-15-33-17+0800__CAM_BACK_LEFT__1538033765447423.jpg", "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_BACK_RIGHT__1538033765427907.jpg" ], "tag": 2, "task": "perception", "conversations": [ { "from": "human", "value": "What are the 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 right of the ego vehicle, a black car 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 , , and ." } ] }, { "id": "295c6c85275e4376bc8446b4a76504cd_7873d8dc74614f6db6009da9aaf8d402_0", "image": [ "data/nuscenes/samples/CAM_FRONT/n015-2018-09-27-15-33-17+0800__CAM_FRONT__1538033765412460.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_LEFT__1538033765404844.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_RIGHT__1538033765420366.jpg", "data/nuscenes/samples/CAM_BACK/n015-2018-09-27-15-33-17+0800__CAM_BACK__1538033765437525.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-27-15-33-17+0800__CAM_BACK_LEFT__1538033765447423.jpg", "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_BACK_RIGHT__1538033765427907.jpg" ], "tag": 1, "task": "planning", "conversations": [ { "from": "human", "value": "What actions taken by the ego vehicle can lead to a collision with ?" }, { "from": "gpt", "value": "Back up." } ] }, { "id": "295c6c85275e4376bc8446b4a76504cd_7873d8dc74614f6db6009da9aaf8d402_1", "image": [ "data/nuscenes/samples/CAM_FRONT/n015-2018-09-27-15-33-17+0800__CAM_FRONT__1538033765412460.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_LEFT__1538033765404844.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_RIGHT__1538033765420366.jpg", "data/nuscenes/samples/CAM_BACK/n015-2018-09-27-15-33-17+0800__CAM_BACK__1538033765437525.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-27-15-33-17+0800__CAM_BACK_LEFT__1538033765447423.jpg", "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_BACK_RIGHT__1538033765427907.jpg" ], "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": "295c6c85275e4376bc8446b4a76504cd_7873d8dc74614f6db6009da9aaf8d402_0", "image": [ "data/nuscenes/samples/CAM_FRONT/n015-2018-09-27-15-33-17+0800__CAM_FRONT__1538033765412460.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_LEFT__1538033765404844.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_RIGHT__1538033765420366.jpg", "data/nuscenes/samples/CAM_BACK/n015-2018-09-27-15-33-17+0800__CAM_BACK__1538033765437525.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-27-15-33-17+0800__CAM_BACK_LEFT__1538033765447423.jpg", "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_BACK_RIGHT__1538033765427907.jpg" ], "tag": 0, "task": "behavior", "conversations": [ { "from": "human", "value": "Predict the behavior of the ego vehicle. Please select the correct answer from the following options: A. The ego vehicle is steering to the left. The ego vehicle is driving with normal speed. B. The ego vehicle is steering to the left. The ego vehicle is driving fast. C. The ego vehicle is slightly steering to the left. The ego vehicle is driving slowly. D. The ego vehicle is steering to the right. The ego vehicle is driving with normal speed." }, { "from": "gpt", "value": "D" } ] }, { "id": "0e247ba64b9d4a34a7256b6c173b1b5d_3b5d41d4f5d2417d939974da485657a7_0", "image": [ "data/nuscenes/samples/CAM_FRONT/n008-2018-09-18-15-26-58-0400__CAM_FRONT__1537299234762404.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_LEFT__1537299234754799.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_RIGHT__1537299234770482.jpg", "data/nuscenes/samples/CAM_BACK/n008-2018-09-18-15-26-58-0400__CAM_BACK__1537299234787558.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-15-26-58-0400__CAM_BACK_LEFT__1537299234797405.jpg", "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-15-26-58-0400__CAM_BACK_RIGHT__1537299234778113.jpg" ], "tag": 2, "task": "perception", "conversations": [ { "from": "human", "value": "What are the 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 left of the ego vehicle, and a white truck to the back of the ego vehicle. The IDs of these objects are , , and ." } ] }, { "id": "0e247ba64b9d4a34a7256b6c173b1b5d_3b5d41d4f5d2417d939974da485657a7_0", "image": [ "data/nuscenes/samples/CAM_FRONT/n008-2018-09-18-15-26-58-0400__CAM_FRONT__1537299234762404.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_LEFT__1537299234754799.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_RIGHT__1537299234770482.jpg", "data/nuscenes/samples/CAM_BACK/n008-2018-09-18-15-26-58-0400__CAM_BACK__1537299234787558.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-15-26-58-0400__CAM_BACK_LEFT__1537299234797405.jpg", "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-15-26-58-0400__CAM_BACK_RIGHT__1537299234778113.jpg" ], "tag": 1, "task": "planning", "conversations": [ { "from": "human", "value": "What actions taken by the ego vehicle can lead to a collision with ?" }, { "from": "gpt", "value": "Moderate left turn." } ] }, { "id": "0e247ba64b9d4a34a7256b6c173b1b5d_3b5d41d4f5d2417d939974da485657a7_1", "image": [ "data/nuscenes/samples/CAM_FRONT/n008-2018-09-18-15-26-58-0400__CAM_FRONT__1537299234762404.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_LEFT__1537299234754799.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_RIGHT__1537299234770482.jpg", "data/nuscenes/samples/CAM_BACK/n008-2018-09-18-15-26-58-0400__CAM_BACK__1537299234787558.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-15-26-58-0400__CAM_BACK_LEFT__1537299234797405.jpg", "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-15-26-58-0400__CAM_BACK_RIGHT__1537299234778113.jpg" ], "tag": 1, "task": "planning", "conversations": [ { "from": "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 slightly offset to the right." } ] }, { "id": "0e247ba64b9d4a34a7256b6c173b1b5d_3b5d41d4f5d2417d939974da485657a7_0", "image": [ "data/nuscenes/samples/CAM_FRONT/n008-2018-09-18-15-26-58-0400__CAM_FRONT__1537299234762404.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_LEFT__1537299234754799.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_RIGHT__1537299234770482.jpg", "data/nuscenes/samples/CAM_BACK/n008-2018-09-18-15-26-58-0400__CAM_BACK__1537299234787558.