{"id": "afd7afd2fd7fe02b65210917a8b65da5-199", "scenario_id": "afd7afd2fd7fe02b65210917a8b65da5", "split": "train", "batch_index": 1, "source_manifest_line": 1, "intent": "GO_STRAIGHT", "anchor_frame": 199, "motion": {"current_speed_mps": 8.081, "future_xy_m": [[2.0390625, 0.00732421875], [4.11328125, 0.01806640625], [6.193359375, 0.03662109375], [8.30078125, 0.05859375], [10.42578125, 0.08984375], [12.58203125, 0.12646484375], [14.775390625, 0.1708984375], [17.005859375, 0.220703125], [19.27734375, 0.27978515625], [21.5703125, 0.34716796875], [23.8828125, 0.42138671875], [26.197265625, 0.5009765625], [28.513671875, 0.58544921875], [30.818359375, 0.67431640625], [33.1171875, 0.76123046875], [35.41015625, 0.8447265625], [37.701171875, 0.92333984375], [39.9921875, 0.9970703125], [42.2734375, 1.06396484375], [44.548828125, 1.1240234375]], "future_hz": 4, "speed_windows": [{"t_s": 0.5, "speed_mps": 8.301}, {"t_s": 1.5, "speed_mps": 8.707}, {"t_s": 2.5, "speed_mps": 9.196}, {"t_s": 3.5, "speed_mps": 9.219}, {"t_s": 4.5, "speed_mps": 9.143}], "minimum_1s_acceleration_mps2": -0.076, "maximum_speed_drop_mps": 0.0, "recorded_response": "roughly_maintain_speed", "method": "4 Hz trajectory path length; 1 s mean speeds; differences of adjacent 1 s means. Recorded response is descriptive, not a causal label."}, "frames": [{"t_s": 0.0, "source_frame": 199, "images": {"front_left": "images/afd7afd2fd7fe02b65210917a8b65da5-199/+000_front_left.webp", "front": "images/afd7afd2fd7fe02b65210917a8b65da5-199/+000_front.webp", "front_right": "images/afd7afd2fd7fe02b65210917a8b65da5-199/+000_front_right.webp", "side_left": "images/afd7afd2fd7fe02b65210917a8b65da5-199/+000_side_left.webp", "side_right": "images/afd7afd2fd7fe02b65210917a8b65da5-199/+000_side_right.webp", "rear_left": "images/afd7afd2fd7fe02b65210917a8b65da5-199/+000_rear_left.webp", "rear": "images/afd7afd2fd7fe02b65210917a8b65da5-199/+000_rear.webp", "rear_right": "images/afd7afd2fd7fe02b65210917a8b65da5-199/+000_rear_right.webp"}}], "camera_count": 8, "available_source_times_s": [-2.0, -1.0, 0.0, 1.0, 2.0], "camera_scope": "current_only", "label": {"title": "Routine Oncoming Pass Beyond Intersection", "category": "routine", "tags": ["oncoming vehicle", "shared bicycle marking", "roadside construction"], "current_situation": "Ego is proceeding straight at 8.081 m/s beyond a marked intersection on a two-way street. An oncoming car approaches across the double-yellow centerline without visible encroachment into ego's lane. A green bicycle symbol marks ego's lane, but no cyclist is visible. Construction scaffolding and fencing border the intersection behind ego without blocking the current path. Parked SUVs and a small apparent person beside them occupy the right-side parking area, separated from the roadway by a low wall and sidewalk. Streetlights are illuminated beneath a cloudy sky; nearby lane boundaries and actors remain distinguishable.", "baseline_decision": "Continue straight in the current lane at a controlled speed, respecting any upcoming controls and maintaining separation from opposing traffic.", "decision_changing_cue": "No material decision-changing cue is visible. The approaching car remains in its opposing lane, and the construction and parking-area activity do not visibly intrude into ego's path.", "causal_mechanism": "The visible actors and roadside structures leave ego's lane unobstructed. Their presence warrants ordinary monitoring rather than a distinct longitudinal or lateral response over the next 0–5 seconds.", "expected_action": "maintain_speed", "decision_deviation": false, "annotation": "Ego has passed a marked intersection on a straight two-way street, with an approaching car remaining across the double-yellow centerline and construction scaffolding confined to the roadside behind. Continue straight at a controlled speed in the current lane while monitoring opposing traffic; no visible conflict requires braking or a lateral maneuver.", "interest_score": 18, "confidence": 0.91, "selection_reason": "Reject as a long-tail candidate: the oncoming pass, bicycle pavement marking, and contained roadside construction do not establish an unusual interaction or materially change the straight-ahead plan.", "camera_evidence": [{"camera": "front", "t_s": -2, "detail": "A striped crossing lies ahead; an oncoming vehicle is visible on the opposite side of the double-yellow centerline."}, {"camera": "front", "t_s": -1, "detail": "The crossing reaches the bottom of the view as ego progresses forward; the oncoming car remains in the opposing lane."}, {"camera": "front", "t_s": 0, "detail": "The oncoming car appears larger but remains across the centerline. Ego's lane has a green bicycle symbol and no visible immediate obstruction."}, {"camera": "front_left", "t_s": 0, "detail": "A low building, grass verge, and sidewalk border the opposite side of the street; a small orange-and-white object is outside the travel lane near the curb."}, {"camera": "front_right", "t_s": 0, "detail": "Several white SUVs and a small apparent person beside them are in a parking area behind a low wall, separate from ego's roadway."}, {"camera": "side_left", "t_s": 0, "detail": "The side street has parked cars and curbside bicycle markings; no actor is visibly entering the intersection."}, {"camera": "side_right", "t_s": 0, "detail": "The right-side sidewalk, grass verge, palms, and side-street roadway show no visible actor crossing toward ego's lane."}, {"camera": "rear_left", "t_s": 0, "detail": "Scaffolding lines the building beside the intersection; striped crossing markings remain behind ego."}, {"camera": "rear", "t_s": 0, "detail": "The intersection crossing recedes behind ego, with construction fencing and roadside markers along the street edge."}, {"camera": "rear_right", "t_s": 0, "detail": "The intersection corner, striped crossing, sign backs, and construction scaffolding are visible without a moving actor entering the crossing."}], "uncertainties": ["The small parking-area figure's identity and motion are not reliably resolved.", "Distant traffic controls are not legible enough to determine their states.", "The observations do not establish future behavior of the oncoming car or any recorded ego response after t=0."]}, "discovery_label": {"title": "Routine Oncoming Pass Beyond Intersection", "category": "routine", "tags": ["oncoming vehicle", "shared bicycle marking", "roadside construction"], "current_situation": "Ego is proceeding straight at 8.081 m/s beyond a marked intersection on a two-way street. An oncoming car approaches across the double-yellow centerline without visible encroachment into ego's lane. A green bicycle symbol marks ego's lane, but no cyclist is visible. Construction scaffolding and fencing border the intersection behind ego without blocking the current path. Parked SUVs and a small apparent person beside them occupy the right-side parking area, separated from the roadway by a low wall and sidewalk. Streetlights are illuminated beneath a cloudy sky; nearby lane boundaries and actors remain distinguishable.", "baseline_decision": "Continue straight in the current lane at a controlled speed, respecting any upcoming controls and maintaining separation from opposing traffic.", "decision_changing_cue": "No material decision-changing cue is visible. The approaching car remains in its opposing lane, and the construction and parking-area activity do not visibly intrude into ego's path.", "causal_mechanism": "The visible actors and roadside structures leave ego's lane unobstructed. Their presence warrants ordinary monitoring rather than a distinct longitudinal or lateral response over the next 0–5 seconds.", "expected_action": "maintain_speed", "decision_deviation": false, "annotation": "Ego has passed a marked intersection on a straight two-way street, with an approaching car remaining across the double-yellow centerline and construction scaffolding confined to the roadside behind. Continue straight at a controlled speed in the current lane while monitoring opposing traffic; no visible conflict requires braking or a lateral maneuver.", "interest_score": 18, "confidence": 0.91, "selection_reason": "Reject as a long-tail candidate: the oncoming pass, bicycle pavement marking, and contained roadside construction do not establish an unusual interaction or materially change the straight-ahead plan.", "camera_evidence": [{"camera": "front", "t_s": -2, "detail": "A striped crossing lies ahead; an oncoming vehicle is visible on the opposite side of the double-yellow centerline."}, {"camera": "front", "t_s": -1, "detail": "The crossing reaches the bottom of the view as ego progresses forward; the oncoming car remains in the opposing lane."}, {"camera": "front", "t_s": 0, "detail": "The oncoming car appears larger but remains across the centerline. Ego's lane has a green bicycle symbol and no visible immediate obstruction."}, {"camera": "front_left", "t_s": 0, "detail": "A low building, grass verge, and sidewalk border the opposite side of the street; a small orange-and-white object is outside the travel lane near the curb."}, {"camera": "front_right", "t_s": 0, "detail": "Several white SUVs and a small apparent person beside them are in a parking area behind a low wall, separate from ego's roadway."}, {"camera": "side_left", "t_s": 0, "detail": "The side street has parked cars and curbside bicycle markings; no actor is visibly entering the intersection."}, {"camera": "side_right", "t_s": 0, "detail": "The right-side sidewalk, grass verge, palms, and side-street roadway show no visible actor crossing toward ego's lane."}, {"camera": "rear_left", "t_s": 0, "detail": "Scaffolding lines the building beside the intersection; striped crossing markings remain behind ego."}, {"camera": "rear", "t_s": 0, "detail": "The intersection crossing recedes behind ego, with construction fencing and roadside markers along the street edge."}, {"camera": "rear_right", "t_s": 0, "detail": "The intersection corner, striped crossing, sign backs, and construction scaffolding are visible without a moving actor entering the crossing."}], "uncertainties": ["The small parking-area figure's identity and motion are not reliably resolved.", "Distant traffic controls are not legible enough to determine their states.", "The observations do not establish future behavior of the oncoming car or any recorded ego response after t=0."], "_binding_sha256": "34316456cf75a59738cb1b7c15e5b7c04bd5fd4797d0c7f5d87f10f007e750d6", "_request": "requests/afd7afd2fd7fe02b65210917a8b65da5-199/discovery-001"}, "review": null, "status": "dismissed", "annotation": "Ego has passed a marked intersection on a straight two-way street, with an approaching car remaining across the double-yellow centerline and construction scaffolding confined to the roadside behind. Continue straight at a controlled speed in the current lane while monitoring opposing traffic; no visible conflict requires braking or a lateral maneuver.", "selected": false}
{"id": "5c8ab80f51104fe6c49f6ed9801ecbc9-170", "scenario_id": "5c8ab80f51104fe6c49f6ed9801ecbc9", "split": "train", "batch_index": 2, "source_manifest_line": 2, "intent": "GO_STRAIGHT", "anchor_frame": 170, "motion": {"current_speed_mps": 7.428, "future_xy_m": [[1.8330078125, -0.0048828125], [3.615478515625, -0.0118408203125], [5.352294921875, -0.021240234375], [7.040771484375, -0.0335693359375], [8.678955078125, -0.0467529296875], [10.26904296875, -0.0589599609375], [11.815185546875, -0.0709228515625], [13.321044921875, -0.083984375], [14.784423828125, -0.0963134765625], [16.218994140625, -0.108154296875], [17.622314453125, -0.1204833984375], [19.010009765625, -0.1334228515625], [20.37939453125, -0.146728515625], [21.725830078125, -0.1627197265625], [23.044677734375, -0.1761474609375], [24.32763671875, -0.19677734375], [25.581787109375, -0.2177734375], [26.798828125, -0.2518310546875], [27.98974609375, -0.28857421875], [29.151611328125, -0.3380126953125]], "future_hz": 4, "speed_windows": [{"t_s": 0.5, "speed_mps": 7.041}, {"t_s": 1.5, "speed_mps": 6.28}, {"t_s": 2.5, "speed_mps": 5.689}, {"t_s": 3.5, "speed_mps": 5.318}, {"t_s": 4.5, "speed_mps": 4.826}], "minimum_1s_acceleration_mps2": -0.76, "maximum_speed_drop_mps": 2.602, "recorded_response": "slow_down", "method": "4 Hz trajectory path length; 1 s mean speeds; differences of adjacent 1 s means. Recorded response is descriptive, not a causal label."}, "frames": [{"t_s": 0.0, "source_frame": 170, "images": {"front_left": "images/5c8ab80f51104fe6c49f6ed9801ecbc9-170/+000_front_left.webp", "front": "images/5c8ab80f51104fe6c49f6ed9801ecbc9-170/+000_front.webp", "front_right": "images/5c8ab80f51104fe6c49f6ed9801ecbc9-170/+000_front_right.webp", "side_left": "images/5c8ab80f51104fe6c49f6ed9801ecbc9-170/+000_side_left.webp", "side_right": "images/5c8ab80f51104fe6c49f6ed9801ecbc9-170/+000_side_right.webp", "rear_left": "images/5c8ab80f51104fe6c49f6ed9801ecbc9-170/+000_rear_left.webp", "rear": "images/5c8ab80f51104fe6c49f6ed9801ecbc9-170/+000_rear.webp", "rear_right": "images/5c8ab80f51104fe6c49f6ed9801ecbc9-170/+000_rear_right.webp"}}], "camera_count": 8, "available_source_times_s": [-2.0, -1.0, 0.0, 1.0, 2.0, 3.0, 4.0, 5.0], "camera_scope": "current_only", "label": {"title": "Routine Scooter Passing With Opposing Traffic", "category": "routine", "tags": ["scooter rider", "marked bike lane", "oncoming vehicle"], "current_situation": "Ego is traveling straight at 7.428 m/s on a descending urban street divided by double-yellow lines. A scooter rider remains ahead-right in the green bicycle lane throughout the available history, while an SUV approaches in the opposing lane. A postal vehicle is farther ahead at the right curb. Sidewalk pedestrians and traffic behind show no visible immediate encroachment into ego's path. Bright sunlight and shadows are present; distant intersection controls are not reliably readable.", "baseline_decision": "Continue straight within the travel lane at a controlled speed, remaining right of the double-yellow lines and responding to intersection controls as they become readable.", "decision_changing_cue": "The nearby scooter rider requires ordinary passing clearance, but no movement into ego's lane or immediate conflict is visible.", "causal_mechanism": "The rider makes lateral clearance relevant during the next few seconds, and the approaching SUV constrains any movement toward the opposing lane. This supports a routine clearance-conscious pass, not a substantial departure from the straight-ahead plan.", "expected_action": "increase_clearance", "decision_deviation": false, "annotation": "A scooter rider travels ahead-right in the green bicycle lane while an SUV approaches across the double-yellow centerline. Although ego can continue straight, it should preserve passing clearance within its lane over the next few seconds and slow if adequate clearance cannot be maintained.", "interest_score": 48, "confidence": 0.88, "selection_reason": "Reject as a long-tail candidate: the visible interaction is routine passing of a bicycle-lane user with opposing traffic. No scooter merge, immediate obstruction conflict, or unusual negotiation is established.", "camera_evidence": [{"camera": "front_right", "t_s": -2, "detail": "A scooter rider is visible at the left edge of this view on green bicycle-lane pavement beside a flexible separator."}, {"camera": "front_right", "t_s": -1, "detail": "The rider remains ahead-right on the green lane, facing along the roadway; a pedestrian is on the adjacent sidewalk."}, {"camera": "front_right", "t_s": 0, "detail": "The enlarged image clearly shows the rider standing on a scooter within the green bicycle lane, with no visible lateral entry into the vehicle lane."}, {"camera": "front", "t_s": 0, "detail": "An approaching SUV stays across the double-yellow lines. The immediate ego lane is open, with a car farther ahead and a postal vehicle at the right curb."}, {"camera": "front_left", "t_s": 0, "detail": "The opposite curb has a sidewalk, trees, and bicycle-lane markings; no nearby actor is entering the roadway from this side."}, {"camera": "side_left", "t_s": 0, "detail": "A building wall, tree, and sidewalk occupy the lateral view, without a visible adjacent moving actor."}, {"camera": "side_right", "t_s": 0, "detail": "A pedestrian is visible on the sidewalk beside the building, separated from the roadway by the curb."}, {"camera": "rear_left", "t_s": 0, "detail": "The building frontage and sidewalk extend toward the intersection behind ego; no immediate lateral conflict is visible."}, {"camera": "rear", "t_s": 0, "detail": "A car and a two-wheeled rider are visible behind ego near the intersection, along with crossing markings and bicycle-lane separators."}, {"camera": "rear_right", "t_s": 0, "detail": "Building frontage and planted curbside landscaping dominate the view, with vehicles farther back near the intersection."}], "uncertainties": ["The scooter rider's speed and future lateral movement cannot be established.", "Camera images do not establish the available passing clearance quantitatively.", "The postal vehicle's precise overlap with the bicycle lane and any future rider response are unclear.", "Distant signal states and small road-user movements are not reliably resolved."]