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-15-26-58-0400__CAM_BACK_LEFT__1537299234797405.jpg", "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-15-26-58-0400__CAM_BACK_RIGHT__1537299234778113.jpg" ], "tag": 0, "task": "behavior", "conversations": [ { "from": "human", "value": "Predict the behavior of the ego vehicle. Please select the correct answer from the following options: A. The ego vehicle is slightly steering to the left. The ego vehicle is driving with normal speed. B. The ego vehicle is going straight. The ego vehicle is driving fast. C. The ego vehicle is slightly steering to the left. The ego vehicle is driving very fast. D. The ego vehicle is slightly steering to the left. The ego vehicle is driving fast." }, { "from": "gpt", "value": "A" } ] }, { "id": "62d9a581c7114d90a48bacfb2a47b104_b05a2f217f524dfb87245c42f43ca5a4_0", "image": [ "data/nuscenes/samples/CAM_FRONT/n008-2018-08-28-16-16-48-0400__CAM_FRONT__1535488187612404.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_LEFT__1535488187604799.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_RIGHT__1535488187620482.jpg", "data/nuscenes/samples/CAM_BACK/n008-2018-08-28-16-16-48-0400__CAM_BACK__1535488187637558.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-28-16-16-48-0400__CAM_BACK_LEFT__1535488187647405.jpg", "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_BACK_RIGHT__1535488187628113.jpg" ], "tag": 2, "task": "perception", "conversations": [ { "from": "human", "value": "What are the important 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, and a silver SUV to the back of the ego vehicle. The IDs of these objects are , , and ." } ] }, { "id": "62d9a581c7114d90a48bacfb2a47b104_b05a2f217f524dfb87245c42f43ca5a4_1", "image": [ "data/nuscenes/samples/CAM_FRONT/n008-2018-08-28-16-16-48-0400__CAM_FRONT__1535488187612404.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_LEFT__1535488187604799.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_RIGHT__1535488187620482.jpg", "data/nuscenes/samples/CAM_BACK/n008-2018-08-28-16-16-48-0400__CAM_BACK__1535488187637558.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-28-16-16-48-0400__CAM_BACK_LEFT__1535488187647405.jpg", "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_BACK_RIGHT__1535488187628113.jpg" ], "tag": 0, "task": "perception", "conversations": [ { "from": "human", "value": "What is the moving status of object ? Please select the correct answer from the following options: A. Going ahead. B. Back up. C. Turn left. D. Turn right." }, { "from": "gpt", "value": "C" } ] }, { "id": "62d9a581c7114d90a48bacfb2a47b104_b05a2f217f524dfb87245c42f43ca5a4_0", "image": [ "data/nuscenes/samples/CAM_FRONT/n008-2018-08-28-16-16-48-0400__CAM_FRONT__1535488187612404.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_LEFT__1535488187604799.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_RIGHT__1535488187620482.jpg", "data/nuscenes/samples/CAM_BACK/n008-2018-08-28-16-16-48-0400__CAM_BACK__1535488187637558.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-28-16-16-48-0400__CAM_BACK_LEFT__1535488187647405.jpg", "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_BACK_RIGHT__1535488187628113.jpg" ], "tag": 1, "task": "planning", "conversations": [ { "from": "human", "value": "What actions taken by the ego vehicle can lead to a collision with ?" }, { "from": "gpt", "value": "Back up." } ] }, { "id": "62d9a581c7114d90a48bacfb2a47b104_b05a2f217f524dfb87245c42f43ca5a4_1", "image": [ "data/nuscenes/samples/CAM_FRONT/n008-2018-08-28-16-16-48-0400__CAM_FRONT__1535488187612404.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_LEFT__1535488187604799.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_RIGHT__1535488187620482.jpg", "data/nuscenes/samples/CAM_BACK/n008-2018-08-28-16-16-48-0400__CAM_BACK__1535488187637558.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-28-16-16-48-0400__CAM_BACK_LEFT__1535488187647405.jpg", "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_BACK_RIGHT__1535488187628113.jpg" ], "tag": 1, "task": "planning", "conversations": [ { "from": "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 change to the left lane." } ] }, { "id": "20ec831deb0f44e397497198cbe5a97c_86368a81f46846b78c0068142038b0fc_0", "image": [ "data/nuscenes/samples/CAM_FRONT/n008-2018-08-28-13-40-50-0400__CAM_FRONT__1535478554112404.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-28-13-40-50-0400__CAM_FRONT_LEFT__1535478554104799.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-28-13-40-50-0400__CAM_FRONT_RIGHT__1535478554120482.jpg", "data/nuscenes/samples/CAM_BACK/n008-2018-08-28-13-40-50-0400__CAM_BACK__1535478554137558.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-28-13-40-50-0400__CAM_BACK_LEFT__1535478554147405.jpg", "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-28-13-40-50-0400__CAM_BACK_RIGHT__1535478554128113.jpg" ], "tag": 2, "task": "perception", "conversations": [ { "from": "human", "value": "What are the important 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 sedan to the front right of the ego vehicle, a pedestrian in blue clothes to the front of the ego vehicle, a blue sedan to the back of the ego vehicle, and a white arrow to the front right of the ego vehicle. The IDs of these objects are , , , , and ." } ] }, { "id": "20ec831deb0f44e397497198cbe5a97c_86368a81f46846b78c0068142038b0fc_0", "image": [ "data/nuscenes/samples/CAM_FRONT/n008-2018-08-28-13-40-50-0400__CAM_FRONT__1535478554112404.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-28-13-40-50-0400__CAM_FRONT_LEFT__1535478554104799.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-28-13-40-50-0400__CAM_FRONT_RIGHT__1535478554120482.jpg", "data/nuscenes/samples/CAM_BACK/n008-2018-08-28-13-40-50-0400__CAM_BACK__1535478554137558.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-28-13-40-50-0400__CAM_BACK_LEFT__1535478554147405.jpg", "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-28-13-40-50-0400__CAM_BACK_RIGHT__1535478554128113.jpg" ], "tag": 1, "task": "planning", "conversations": [ { "from": "human", "value": "What actions taken by the ego vehicle can lead to a collision with ?" }, { "from": "gpt", "value": "Slight right turn." } ] }, { "id": "20ec831deb0f44e397497198cbe5a97c_86368a81f46846b78c0068142038b0fc_1", "image": [ "data/nuscenes/samples/CAM_FRONT/n008-2018-08-28-13-40-50-0400__CAM_FRONT__1535478554112404.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-28-13-40-50-0400__CAM_FRONT_LEFT__1535478554104799.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-28-13-40-50-0400__CAM_FRONT_RIGHT__1535478554120482.jpg", "data/nuscenes/samples/CAM_BACK/n008-2018-08-28-13-40-50-0400__CAM_BACK__1535478554137558.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-28-13-40-50-0400__CAM_BACK_LEFT__1535478554147405.jpg", "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-28-13-40-50-0400__CAM_BACK_RIGHT__1535478554128113.jpg" ], "tag": 1, "task": "planning", "conversations": [ { "from": "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": "20ec831deb0f44e397497198cbe5a97c_86368a81f46846b78c0068142038b0fc_0", "image": [ "data/nuscenes/samples/CAM_FRONT/n008-2018-08-28-13-40-50-0400__CAM_FRONT__1535478554112404.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-28-13-40-50-0400__CAM_FRONT_LEFT__1535478554104799.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-28-13-40-50-0400__CAM_FRONT_RIGHT__1535478554120482.jpg", "data/nuscenes/samples/CAM_BACK/n008-2018-08-28-13-40-50-0400__CAM_BACK__1535478554137558.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-28-13-40-50-0400__CAM_BACK_LEFT__1535478554147405.jpg", "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-28-13-40-50-0400__CAM_BACK_RIGHT__1535478554128113.jpg" ], "tag": 0, "task": "behavior", "conversations": [ { "from": "human", "value": "Predict the behavior of the ego vehicle. Please select the correct answer from the following options: A. The ego vehicle is slightly steering to the left. The ego vehicle is driving slowly. B. The ego vehicle is steering to the right. The ego vehicle is driving with normal speed. C. The ego vehicle is steering to the right. The ego vehicle is driving slowly. D. The ego vehicle is slightly steering to the left. The ego vehicle is driving very fast." }, { "from": "gpt", "value": "C" } ] }, { "id": "242ac1b59fec4e0c9c200ffca81775e2_93019bf5dca04bf2af53c526741acae3_0", "image": [ "data/nuscenes/samples/CAM_FRONT/n015-2018-11-14-18-57-54+0800__CAM_FRONT__1542193270412460.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_LEFT__1542193270404844.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_RIGHT__1542193270420339.jpg", "data/nuscenes/samples/CAM_BACK/n015-2018-11-14-18-57-54+0800__CAM_BACK__1542193270437525.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-14-18-57-54+0800__CAM_BACK_LEFT__1542193270447423.jpg", "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_BACK_RIGHT__1542193270427904.jpg" ], "tag": 2, "task": "perception", "conversations": [ { "from": "human", "value": "What are the 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 bus to the front of the ego vehicle, a black business car to the back right of the ego vehicle, a black sedan to the front right of the ego vehicle, and a yellow traffic sign to the front of the ego vehicle. The IDs of these objects are , , , and ." } ] }, { "id": "242ac1b59fec4e0c9c200ffca81775e2_93019bf5dca04bf2af53c526741acae3_0", "image": [ "data/nuscenes/samples/CAM_FRONT/n015-2018-11-14-18-57-54+0800__CAM_FRONT__1542193270412460.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_LEFT__1542193270404844.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_RIGHT__1542193270420339.jpg", "data/nuscenes/samples/CAM_BACK/n015-2018-11-14-18-57-54+0800__CAM_BACK__1542193270437525.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-14-18-57-54+0800__CAM_BACK_LEFT__1542193270447423.jpg", "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_BACK_RIGHT__1542193270427904.jpg" ], "tag": 1, "task": "planning", "conversations": [ { "from": "human", "value": "What actions could the ego vehicle take based on ? Why take this action and what's the probability?" }, { "from": "gpt", "value": "The action is to keep stationary. The reason is that the object has little reference value for the ego vehicle, with a high probability." } ] }, { "id": "242ac1b59fec4e0c9c200ffca81775e2_93019bf5dca04bf2af53c526741acae3_1", "image": [ "data/nuscenes/samples/CAM_FRONT/n015-2018-11-14-18-57-54+0800__CAM_FRONT__1542193270412460.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_LEFT__1542193270404844.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_RIGHT__1542193270420339.jpg", "data/nuscenes/samples/CAM_BACK/n015-2018-11-14-18-57-54+0800__CAM_BACK__1542193270437525.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-14-18-57-54+0800__CAM_BACK_LEFT__1542193270447423.jpg", "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_BACK_RIGHT__1542193270427904.jpg" ], "tag": 1, "task": "planning", "conversations": [ { "from": "human", "value": "What actions taken by the ego vehicle can lead to a collision with ?" }, { "from": "gpt", "value": "No such action will lead to a collision." } ] }, { "id": "242ac1b59fec4e0c9c200ffca81775e2_93019bf5dca04bf2af53c526741acae3_2", "image": [ "data/nuscenes/samples/CAM_FRONT/n015-2018-11-14-18-57-54+0800__CAM_FRONT__1542193270412460.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_LEFT__1542193270404844.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_RIGHT__1542193270420339.jpg", "data/nuscenes/samples/CAM_BACK/n015-2018-11-14-18-57-54+0800__CAM_BACK__1542193270437525.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-11-14-18-57-54+0800__CAM_BACK_LEFT__1542193270447423.jpg", "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_BACK_RIGHT__1542193270427904.jpg" ], "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": "0b8948ee96ac46faad405bf1ffc70bb1_77372488e17a49eb83a91d68b60a14ee_0", "image": [ "data/nuscenes/samples/CAM_FRONT/n008-2018-09-18-13-10-39-0400__CAM_FRONT__1537290790362404.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_LEFT__1537290790354799.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_RIGHT__1537290790370482.jpg", "data/nuscenes/samples/CAM_BACK/n008-2018-09-18-13-10-39-0400__CAM_BACK__1537290790387558.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-13-10-39-0400__CAM_BACK_LEFT__1537290790397405.jpg", "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_BACK_RIGHT__1537290790378113.jpg" ], "tag": 2, "task": "perception", "conversations": [ { "from": "human", "value": "What are the 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 gray 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 , , and ." } ] }, { "id": "0b8948ee96ac46faad405bf1ffc70bb1_77372488e17a49eb83a91d68b60a14ee_0", "image": [ "data/nuscenes/samples/CAM_FRONT/n008-2018-09-18-13-10-39-0400__CAM_FRONT__1537290790362404.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_LEFT__1537290790354799.