}, "discovery_label": {"title": "Routine Scooter Passing With Opposing Traffic", "category": "routine", "tags": ["scooter rider", "marked bike lane", "oncoming vehicle"], "current_situation": "Ego is traveling straight at 7.428 m/s on a descending urban street divided by double-yellow lines. A scooter rider remains ahead-right in the green bicycle lane throughout the available history, while an SUV approaches in the opposing lane. A postal vehicle is farther ahead at the right curb. Sidewalk pedestrians and traffic behind show no visible immediate encroachment into ego's path. Bright sunlight and shadows are present; distant intersection controls are not reliably readable.", "baseline_decision": "Continue straight within the travel lane at a controlled speed, remaining right of the double-yellow lines and responding to intersection controls as they become readable.", "decision_changing_cue": "The nearby scooter rider requires ordinary passing clearance, but no movement into ego's lane or immediate conflict is visible.", "causal_mechanism": "The rider makes lateral clearance relevant during the next few seconds, and the approaching SUV constrains any movement toward the opposing lane. This supports a routine clearance-conscious pass, not a substantial departure from the straight-ahead plan.", "expected_action": "increase_clearance", "decision_deviation": false, "annotation": "A scooter rider travels ahead-right in the green bicycle lane while an SUV approaches across the double-yellow centerline. Although ego can continue straight, it should preserve passing clearance within its lane over the next few seconds and slow if adequate clearance cannot be maintained.", "interest_score": 48, "confidence": 0.88, "selection_reason": "Reject as a long-tail candidate: the visible interaction is routine passing of a bicycle-lane user with opposing traffic. No scooter merge, immediate obstruction conflict, or unusual negotiation is established.", "camera_evidence": [{"camera": "front_right", "t_s": -2, "detail": "A scooter rider is visible at the left edge of this view on green bicycle-lane pavement beside a flexible separator."}, {"camera": "front_right", "t_s": -1, "detail": "The rider remains ahead-right on the green lane, facing along the roadway; a pedestrian is on the adjacent sidewalk."}, {"camera": "front_right", "t_s": 0, "detail": "The enlarged image clearly shows the rider standing on a scooter within the green bicycle lane, with no visible lateral entry into the vehicle lane."}, {"camera": "front", "t_s": 0, "detail": "An approaching SUV stays across the double-yellow lines. The immediate ego lane is open, with a car farther ahead and a postal vehicle at the right curb."}, {"camera": "front_left", "t_s": 0, "detail": "The opposite curb has a sidewalk, trees, and bicycle-lane markings; no nearby actor is entering the roadway from this side."}, {"camera": "side_left", "t_s": 0, "detail": "A building wall, tree, and sidewalk occupy the lateral view, without a visible adjacent moving actor."}, {"camera": "side_right", "t_s": 0, "detail": "A pedestrian is visible on the sidewalk beside the building, separated from the roadway by the curb."}, {"camera": "rear_left", "t_s": 0, "detail": "The building frontage and sidewalk extend toward the intersection behind ego; no immediate lateral conflict is visible."}, {"camera": "rear", "t_s": 0, "detail": "A car and a two-wheeled rider are visible behind ego near the intersection, along with crossing markings and bicycle-lane separators."}, {"camera": "rear_right", "t_s": 0, "detail": "Building frontage and planted curbside landscaping dominate the view, with vehicles farther back near the intersection."}], "uncertainties": ["The scooter rider's speed and future lateral movement cannot be established.", "Camera images do not establish the available passing clearance quantitatively.", "The postal vehicle's precise overlap with the bicycle lane and any future rider response are unclear.", "Distant signal states and small road-user movements are not reliably resolved."], "_binding_sha256": "4af92ae97115899b8ff305032a9470fdc8c2ead888e264497bd6d0addb10789c", "_request": "requests/5c8ab80f51104fe6c49f6ed9801ecbc9-170/discovery-001"}, "review": null, "status": "dismissed", "annotation": "A scooter rider travels ahead-right in the green bicycle lane while an SUV approaches across the double-yellow centerline. Although ego can continue straight, it should preserve passing clearance within its lane over the next few seconds and slow if adequate clearance cannot be maintained.", "selected": false}
{"id": "f12b82eaa7acaeb7dacc9d945606a46a-092", "scenario_id": "f12b82eaa7acaeb7dacc9d945606a46a", "split": "train", "batch_index": 3, "source_manifest_line": 3, "intent": "GO_STRAIGHT", "anchor_frame": 92, "motion": {"current_speed_mps": 12.479, "future_xy_m": [[3.142578125, 0.00634765625], [6.328125, 0.01708984375], [9.568359375, 0.02978515625], [12.859375, 0.04541015625], [16.205078125, 0.06396484375], [19.587890625, 0.08154296875], [23.009765625, 0.09814453125], [26.466796875, 0.1142578125], [29.962890625, 0.13037109375], [33.48828125, 0.14794921875], [37.056640625, 0.169921875], [40.658203125, 0.19921875], [44.294921875, 0.23681640625], [47.94921875, 0.2822265625], [51.6328125, 0.33154296875], [55.337890625, 0.384765625], [59.08984375, 0.43701171875], [62.853515625, 0.49267578125], [66.6640625, 0.5537109375], [70.517578125, 0.62451171875]], "future_hz": 4, "speed_windows": [{"t_s": 0.5, "speed_mps": 12.859}, {"t_s": 1.5, "speed_mps": 13.608}, {"t_s": 2.5, "speed_mps": 14.192}, {"t_s": 3.5, "speed_mps": 14.681}, {"t_s": 4.5, "speed_mps": 15.182}], "minimum_1s_acceleration_mps2": 0.489, "maximum_speed_drop_mps": 0.0, "recorded_response": "accelerate", "method": "4 Hz trajectory path length; 1 s mean speeds; differences of adjacent 1 s means. Recorded response is descriptive, not a causal label."}, "frames": [{"t_s": 0.0, "source_frame": 92, "images": {"front_left": "images/f12b82eaa7acaeb7dacc9d945606a46a-092/+000_front_left.webp", "front": "images/f12b82eaa7acaeb7dacc9d945606a46a-092/+000_front.webp", "front_right": "images/f12b82eaa7acaeb7dacc9d945606a46a-092/+000_front_right.webp", "side_left": "images/f12b82eaa7acaeb7dacc9d945606a46a-092/+000_side_left.webp", "side_right": "images/f12b82eaa7acaeb7dacc9d945606a46a-092/+000_side_right.webp", "rear_left": "images/f12b82eaa7acaeb7dacc9d945606a46a-092/+000_rear_left.webp", "rear": "images/f12b82eaa7acaeb7dacc9d945606a46a-092/+000_rear.webp", "rear_right": "images/f12b82eaa7acaeb7dacc9d945606a46a-092/+000_rear_right.webp"}}], "camera_count": 8, "available_source_times_s": [-2.0, -1.0, 0.0, 1.0, 2.0, 3.0, 4.0, 5.0], "camera_scope": "current_only", "label": {"title": "Routine Following Past Roadside Barriers", "category": "routine", "tags": ["normal following", "green signals", "roadside barriers", "adjacent SUV"], "current_situation": "Ego is traveling straight at 12.479 m/s on a daylight urban road, following a pickup toward visibly green signals. A white SUV remains alongside in the right lane across the available history. Orange barriers and cones line the roadside without visibly closing ego's lane. A cyclist is on the opposite-side sidewalk, and a small light-colored object or surface feature is visible within ego's lane.", "baseline_decision": "Continue straight with traffic through the green signals, maintaining a safe following gap behind the pickup and remaining in the current lane.", "decision_changing_cue": "No clearly supported cue materially changes that plan. The adjacent SUV shows no visible lane intrusion, the cyclist is outside ego's roadway, and the roadside barriers leave the through lane open. The small light-colored lane feature is insufficiently resolved to establish a consequential obstruction.", "causal_mechanism": "The visible actors and barriers do not establish a conflict with ego's straight-ahead path. Ordinary following and lane keeping remain appropriate; uncertainty about the lane feature warrants observation rather than an unsupported emergency maneuver.", "expected_action": "maintain_speed", "decision_deviation": false, "annotation": "Ego follows a pickup toward green signals, with a white SUV alongside in the right lane and orange construction barriers along the roadside. Continue straight over the next few seconds while maintaining a safe following gap; no visible lane intrusion or confirmed obstruction requires a material change from ordinary following.", "interest_score": 43, "confidence": 0.88, "selection_reason": "Reject as a long-tail candidate: the reviewed views show ordinary traffic following and roadside construction markers, without a supported unusual interaction or substantial decision change.", "camera_evidence": [{"camera": "front", "t_s": 0, "detail": "A pickup is ahead in ego's through lane, signals facing the approach are green, and orange roadside barriers leave the lane visibly open."}, {"camera": "front", "t_s": 0, "detail": "A small light-colored object or surface feature appears on a rough-looking patch within ego's lane; its dimensions and material cannot be established."}, {"camera": "front_left", "t_s": 0, "detail": "Oncoming vehicles remain across the double yellow center lines near the gas-station frontage."}, {"camera": "front_right", "t_s": -2, "detail": "A white SUV is alongside to ego's right, with cones on the sidewalk beside buildings."}, {"camera": "front_right", "t_s": 0, "detail": "The white SUV remains alongside on the right; no visible movement across ego's lane boundary is established."}, {"camera": "side_left", "t_s": 0, "detail": "A cyclist is visible on the opposite-side sidewalk near a palm tree and bus shelter, outside the roadway."}, {"camera": "side_right", "t_s": 0, "detail": "The rear portion of the adjacent white SUV is visible beside the curbside frontage and driveway."}, {"camera": "rear_left", "t_s": 0, "detail": "A white SUV is visible on the opposite side of the double yellow lines; no crossing into ego's side is shown."}, {"camera": "rear", "t_s": 0, "detail": "Several vehicles are visible behind on the straight road, without a visible unusual interaction."}, {"camera": "rear_right", "t_s": 0, "detail": "Buildings, trees, sidewalk, and roadside construction markers are visible; no actor is entering the roadway in this view."}], "uncertainties": ["The small light-colored lane feature cannot be confidently classified as loose debris or a consequential obstruction.", "The images do not provide calibrated clearances, relative speeds, or future actor trajectories.", "No observations after the current anchor establish subsequent ego braking or lane changes."]}, "discovery_label": {"title": "Routine Following Past Roadside Barriers", "category": "routine", "tags": ["normal following", "green signals", "roadside barriers", "adjacent SUV"], "current_situation": "Ego is traveling straight at 12.479 m/s on a daylight urban road, following a pickup toward visibly green signals. A white SUV remains alongside in the right lane across the available history. Orange barriers and cones line the roadside without visibly closing ego's lane. A cyclist is on the opposite-side sidewalk, and a small light-colored object or surface feature is visible within ego's lane.", "baseline_decision": "Continue straight with traffic through the green signals, maintaining a safe following gap behind the pickup and remaining in the current lane.", "decision_changing_cue": "No clearly supported cue materially changes that plan. The adjacent SUV shows no visible lane intrusion, the cyclist is outside ego's roadway, and the roadside barriers leave the through lane open. The small light-colored lane feature is insufficiently resolved to establish a consequential obstruction.", "causal_mechanism": "The visible actors and barriers do not establish a conflict with ego's straight-ahead path. Ordinary following and lane keeping remain appropriate; uncertainty about the lane feature warrants observation rather than an unsupported emergency maneuver.", "expected_action": "maintain_speed", "decision_deviation": false, "annotation": "Ego follows a pickup toward green signals, with a white SUV alongside in the right lane and orange construction barriers along the roadside. Continue straight over the next few seconds while maintaining a safe following gap; no visible lane intrusion or confirmed obstruction requires a material change from ordinary following.", "interest_score": 43, "confidence": 0.88, "selection_reason": "Reject as a long-tail candidate: the reviewed views show ordinary traffic following and roadside construction markers, without a supported unusual interaction or substantial decision change.", "camera_evidence": [{"camera": "front", "t_s": 0, "detail": "A pickup is ahead in ego's through lane, signals facing the approach are green, and orange roadside barriers leave the lane visibly open."}, {"camera": "front", "t_s": 0, "detail": "A small light-colored object or surface feature appears on a rough-looking patch within ego's lane; its dimensions and material cannot be established."}, {"camera": "front_left", "t_s": 0, "detail": "Oncoming vehicles remain across the double yellow center lines near the gas-station frontage."}, {"camera": "front_right", "t_s": -2, "detail": "A white SUV is alongside to ego's right, with cones on the sidewalk beside buildings."}, {"camera": "front_right", "t_s": 0, "detail": "The white SUV remains alongside on the right; no visible movement across ego's lane boundary is established."}, {"camera": "side_left", "t_s": 0, "detail": "A cyclist is visible on the opposite-side sidewalk near a palm tree and bus shelter, outside the roadway."}, {"camera": "side_right", "t_s": 0, "detail": "The rear portion of the adjacent white SUV is visible beside the curbside frontage and driveway."}, {"camera": "rear_left", "t_s": 0, "detail": "A white SUV is visible on the opposite side of the double yellow lines; no crossing into ego's side is shown."}, {"camera": "rear", "t_s": 0, "detail": "Several vehicles are visible behind on the straight road, without a visible unusual interaction."}, {"camera": "rear_right", "t_s": 0, "detail": "Buildings, trees, sidewalk, and roadside construction markers are visible; no actor is entering the roadway in this view."}], "uncertainties": ["The small light-colored lane feature cannot be confidently classified as loose debris or a consequential obstruction.", "The images do not provide calibrated clearances, relative speeds, or future actor trajectories.", "No observations after the current anchor establish subsequent ego braking or lane changes."], "_binding_sha256": "1ca182f5296f3c199f4c85c804382e9017b1ff0e7a909b18fd365a2c39986085", "_request": "requests/f12b82eaa7acaeb7dacc9d945606a46a-092/discovery-001"}, "review": null, "status": "dismissed", "annotation": "Ego follows a pickup toward green signals, with a white SUV alongside in the right lane and orange construction barriers along the roadside. Continue straight over the next few seconds while maintaining a safe following gap; no visible lane intrusion or confirmed obstruction requires a material change from ordinary following.", "selected": false}