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_RIGHT__1537290790370482.jpg", "data/nuscenes/samples/CAM_BACK/n008-2018-09-18-13-10-39-0400__CAM_BACK__1537290790387558.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-13-10-39-0400__CAM_BACK_LEFT__1537290790397405.jpg", "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_BACK_RIGHT__1537290790378113.jpg" ], "tag": 1, "task": "planning", "conversations": [ { "from": "human", "value": "What actions taken by the ego vehicle can lead to a collision with ?" }, { "from": "gpt", "value": "Slight left turn." } ] }, { "id": "0b8948ee96ac46faad405bf1ffc70bb1_77372488e17a49eb83a91d68b60a14ee_1", "image": [ "data/nuscenes/samples/CAM_FRONT/n008-2018-09-18-13-10-39-0400__CAM_FRONT__1537290790362404.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_LEFT__1537290790354799.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_RIGHT__1537290790370482.jpg", "data/nuscenes/samples/CAM_BACK/n008-2018-09-18-13-10-39-0400__CAM_BACK__1537290790387558.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-13-10-39-0400__CAM_BACK_LEFT__1537290790397405.jpg", "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_BACK_RIGHT__1537290790378113.jpg" ], "tag": 1, "task": "planning", "conversations": [ { "from": "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": "0b8948ee96ac46faad405bf1ffc70bb1_77372488e17a49eb83a91d68b60a14ee_0", "image": [ "data/nuscenes/samples/CAM_FRONT/n008-2018-09-18-13-10-39-0400__CAM_FRONT__1537290790362404.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_LEFT__1537290790354799.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_RIGHT__1537290790370482.jpg", "data/nuscenes/samples/CAM_BACK/n008-2018-09-18-13-10-39-0400__CAM_BACK__1537290790387558.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-09-18-13-10-39-0400__CAM_BACK_LEFT__1537290790397405.jpg", "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_BACK_RIGHT__1537290790378113.jpg" ], "tag": 0, "task": "behavior", "conversations": [ { "from": "human", "value": "Predict the behavior of the ego vehicle. Please select the correct answer from the following options: A. The ego vehicle is steering to the right. The ego vehicle is driving fast. B. The ego vehicle is slightly steering to the left. The ego vehicle is driving with normal speed. C. The ego vehicle is slightly steering to the right. The ego vehicle is driving fast. D. The ego vehicle is steering to the left. The ego vehicle is driving slowly." }, { "from": "gpt", "value": "C" } ] }, { "id": "d1ece215e0a8442691cb5e380a6fb935_e175cb0716df44e09a4d3c5852a8386e_0", "image": [ "data/nuscenes/samples/CAM_FRONT/n008-2018-08-28-16-16-48-0400__CAM_FRONT__1535487732162404.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_LEFT__1535487732154799.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_RIGHT__1535487732170482.jpg", "data/nuscenes/samples/CAM_BACK/n008-2018-08-28-16-16-48-0400__CAM_BACK__1535487732187558.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-28-16-16-48-0400__CAM_BACK_LEFT__1535487732197405.jpg", "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_BACK_RIGHT__1535487732178113.jpg" ], "tag": 2, "task": "perception", "conversations": [ { "from": "human", "value": "What are the 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 minivan to the back of the ego vehicle, a silver sedan to the front of the ego vehicle, a black and 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 , , , , and ." } ] }, { "id": "d1ece215e0a8442691cb5e380a6fb935_e175cb0716df44e09a4d3c5852a8386e_0", "image": [ "data/nuscenes/samples/CAM_FRONT/n008-2018-08-28-16-16-48-0400__CAM_FRONT__1535487732162404.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_LEFT__1535487732154799.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_RIGHT__1535487732170482.jpg", "data/nuscenes/samples/CAM_BACK/n008-2018-08-28-16-16-48-0400__CAM_BACK__1535487732187558.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-28-16-16-48-0400__CAM_BACK_LEFT__1535487732197405.jpg", "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_BACK_RIGHT__1535487732178113.jpg" ], "tag": 0, "task": "prediction", "conversations": [ { "from": "human", "value": "Is a traffic sign or a road barrier?" }, { "from": "gpt", "value": "No." } ] }, { "id": "d1ece215e0a8442691cb5e380a6fb935_e175cb0716df44e09a4d3c5852a8386e_0", "image": [ "data/nuscenes/samples/CAM_FRONT/n008-2018-08-28-16-16-48-0400__CAM_FRONT__1535487732162404.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_LEFT__1535487732154799.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_RIGHT__1535487732170482.jpg", "data/nuscenes/samples/CAM_BACK/n008-2018-08-28-16-16-48-0400__CAM_BACK__1535487732187558.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-28-16-16-48-0400__CAM_BACK_LEFT__1535487732197405.jpg", "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_BACK_RIGHT__1535487732178113.jpg" ], "tag": 1, "task": "planning", "conversations": [ { "from": "human", "value": "What actions taken by the ego vehicle can lead to a collision with ?" }, { "from": "gpt", "value": "Changing to the right lane." } ] }, { "id": "d1ece215e0a8442691cb5e380a6fb935_e175cb0716df44e09a4d3c5852a8386e_1", "image": [ "data/nuscenes/samples/CAM_FRONT/n008-2018-08-28-16-16-48-0400__CAM_FRONT__1535487732162404.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_LEFT__1535487732154799.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_RIGHT__1535487732170482.jpg", "data/nuscenes/samples/CAM_BACK/n008-2018-08-28-16-16-48-0400__CAM_BACK__1535487732187558.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-28-16-16-48-0400__CAM_BACK_LEFT__1535487732197405.jpg", "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_BACK_RIGHT__1535487732178113.jpg" ], "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": "66be189398d74681a8b8db4b7dd52259_19b73951e0e24e09a2a62562fb94b494_0", "image": [ "data/nuscenes/samples/CAM_FRONT/n008-2018-08-28-16-16-48-0400__CAM_FRONT__1535487684262425.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_LEFT__1535487684254799.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_RIGHT__1535487684270482.jpg", "data/nuscenes/samples/CAM_BACK/n008-2018-08-28-16-16-48-0400__CAM_BACK__1535487684287558.