{"id": "1c1442ae77af9a1727f0f912ae7648c3-206", "scenario_id": "1c1442ae77af9a1727f0f912ae7648c3", "split": "train", "batch_index": 4, "source_manifest_line": 4, "intent": "GO_RIGHT", "anchor_frame": 206, "motion": {"current_speed_mps": 0.0, "future_xy_m": [[0.0, -2.288818359375e-05], [0.0, -5.340576171875e-05], [0.0, -6.866455078125e-05], [0.0, -6.866455078125e-05], [0.0, -9.918212890625e-05], [0.0, -8.392333984375e-05], [0.0, -9.918212890625e-05], [0.0, -8.392333984375e-05], [0.0, -5.340576171875e-05], [0.0, -3.814697265625e-05], [0.0, -7.62939453125e-06], [0.0, 7.62939453125e-06], [0.0, 2.288818359375e-05], [0.0, -7.62939453125e-06], [0.0, -2.288818359375e-05], [0.0, -3.814697265625e-05], [0.0, -5.340576171875e-05], [0.0, -6.866455078125e-05], [0.0, -8.392333984375e-05], [0.0, -8.392333984375e-05]], "future_hz": 4, "speed_windows": [{"t_s": 0.5, "speed_mps": 0.0}, {"t_s": 1.5, "speed_mps": 0.0}, {"t_s": 2.5, "speed_mps": 0.0}, {"t_s": 3.5, "speed_mps": 0.0}, {"t_s": 4.5, "speed_mps": 0.0}], "minimum_1s_acceleration_mps2": -0.0, "maximum_speed_drop_mps": 0.0, "recorded_response": "remain_stopped", "method": "4 Hz trajectory path length; 1 s mean speeds; differences of adjacent 1 s means. Recorded response is descriptive, not a causal label."}, "frames": [{"t_s": 0.0, "source_frame": 206, "images": {"front_left": "images/1c1442ae77af9a1727f0f912ae7648c3-206/+000_front_left.webp", "front": "images/1c1442ae77af9a1727f0f912ae7648c3-206/+000_front.webp", "front_right": "images/1c1442ae77af9a1727f0f912ae7648c3-206/+000_front_right.webp", "side_left": "images/1c1442ae77af9a1727f0f912ae7648c3-206/+000_side_left.webp", "side_right": "images/1c1442ae77af9a1727f0f912ae7648c3-206/+000_side_right.webp", "rear_left": "images/1c1442ae77af9a1727f0f912ae7648c3-206/+000_rear_left.webp", "rear": "images/1c1442ae77af9a1727f0f912ae7648c3-206/+000_rear.webp", "rear_right": "images/1c1442ae77af9a1727f0f912ae7648c3-206/+000_rear_right.webp"}}], "camera_count": 8, "available_source_times_s": [-2.0, -1.0, 0.0, 1.0, 2.0], "camera_scope": "current_only", "label": {"title": "Right Turn Yield With Partly Obscured Pedestrians", "category": "vulnerable_road_user_interaction", "tags": ["right turn", "pedestrian crossing", "vehicle occlusion"], "current_situation": "Ego is stopped with a right-turn route at a signalized intersection with yellow crosswalk markings. Two pedestrians move rightward at the crossing on the right-hand branch; a silver sedan obscures their lower bodies and changes little in position between -1 and 0 seconds. A cyclist moves rightward on the left side of the intersection. Green signals are visible ahead, while red signals and a no-turn-on-red sign are visible toward the right-side approach. The remaining views show nearby vehicles, sidewalk pedestrians, and ordinary traffic behind ego.", "baseline_decision": "With the right-side crossing clear, begin the routed right turn from rest when the governing signal permits, while retaining any required signal stop.", "decision_changing_cue": "The two pedestrians continue moving rightward behind the silver sedan at the crossing traversed by the intended right turn; their clearance is not yet visibly established.", "causal_mechanism": "Starting the turn could bring ego through the pedestrians' crossing path. The sedan hides their lower bodies, limiting confirmation that they have cleared, so ego should hold its position now and defer rightward steering until the crossing is clear and the signal permits movement.", "expected_action": "remain_stopped", "decision_deviation": true, "annotation": "Ego is stopped for a right turn while two pedestrians move rightward at the right-side crossing, their lower bodies obscured by a silver sedan. Although ego could otherwise begin the turn when its signal permits, unresolved pedestrian clearance requires it to remain stopped and delay steering right until the crossing is clear.", "interest_score": 64, "confidence": 0.77, "selection_reason": "The pedestrian cue supports postponing the turn, but this is principally a routine crossing yield with partial vehicle occlusion. No abrupt emergence or unusual negotiation is established, so it is not promoted as a strong long-tail candidate.", "camera_evidence": [{"camera": "front_left", "t_s": 0, "detail": "A cyclist is visible beside green pavement on the left side of the intersection; yellow crossing stripes, a school warning sign, and a no-U-turn sign are visible."}, {"camera": "front_left", "t_s": -2, "detail": "The cyclist is farther left than at 0 seconds, supporting rightward movement across the visible history."}, {"camera": "front", "t_s": 0, "detail": "Yellow crosswalk stripes lie immediately ahead, green signal lamps are visible across the intersection, and vehicles occupy the roadway beyond."}, {"camera": "front_right", "t_s": -1, "detail": "Two pedestrians' upper bodies appear beyond a silver sedan at the right-side crossing."}, {"camera": "front_right", "t_s": 0, "detail": "The pedestrians have shifted rightward while the sedan remains in nearly the same position and hides their lower bodies. Red signal lamps and a no-turn-on-red sign are also visible."}, {"camera": "side_left", "t_s": 0, "detail": "The rear portion of a dark pickup is leaving the lower-left edge; the adjacent building and sidewalk remain visible."}, {"camera": "side_right", "t_s": 0, "detail": "A white SUV occupies the foreground, and a pedestrian remains on the sidewalk beside the red building."}, {"camera": "rear_left", "t_s": -1, "detail": "Two pedestrians are visible on the sidewalk beside a garage entrance, with vehicles passing in the roadway."}, {"camera": "rear", "t_s": 0, "detail": "The road behind has a central divider and vehicles in neighboring lanes; no immediate obstruction is visible in the central foreground."}, {"camera": "rear_right", "t_s": 0, "detail": "A dark SUV and additional vehicles occupy the roadway beside residential buildings, without a visible pedestrian entering the road."}], "uncertainties": ["The sedan hides the pedestrians' feet and exact crossing positions, so their clearance cannot be confirmed.", "The association of each visible signal and the no-turn-on-red sign with ego's movement is not unequivocal from the camera views.", "The cyclist's subsequent path and whether it will intersect ego's right-turn trajectory are not established.", "Only ego's current zero speed is supplied; no future recorded braking or turning behavior is available."]}, "discovery_label": {"title": "Right Turn Yield With Partly Obscured Pedestrians", "category": "vulnerable_road_user_interaction", "tags": ["right turn", "pedestrian crossing", "vehicle occlusion"], "current_situation": "Ego is stopped with a right-turn route at a signalized intersection with yellow crosswalk markings. Two pedestrians move rightward at the crossing on the right-hand branch; a silver sedan obscures their lower bodies and changes little in position between -1 and 0 seconds. A cyclist moves rightward on the left side of the intersection. Green signals are visible ahead, while red signals and a no-turn-on-red sign are visible toward the right-side approach. The remaining views show nearby vehicles, sidewalk pedestrians, and ordinary traffic behind ego.", "baseline_decision": "With the right-side crossing clear, begin the routed right turn from rest when the governing signal permits, while retaining any required signal stop.", "decision_changing_cue": "The two pedestrians continue moving rightward behind the silver sedan at the crossing traversed by the intended right turn; their clearance is not yet visibly established.", "causal_mechanism": "Starting the turn could bring ego through the pedestrians' crossing path. The sedan hides their lower bodies, limiting confirmation that they have cleared, so ego should hold its position now and defer rightward steering until the crossing is clear and the signal permits movement.", "expected_action": "remain_stopped", "decision_deviation": true, "annotation": "Ego is stopped for a right turn while two pedestrians move rightward at the right-side crossing, their lower bodies obscured by a silver sedan. Although ego could otherwise begin the turn when its signal permits, unresolved pedestrian clearance requires it to remain stopped and delay steering right until the crossing is clear.", "interest_score": 64, "confidence": 0.77, "selection_reason": "The pedestrian cue supports postponing the turn, but this is principally a routine crossing yield with partial vehicle occlusion. No abrupt emergence or unusual negotiation is established, so it is not promoted as a strong long-tail candidate.", "camera_evidence": [{"camera": "front_left", "t_s": 0, "detail": "A cyclist is visible beside green pavement on the left side of the intersection; yellow crossing stripes, a school warning sign, and a no-U-turn sign are visible."}, {"camera": "front_left", "t_s": -2, "detail": "The cyclist is farther left than at 0 seconds, supporting rightward movement across the visible history."}, {"camera": "front", "t_s": 0, "detail": "Yellow crosswalk stripes lie immediately ahead, green signal lamps are visible across the intersection, and vehicles occupy the roadway beyond."}, {"camera": "front_right", "t_s": -1, "detail": "Two pedestrians' upper bodies appear beyond a silver sedan at the right-side crossing."}, {"camera": "front_right", "t_s": 0, "detail": "The pedestrians have shifted rightward while the sedan remains in nearly the same position and hides their lower bodies. Red signal lamps and a no-turn-on-red sign are also visible."}, {"camera": "side_left", "t_s": 0, "detail": "The rear portion of a dark pickup is leaving the lower-left edge; the adjacent building and sidewalk remain visible."}, {"camera": "side_right", "t_s": 0, "detail": "A white SUV occupies the foreground, and a pedestrian remains on the sidewalk beside the red building."}, {"camera": "rear_left", "t_s": -1, "detail": "Two pedestrians are visible on the sidewalk beside a garage entrance, with vehicles passing in the roadway."}, {"camera": "rear", "t_s": 0, "detail": "The road behind has a central divider and vehicles in neighboring lanes; no immediate obstruction is visible in the central foreground."}, {"camera": "rear_right", "t_s": 0, "detail": "A dark SUV and additional vehicles occupy the roadway beside residential buildings, without a visible pedestrian entering the road."}], "uncertainties": ["The sedan hides the pedestrians' feet and exact crossing positions, so their clearance cannot be confirmed.", "The association of each visible signal and the no-turn-on-red sign with ego's movement is not unequivocal from the camera views.", "The cyclist's subsequent path and whether it will intersect ego's right-turn trajectory are not established.", "Only ego's current zero speed is supplied; no future recorded braking or turning behavior is available."], "_binding_sha256": "52c1098d9bcbc0d3c7d28d5c3a75ac633ec6cc841791e20e866c5a8a5d3f693d", "_request": "requests/1c1442ae77af9a1727f0f912ae7648c3-206/discovery-001"}, "review": null, "status": "dismissed", "annotation": "Ego is stopped for a right turn while two pedestrians move rightward at the right-side crossing, their lower bodies obscured by a silver sedan. Although ego could otherwise begin the turn when its signal permits, unresolved pedestrian clearance requires it to remain stopped and delay steering right until the crossing is clear.", "selected": false}
{"id": "ca9e48f90861b986fa028943e0fe4ca1-163", "scenario_id": "ca9e48f90861b986fa028943e0fe4ca1", "split": "train", "batch_index": 5, "source_manifest_line": 5, "intent": "GO_STRAIGHT", "anchor_frame": 163, "motion": {"current_speed_mps": 7.423, "future_xy_m": [[1.870025634765625, -0.003322601318359375], [3.7674560546875, -0.012187957763671875], [5.677459716796875, -0.028400421142578125], [7.604461669921875, -0.052539825439453125], [9.548309326171875, -0.08520889282226562], [11.496917724609375, -0.12667083740234375], [13.43896484375, -0.175872802734375], [15.38458251953125, -0.2302093505859375], [17.33966064453125, -0.2858161926269531], [19.301422119140625, -0.34349822998046875], [21.267791748046875, -0.40320587158203125], [23.23919677734375, -0.46533203125], [25.208953857421875, -0.5315475463867188], [27.181304931640625, -0.6075019836425781], [29.147552490234375, -0.6977996826171875], [31.09600830078125, -0.8078842163085938], [33.003204345703125, -0.9282073974609375], [34.89935302734375, -1.0529861450195312], [36.789886474609375, -1.1818275451660156], [38.6787109375, -1.3142776489257812]], "future_hz": 4, "speed_windows": [{"t_s": 0.5, "speed_mps": 7.605}, {"t_s": 1.5, "speed_mps": 7.782}, {"t_s": 2.5, "speed_mps": 7.858}, {"t_s": 3.5, "speed_mps": 7.865}, {"t_s": 4.5, "speed_mps": 7.6}], "minimum_1s_acceleration_mps2": -0.265, "maximum_speed_drop_mps": 0.0, "recorded_response": "roughly_maintain_speed", "method": "4 Hz trajectory path length; 1 s mean speeds; differences of adjacent 1 s means. Recorded response is descriptive, not a causal label."}, "frames": [{"t_s": 0.0, "source_frame": 163, "images": {"front_left": "images/ca9e48f90861b986fa028943e0fe4ca1-163/+000_front_left.webp", "front": "images/ca9e48f90861b986fa028943e0fe4ca1-163/+000_front.webp", "front_right": "images/ca9e48f90861b986fa028943e0fe4ca1-163/+000_front_right.webp", "side_left": "images/ca9e48f90861b986fa028943e0fe4ca1-163/+000_side_left.webp", "side_right": "images/ca9e48f90861b986fa028943e0fe4ca1-163/+000_side_right.webp", "rear_left": "images/ca9e48f90861b986fa028943e0fe4ca1-163/+000_rear_left.webp", "rear": "images/ca9e48f90861b986fa028943e0fe4ca1-163/+000_rear.webp", "rear_right": "images/ca9e48f90861b986fa028943e0fe4ca1-163/+000_rear_right.webp"}}], "camera_count": 8, "available_source_times_s": [-2.0, -1.0, 0.0, 1.0, 2.0, 3.0, 4.0, 5.0], "camera_scope": "current_only", "label": {"title": "Clear Lane Past Curbside Pedestrian", "category": "routine", "tags": ["low illumination", "curbside pedestrian", "parked vehicles"], "current_situation": "Ego is traveling straight at 7.423 m/s along a street-lit urban road with dashed lane markings and parked vehicles on both sides. The lane ahead is visibly clear. A pedestrian beside left-side parked cars appears in side-left at t=-2 and rear-left at t=-1, consistent with ego passing that location; pedestrian motion is not established. Pedestrian warning signs and distant illuminated traffic signals are visible.", "baseline_decision": "Continue straight within the current lane at a cautious steady speed, monitoring curbside activity and obeying approaching traffic controls.", "decision_changing_cue": "No material decision-changing cue is visible. The pedestrian appears behind ego in the latest clearly identifiable observation, with no supported movement into ego's forward path.", "causal_mechanism": "Neither the curbside pedestrian nor the parked vehicles visibly obstructs the intended straight path. Low illumination warrants continued monitoring but does not establish a specific conflict requiring braking or a lane change.", "expected_action": "maintain_speed", "decision_deviation": false, "annotation": "A pedestrian beside left-side parked cars appears in the rear-left view during the history, while ego's straight lane ahead remains clear under street lighting. With no visible crossing or lane intrusion, ego should maintain a cautious steady speed and its lane over the next few seconds while monitoring curbside activity and approaching signals.", "interest_score": 22, "confidence": 0.85, "selection_reason": "Reject as a long-tail candidate: all eight views show no supported nonroutine conflict, obstruction, or negotiation that materially changes the straight-ahead plan.", "camera_evidence": [{"camera": "side_left", "t_s": -2, "detail": "A pedestrian is visible beside parked vehicles along the left curb."}, {"camera": "rear_left", "t_s": -1, "detail": "The pedestrian appears beside parked cars behind and left of ego; no crossing trajectory is established."}, {"camera": "front_left", "t_s": 0, "detail": "A dark sedan is parked beside the left sidewalk beneath a pedestrian warning sign."}, {"camera": "front", "t_s": 0, "detail": "The straight roadway has dashed lane markings, parked vehicles along its edges, and no visible immediate obstruction; signal lamps are visible farther ahead."}, {"camera": "front_right", "t_s": 0, "detail": "Parked cars, a sidewalk, streetlights, and a pedestrian warning sign are visible to the right, without a visible actor entering the lane."}, {"camera": "side_left", "t_s": 0, "detail": "A building frontage and sidewalk are alongside ego, with no clearly visible pedestrian immediately beside the vehicle."}, {"camera": "side_right", "t_s": 0, "detail": "A dim building frontage, sidewalk, and curbside vehicles are visible without a clear roadway intrusion."}, {"camera": "rear_left", "t_s": 0, "detail": "A parked silver sedan and building frontage are visible behind ego; the earlier pedestrian is not clearly resolved."}, {"camera": "rear", "t_s": 0, "detail": "Several vehicles with illuminated headlights are behind ego, including one near the center of the view."}, {"camera": "rear_right", "t_s": 0, "detail": "Parked vehicles line the right curb behind ego beneath trees and building lights."}], "uncertainties": ["Low illumination limits recognition of small actors and fine details.", "The pedestrian's independent motion and exact position relative to the curb are unclear.", "The distant signals' lane applicability is not established from these images."]}, "discovery_label": {"title": "Clear Lane Past Curbside Pedestrian", "category": "routine", "tags": ["low illumination", "curbside pedestrian", "parked vehicles"], "current_situation": "Ego is traveling straight at 7.423 m/s along a street-lit urban road with dashed lane markings and parked vehicles on both sides. The lane ahead is visibly clear. A pedestrian beside left-side parked cars appears in side-left at t=-2 and rear-left at t=-1, consistent with ego passing that location; pedestrian motion is not established. Pedestrian warning signs and distant illuminated traffic signals are visible.", "baseline_decision": "Continue straight within the current lane at a cautious steady speed, monitoring curbside activity and obeying approaching traffic controls.", "decision_changing_cue": "No material decision-changing cue is visible. The pedestrian appears behind ego in the latest clearly identifiable observation, with no supported movement into ego's forward path.", "causal_mechanism": "Neither the curbside pedestrian nor the parked vehicles visibly obstructs the intended straight path. Low illumination warrants continued monitoring but does not establish a specific conflict requiring braking or a lane change.", "expected_action": "maintain_speed", "decision_deviation": false, "annotation": "A pedestrian beside left-side parked cars appears in the rear-left view during the history, while ego's straight lane ahead remains clear under street lighting. With no visible crossing or lane intrusion, ego should maintain a cautious steady speed and its lane over the next few seconds while monitoring curbside activity and approaching signals.", "interest_score": 22, "confidence": 0.85, "selection_reason": "Reject as a long-tail candidate: all eight views show no supported nonroutine conflict, obstruction, or negotiation that materially changes the straight-ahead plan.", "camera_evidence": [{"camera": "side_left", "t_s": -2, "detail": "A pedestrian is visible beside parked vehicles along the left curb."}, {"camera": "rear_left", "t_s": -1, "detail": "The pedestrian appears beside parked cars behind and left of ego; no crossing trajectory is established."}, {"camera": "front_left", "t_s": 0, "detail": "A dark sedan is parked beside the left sidewalk beneath a pedestrian warning sign."}, {"camera": "front", "t_s": 0, "detail": "The straight roadway has dashed lane markings, parked vehicles along its edges, and no visible immediate obstruction; signal lamps are visible farther ahead."}, {"camera": "front_right", "t_s": 0, "detail": "Parked cars, a sidewalk, streetlights, and a pedestrian warning sign are visible to the right, without a visible actor entering the lane."}, {"camera": "side_left", "t_s": 0, "detail": "A building frontage and sidewalk are alongside ego, with no clearly visible pedestrian immediately beside the vehicle."}, {"camera": "side_right", "t_s": 0, "detail": "A dim building frontage, sidewalk, and curbside vehicles are visible without a clear roadway intrusion."}, {"camera": "rear_left", "t_s": 0, "detail": "A parked silver sedan and building frontage are visible behind ego; the earlier pedestrian is not clearly resolved."}, {"camera": "rear", "t_s": 0, "detail": "Several vehicles with illuminated headlights are behind ego, including one near the center of the view."}, {"camera": "rear_right", "t_s": 0, "detail": "Parked vehicles line the right curb behind ego beneath trees and building lights."}], "uncertainties": ["Low illumination limits recognition of small actors and fine details.", "The pedestrian's independent motion and exact position relative to the curb are unclear.", "The distant signals' lane applicability is not established from these images."], "_binding_sha256": "b844f14e73c27ad460a61f01da33b4c082dffb1a19e8730c76267a9d0327240f", "_request": "requests/ca9e48f90861b986fa028943e0fe4ca1-163/discovery-001"}, "review": null, "status": "dismissed", "annotation": "A pedestrian beside left-side parked cars appears in the rear-left view during the history, while ego's straight lane ahead remains clear under street lighting. With no visible crossing or lane intrusion, ego should maintain a cautious steady speed and its lane over the next few seconds while monitoring curbside activity and approaching signals.", "selected": false}