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-28-16-16-48-0400__CAM_BACK_LEFT__1535487684297405.jpg", "data/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 , , , and ." } ] }, { "id": "66be189398d74681a8b8db4b7dd52259_19b73951e0e24e09a2a62562fb94b494_0", "image": [ "data/nuscenes/samples/CAM_FRONT/n008-2018-08-28-16-16-48-0400__CAM_FRONT__1535487684262425.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_LEFT__1535487684254799.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_RIGHT__1535487684270482.jpg", "data/nuscenes/samples/CAM_BACK/n008-2018-08-28-16-16-48-0400__CAM_BACK__1535487684287558.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-28-16-16-48-0400__CAM_BACK_LEFT__1535487684297405.jpg", "data/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 ? 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_1", "image": [ "data/nuscenes/samples/CAM_FRONT/n008-2018-08-28-16-16-48-0400__CAM_FRONT__1535487684262425.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_LEFT__1535487684254799.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_RIGHT__1535487684270482.jpg", "data/nuscenes/samples/CAM_BACK/n008-2018-08-28-16-16-48-0400__CAM_BACK__1535487684287558.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-28-16-16-48-0400__CAM_BACK_LEFT__1535487684297405.jpg", "data/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 ?" }, { "from": "gpt", "value": "Slight left turn." } ] }, { "id": "66be189398d74681a8b8db4b7dd52259_19b73951e0e24e09a2a62562fb94b494_2", "image": [ "data/nuscenes/samples/CAM_FRONT/n008-2018-08-28-16-16-48-0400__CAM_FRONT__1535487684262425.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_LEFT__1535487684254799.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_RIGHT__1535487684270482.jpg", "data/nuscenes/samples/CAM_BACK/n008-2018-08-28-16-16-48-0400__CAM_BACK__1535487684287558.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-28-16-16-48-0400__CAM_BACK_LEFT__1535487684297405.jpg", "data/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": "c24317a5c0cb4f5c9fd31740eb1152f2_b96247bf95f3404c805bde586478e510_0", "image": [ "data/nuscenes/samples/CAM_FRONT/n015-2018-08-02-17-28-51+0800__CAM_FRONT__1533202359512460.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-02-17-28-51+0800__CAM_FRONT_LEFT__1533202359504844.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-02-17-28-51+0800__CAM_FRONT_RIGHT__1533202359520339.jpg", "data/nuscenes/samples/CAM_BACK/n015-2018-08-02-17-28-51+0800__CAM_BACK__1533202359537525.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-02-17-28-51+0800__CAM_BACK_LEFT__1533202359547423.jpg", "data/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 , , , and ." } ] }, { "id": "c24317a5c0cb4f5c9fd31740eb1152f2_b96247bf95f3404c805bde586478e510_0", "image": [ "data/nuscenes/samples/CAM_FRONT/n015-2018-08-02-17-28-51+0800__CAM_FRONT__1533202359512460.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-02-17-28-51+0800__CAM_FRONT_LEFT__1533202359504844.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-02-17-28-51+0800__CAM_FRONT_RIGHT__1533202359520339.jpg", "data/nuscenes/samples/CAM_BACK/n015-2018-08-02-17-28-51+0800__CAM_BACK__1533202359537525.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-02-17-28-51+0800__CAM_BACK_LEFT__1533202359547423.jpg", "data/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 ? 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_1", "image": [ "data/nuscenes/samples/CAM_FRONT/n015-2018-08-02-17-28-51+0800__CAM_FRONT__1533202359512460.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-02-17-28-51+0800__CAM_FRONT_LEFT__1533202359504844.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-02-17-28-51+0800__CAM_FRONT_RIGHT__1533202359520339.jpg", "data/nuscenes/samples/CAM_BACK/n015-2018-08-02-17-28-51+0800__CAM_BACK__1533202359537525.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-02-17-28-51+0800__CAM_BACK_LEFT__1533202359547423.jpg", "data/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 ?" }, { "from": "gpt", "value": "Accelerate and go straight." } ] }, { "id": "c24317a5c0cb4f5c9fd31740eb1152f2_b96247bf95f3404c805bde586478e510_2", "image": [ "data/nuscenes/samples/CAM_FRONT/n015-2018-08-02-17-28-51+0800__CAM_FRONT__1533202359512460.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-02-17-28-51+0800__CAM_FRONT_LEFT__1533202359504844.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-02-17-28-51+0800__CAM_FRONT_RIGHT__1533202359520339.jpg", "data/nuscenes/samples/CAM_BACK/n015-2018-08-02-17-28-51+0800__CAM_BACK__1533202359537525.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-02-17-28-51+0800__CAM_BACK_LEFT__1533202359547423.jpg", "data/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": "f8ef029224b84d14843db98a76a7f4a1_1048efe5f4184c7b9219c1700127e215_0", "image": [ "data/nuscenes/samples/CAM_FRONT/n015-2018-10-08-15-52-24+0800__CAM_FRONT__1538985533662460.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_LEFT__1538985533654844.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_RIGHT__1538985533670339.jpg", "data/nuscenes/samples/CAM_BACK/n015-2018-10-08-15-52-24+0800__CAM_BACK__1538985533687525.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-10-08-15-52-24+0800__CAM_BACK_LEFT__1538985533697423.jpg", "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_BACK_RIGHT__1538985533677893.jpg" ], "tag": 2, "task": "perception", "conversations": [ { "from": "human", "value": "What are the 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 straight arrow to the front right of the ego vehicle, and a white billboard to the front left of the ego vehicle. The IDs of these objects are , , and ." } ] }, { "id": "f8ef029224b84d14843db98a76a7f4a1_1048efe5f4184c7b9219c1700127e215_0", "image": [ "data/nuscenes/samples/CAM_FRONT/n015-2018-10-08-15-52-24+0800__CAM_FRONT__1538985533662460.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_LEFT__1538985533654844.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_RIGHT__1538985533670339.jpg", "data/nuscenes/samples/CAM_BACK/n015-2018-10-08-15-52-24+0800__CAM_BACK__1538985533687525.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-10-08-15-52-24+0800__CAM_BACK_LEFT__1538985533697423.jpg", "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_BACK_RIGHT__1538985533677893.jpg" ], "tag": 0, "task": "prediction", "conversations": [ { "from": "human", "value": "Is a traffic sign or a road barrier?" }, { "from": "gpt", "value": "No." } ] }, { "id": "f8ef029224b84d14843db98a76a7f4a1_1048efe5f4184c7b9219c1700127e215_0", "image": [ "data/nuscenes/samples/CAM_FRONT/n015-2018-10-08-15-52-24+0800__CAM_FRONT__1538985533662460.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_LEFT__1538985533654844.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_RIGHT__1538985533670339.jpg", "data/nuscenes/samples/CAM_BACK/n015-2018-10-08-15-52-24+0800__CAM_BACK__1538985533687525.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-10-08-15-52-24+0800__CAM_BACK_LEFT__1538985533697423.jpg", "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_BACK_RIGHT__1538985533677893.jpg" ], "tag": 1, "task": "planning", "conversations": [ { "from": "human", "value": "What actions taken by the ego vehicle can lead to a collision with ?" }, { "from": "gpt", "value": "Back up." } ] }, { "id": "f8ef029224b84d14843db98a76a7f4a1_1048efe5f4184c7b9219c1700127e215_1", "image": [ "data/nuscenes/samples/CAM_FRONT/n015-2018-10-08-15-52-24+0800__CAM_FRONT__1538985533662460.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_LEFT__1538985533654844.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_RIGHT__1538985533670339.jpg", "data/nuscenes/samples/CAM_BACK/n015-2018-10-08-15-52-24+0800__CAM_BACK__1538985533687525.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-10-08-15-52-24+0800__CAM_BACK_LEFT__1538985533697423.jpg", "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_BACK_RIGHT__1538985533677893.jpg" ], "tag": 1, "task": "planning", "conversations": [ { "from": "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": "d0de3bf834b747179080898725b0f21d_0f16dc3e60ee472993df7871ef6d4a43_0", "image": [ "data/nuscenes/samples/CAM_FRONT/n015-2018-08-03-15-31-50+0800__CAM_FRONT__1533281736262460.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-03-15-31-50+0800__CAM_FRONT_LEFT__1533281736254844.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-03-15-31-50+0800__CAM_FRONT_RIGHT__1533281736270339.jpg", "data/nuscenes/samples/CAM_BACK/n015-2018-08-03-15-31-50+0800__CAM_BACK__1533281736287525.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-03-15-31-50+0800__CAM_BACK_LEFT__1533281736297423.jpg", "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-03-15-31-50+0800__CAM_BACK_RIGHT__1533281736277893.jpg" ], "tag": 2, "task": "perception", "conversations": [ { "from": "human", "value": "What are the important 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 pedestrian in blue clothes to the front of the ego vehicle, a blue and white car to the back of the ego vehicle, and a person riding a motorcycle to the back of the ego vehicle. The IDs of these objects are , , , and ." } ] }, { "id": "d0de3bf834b747179080898725b0f21d_0f16dc3e60ee472993df7871ef6d4a43_0", "image": [ "data/nuscenes/samples/CAM_FRONT/n015-2018-08-03-15-31-50+0800__CAM_FRONT__1533281736262460.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-03-15-31-50+0800__CAM_FRONT_LEFT__1533281736254844.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-03-15-31-50+0800__CAM_FRONT_RIGHT__1533281736270339.jpg", "data/nuscenes/samples/CAM_BACK/n015-2018-08-03-15-31-50+0800__CAM_BACK__1533281736287525.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-03-15-31-50+0800__CAM_BACK_LEFT__1533281736297423.jpg", "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-03-15-31-50+0800__CAM_BACK_RIGHT__1533281736277893.jpg" ], "tag": 1, "task": "planning", "conversations": [ { "from": "human", "value": "What actions could the ego vehicle take based on ? Why take this action and what's the probability?" }, { "from": "gpt", "value": "The action is to turn left. The reason is that there is no safety issue, and the probability is high." } ] }, { "id": "d0de3bf834b747179080898725b0f21d_0f16dc3e60ee472993df7871ef6d4a43_1", "image": [ "data/nuscenes/samples/CAM_FRONT/n015-2018-08-03-15-31-50+0800__CAM_FRONT__1533281736262460.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-03-15-31-50+0800__CAM_FRONT_LEFT__1533281736254844.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-03-15-31-50+0800__CAM_FRONT_RIGHT__1533281736270339.jpg", "data/nuscenes/samples/CAM_BACK/n015-2018-08-03-15-31-50+0800__CAM_BACK__1533281736287525.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-03-15-31-50+0800__CAM_BACK_LEFT__1533281736297423.jpg", "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-03-15-31-50+0800__CAM_BACK_RIGHT__1533281736277893.jpg" ], "tag": 1, "task": "planning", "conversations": [ { "from": "human", "value": "What actions taken by the ego vehicle can lead to a collision with ?" }, { "from": "gpt", "value": "No such action will lead to a collision." } ] }, { "id": "d0de3bf834b747179080898725b0f21d_0f16dc3e60ee472993df7871ef6d4a43_2", "image": [ "data/nuscenes/samples/CAM_FRONT/n015-2018-08-03-15-31-50+0800__CAM_FRONT__1533281736262460.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-08-03-15-31-50+0800__CAM_FRONT_LEFT__1533281736254844.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-08-03-15-31-50+0800__CAM_FRONT_RIGHT__1533281736270339.jpg", "data/nuscenes/samples/CAM_BACK/n015-2018-08-03-15-31-50+0800__CAM_BACK__1533281736287525.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-08-03-15-31-50+0800__CAM_BACK_LEFT__1533281736297423.jpg", "data/nuscenes/samples/CAM_BACK_RIGHT/n015-2018-08-03-15-31-50+0800__CAM_BACK_RIGHT__1533281736277893.jpg" ], "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": "c34206e65a1442828b950b0ca52098b7_1c0e3c1212a04598869a1258fa30e30d_0", "image": [ "data/nuscenes/samples/CAM_FRONT/n015-2018-09-27-15-33-17+0800__CAM_FRONT__1538033805912460.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_LEFT__1538033805904844.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_RIGHT__1538033805920339.jpg", "data/nuscenes/samples/CAM_BACK/n015-2018-09-27-15-33-17+0800__CAM_BACK__1538033805937525.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-27-15-33-17+0800__CAM_BACK_LEFT__1538033805947423.jpg", "data/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 , , and ." } ] }, { "id": "c34206e65a1442828b950b0ca52098b7_1c0e3c1212a04598869a1258fa30e30d_1", "image": [ "data/nuscenes/samples/CAM_FRONT/n015-2018-09-27-15-33-17+0800__CAM_FRONT__1538033805912460.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_LEFT__1538033805904844.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_RIGHT__1538033805920339.jpg", "data/nuscenes/samples/CAM_BACK/n015-2018-09-27-15-33-17+0800__CAM_BACK__1538033805937525.