{"id": "014d03dc9441ee1e2a5d06f9c187792b-178", "scenario_id": "014d03dc9441ee1e2a5d06f9c187792b", "split": "train", "batch_index": 6, "source_manifest_line": 6, "intent": "GO_STRAIGHT", "anchor_frame": 178, "motion": {"current_speed_mps": 0.772, "future_xy_m": [[0.16432952880859375, -0.0009765625], [0.28919219970703125, -0.00146484375], [0.388885498046875, -0.0018310546875], [0.47156524658203125, -0.0020751953125], [0.543426513671875, -0.001953125], [0.6067123413085938, -0.0018310546875], [0.6617965698242188, -0.001953125], [0.7100982666015625, -0.0015869140625], [0.7530593872070312, -0.00146484375], [0.7911453247070312, -0.00146484375], [0.824371337890625, -0.00146484375], [0.8537673950195312, -0.0015869140625], [0.8784866333007812, -0.0015869140625], [0.9021530151367188, -0.0015869140625], [0.9364395141601562, -0.0013427734375], [0.98431396484375, -0.0009765625], [1.0450668334960938, -0.0003662109375], [1.1119003295898438, 0.000244140625], [1.1798095703125, 0.0010986328125], [1.2451553344726562, 0.001708984375]], "future_hz": 4, "speed_windows": [{"t_s": 0.5, "speed_mps": 0.472}, {"t_s": 1.5, "speed_mps": 0.239}, {"t_s": 2.5, "speed_mps": 0.144}, {"t_s": 3.5, "speed_mps": 0.131}, {"t_s": 4.5, "speed_mps": 0.261}], "minimum_1s_acceleration_mps2": -0.233, "maximum_speed_drop_mps": 0.642, "recorded_response": "roughly_maintain_speed", "method": "4 Hz trajectory path length; 1 s mean speeds; differences of adjacent 1 s means. Recorded response is descriptive, not a causal label."}, "frames": [{"t_s": 0.0, "source_frame": 178, "images": {"front_left": "images/014d03dc9441ee1e2a5d06f9c187792b-178/+000_front_left.webp", "front": "images/014d03dc9441ee1e2a5d06f9c187792b-178/+000_front.webp", "front_right": "images/014d03dc9441ee1e2a5d06f9c187792b-178/+000_front_right.webp", "side_left": "images/014d03dc9441ee1e2a5d06f9c187792b-178/+000_side_left.webp", "side_right": "images/014d03dc9441ee1e2a5d06f9c187792b-178/+000_side_right.webp", "rear_left": "images/014d03dc9441ee1e2a5d06f9c187792b-178/+000_rear_left.webp", "rear": "images/014d03dc9441ee1e2a5d06f9c187792b-178/+000_rear.webp", "rear_right": "images/014d03dc9441ee1e2a5d06f9c187792b-178/+000_rear_right.webp"}}], "camera_count": 8, "available_source_times_s": [-2.0, -1.0, 0.0, 1.0, 2.0, 3.0, 4.0], "camera_scope": "current_only", "label": {"title": "Brake-lit SUV with apparent open door", "category": "routine", "tags": ["lead vehicle", "apparent open door", "oncoming traffic"], "current_situation": "Ego is moving at 0.772 m/s on a straight urban street divided by double-yellow lines. A brake-lit SUV ahead has a left-side panel projecting outward, appearing to be an open door. An oncoming Jeep approaches in the opposing lane, cars are parked along the right curb, and pedestrians are visible on the right sidewalk without a demonstrated roadway entry. The intersection is behind ego.", "baseline_decision": "Continue straight at low speed behind the brake-lit SUV, preserving following space and stopping if necessary. Oncoming traffic already constrains passing.", "decision_changing_cue": "The SUV's apparent open left-side door warrants additional caution, but it does not establish a materially different immediate decision from following the braking lead vehicle.", "causal_mechanism": "The projecting panel reduces clearance alongside the SUV, while the approaching Jeep limits movement toward the opposing lane. These constraints reinforce staying behind the SUV rather than demonstrating an independent need to change the baseline plan.", "expected_action": "stop", "decision_deviation": false, "annotation": "A brake-lit SUV ahead appears to have its left-side door open, with parked cars along the right curb and an approaching Jeep across the double-yellow line. Ego should continue low-speed following and stop behind the SUV if the gap closes, rather than attempt to pass through the constrained clearance.", "interest_score": 52, "confidence": 0.78, "selection_reason": "Reject as a strong long-tail candidate: the apparent door is noteworthy, but braking lead traffic and an occupied opposing lane already justify holding behind the SUV. No independent material decision change is established.", "camera_evidence": [{"camera": "front", "t_s": -2, "detail": "The lead SUV is already ahead in ego's lane, with parked vehicles to its right and a Jeep visible in the opposing lane."}, {"camera": "front", "t_s": 0, "detail": "The SUV's rear brake lamps and high-mounted lamp are illuminated. A dark panel projects from its left side, appearing to be an open door; the oncoming Jeep appears larger than at -2 seconds."}, {"camera": "front_left", "t_s": 0, "detail": "Building frontage, sidewalk, trees and road markings are visible; no nearby actor is entering the roadway from this side."}, {"camera": "front_right", "t_s": 0, "detail": "A red sedan sits along the right curb beside a parking-garage entrance; no vehicle is visibly emerging from the entrance."}, {"camera": "side_left", "t_s": 0, "detail": "The intersection recedes beside the building, with vehicles near the corner and a pedestrian on the sidewalk."}, {"camera": "side_right", "t_s": 0, "detail": "The garage frontage and sidewalk are visible through tree branches, with no immediate roadway intrusion."}, {"camera": "rear_left", "t_s": 0, "detail": "A white SUV and traffic-signal heads are visible at the intersection behind ego."}, {"camera": "rear", "t_s": 0, "detail": "Intersection markings, signal heads and vehicles farther behind are visible; no immediate rear conflict is apparent."}, {"camera": "rear_right", "t_s": 0, "detail": "A dark sedan is near the intersection behind-right, partly blocked in the view by roadside poles."}], "uncertainties": ["The projecting SUV panel appears to be an open door, but its exact configuration is not fully resolved.", "The lead SUV's absolute motion and any occupant activity cannot be established reliably from these views.", "No future door movement, pedestrian entry or garage exit is observed."]}, "discovery_label": {"title": "Brake-lit SUV with apparent open door", "category": "routine", "tags": ["lead vehicle", "apparent open door", "oncoming traffic"], "current_situation": "Ego is moving at 0.772 m/s on a straight urban street divided by double-yellow lines. A brake-lit SUV ahead has a left-side panel projecting outward, appearing to be an open door. An oncoming Jeep approaches in the opposing lane, cars are parked along the right curb, and pedestrians are visible on the right sidewalk without a demonstrated roadway entry. The intersection is behind ego.", "baseline_decision": "Continue straight at low speed behind the brake-lit SUV, preserving following space and stopping if necessary. Oncoming traffic already constrains passing.", "decision_changing_cue": "The SUV's apparent open left-side door warrants additional caution, but it does not establish a materially different immediate decision from following the braking lead vehicle.", "causal_mechanism": "The projecting panel reduces clearance alongside the SUV, while the approaching Jeep limits movement toward the opposing lane. These constraints reinforce staying behind the SUV rather than demonstrating an independent need to change the baseline plan.", "expected_action": "stop", "decision_deviation": false, "annotation": "A brake-lit SUV ahead appears to have its left-side door open, with parked cars along the right curb and an approaching Jeep across the double-yellow line. Ego should continue low-speed following and stop behind the SUV if the gap closes, rather than attempt to pass through the constrained clearance.", "interest_score": 52, "confidence": 0.78, "selection_reason": "Reject as a strong long-tail candidate: the apparent door is noteworthy, but braking lead traffic and an occupied opposing lane already justify holding behind the SUV. No independent material decision change is established.", "camera_evidence": [{"camera": "front", "t_s": -2, "detail": "The lead SUV is already ahead in ego's lane, with parked vehicles to its right and a Jeep visible in the opposing lane."}, {"camera": "front", "t_s": 0, "detail": "The SUV's rear brake lamps and high-mounted lamp are illuminated. A dark panel projects from its left side, appearing to be an open door; the oncoming Jeep appears larger than at -2 seconds."}, {"camera": "front_left", "t_s": 0, "detail": "Building frontage, sidewalk, trees and road markings are visible; no nearby actor is entering the roadway from this side."}, {"camera": "front_right", "t_s": 0, "detail": "A red sedan sits along the right curb beside a parking-garage entrance; no vehicle is visibly emerging from the entrance."}, {"camera": "side_left", "t_s": 0, "detail": "The intersection recedes beside the building, with vehicles near the corner and a pedestrian on the sidewalk."}, {"camera": "side_right", "t_s": 0, "detail": "The garage frontage and sidewalk are visible through tree branches, with no immediate roadway intrusion."}, {"camera": "rear_left", "t_s": 0, "detail": "A white SUV and traffic-signal heads are visible at the intersection behind ego."}, {"camera": "rear", "t_s": 0, "detail": "Intersection markings, signal heads and vehicles farther behind are visible; no immediate rear conflict is apparent."}, {"camera": "rear_right", "t_s": 0, "detail": "A dark sedan is near the intersection behind-right, partly blocked in the view by roadside poles."}], "uncertainties": ["The projecting SUV panel appears to be an open door, but its exact configuration is not fully resolved.", "The lead SUV's absolute motion and any occupant activity cannot be established reliably from these views.", "No future door movement, pedestrian entry or garage exit is observed."], "_binding_sha256": "72ee07dcd4978e8dc5ff280b2266a021fd47b9ad09ac6d7d183a0fa21bd2822e", "_request": "requests/014d03dc9441ee1e2a5d06f9c187792b-178/discovery-001"}, "review": null, "status": "dismissed", "annotation": "A brake-lit SUV ahead appears to have its left-side door open, with parked cars along the right curb and an approaching Jeep across the double-yellow line. Ego should continue low-speed following and stop behind the SUV if the gap closes, rather than attempt to pass through the constrained clearance.", "selected": false}
{"id": "8c1d31e956be3ebf4ae3a4e36bc2d428-157", "scenario_id": "8c1d31e956be3ebf4ae3a4e36bc2d428", "split": "train", "batch_index": 7, "source_manifest_line": 7, "intent": "GO_STRAIGHT", "anchor_frame": 157, "motion": {"current_speed_mps": 6.812, "future_xy_m": [[1.710205078125, 0.16015625], [3.438720703125, 0.42578125], [5.18701171875, 0.77734375], [6.961669921875, 1.17578125], [8.76806640625, 1.599609375], [10.611328125, 2.029296875], [12.488037109375, 2.462890625], [14.39892578125, 2.892578125], [16.34912109375, 3.322265625], [18.353759765625, 3.75], [20.387939453125, 4.1796875], [22.458251953125, 4.607421875], [24.5615234375, 5.046875], [26.69775390625, 5.49609375], [28.8720703125, 5.95703125], [31.0849609375, 6.42578125], [33.3359375, 6.912109375], [35.631103515625, 7.40234375], [37.95654296875, 7.904296875], [40.322265625, 8.41015625]], "future_hz": 4, "speed_windows": [{"t_s": 0.5, "speed_mps": 7.069}, {"t_s": 1.5, "speed_mps": 7.633}, {"t_s": 2.5, "speed_mps": 8.24}, {"t_s": 3.5, "speed_mps": 8.816}, {"t_s": 4.5, "speed_mps": 9.448}], "minimum_1s_acceleration_mps2": 0.564, "maximum_speed_drop_mps": 0.0, "recorded_response": "accelerate", "method": "4 Hz trajectory path length; 1 s mean speeds; differences of adjacent 1 s means. Recorded response is descriptive, not a causal label."}, "frames": [{"t_s": -2.0, "source_frame": 137, "images": {"front_left": "images/8c1d31e956be3ebf4ae3a4e36bc2d428-157/-020_front_left.webp", "front": "images/8c1d31e956be3ebf4ae3a4e36bc2d428-157/-020_front.webp", "front_right": "images/8c1d31e956be3ebf4ae3a4e36bc2d428-157/-020_front_right.webp", "side_left": "images/8c1d31e956be3ebf4ae3a4e36bc2d428-157/-020_side_left.webp", "side_right": "images/8c1d31e956be3ebf4ae3a4e36bc2d428-157/-020_side_right.webp", "rear_left": "images/8c1d31e956be3ebf4ae3a4e36bc2d428-157/-020_rear_left.webp", "rear": "images/8c1d31e956be3ebf4ae3a4e36bc2d428-157/-020_rear.webp", "rear_right": "images/8c1d31e956be3ebf4ae3a4e36bc2d428-157/-020_rear_right.webp"}}, {"t_s": -1.0, "source_frame": 147, "images": {"front_left": "images/8c1d31e956be3ebf4ae3a4e36bc2d428-157/-010_front_left.webp", "front": "images/8c1d31e956be3ebf4ae3a4e36bc2d428-157/-010_front.webp", "front_right": "images/8c1d31e956be3ebf4ae3a4e36bc2d428-157/-010_front_right.webp", "side_left": "images/8c1d31e956be3ebf4ae3a4e36bc2d428-157/-010_side_left.webp", "side_right": "images/8c1d31e956be3ebf4ae3a4e36bc2d428-157/-010_side_right.webp", "rear_left": "images/8c1d31e956be3ebf4ae3a4e36bc2d428-157/-010_rear_left.webp", "rear": "images/8c1d31e956be3ebf4ae3a4e36bc2d428-157/-010_rear.webp", "rear_right": "images/8c1d31e956be3ebf4ae3a4e36bc2d428-157/-010_rear_right.webp"}}, {"t_s": 0.0, "source_frame": 157, "images": {"front_left": "images/8c1d31e956be3ebf4ae3a4e36bc2d428-157/+000_front_left.webp", "front": "images/8c1d31e956be3ebf4ae3a4e36bc2d428-157/+000_front.webp", "front_right": "images/8c1d31e956be3ebf4ae3a4e36bc2d428-157/+000_front_right.webp", "side_left": "images/8c1d31e956be3ebf4ae3a4e36bc2d428-157/+000_side_left.webp", "side_right": "images/8c1d31e956be3ebf4ae3a4e36bc2d428-157/+000_side_right.webp", "rear_left": "images/8c1d31e956be3ebf4ae3a4e36bc2d428-157/+000_rear_left.webp", "rear": "images/8c1d31e956be3ebf4ae3a4e36bc2d428-157/+000_rear.webp", "rear_right": "images/8c1d31e956be3ebf4ae3a4e36bc2d428-157/+000_rear_right.webp"}}, {"t_s": 1.0, "source_frame": 167, "images": {"front_left": "images/8c1d31e956be3ebf4ae3a4e36bc2d428-157/+010_front_left.webp", "front": "images/8c1d31e956be3ebf4ae3a4e36bc2d428-157/+010_front.webp", "front_right": "images/8c1d31e956be3ebf4ae3a4e36bc2d428-157/+010_front_right.webp", "side_left": "images/8c1d31e956be3ebf4ae3a4e36bc2d428-157/+010_side_left.webp", "side_right": "images/8c1d31e956be3ebf4ae3a4e36bc2d428-157/+010_side_right.webp", "rear_left": "images/8c1d31e956be3ebf4ae3a4e36bc2d428-157/+010_rear_left.webp", "rear": "images/8c1d31e956be3ebf4ae3a4e36bc2d428-157/+010_rear.webp", "rear_right": "images/8c1d31e956be3ebf4ae3a4e36bc2d428-157/+010_rear_right.webp"}}, {"t_s": 2.0, "source_frame": 177, "images": {"front_left": "images/8c1d31e956be3ebf4ae3a4e36bc2d428-157/+020_front_left.webp", "front": "images/8c1d31e956be3ebf4ae3a4e36bc2d428-157/+020_front.webp", "front_right": "images/8c1d31e956be3ebf4ae3a4e36bc2d428-157/+020_front_right.webp", "side_left": "images/8c1d31e956be3ebf4ae3a4e36bc2d428-157/+020_side_left.webp", "side_right": "images/8c1d31e956be3ebf4ae3a4e36bc2d428-157/+020_side_right.webp", "rear_left": "images/8c1d31e956be3ebf4ae3a4e36bc2d428-157/+020_rear_left.webp", "rear": "images/8c1d31e956be3ebf4ae3a4e36bc2d428-157/+020_rear.webp", "rear_right": "images/8c1d31e956be3ebf4ae3a4e36bc2d428-157/+020_rear_right.webp"}}, {"t_s": 