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-27-15-33-17+0800__CAM_BACK_LEFT__1538033805947423.jpg", "data/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 ? Please select the correct answer from the following options: A. Turn right. B. Turn left. C. Drive backward. D. Back up." }, { "from": "gpt", "value": "B" } ] }, { "id": "c34206e65a1442828b950b0ca52098b7_1c0e3c1212a04598869a1258fa30e30d_0", "image": [ "data/nuscenes/samples/CAM_FRONT/n015-2018-09-27-15-33-17+0800__CAM_FRONT__1538033805912460.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_LEFT__1538033805904844.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_RIGHT__1538033805920339.jpg", "data/nuscenes/samples/CAM_BACK/n015-2018-09-27-15-33-17+0800__CAM_BACK__1538033805937525.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-27-15-33-17+0800__CAM_BACK_LEFT__1538033805947423.jpg", "data/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 ? 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_1", "image": [ "data/nuscenes/samples/CAM_FRONT/n015-2018-09-27-15-33-17+0800__CAM_FRONT__1538033805912460.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_LEFT__1538033805904844.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_RIGHT__1538033805920339.jpg", "data/nuscenes/samples/CAM_BACK/n015-2018-09-27-15-33-17+0800__CAM_BACK__1538033805937525.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-09-27-15-33-17+0800__CAM_BACK_LEFT__1538033805947423.jpg", "data/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 ?" }, { "from": "gpt", "value": "Moderate right turn." } ] }, { "id": "bb73edb93a0a46c4be997c576e9beb61_063e9501cfd046d5a4902dad5b17f8f5_0", "image": [ "data/nuscenes/samples/CAM_FRONT/n015-2018-07-18-11-50-34+0800__CAM_FRONT__1531886394662460.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_LEFT__1531886394654844.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_RIGHT__1531886394670339.jpg", "data/nuscenes/samples/CAM_BACK/n015-2018-07-18-11-50-34+0800__CAM_BACK__1531886394687525.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-18-11-50-34+0800__CAM_BACK_LEFT__1531886394697423.jpg", "data/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 , , and ." } ] }, { "id": "bb73edb93a0a46c4be997c576e9beb61_063e9501cfd046d5a4902dad5b17f8f5_0", "image": [ "data/nuscenes/samples/CAM_FRONT/n015-2018-07-18-11-50-34+0800__CAM_FRONT__1531886394662460.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_LEFT__1531886394654844.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_RIGHT__1531886394670339.jpg", "data/nuscenes/samples/CAM_BACK/n015-2018-07-18-11-50-34+0800__CAM_BACK__1531886394687525.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-18-11-50-34+0800__CAM_BACK_LEFT__1531886394697423.jpg", "data/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 ? 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_1", "image": [ "data/nuscenes/samples/CAM_FRONT/n015-2018-07-18-11-50-34+0800__CAM_FRONT__1531886394662460.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_LEFT__1531886394654844.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_RIGHT__1531886394670339.jpg", "data/nuscenes/samples/CAM_BACK/n015-2018-07-18-11-50-34+0800__CAM_BACK__1531886394687525.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-18-11-50-34+0800__CAM_BACK_LEFT__1531886394697423.jpg", "data/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_0", "image": [ "data/nuscenes/samples/CAM_FRONT/n015-2018-07-18-11-50-34+0800__CAM_FRONT__1531886394662460.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_LEFT__1531886394654844.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_RIGHT__1531886394670339.jpg", "data/nuscenes/samples/CAM_BACK/n015-2018-07-18-11-50-34+0800__CAM_BACK__1531886394687525.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n015-2018-07-18-11-50-34+0800__CAM_BACK_LEFT__1531886394697423.jpg", "data/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. Please select the correct answer from the following options: A. The ego vehicle is slightly steering to the right. The ego vehicle is driving with normal speed. B. The ego vehicle is steering to the right. The ego vehicle is driving fast. C. The ego vehicle is slightly steering to the left. The ego vehicle is driving with normal speed. D. The ego vehicle is steering to the left. The ego vehicle is driving very fast." }, { "from": "gpt", "value": "A" } ] }, { "id": "788c5502523f4d01b3a8de47ec3dadfb_70ca5252710443a18908a734d033b49b_0", "image": [ "data/nuscenes/samples/CAM_FRONT/n008-2018-08-30-15-52-26-0400__CAM_FRONT__1535659388012404.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_LEFT__1535659388004799.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_RIGHT__1535659388020514.jpg", "data/nuscenes/samples/CAM_BACK/n008-2018-08-30-15-52-26-0400__CAM_BACK__1535659388037558.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-30-15-52-26-0400__CAM_BACK_LEFT__1535659388047405.jpg", "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_BACK_RIGHT__1535659388028113.jpg" ], "tag": 2, "task": "perception", "conversations": [ { "from": "human", "value": "What are the important objects in the current scene? Those objects will be considered for the future reasoning and driving decision." }, { "from": "gpt", "value": "There is a gray roadblock to the front of the ego vehicle, a black sedan to the back of the ego vehicle, and a gray SUV to the front of the ego vehicle. The IDs of these objects are , , and ." } ] }, { "id": "788c5502523f4d01b3a8de47ec3dadfb_70ca5252710443a18908a734d033b49b_0", "image": [ "data/nuscenes/samples/CAM_FRONT/n008-2018-08-30-15-52-26-0400__CAM_FRONT__1535659388012404.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_LEFT__1535659388004799.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_RIGHT__1535659388020514.jpg", "data/nuscenes/samples/CAM_BACK/n008-2018-08-30-15-52-26-0400__CAM_BACK__1535659388037558.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-30-15-52-26-0400__CAM_BACK_LEFT__1535659388047405.jpg", "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_BACK_RIGHT__1535659388028113.jpg" ], "tag": 0, "task": "prediction", "conversations": [ { "from": "human", "value": "Is a traffic sign or a road barrier?" }, { "from": "gpt", "value": "Yes." } ] }, { "id": "788c5502523f4d01b3a8de47ec3dadfb_70ca5252710443a18908a734d033b49b_0", "image": [ "data/nuscenes/samples/CAM_FRONT/n008-2018-08-30-15-52-26-0400__CAM_FRONT__1535659388012404.