3.0, "source_frame": 187, "images": {"front_left": "images/8c1d31e956be3ebf4ae3a4e36bc2d428-157/+030_front_left.webp", "front": "images/8c1d31e956be3ebf4ae3a4e36bc2d428-157/+030_front.webp", "front_right": "images/8c1d31e956be3ebf4ae3a4e36bc2d428-157/+030_front_right.webp", "side_left": "images/8c1d31e956be3ebf4ae3a4e36bc2d428-157/+030_side_left.webp", "side_right": "images/8c1d31e956be3ebf4ae3a4e36bc2d428-157/+030_side_right.webp", "rear_left": "images/8c1d31e956be3ebf4ae3a4e36bc2d428-157/+030_rear_left.webp", "rear": "images/8c1d31e956be3ebf4ae3a4e36bc2d428-157/+030_rear.webp", "rear_right": "images/8c1d31e956be3ebf4ae3a4e36bc2d428-157/+030_rear_right.webp"}}, {"t_s": 4.0, "source_frame": 197, "images": {"front_left": "images/8c1d31e956be3ebf4ae3a4e36bc2d428-157/+040_front_left.webp", "front": "images/8c1d31e956be3ebf4ae3a4e36bc2d428-157/+040_front.webp", "front_right": "images/8c1d31e956be3ebf4ae3a4e36bc2d428-157/+040_front_right.webp", "side_left": "images/8c1d31e956be3ebf4ae3a4e36bc2d428-157/+040_side_left.webp", "side_right": "images/8c1d31e956be3ebf4ae3a4e36bc2d428-157/+040_side_right.webp", "rear_left": "images/8c1d31e956be3ebf4ae3a4e36bc2d428-157/+040_rear_left.webp", "rear": "images/8c1d31e956be3ebf4ae3a4e36bc2d428-157/+040_rear.webp", "rear_right": "images/8c1d31e956be3ebf4ae3a4e36bc2d428-157/+040_rear_right.webp"}}, {"t_s": 5.0, "source_frame": 207, "images": {"front_left": "images/8c1d31e956be3ebf4ae3a4e36bc2d428-157/+050_front_left.webp", "front": "images/8c1d31e956be3ebf4ae3a4e36bc2d428-157/+050_front.webp", "front_right": "images/8c1d31e956be3ebf4ae3a4e36bc2d428-157/+050_front_right.webp", "side_left": "images/8c1d31e956be3ebf4ae3a4e36bc2d428-157/+050_side_left.webp", "side_right": "images/8c1d31e956be3ebf4ae3a4e36bc2d428-157/+050_side_right.webp", "rear_left": "images/8c1d31e956be3ebf4ae3a4e36bc2d428-157/+050_rear_left.webp", "rear": "images/8c1d31e956be3ebf4ae3a4e36bc2d428-157/+050_rear.webp", "rear_right": "images/8c1d31e956be3ebf4ae3a4e36bc2d428-157/+050_rear_right.webp"}}], "camera_count": 8, "available_source_times_s": [-2.0, -1.0, 0.0, 1.0, 2.0, 3.0, 4.0, 5.0], "camera_scope": "full_timeline", "label": {"title": "Right-Side Work-Zone Devices Constrain Passing Clearance", "category": "work_zone", "tags": ["lane narrowing", "keep-left board", "construction delineators", "nighttime visibility"], "current_situation": "Ego is traveling approximately 6.8 m/s with a straight-ahead route. Reflective delineators extend along the right-side pavement, with double-yellow markings to their left and barriers beside the sidewalk. No immediate crossing conflict is evident in the supplied current views, although darkness limits visibility.", "baseline_decision": "Without the roadway delineators, continue straight within the legal lane at a visibility-appropriate speed, still respecting the centerline, curbside work area, traffic and applicable controls.", "decision_changing_cue": "Reflective devices stand on the right-side pavement ahead, and a temporary board at t=-1 displays a left-pointing arrow.", "causal_mechanism": "The devices constrain the right-side clearance available for the upcoming pass. They warrant checking and maintaining a left-side passing margin within the legal lane, but the images do not establish that ego needs a new steering correction or mandatory speed reduction.", "expected_action": "increase_clearance", "decision_deviation": true, "annotation": "Reflective delineators occupy the right-side roadway ahead, with a temporary left-arrow board visible beside the curbside work area before t=0. For the upcoming pass, maintain clearance to their left while remaining right of the double-yellow centerline, checking usable width before making any additional lateral adjustment.", "interest_score": 72, "confidence": 0.86, "selection_reason": "A grounded qualitative candidate because construction devices occupy usable roadway and materially constrain the immediate lateral path. The selection rests on lane narrowing, not nighttime appearance or ordinary traffic; no emergency braking conflict is established.", "camera_evidence": [{"camera": "front", "t_s": -1, "detail": "A temporary white board displays a left-pointing arrow beside the curbside work area; reflective devices and orange barriers are nearby."}, {"camera": "front", "t_s": 0, "detail": "A nearby reflective delineator stands on the right-side pavement, with additional devices ahead and double-yellow markings to their left."}, {"camera": "front_left", "t_s": 0, "detail": "The visible roadway foreground to the left has no evident nearby vehicle or crossing pedestrian; this does not establish permission to cross the centerline."}, {"camera": "front_right", "t_s": 0, "detail": "Orange barriers stand beside the sidewalk beneath a tree, with an amber lamp and partially cropped temporary board near the lower edge."}, {"camera": "side_left", "t_s": 0, "detail": "Orange barriers line the opposite restaurant corner; headlights are visible near the restaurant, without an evident immediate crossing conflict."}, {"camera": "side_right", "t_s": 0, "detail": "The adjacent sidewalk, signal pole, illuminated pedestrian display and part of a striped barricade are visible."}, {"camera": "rear_left", "t_s": 0, "detail": "The intersection and green signal lamps are visible behind-left, with no evident nearby crossing vehicle in the foreground."}, {"camera": "rear", "t_s": 0, "detail": "A vehicle showing headlights is visible behind near the intersection and delineators; red signal lamps are visible above."}, {"camera": "rear_right", "t_s": 0, "detail": "Marked intersection pavement and a roadside building are visible behind-right, without an evident immediate lateral conflict."}], "uncertainties": ["Exact usable width, device clearance and ego's position within the lane cannot be measured reliably.", "It is unclear whether the devices intrude into the through lane or mainly channelize a curbside strip.", "Ego may already have sufficient clearance, making this routine channelized passage rather than a nonroutine decision change.", "Signal applicability and complete temporary-board wording are uncertain.", "Darkness limits inspection of the work area; no hidden actor is assumed."]}, "discovery_label": {"title": "Construction Delineators Narrow the Straight-Ahead Path", "category": "work_zone", "tags": ["lane narrowing", "keep-left board", "construction delineators", "nighttime visibility"], "current_situation": "Ego is moving at 6.812 m/s with a straight-ahead route. Reflective construction delineators occupy the right portion of the roadway ahead, leaving passage between them and the double-yellow centerline. Orange barriers and temporary boards occupy the right-side corner and sidewalk. Distant vehicle taillights are visible ahead and headlights behind; no immediate crossing conflict is visible across the eight views. Streetlights illuminate the roadway unevenly.", "baseline_decision": "Continue straight within the lane at a controlled speed, remaining on the correct side of the double-yellow centerline and observing any upcoming controls.", "decision_changing_cue": "The nearest delineator projects into the right portion of the travel lane, with additional devices continuing ahead and a temporary board directing traffic left.", "causal_mechanism": "The devices reduce usable lane width and require a leftward clearance adjustment rather than an unchanged straight trajectory. The double-yellow centerline constrains that adjustment, so ego should also reduce speed before passing the nearest device.", "expected_action": "increase_clearance", "decision_deviation": true, "annotation": "Reflective construction delineators narrow the right portion of the roadway ahead, with a temporary keep-left board beside the work area. Although ego would otherwise continue straight within its lane, the restricted passage requires slowing now and tracking farther left around the devices without crossing the double-yellow centerline.", "interest_score": 72, "confidence": 0.86, "selection_reason": "A grounded qualitative candidate because construction devices occupy usable roadway and materially constrain the immediate lateral path. The selection rests on lane narrowing, not nighttime appearance or ordinary traffic; no emergency braking conflict is established.", "camera_evidence": [{"camera": "front", "t_s": 0, "detail": "A nearby reflective delineator stands in the right portion of the roadway, with more devices ahead and the double-yellow centerline to their left."}, {"camera": "front", "t_s": -1, "detail": "A temporary white board with a left-pointing arrow stands beside the right-side work area; striped devices and orange barriers are visible nearby."}, {"camera": "front_left", "t_s": 0, "detail": "The roadway to ego's left is unobstructed in the visible foreground; no nearby vehicle or crossing pedestrian is evident."}, {"camera": "front_right", "t_s": 0, "detail": "Orange barriers occupy the sidewalk-side corner beneath a tree, and a temporary board with an amber lamp is visible at the lower edge."}, {"camera": "side_left", "t_s": 0, "detail": "Orange barriers line the opposite corner near the illuminated restaurant; no actor is visibly entering ego's path."}, {"camera": "side_right", "t_s": 0, "detail": "The curb, signal pole, pedestrian display, and temporary striped barricade are visible beside the corner."}, {"camera": "rear_left", "t_s": 0, "detail": "The intersection and green signal lamps are visible behind-left, without a nearby crossing vehicle in this view."}, {"camera": "rear", "t_s": 0, "detail": "A vehicle with headlights is visible behind near construction delineators, with red signal lamps above the intersection."}, {"camera": "rear_right", "t_s": 0, "detail": "The intersection's marked pavement and roadside building are visible behind-right; no immediate lateral conflict is evident."}], "uncertainties": ["Exact usable lane width and clearance around the delineators cannot be measured from these images.", "Temporary board text is not fully legible, although the left-pointing arrow is visible at t=-1.", "Signal applicability cannot be established solely from lamps visible in oblique and rear views.", "Low illumination limits inspection of the sidewalk and work area; no hidden actor is assumed.", "The images do not establish recorded future braking or steering behavior."], "_binding_sha256": "75297c671f8375b8caf0b7d8b7995f421724111e8e5bbcaec3c7d969c3eba388", "_request": "requests/8c1d31e956be3ebf4ae3a4e36bc2d428-157/discovery-001"}, "review": {"verdict": "needs_review", "grounding_score": 0.8, "reason": "The delineators and left-arrow board are visible, but the available passage may already accommodate ego's current track. A work-zone clearance constraint is grounded; a substantial, nonroutine steering or slowing requirement is not established.", "corrected_annotation": "Reflective delineators occupy the right-side roadway ahead, with a temporary left-arrow board visible beside the curbside work area before t=0. For the upcoming pass, maintain clearance to their left while remaining right of the double-yellow centerline, checking usable width before making any additional lateral adjustment.", "corrected_title": "Right-Side Work-Zone Devices Constrain Passing Clearance", "corrected_current_situation": "Ego is traveling approximately 6.8 m/s with a straight-ahead route. Reflective delineators extend along the right-side pavement, with double-yellow markings to their left and barriers beside the sidewalk. No immediate crossing conflict is evident in the supplied current views, although darkness limits visibility.", "corrected_baseline_decision": "Without the roadway delineators, continue straight within the legal lane at a visibility-appropriate speed, still respecting the centerline, curbside work area, traffic and applicable controls.", "corrected_decision_changing_cue": "Reflective devices stand on the right-side pavement ahead, and a temporary board at t=-1 displays a left-pointing arrow.", "corrected_causal_mechanism": "The devices constrain the right-side clearance available for the upcoming pass. They warrant checking and maintaining a left-side passing margin within the legal lane, but the images do not establish that ego needs a new steering correction or mandatory speed reduction.", "corrected_expected_action": "increase_clearance", "corrected_camera_evidence": [{"camera": "front", "t_s": -1, "detail": "A temporary white board displays a left-pointing arrow beside the curbside work area; reflective devices and orange barriers are nearby."}, {"camera": "front", "t_s": 0, "detail": "A nearby reflective delineator stands on the right-side pavement, with additional devices ahead and double-yellow markings to their left."}, {"camera": "front_left", "t_s": 0, "detail": "The visible roadway foreground to the left has no evident nearby vehicle or crossing pedestrian; this does not establish permission to cross the centerline."}, {"camera": "front_right", "t_s": 0, "detail": "Orange barriers stand beside the sidewalk beneath a tree, with an amber lamp and partially cropped temporary board near the lower edge."}, {"camera": "side_left", "t_s": 0, "detail": "Orange barriers line the opposite restaurant corner; headlights are visible near the restaurant, without an evident immediate crossing conflict."}, {"camera": "side_right", "t_s": 0, "detail": "The adjacent sidewalk, signal pole, illuminated pedestrian display and part of a striped barricade are visible."}, {"camera": "rear_left", "t_s": 0, "detail": "The intersection and green signal lamps are visible behind-left, with no evident nearby crossing vehicle in the foreground."}, {"camera": "rear", "t_s": 0, "detail": "A vehicle showing headlights is visible behind near the intersection and delineators; red signal lamps are visible above."}, {"camera": "rear_right", "t_s": 0, "detail": "Marked intersection pavement and a roadside building are visible behind-right, without an evident immediate lateral conflict."}], "remaining_uncertainties": ["Exact usable width, device clearance and ego's position within the lane cannot be measured reliably.", "It is unclear whether the devices intrude into the through lane or mainly channelize a curbside strip.", "Ego may already have sufficient clearance, making this routine channelized passage rather than a nonroutine decision change.", "Signal applicability and complete temporary-board wording are uncertain.", "Darkness limits inspection of the work area; no hidden actor is assumed."], "motion_consistency": "partly_consistent", "recorded_motion_explanation": "Later views show the devices passing along ego's right without a newly evident crossing conflict. Recorded motion accelerates: approximate 1 s speeds rise from 7.069 to 9.448 m/s, minimum 1 s acceleration is +0.564 m/s², and maximum speed drop is zero, so no recorded braking occurred. The trajectory reaches y=+8.41 m, but this alone does not establish device-induced steering. Clearance maintenance is compatible with the later views; the candidate's slowing recommendation disagrees with recorded acceleration.", "unsupported_details": ["A required new leftward steering adjustment from the current track.", "A definite need to reduce speed before passing the nearest device.", "Definite occupation of ego's through lane rather than a curbside strip."], "_binding_sha256": "68031e85cb21a25721b5254f20975b2f784b4930414db815de98a5e2c1c0eefb", "_request": "requests/8c1d31e956be3ebf4ae3a4e36bc2d428-157/review-002"}, "status": "needs_review", "annotation": "Reflective delineators occupy the right-side roadway ahead, with a temporary left-arrow board visible beside the curbside work area before t=0. For the upcoming pass, maintain clearance to their left while remaining right of the double-yellow centerline, checking usable width before making any additional lateral adjustment.", "selected": false}