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_LEFT__1535659388004799.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_RIGHT__1535659388020514.jpg", "data/nuscenes/samples/CAM_BACK/n008-2018-08-30-15-52-26-0400__CAM_BACK__1535659388037558.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-30-15-52-26-0400__CAM_BACK_LEFT__1535659388047405.jpg", "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_BACK_RIGHT__1535659388028113.jpg" ], "tag": 1, "task": "planning", "conversations": [ { "from": "human", "value": "What actions taken by the ego vehicle can lead to a collision with ?" }, { "from": "gpt", "value": "Back up." } ] }, { "id": "788c5502523f4d01b3a8de47ec3dadfb_70ca5252710443a18908a734d033b49b_1", "image": [ "data/nuscenes/samples/CAM_FRONT/n008-2018-08-30-15-52-26-0400__CAM_FRONT__1535659388012404.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_LEFT__1535659388004799.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_RIGHT__1535659388020514.jpg", "data/nuscenes/samples/CAM_BACK/n008-2018-08-30-15-52-26-0400__CAM_BACK__1535659388037558.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-30-15-52-26-0400__CAM_BACK_LEFT__1535659388047405.jpg", "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_BACK_RIGHT__1535659388028113.jpg" ], "tag": 1, "task": "planning", "conversations": [ { "from": "human", "value": "In this scenario, what are safe actions to take for the ego vehicle?" }, { "from": "gpt", "value": "Keep going at the same speed, slightly offset to the left, and slightly offset to the right." } ] }, { "id": "788c5502523f4d01b3a8de47ec3dadfb_70ca5252710443a18908a734d033b49b_0", "image": [ "data/nuscenes/samples/CAM_FRONT/n008-2018-08-30-15-52-26-0400__CAM_FRONT__1535659388012404.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_LEFT__1535659388004799.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_RIGHT__1535659388020514.jpg", "data/nuscenes/samples/CAM_BACK/n008-2018-08-30-15-52-26-0400__CAM_BACK__1535659388037558.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-08-30-15-52-26-0400__CAM_BACK_LEFT__1535659388047405.jpg", "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_BACK_RIGHT__1535659388028113.jpg" ], "tag": 0, "task": "behavior", "conversations": [ { "from": "human", "value": "Predict the behavior of the ego vehicle. Please select the correct answer from the following options: A. The ego vehicle is going straight. The ego vehicle is driving with normal speed. B. The ego vehicle is steering to the right. The ego vehicle is driving fast. C. The ego vehicle is going straight. The ego vehicle is driving fast. D. The ego vehicle is slightly steering to the right. The ego vehicle is driving very fast." }, { "from": "gpt", "value": "D" } ] }, { "id": "7599adab7f3944dc8ac1c88b4f3bb082_b005b93130294a2ca679f3270f114c17_0", "image": [ "data/nuscenes/samples/CAM_FRONT/n008-2018-07-27-12-07-38-0400__CAM_FRONT__1532708325412404.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_LEFT__1532708325404799.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_RIGHT__1532708325420482.jpg", "data/nuscenes/samples/CAM_BACK/n008-2018-07-27-12-07-38-0400__CAM_BACK__1532708325437558.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-07-27-12-07-38-0400__CAM_BACK_LEFT__1532708325447405.jpg", "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_BACK_RIGHT__1532708325428113.jpg" ], "tag": 2, "task": "perception", "conversations": [ { "from": "human", "value": "What are the 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 SUV to the front of the ego vehicle, a white truck to the front of the ego vehicle, a black SUV 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 , , , , , and ." } ] }, { "id": "7599adab7f3944dc8ac1c88b4f3bb082_b005b93130294a2ca679f3270f114c17_1", "image": [ "data/nuscenes/samples/CAM_FRONT/n008-2018-07-27-12-07-38-0400__CAM_FRONT__1532708325412404.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_LEFT__1532708325404799.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_RIGHT__1532708325420482.jpg", "data/nuscenes/samples/CAM_BACK/n008-2018-07-27-12-07-38-0400__CAM_BACK__1532708325437558.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-07-27-12-07-38-0400__CAM_BACK_LEFT__1532708325447405.jpg", "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_BACK_RIGHT__1532708325428113.jpg" ], "tag": 0, "task": "perception", "conversations": [ { "from": "human", "value": "What is the moving status of object ? Please select the correct answer from the following options: A. Back up. B. Stopped. C. Turn left. D. Reverse parking." }, { "from": "gpt", "value": "C" } ] }, { "id": "7599adab7f3944dc8ac1c88b4f3bb082_b005b93130294a2ca679f3270f114c17_0", "image": [ "data/nuscenes/samples/CAM_FRONT/n008-2018-07-27-12-07-38-0400__CAM_FRONT__1532708325412404.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_LEFT__1532708325404799.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_RIGHT__1532708325420482.jpg", "data/nuscenes/samples/CAM_BACK/n008-2018-07-27-12-07-38-0400__CAM_BACK__1532708325437558.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-07-27-12-07-38-0400__CAM_BACK_LEFT__1532708325447405.jpg", "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_BACK_RIGHT__1532708325428113.jpg" ], "tag": 1, "task": "planning", "conversations": [ { "from": "human", "value": "What actions taken by the ego vehicle can lead to a collision with ?" }, { "from": "gpt", "value": "Back up." } ] }, { "id": "7599adab7f3944dc8ac1c88b4f3bb082_b005b93130294a2ca679f3270f114c17_1", "image": [ "data/nuscenes/samples/CAM_FRONT/n008-2018-07-27-12-07-38-0400__CAM_FRONT__1532708325412404.jpg", "data/nuscenes/samples/CAM_FRONT_LEFT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_LEFT__1532708325404799.jpg", "data/nuscenes/samples/CAM_FRONT_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_RIGHT__1532708325420482.jpg", "data/nuscenes/samples/CAM_BACK/n008-2018-07-27-12-07-38-0400__CAM_BACK__1532708325437558.jpg", "data/nuscenes/samples/CAM_BACK_LEFT/n008-2018-07-27-12-07-38-0400__CAM_BACK_LEFT__1532708325447405.jpg", "data/nuscenes/samples/CAM_BACK_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_BACK_RIGHT__1532708325428113.jpg" ], "tag": 1, "task": "planning", "conversations": [ { "from": "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." } ] } ]