{"id": "f53d56864a28f546a53b385f76b4042d-080", "scenario_id": "f53d56864a28f546a53b385f76b4042d", "split": "train", "batch_index": 8, "source_manifest_line": 8, "intent": "GO_STRAIGHT", "anchor_frame": 80, "motion": {"current_speed_mps": 0.814, "future_xy_m": [[0.221435546875, -0.000244140625], [0.47802734375, 0.000244140625], [0.76904296875, -0.00048828125], [1.095703125, -0.000244140625], [1.46923828125, -0.000732421875], [1.896240234375, -0.000732421875], [2.376708984375, -0.001220703125], [2.910888671875, -0.001708984375], [3.48974609375, -0.00341796875], [4.095947265625, -0.005126953125], [4.713623046875, -0.007568359375], [5.3359375, -0.01025390625], [5.96142578125, -0.01318359375], [6.589599609375, -0.017333984375], [7.220458984375, -0.0205078125], [7.86328125, -0.02490234375], [8.531494140625, -0.029541015625], [9.2255859375, -0.034423828125], [9.94091796875, -0.03955078125], [10.66796875, -0.044189453125]], "future_hz": 4, "speed_windows": [{"t_s": 0.5, "speed_mps": 1.096}, {"t_s": 1.5, "speed_mps": 1.815}, {"t_s": 2.5, "speed_mps": 2.425}, {"t_s": 3.5, "speed_mps": 2.527}, {"t_s": 4.5, "speed_mps": 2.805}], "minimum_1s_acceleration_mps2": 0.102, "maximum_speed_drop_mps": 0.0, "recorded_response": "accelerate", "method": "4 Hz trajectory path length; 1 s mean speeds; differences of adjacent 1 s means. Recorded response is descriptive, not a causal label."}, "frames": [{"t_s": 0.0, "source_frame": 80, "images": {"front_left": "images/f53d56864a28f546a53b385f76b4042d-080/+000_front_left.webp", "front": "images/f53d56864a28f546a53b385f76b4042d-080/+000_front.webp", "front_right": "images/f53d56864a28f546a53b385f76b4042d-080/+000_front_right.webp", "side_left": "images/f53d56864a28f546a53b385f76b4042d-080/+000_side_left.webp", "side_right": "images/f53d56864a28f546a53b385f76b4042d-080/+000_side_right.webp", "rear_left": "images/f53d56864a28f546a53b385f76b4042d-080/+000_rear_left.webp", "rear": "images/f53d56864a28f546a53b385f76b4042d-080/+000_rear.webp", "rear_right": "images/f53d56864a28f546a53b385f76b4042d-080/+000_rear_right.webp"}}], "camera_count": 8, "available_source_times_s": [-2.0, -1.0, 0.0, 1.0, 2.0, 3.0, 4.0, 5.0], "camera_scope": "current_only", "label": {"title": "Routine Following Toward an All-Way Stop", "category": "routine", "tags": ["all-way stop", "lead van", "curbside parking", "park pedestrians"], "current_situation": "Ego is moving at 0.814 m/s with a straight-ahead route. A white van ahead becomes smaller across the observations, consistent with increasing separation. An all-way stop sign faces ego ahead on the right. Parked vehicles line both curbs, including a red pickup near the intersection. Pedestrians are visible on sidewalks and the right-side park lawn, with none visibly occupying ego's path. A sedan is directly behind ego. Bright sunlight reduces contrast in the front-right view.", "baseline_decision": "Continue straight slowly behind the van as the gap permits, remain in the current travel corridor, and make the required full stop before entering the intersection.", "decision_changing_cue": "No supported nonroutine cue is visible. The stop control requires an ordinary stop regardless of the lead van or nearby pedestrians.", "causal_mechanism": "The lead van constrains forward progress and partly blocks the view directly ahead, but its increasing separation does not remove the stop requirement. Park and sidewalk activity provides no visible additional conflict requiring an evasive maneuver.", "expected_action": "stop", "decision_deviation": false, "annotation": "A white van ahead is opening the gap on a parked-car-lined street approaching an all-way stop, while pedestrians remain on the sidewalks and park lawn. Ego should continue straight at low speed as the gap permits and stop before entering the intersection; no visible interaction requires a departure from this routine plan.", "interest_score": 43, "confidence": 0.91, "selection_reason": "Reject as a long-tail candidate: ordinary following and a mandatory stop explain the next decision. Neither the parked vehicles nor the visible pedestrians establish a material additional conflict.", "camera_evidence": [{"camera": "front", "t_s": -2, "detail": "A white van occupies the travel corridor ahead, with a stop sign visible to its right."}, {"camera": "front", "t_s": -1, "detail": "The lead van appears smaller than at -2 seconds, supporting increasing separation."}, {"camera": "front", "t_s": 0, "detail": "The stop sign has an ALL WAY plaque. A red pickup is beside the right curb, and a pedestrian is visible on the sidewalk beyond it."}, {"camera": "front_left", "t_s": 0, "detail": "An SUV and sedan are parked along the left curb; neither visibly intrudes into ego's forward corridor."}, {"camera": "front_right", "t_s": 0, "detail": "A curbside sedan fills the lower view. Pedestrians are visible on the sidewalk and lawn beyond the low park wall; sunlight reduces contrast."}, {"camera": "side_left", "t_s": 0, "detail": "A compact car is beside the left curb, with a person visible at a building entrance behind the sidewalk."}, {"camera": "side_right", "t_s": 0, "detail": "Groups of people occupy the park lawn above a low retaining wall, separated from the roadway by the sidewalk."}, {"camera": "rear_left", "t_s": 0, "detail": "Two pedestrians stand on the left sidewalk near a parked silver sedan."}, {"camera": "rear", "t_s": 0, "detail": "A sedan is directly behind ego, with additional vehicles and curbside parking farther back."}, {"camera": "rear_right", "t_s": 0, "detail": "Cars occupy the right curbside foreground, while people remain on the park lawn beyond the sidewalk."}], "uncertainties": ["The van's absolute speed and whether it has already stopped are not established.", "The lead van limits the view of the intersection directly ahead.", "The exact stopping location and whether ego will reach it within five seconds are not established.", "Pedestrians' future movements cannot be inferred from their current sidewalk and lawn positions."]}, "discovery_label": {"title": "Routine Following Toward an All-Way Stop", "category": "routine", "tags": ["all-way stop", "lead van", "curbside parking", "park pedestrians"], "current_situation": "Ego is moving at 0.814 m/s with a straight-ahead route. A white van ahead becomes smaller across the observations, consistent with increasing separation. An all-way stop sign faces ego ahead on the right. Parked vehicles line both curbs, including a red pickup near the intersection. Pedestrians are visible on sidewalks and the right-side park lawn, with none visibly occupying ego's path. A sedan is directly behind ego. Bright sunlight reduces contrast in the front-right view.", "baseline_decision": "Continue straight slowly behind the van as the gap permits, remain in the current travel corridor, and make the required full stop before entering the intersection.", "decision_changing_cue": "No supported nonroutine cue is visible. The stop control requires an ordinary stop regardless of the lead van or nearby pedestrians.", "causal_mechanism": "The lead van constrains forward progress and partly blocks the view directly ahead, but its increasing separation does not remove the stop requirement. Park and sidewalk activity provides no visible additional conflict requiring an evasive maneuver.", "expected_action": "stop", "decision_deviation": false, "annotation": "A white van ahead is opening the gap on a parked-car-lined street approaching an all-way stop, while pedestrians remain on the sidewalks and park lawn. Ego should continue straight at low speed as the gap permits and stop before entering the intersection; no visible interaction requires a departure from this routine plan.", "interest_score": 43, "confidence": 0.91, "selection_reason": "Reject as a long-tail candidate: ordinary following and a mandatory stop explain the next decision. Neither the parked vehicles nor the visible pedestrians establish a material additional conflict.", "camera_evidence": [{"camera": "front", "t_s": -2, "detail": "A white van occupies the travel corridor ahead, with a stop sign visible to its right."}, {"camera": "front", "t_s": -1, "detail": "The lead van appears smaller than at -2 seconds, supporting increasing separation."}, {"camera": "front", "t_s": 0, "detail": "The stop sign has an ALL WAY plaque. A red pickup is beside the right curb, and a pedestrian is visible on the sidewalk beyond it."}, {"camera": "front_left", "t_s": 0, "detail": "An SUV and sedan are parked along the left curb; neither visibly intrudes into ego's forward corridor."}, {"camera": "front_right", "t_s": 0, "detail": "A curbside sedan fills the lower view. Pedestrians are visible on the sidewalk and lawn beyond the low park wall; sunlight reduces contrast."}, {"camera": "side_left", "t_s": 0, "detail": "A compact car is beside the left curb, with a person visible at a building entrance behind the sidewalk."}, {"camera": "side_right", "t_s": 0, "detail": "Groups of people occupy the park lawn above a low retaining wall, separated from the roadway by the sidewalk."}, {"camera": "rear_left", "t_s": 0, "detail": "Two pedestrians stand on the left sidewalk near a parked silver sedan."}, {"camera": "rear", "t_s": 0, "detail": "A sedan is directly behind ego, with additional vehicles and curbside parking farther back."}, {"camera": "rear_right", "t_s": 0, "detail": "Cars occupy the right curbside foreground, while people remain on the park lawn beyond the sidewalk."}], "uncertainties": ["The van's absolute speed and whether it has already stopped are not established.", "The lead van limits the view of the intersection directly ahead.", "The exact stopping location and whether ego will reach it within five seconds are not established.", "Pedestrians' future movements cannot be inferred from their current sidewalk and lawn positions."], "_binding_sha256": "38530799c9fa0570cc14d452fb7a2038f977bd2cc31ee0ac4252db2ee4a5668c", "_request": "requests/f53d56864a28f546a53b385f76b4042d-080/discovery-001"}, "review": null, "status": "dismissed", "annotation": "A white van ahead is opening the gap on a parked-car-lined street approaching an all-way stop, while pedestrians remain on the sidewalks and park lawn. Ego should continue straight at low speed as the gap permits and stop before entering the intersection; no visible interaction requires a departure from this routine plan.", "selected": false}
{"id": "d6cdf6eb1b7d4a8be6dac71f34e6cdb7-164", "scenario_id": "d6cdf6eb1b7d4a8be6dac71f34e6cdb7", "split": "train", "batch_index": 9, "source_manifest_line": 9, "intent": "GO_STRAIGHT", "anchor_frame": 164, "motion": {"current_speed_mps": 1.465, "future_xy_m": [[0.371337890625, 0.0078125], [0.7467041015625, 0.01953125], [1.1175537109375, 0.0390625], [1.480712890625, 0.056640625], [1.8265380859375, 0.076171875], [2.1531982421875, 0.095703125], [2.4605712890625, 0.126953125], [2.7630615234375, 0.169921875], [3.08544921875, 0.224609375], [3.435546875, 0.29296875], [3.77978515625, 0.3671875], [4.0057373046875, 0.423828125], [4.113037109375, 0.44921875], [4.106689453125, 0.447265625], [4.1005859375, 0.44921875], [4.1005859375, 0.44921875], [4.1005859375, 0.44921875], [4.099609375, 0.4453125], [4.09912109375, 0.4453125], [4.09814453125, 0.4453125]], "future_hz": 4, "speed_windows": [{"t_s": 0.5, "speed_mps": 1.482}, {"t_s": 1.5, "speed_mps": 1.288}, {"t_s": 2.5, "speed_mps": 1.269}, {"t_s": 3.5, "speed_mps": 0.123}, {"t_s": 4.5, "speed_mps": 0.005}], "minimum_1s_acceleration_mps2": -1.145, "maximum_speed_drop_mps": 1.46, "recorded_response": "slow_to_stop", "method": "4 Hz trajectory path length; 1 s mean speeds; differences of adjacent 1 s means. Recorded response is descriptive, not a causal label."}, "frames": [{"t_s": 0.0, "source_frame": 164, "images": {"front_left": "images/d6cdf6eb1b7d4a8be6dac71f34e6cdb7-164/+000_front_left.webp", "front": "images/d6cdf6eb1b7d4a8be6dac71f34e6cdb7-164/+000_front.webp", "front_right": "images/d6cdf6eb1b7d4a8be6dac71f34e6cdb7-164/+000_front_right.webp", "side_left": "images/d6cdf6eb1b7d4a8be6dac71f34e6cdb7-164/+000_side_left.webp", "side_right": "images/d6cdf6eb1b7d4a8be6dac71f34e6cdb7-164/+000_side_right.webp", "rear_left": "images/d6cdf6eb1b7d4a8be6dac71f34e6cdb7-164/+000_rear_left.webp", "rear": "images/d6cdf6eb1b7d4a8be6dac71f34e6cdb7-164/+000_rear.webp", "rear_right": "images/d6cdf6eb1b7d4a8be6dac71f34e6cdb7-164/+000_rear_right.webp"}}], "camera_count": 8, "available_source_times_s": [-2.0, -1.0, 0.0, 1.0, 2.0, 3.0, 4.0, 5.0], "camera_scope": "current_only", "label": {"title": "Routine Stop-Controlled Intersection With Cross Traffic", "category": "routine", "tags": ["stop-controlled intersection", "cross traffic", "sidewalk pedestrian"], "current_situation": "Ego is moving at 1.465 m/s toward a cross street on a straight route. An approach stop sign is visible on the right. A sedan moves right-to-left in the front-left history, while another car moves away to the right in front-right. A pedestrian walks leftward along the opposite sidewalk near the far street mouth. Parked vehicles line the surrounding streets; streetlights illuminate the junction, but darker areas limit detail.", "baseline_decision": "Honor the approach stop sign, then proceed straight once a safe crossing gap is confirmed. The supplied history does not establish whether ego previously completed the required stop.", "decision_changing_cue": "Moving cross traffic requires checking that the crossing path is clear before entering; no specific nonroutine conflict is established.", "causal_mechanism": "Proceeding straight traverses the cross street, so ego must yield to passing vehicles. This is ordinary stop-controlled gap selection rather than a material departure from the baseline; the visible pedestrian remains on the opposite sidewalk.", "expected_action": "wait_for_gap", "decision_deviation": false, "annotation": "Ego approaches a stop-controlled intersection as vehicles pass along the cross street and a pedestrian walks along the opposite sidewalk. Although ego could otherwise proceed straight after the required stop, passing cross traffic requires waiting for a safe gap before entering, without lateral diversion.", "interest_score": 46, "confidence": 0.86, "selection_reason": "Reject as a long-tail candidate: the visible interaction is routine stopping and cross-traffic yielding. No pedestrian entering ego's path, unusual obstruction, or exceptional negotiation is established.", "camera_evidence": [{"camera": "front_left", "t_s": -2, "detail": "A sedan with illuminated headlights is near the right edge of the cross-street view."}, {"camera": "front_left", "t_s": 0, "detail": "The sedan has shifted leftward relative to the opposite storefront, supporting right-to-left cross-street motion."}, {"camera": "front", "t_s": -1, "detail": "A pedestrian is visible on the opposite sidewalk beside the fenced frontage."}, {"camera": "front", "t_s": 0, "detail": "The pedestrian is farther left along the opposite sidewalk, still to the right of the far street mouth; no roadway entry is evident."}, {"camera": "front_right", "t_s": -2, "detail": "A light-colored car is visible on the cross street with its rear facing the camera."}, {"camera": "front_right", "t_s": 0, "detail": "That car is farther right along the cross street; additional vehicles are parked beside the opposite frontage."}, {"camera": "side_left", "t_s": 0, "detail": "The left corner has a sidewalk, freestanding signs, and curbside vehicles; no nearby pedestrian entering the road is evident."}, {"camera": "side_right", "t_s": -2, "detail": "A red STOP sign is visible beside the right-hand approach corner, near a tree and building."}, {"camera": "rear_left", "t_s": 0, "detail": "A dark SUV and light-colored sedan sit beside the curb and building frontage."}, {"camera": "rear", "t_s": 0, "detail": "The approach street behind ego is lined with parked vehicles on both sides; its central roadway is visibly open."}, {"camera": "rear_right", "t_s": 0, "detail": "The right-rear view shows sidewalk landscaping and a curbside vehicle, with no visible moving conflict."}], "uncertainties": ["Whether ego completed a stop before the available history is unknown.", "Exact crossing-path occupancy and safe-gap timing cannot be determined from uncalibrated images.", "The pedestrian's future route is unknown; movement into the roadway is not observed."]}, "discovery_label": {"title": "Routine Stop-Controlled Intersection With Cross Traffic", "category": "routine", "tags": ["stop-controlled intersection", "cross traffic", "sidewalk pedestrian"], "current_situation": "Ego is moving at 1.465 m/s toward a cross street on a straight route. An approach stop sign is visible on the right. A sedan moves right-to-left in the front-left history, while another car moves away to the right in front-right. A pedestrian walks leftward along the opposite sidewalk near the far street mouth. Parked vehicles line the surrounding streets; streetlights illuminate the junction, but darker areas limit detail.", "baseline_decision": "Honor the approach stop sign, then proceed straight once a safe crossing gap is confirmed. The supplied history does not establish whether ego previously completed the required stop.", "decision_changing_cue": "Moving cross traffic requires checking that the crossing path is clear before entering; no specific nonroutine conflict is established.", "causal_mechanism": "Proceeding straight traverses the cross street, so ego must yield to passing vehicles. This is ordinary stop-controlled gap selection rather than a material departure from the baseline; the visible pedestrian remains on the opposite sidewalk.", "expected_action": "wait_for_gap", "decision_deviation": false, "annotation": "Ego approaches a stop-controlled intersection as vehicles pass along the cross street and a pedestrian walks along the opposite sidewalk. Although ego could otherwise proceed straight after the required stop, passing cross traffic requires waiting for a safe gap before entering, without lateral diversion.", "interest_score": 46, "confidence": 0.86, "selection_reason": "Reject as a long-tail candidate: the visible interaction is routine stopping and cross-traffic yielding. No pedestrian entering ego's path, unusual obstruction, or exceptional negotiation is established.", "camera_evidence": [{"camera": "front_left", "t_s": -2, "detail": "A sedan with illuminated headlights is near the right edge of the cross-street view."}, {"camera": "front_left", "t_s": 0, "detail": "The sedan has shifted leftward relative to the opposite storefront, supporting right-to-left cross-street motion."}, {"camera": "front", "t_s": -1, "detail": "A pedestrian is visible on the opposite sidewalk beside the fenced frontage."}, {"camera": "front", "t_s": 0, "detail": "The pedestrian is farther left along the opposite sidewalk, still to the right of the far street mouth; no roadway entry is evident."}, {"camera": "front_right", "t_s": -2, "detail": "A light-colored car is visible on the cross street with its rear facing the camera."}, {"camera": "front_right", "t_s": 0, "detail": "That car is farther right along the cross street; additional vehicles are parked beside the opposite frontage."}, {"camera": "side_left", "t_s": 0, "detail": "The left corner has a sidewalk, freestanding signs, and curbside vehicles; no nearby pedestrian entering the road is evident."}, {"camera": "side_right", "t_s": -2, "detail": "A red STOP sign is visible beside the right-hand approach corner, near a tree and building."}, {"camera": "rear_left", "t_s": 0, "detail": "A dark SUV and light-colored sedan sit beside the curb and building frontage."}, {"camera": "rear", "t_s": 0, "detail": "The approach street behind ego is lined with parked vehicles on both sides; its central roadway is visibly open."}, {"camera": "rear_right", "t_s": 0, "detail": "The right-rear view shows sidewalk landscaping and a curbside vehicle, with no visible moving conflict."}], "uncertainties": ["Whether ego completed a stop before the available history is unknown.", "Exact crossing-path occupancy and safe-gap timing cannot be determined from uncalibrated images.", "The pedestrian's future route is unknown; movement into the roadway is not observed."], "_binding_sha256": "3f6694c96d4dd20c749ca24eea53a950908898e3d8eb0af4d8d317858bfd5846", "_request": "requests/d6cdf6eb1b7d4a8be6dac71f34e6cdb7-164/discovery-001"}, "review": null, "status": "dismissed", "annotation": "Ego approaches a stop-controlled intersection as vehicles pass along the cross street and a pedestrian walks along the opposite sidewalk. Although ego could otherwise proceed straight after the required stop, passing cross traffic requires waiting for a safe gap before entering, without lateral diversion.", "selected": false}
{"id": "f9fe7a6b880506360e9d6f96e88da0e1-164", "scenario_id": "f9fe7a6b880506360e9d6f96e88da0e1", "split": "train", "batch_index": 10, "source_manifest_line": 10, "intent": "GO_STRAIGHT", "anchor_frame": 164, "motion": {"current_speed_mps": 4.905, "future_xy_m": [[1.173095703125, -0.0078125], [2.23779296875, -0.017578125], [3.1904296875, -0.02734375], [4.04443359375, -0.0390625], [4.85595703125, -0.0546875], [5.636962890625, -0.0703125], [6.39111328125, -0.09375], [7.14013671875, -0.12109375], [7.923828125, -0.158203125], [8.77685546875, -0.193359375], [9.7138671875, -0.24609375], [10.736083984375, -0.3046875], [11.843505859375, -0.37890625], [13.03662109375, -0.470703125], [14.31787109375, -0.578125], [15.6875, -0.69140625], [17.147705078125, -0.8046875], [18.690673828125, -0.904296875], [20.29833984375, -0.986328125], [21.97265625, -1.03515625]], "future_hz": 4, "speed_windows": [{"t_s": 0.5, "speed_mps": 4.045}, {"t_s": 1.5, "speed_mps": 3.097}, {"t_s": 2.5, "speed_mps": 3.601}, {"t_s": 3.5, "speed_mps": 4.967}, {"t_s": 4.5, "speed_mps": 6.296}], "minimum_1s_acceleration_mps2": -0.948, "maximum_speed_drop_mps": 1.808, "recorded_response": "slow_down", "method": "4 Hz trajectory path length; 1 s mean speeds; differences of adjacent 1 s means. Recorded response is descriptive, not a causal label."}, "frames": [{"t_s": 0.0, "source_frame": 164, "images": {"front_left": "images/f9fe7a6b880506360e9d6f96e88da0e1-164/+000_front_left.webp", "front": "images/f9fe7a6b880506360e9d6f96e88da0e1-164/+000_front.webp", "front_right": "images/f9fe7a6b880506360e9d6f96e88da0e1-164/+000_front_right.webp", "side_left": "images/f9fe7a6b880506360e9d6f96e88da0e1-164/+000_side_left.webp", "side_right": "images/f9fe7a6b880506360e9d6f96e88da0e1-164/+000_side_right.webp", "rear_left": "images/f9fe7a6b880506360e9d6f96e88da0e1-164/+000_rear_left.webp", "rear": "images/f9fe7a6b880506360e9d6f96e88da0e1-164/+000_rear.webp", "rear_right": "images/f9fe7a6b880506360e9d6f96e88da0e1-164/+000_rear_right.webp"}}], "camera_count": 8, "available_source_times_s": [-2.0, -1.0, 0.0, 1.0, 2.0, 3.0, 4.0, 5.0], "camera_scope": "current_only", "label": {"title": "Marked work-zone corridor without active conflict", "category": "work_zone", "tags": ["temporary delineators", "construction fencing", "two-way warning"], "current_situation": "Ego is traveling at 4.905 m/s toward a cross street on a straight road. Construction fencing, a materials truck, and temporary delineators occupy the left roadside and bound the roadway ahead. Temporary keep-right and no-left-turn signs are visible, with a two-way traffic warning on the right. Two people are seated beside the right-hand building, outside the roadway. The side and rear views show curbside vehicles and parking areas without a demonstrated crossing or merging conflict; daylight visibility is clear.", "baseline_decision": "Continue straight at the existing low speed, keeping right as instructed and respecting the no-left-turn sign; no visible conflict requires stopping.", "decision_changing_cue": "Temporary delineators and construction fencing define the usable corridor beyond the cross street, but no obstruction is visibly blocking ego's current path.", "causal_mechanism": "The temporary boundaries require following the marked corridor and preserving lateral clearance rather than treating the entire paved surface as usable. This is routine work-zone guidance, not a supported substantial change in the immediate plan.", "expected_action": "maintain_speed", "decision_deviation": false, "annotation": "Construction fencing and temporary delineators bound the straight-ahead roadway, with keep-right guidance and a two-way traffic warning. Ego can continue straight at its current low speed over the next few seconds while following the marked corridor and maintaining clearance from the posts; no visible actor conflict requires stopping.", "interest_score": 58, "confidence": 0.9, "selection_reason": "Reject as a strong long-tail candidate: the work-zone layout is concrete, but the route remains visibly open and no unusual negotiation, immediate conflict, or substantial additional maneuver is supported.", "camera_evidence": [{"camera": "front_left", "t_s": -2, "detail": "A temporary KEEP RIGHT sign stands beside striped delineators; construction fencing and curbside vehicles are visible to the left."}, {"camera": "front_left", "t_s": 0, "detail": "A temporary no-left-turn sign stands near the road center, with a materials truck and fenced construction site behind it."}, {"camera": "front", "t_s": 0, "detail": "The straight-ahead road remains open through the cross street, with rows of temporary delineators bounding the roadway farther ahead."}, {"camera": "front_right", "t_s": 0, "detail": "An orange two-way traffic warning stands beside the sidewalk; two people are seated against the building outside the roadway."}, {"camera": "side_left", "t_s": 0, "detail": "A white SUV is alongside the left curb, with a parking area containing other vehicles behind it."}, {"camera": "side_right", "t_s": 0, "detail": "A white building, metal fence, and sidewalk line the right side; no actor is visible entering ego's roadway."}, {"camera": "rear_left", "t_s": 0, "detail": "A dark sedan is beside the left curb, with a parking area behind it and a temporary delineator in the foreground."}, {"camera": "rear", "t_s": 0, "detail": "The road behind is lined with curbside vehicles on both sides, with the central roadway visibly open."}, {"camera": "rear_right", "t_s": 0, "detail": "The right sidewalk follows the white building and fence, with a covered parking meter beside the curb."}], "uncertainties": ["Exact corridor width and any required lateral offset cannot be established from these images.", "The history does not establish independent movement or future maneuvers of the curbside vehicles.", "Small downstream signs are not sufficiently legible to determine additional controls."]}, "discovery_label": {"title": "Marked work-zone corridor without active conflict", "category": "work_zone", "tags": ["temporary delineators", "construction fencing", "two-way warning"], "current_situation": "Ego is traveling at 4.905 m/s toward a cross street on a straight road. Construction fencing, a materials truck, and temporary delineators occupy the left roadside and bound the roadway ahead. Temporary keep-right and no-left-turn signs are visible, with a two-way traffic warning on the right. Two people are seated beside the right-hand building, outside the roadway. The side and rear views show curbside vehicles and parking areas without a demonstrated crossing or merging conflict; daylight visibility is clear.", "baseline_decision": "Continue straight at the existing low speed, keeping right as instructed and respecting the no-left-turn sign; no visible conflict requires stopping.", "decision_changing_cue": "Temporary delineators and construction fencing define the usable corridor beyond the cross street, but no obstruction is visibly blocking ego's current path.", "causal_mechanism": "The temporary boundaries require following the marked corridor and preserving lateral clearance rather than treating the entire paved surface as usable. This is routine work-zone guidance, not a supported substantial change in the immediate plan.", "expected_action": "maintain_speed", "decision_deviation": false, "annotation": "Construction fencing and temporary delineators bound the straight-ahead roadway, with keep-right guidance and a two-way traffic warning. Ego can continue straight at its current low speed over the next few seconds while following the marked corridor and maintaining clearance from the posts; no visible actor conflict requires stopping.", "interest_score": 58, "confidence": 0.9, "selection_reason": "Reject as a strong long-tail candidate: the work-zone layout is concrete, but the route remains visibly open and no unusual negotiation, immediate conflict, or substantial additional maneuver is supported.", "camera_evidence": [{"camera": "front_left", "t_s": -2, "detail": "A temporary KEEP RIGHT sign stands beside striped delineators; construction fencing and curbside vehicles are visible to the left."}, {"camera": "front_left", "t_s": 0, "detail": "A temporary no-left-turn sign stands near the road center, with a materials truck and fenced construction site behind it."}, {"camera": "front", "t_s": 0, "detail": "The straight-ahead road remains open through the cross street, with rows of temporary delineators bounding the roadway farther ahead."}, {"camera": "front_right", "t_s": 0, "detail": "An orange two-way traffic warning stands beside the sidewalk; two people are seated against the building outside the roadway."}, {"camera": "side_left", "t_s": 0, "detail": "A white SUV is alongside the left curb, with a parking area containing other vehicles behind it."}, {"camera": "side_right", "t_s": 0, "detail": "A white building, metal fence, and sidewalk line the right side; no actor is visible entering ego's roadway."}, {"camera": "rear_left", "t_s": 0, "detail": "A dark sedan is beside the left curb, with a parking area behind it and a temporary delineator in the foreground."}, {"camera": "rear", "t_s": 0, "detail": "The road behind is lined with curbside vehicles on both sides, with the central roadway visibly open."}, {"camera": "rear_right", "t_s": 0, "detail": "The right sidewalk follows the white building and fence, with a covered parking meter beside the curb."}], "uncertainties": ["Exact corridor width and any required lateral offset cannot be established from these images.", "The history does not establish independent movement or future maneuvers of the curbside vehicles.", "Small downstream signs are not sufficiently legible to determine additional controls."], "_binding_sha256": "152a0714f746be4d52909dbb23b1ec05cf80bc4daa1d72d6201cd11c1e8e3ccd", "_request": "requests/f9fe7a6b880506360e9d6f96e88da0e1-164/discovery-001"}, "review": null, "status": "dismissed", "annotation": "Construction fencing and temporary delineators bound the straight-ahead roadway, with keep-right guidance and a two-way traffic warning. Ego can continue straight at its current low speed over the next few seconds while following the marked corridor and maintaining clearance from the posts; no visible actor conflict requires stopping.", "selected": false}
{"id": "f8e6c441856e3e6cec334e8b17ba451d-065", "scenario_id": "f8e6c441856e3e6cec334e8b17ba451d", "split": "train", "batch_index": 11, "source_manifest_line": 11, "intent": "GO_STRAIGHT", "anchor_frame": 65, "motion": {"current_speed_mps": 4.874, "future_xy_m": [[1.263671875, -0.0029296875], [2.6171875, -0.0078125], [4.05078125, -0.013671875], [5.546875, -0.02099609375], [7.109375, -0.02783203125], [8.7421875, -0.03662109375], [10.392578125, -0.046875], [12.015625, -0.05908203125], [13.58203125, -0.07373046875], [15.068359375, -0.08984375], [16.51953125, -0.10693359375], [17.9921875, -0.12744140625], [19.490234375, -0.14990234375], [21.03125, -0.17626953125], [22.62890625, -0.2060546875], [24.283203125, -0.23876953125], [25.962890625, -0.27392578125], [27.619140625, -0.3095703125], [29.224609375, -0.3408203125], [30.75, -0.369140625]], "future_hz": 4, "speed_windows": [{"t_s": 0.5, "speed_mps": 5.547}, {"t_s": 1.5, "speed_mps": 6.469}, {"t_s": 2.5, "speed_mps": 5.977}, {"t_s": 3.5, "speed_mps": 6.292}, {"t_s": 4.5, "speed_mps": 6.468}], "minimum_1s_acceleration_mps2": -0.492, "maximum_speed_drop_mps": 0.0, "recorded_response": "accelerate", "method": "4 Hz trajectory path length; 1 s mean speeds; differences of adjacent 1 s means. Recorded response is descriptive, not a causal label."}, "frames": [{"t_s": 0.0, "source_frame": 65, "images": {"front_left": "images/f8e6c441856e3e6cec334e8b17ba451d-065/+000_front_left.webp", "front": "images/f8e6c441856e3e6cec334e8b17ba451d-065/+000_front.webp", "front_right": "images/f8e6c441856e3e6cec334e8b17ba451d-065/+000_front_right.webp", "side_left": "images/f8e6c441856e3e6cec334e8b17ba451d-065/+000_side_left.webp", "side_right": "images/f8e6c441856e3e6cec334e8b17ba451d-065/+000_side_right.webp", "rear_left": "images/f8e6c441856e3e6cec334e8b17ba451d-065/+000_rear_left.webp", "rear": "images/f8e6c441856e3e6cec334e8b17ba451d-065/+000_rear.webp", "rear_right": "images/f8e6c441856e3e6cec334e8b17ba451d-065/+000_rear_right.webp"}}], "camera_count": 8, "available_source_times_s": [-2.0, -1.0, 0.0, 1.0, 2.0, 3.0, 4.0, 5.0], "camera_scope": "current_only", "label": {"title": "Routine following toward a signal queue", "category": "routine", "tags": ["lead vehicle", "signal queue", "streetlit road", "roadside construction"], "current_situation": "Ego is traveling straight at 4.874 m/s behind a blue hatchback, between double-yellow center lines and a dashed white lane divider. A white hatchback is alongside to the right, and queued vehicles and red signals are visible farther ahead. A gray sedan progresses leftward from the forward view into the front-left view over the observation history. Construction markers are visible beside the right sidewalk, without a clear obstruction in ego's lane. Dark surroundings and light glare limit detail.", "baseline_decision": "Continue straight at a controlled following speed, preserving the lead-vehicle gap and preparing to slow or stop as the queue and applicable signals require.", "decision_changing_cue": "No additional nonroutine cue is established: the gray sedan is currently left of ego's lane, the white hatchback shows no clear lateral intrusion, and the nearby construction markers remain roadside.", "causal_mechanism": "The visible traffic supports ordinary longitudinal following and preparation for the queue, not a separate evasive maneuver or material departure from the baseline.", "expected_action": "maintain_speed", "decision_deviation": false, "annotation": "A blue hatchback leads ego toward queued traffic and visible red signals, with a white hatchback alongside to the right. Ego should continue straight at a controlled following speed, preserving the gap and preparing to slow or stop for the queue; no additional visible conflict requires an evasive maneuver.", "interest_score": 44, "confidence": 0.87, "selection_reason": "Reject as a long-tail candidate: ordinary following and a signal queue explain the recommended plan, while the side vehicle and roadside construction show no supported material conflict.", "camera_evidence": [{"camera": "front", "t_s": -2, "detail": "A blue hatchback is directly ahead; a gray sedan is farther ahead and left, angled across the forward view."}, {"camera": "front", "t_s": -1, "detail": "The gray sedan has shifted farther left while the blue hatchback remains ahead in ego's lane."}, {"camera": "front", "t_s": 0, "detail": "The blue hatchback remains ahead between the double-yellow lines and dashed white divider; queued vehicles and red signal lamps are visible farther along the road."}, {"camera": "front_left", "t_s": 0, "detail": "The gray sedan is now visible side-on on the left side of the double-yellow center lines."}, {"camera": "front_right", "t_s": 0, "detail": "A white hatchback is alongside on the right near the curb, with no clear crossing of the lane divider."}, {"camera": "side_left", "t_s": 0, "detail": "Building frontage, sidewalk and planted areas are visible across the left-side roadway; no clear actor occupies the adjacent roadway."}, {"camera": "side_right", "t_s": 0, "detail": "Striped construction markers and a low barrier are visible beside the sidewalk, rather than across ego's travel lane."}, {"camera": "rear_left", "t_s": 0, "detail": "A side-street opening and corner sidewalk are visible without a clear approaching vehicle."}, {"camera": "rear", "t_s": 0, "detail": "A vehicle with illuminated headlights follows behind ego."}, {"camera": "rear_right", "t_s": 0, "detail": "Cones stand beside the right sidewalk; no clear vehicle is entering from the rear-right."}], "uncertainties": ["The distant signal lamps are red, but their exact lane applicability is not resolved.", "The white hatchback's absolute motion cannot be reliably determined from these images.", "The gray sedan's maneuver origin and intended destination are not established.", "Low illumination limits identification of small sidewalk actors and distant construction details."]}, "discovery_label": {"title": "Routine following toward a signal queue", "category": "routine", "tags": ["lead vehicle", "signal queue", "streetlit road", "roadside construction"], "current_situation": "Ego is traveling straight at 4.874 m/s behind a blue hatchback, between double-yellow center lines and a dashed white lane divider. A white hatchback is alongside to the right, and queued vehicles and red signals are visible farther ahead. A gray sedan progresses leftward from the forward view into the front-left view over the observation history. Construction markers are visible beside the right sidewalk, without a clear obstruction in ego's lane. Dark surroundings and light glare limit detail.", "baseline_decision": "Continue straight at a controlled following speed, preserving the lead-vehicle gap and preparing to slow or stop as the queue and applicable signals require.", "decision_changing_cue": "No additional nonroutine cue is established: the gray sedan is currently left of ego's lane, the white hatchback shows no clear lateral intrusion, and the nearby construction markers remain roadside.", "causal_mechanism": "The visible traffic supports ordinary longitudinal following and preparation for the queue, not a separate evasive maneuver or material departure from the baseline.", "expected_action": "maintain_speed", "decision_deviation": false, "annotation": "A blue hatchback leads ego toward queued traffic and visible red signals, with a white hatchback alongside to the right. Ego should continue straight at a controlled following speed, preserving the gap and preparing to slow or stop for the queue; no additional visible conflict requires an evasive maneuver.", "interest_score": 44, "confidence": 0.87, "selection_reason": "Reject as a long-tail candidate: ordinary following and a signal queue explain the recommended plan, while the side vehicle and roadside construction show no supported material conflict.", "camera_evidence": [{"camera": "front", "t_s": -2, "detail": "A blue hatchback is directly ahead; a gray sedan is farther ahead and left, angled across the forward view."}, {"camera": "front", "t_s": -1, "detail": "The gray sedan has shifted farther left while the blue hatchback remains ahead in ego's lane."}, {"camera": "front", "t_s": 0, "detail": "The blue hatchback remains ahead between the double-yellow lines and dashed white divider; queued vehicles and red signal lamps are visible farther along the road."}, {"camera": "front_left", "t_s": 0, "detail": "The gray sedan is now visible side-on on the left side of the double-yellow center lines."}, {"camera": "front_right", "t_s": 0, "detail": "A white hatchback is alongside on the right near the curb, with no clear crossing of the lane divider."}, {"camera": "side_left", "t_s": 0, "detail": "Building frontage, sidewalk and planted areas are visible across the left-side roadway; no clear actor occupies the adjacent roadway."}, {"camera": "side_right", "t_s": 0, "detail": "Striped construction markers and a low barrier are visible beside the sidewalk, rather than across ego's travel lane."}, {"camera": "rear_left", "t_s": 0, "detail": "A side-street opening and corner sidewalk are visible without a clear approaching vehicle."}, {"camera": "rear", "t_s": 0, "detail": "A vehicle with illuminated headlights follows behind ego."}, {"camera": "rear_right", "t_s": 0, "detail": "Cones stand beside the right sidewalk; no clear vehicle is entering from the rear-right."}], "uncertainties": ["The distant signal lamps are red, but their exact lane applicability is not resolved.", "The white hatchback's absolute motion cannot be reliably determined from these images.", "The gray sedan's maneuver origin and intended destination are not established.", "Low illumination limits identification of small sidewalk actors and distant construction details."], "_binding_sha256": "b31b29a03197832a473e8b42bfec72d979901f367bc6d1c559e1ae0f1b42c96f", "_request": "requests/f8e6c441856e3e6cec334e8b17ba451d-065/discovery-001"}, "review": null, "status": "dismissed", "annotation": "A blue hatchback leads ego toward queued traffic and visible red signals, with a white hatchback alongside to the right. Ego should continue straight at a controlled following speed, preserving the gap and preparing to slow or stop for the queue; no additional visible conflict requires an evasive maneuver.", "selected": false}
{"id": "2381518f9fb9172740ca489fca44761e-204", "scenario_id": "2381518f9fb9172740ca489fca44761e", "split": "train", "batch_index": 12, "source_manifest_line": 12, "intent": "GO_STRAIGHT", "anchor_frame": 204, "motion": {"current_speed_mps": 2.267, "future_xy_m": [[0.539306640625, 0.00390625], [1.00390625, 0.00390625], [1.389404296875, 0.009765625], [1.7001953125, 0.009765625], [1.95361328125, 0.013671875], [2.158935546875, 0.017578125], [2.320556640625, 0.01953125], [2.436767578125, 0.021484375], [2.51904296875, 0.021484375], [2.5673828125, 0.0234375], [2.58349609375, 0.0234375], [2.57763671875, 0.0234375], [2.578125, 0.0234375], [2.576904296875, 0.025390625], [2.5771484375, 0.025390625], [2.5771484375, 0.025390625], [2.5771484375, 0.025390625], [2.57763671875, 0.025390625], [2.57763671875, 0.025390625], [2.57763671875, 0.025390625]], "future_hz": 4, "speed_windows": [{"t_s": 0.5, "speed_mps": 1.7}, {"t_s": 1.5, "speed_mps": 0.737}, {"t_s": 2.5, "speed_mps": 0.153}, {"t_s": 3.5, "speed_mps": 0.003}, {"t_s": 4.5, "speed_mps": 0.0}], "minimum_1s_acceleration_mps2": -0.964, "maximum_speed_drop_mps": 2.267, "recorded_response": "slow_to_stop", "method": "4 Hz trajectory path length; 1 s mean speeds; differences of adjacent 1 s means. Recorded response is descriptive, not a causal label."}, "frames": [{"t_s": 0.0, "source_frame": 204, "images": {"front_left": "images/2381518f9fb9172740ca489fca44761e-204/+000_front_left.webp", "front": "images/2381518f9fb9172740ca489fca44761e-204/+000_front.webp", "front_right": "images/2381518f9fb9172740ca489fca44761e-204/+000_front_right.webp", "side_left": "images/2381518f9fb9172740ca489fca44761e-204/+000_side_left.webp", "side_right": "images/2381518f9fb9172740ca489fca44761e-204/+000_side_right.webp", "rear_left": "images/2381518f9fb9172740ca489fca44761e-204/+000_rear_left.webp", "rear": "images/2381518f9fb9172740ca489fca44761e-204/+000_rear.webp", "rear_right": "images/2381518f9fb9172740ca489fca44761e-204/+000_rear_right.webp"}}], "camera_count": 8, "available_source_times_s": [-2.0, -1.0, 0.0, 1.0, 2.0], "camera_scope": "current_only", "label": {"title": "Cross traffic beside a construction corridor", "category": "routine", "tags": ["cross-traffic yield", "construction corridor", "nighttime", "wet pavement"], "current_situation": "Ego is moving at 2.267 m/s with a straight-ahead route. A sedan has crossed from right to left over the observed two seconds and is now leaving the forward view toward front-left. A pickup has advanced leftward from the right-side junction opening. Construction fencing and temporary delineators line the street ahead, with parked vehicles and approaching headlights farther along it. Streetlights illuminate reflective pavement and puddles. Red signal lamps are visible ahead-right, but their applicability to ego is unclear.", "baseline_decision": "Without the crossing vehicles, continue cautiously along the straight route through the construction-lined corridor, subject to any applicable junction control and maintaining clearance from delineators and parked vehicles.", "decision_changing_cue": "The sedan is still completing its crossing at front-left while the pickup has moved farther left from the right-side opening into the junction.", "causal_mechanism": "Advancing immediately could overlap the crossing vehicles' paths. Their observed movement requires delaying forward entry rather than treating the opening as clear; construction context alone does not establish an unusual interaction.", "expected_action": "yield", "decision_deviation": true, "annotation": "At a lamp-lit junction beside construction fencing and temporary delineators, a sedan is completing a right-to-left crossing while a pickup advances from the right. Although ego would otherwise continue cautiously straight subject to junction controls, the crossing traffic requires ego to yield now, stopping short of its path if needed and proceeding only once clear.", "interest_score": 57, "confidence": 0.83, "selection_reason": "Reject as a long-tail candidate: the supported decision change is ordinary cross-traffic yielding. Construction, low illumination, and pavement reflections provide context, but no specific unusual obstruction, violation, or negotiation is established.", "camera_evidence": [{"camera": "front", "t_s": -2, "detail": "A sedan is broadside across the roadway ahead, facing toward ego's left."}, {"camera": "front", "t_s": -1, "detail": "The sedan has progressed leftward across the forward view."}, {"camera": "front_left", "t_s": 0, "detail": "The crossing sedan now occupies the lower front-left view beside construction fencing."}, {"camera": "front", "t_s": 0, "detail": "The sedan's rear remains at the left edge; the pickup's front appears at the right edge. Temporary delineators, approaching headlights, and a roadside car are visible ahead."}, {"camera": "front_right", "t_s": -2, "detail": "A pickup faces left near the right-side opening, with a white SUV beyond it."}, {"camera": "front_right", "t_s": 0, "detail": "The pickup has shifted farther left relative to the parked white SUV. Puddles reflect its lights; red signal lamps are visible above the opposite venue."}, {"camera": "side_left", "t_s": 0, "detail": "A corner sidewalk, tree, parked cars, and construction fencing are visible; no additional nearby crossing actor is evident."}, {"camera": "side_right", "t_s": 0, "detail": "A sidewalk runs beside a pale building and shrubs, with no nearby roadway-entering actor evident."}, {"camera": "rear_left", "t_s": 0, "detail": "Parked cars, including a white compact car, line the left-side curb behind ego."}, {"camera": "rear", "t_s": 0, "detail": "Temporary reflective delineators occupy part of the street behind ego, with parked vehicles along both sides."}, {"camera": "rear_right", "t_s": 0, "detail": "A temporary sign, sidewalk, fence, building, and red hydrant are visible behind-right."}], "uncertainties": ["The governing signal or sign for ego cannot be established from these views; the visible red lamps must not be assumed to control ego.", "The pickup's eventual maneuver and whether it will cross fully are unknown.", "Exact path overlap and remaining clearance cannot be measured from the uncalibrated images.", "Dim illumination and glare limit assessment of small distant actors; no hidden pedestrian is inferred."]}, "discovery_label": {"title": "Cross traffic beside a construction corridor", "category": "routine", "tags": ["cross-traffic yield", "construction corridor", "nighttime", "wet pavement"], "current_situation": "Ego is moving at 2.267 m/s with a straight-ahead route. A sedan has crossed from right to left over the observed two seconds and is now leaving the forward view toward front-left. A pickup has advanced leftward from the right-side junction opening. Construction fencing and temporary delineators line the street ahead, with parked vehicles and approaching headlights farther along it. Streetlights illuminate reflective pavement and puddles. Red signal lamps are visible ahead-right, but their applicability to ego is unclear.", "baseline_decision": "Without the crossing vehicles, continue cautiously along the straight route through the construction-lined corridor, subject to any applicable junction control and maintaining clearance from delineators and parked vehicles.", "decision_changing_cue": "The sedan is still completing its crossing at front-left while the pickup has moved farther left from the right-side opening into the junction.", "causal_mechanism": "Advancing immediately could overlap the crossing vehicles' paths. Their observed movement requires delaying forward entry rather than treating the opening as clear; construction context alone does not establish an unusual interaction.", "expected_action": "yield", "decision_deviation": true, "annotation": "At a lamp-lit junction beside construction fencing and temporary delineators, a sedan is completing a right-to-left crossing while a pickup advances from the right. Although ego would otherwise continue cautiously straight subject to junction controls, the crossing traffic requires ego to yield now, stopping short of its path if needed and proceeding only once clear.", "interest_score": 57, "confidence": 0.83, "selection_reason": "Reject as a long-tail candidate: the supported decision change is ordinary cross-traffic yielding. Construction, low illumination, and pavement reflections provide context, but no specific unusual obstruction, violation, or negotiation is established.", "camera_evidence": [{"camera": "front", "t_s": -2, "detail": "A sedan is broadside across the roadway ahead, facing toward ego's left."}, {"camera": "front", "t_s": -1, "detail": "The sedan has progressed leftward across the forward view."}, {"camera": "front_left", "t_s": 0, "detail": "The crossing sedan now occupies the lower front-left view beside construction fencing."}, {"camera": "front", "t_s": 0, "detail": "The sedan's rear remains at the left edge; the pickup's front appears at the right edge. Temporary delineators, approaching headlights, and a roadside car are visible ahead."}, {"camera": "front_right", "t_s": -2, "detail": "A pickup faces left near the right-side opening, with a white SUV beyond it."}, {"camera": "front_right", "t_s": 0, "detail": "The pickup has shifted farther left relative to the parked white SUV. Puddles reflect its lights; red signal lamps are visible above the opposite venue."}, {"camera": "side_left", "t_s": 0, "detail": "A corner sidewalk, tree, parked cars, and construction fencing are visible; no additional nearby crossing actor is evident."}, {"camera": "side_right", "t_s": 0, "detail": "A sidewalk runs beside a pale building and shrubs, with no nearby roadway-entering actor evident."}, {"camera": "rear_left", "t_s": 0, "detail": "Parked cars, including a white compact car, line the left-side curb behind ego."}, {"camera": "rear", "t_s": 0, "detail": "Temporary reflective delineators occupy part of the street behind ego, with parked vehicles along both sides."}, {"camera": "rear_right", "t_s": 0, "detail": "A temporary sign, sidewalk, fence, building, and red hydrant are visible behind-right."}], "uncertainties": ["The governing signal or sign for ego cannot be established from these views; the visible red lamps must not be assumed to control ego.", "The pickup's eventual maneuver and whether it will cross fully are unknown.", "Exact path overlap and remaining clearance cannot be measured from the uncalibrated images.", "Dim illumination and glare limit assessment of small distant actors; no hidden pedestrian is inferred."], "_binding_sha256": "62928ea3b70d22e84ec333e73eda1cec4455afe66e5af1330c13f8dc0feb8f13", "_request": "requests/2381518f9fb9172740ca489fca44761e-204/discovery-001"}, "review": null, "status": "dismissed", "annotation": "At a lamp-lit junction beside construction fencing and temporary delineators, a sedan is completing a right-to-left crossing while a pickup advances from the right. Although ego would otherwise continue cautiously straight subject to junction controls, the crossing traffic requires ego to yield now, stopping short of its path if needed and proceeding only once clear.", "selected": false}
{"id": "6ea8c5deda9a20df56a42e2476a3caaf-210", "scenario_id": "6ea8c5deda9a20df56a42e2476a3caaf", "split": "train", "batch_index": 13, "source_manifest_line": 13, "intent": "GO_STRAIGHT", "anchor_frame": 210, "motion": {"current_speed_mps": 10.446, "future_xy_m": [[2.61376953125, -0.005859375], [5.21923828125, -0.013671875], [7.828125, -0.025390625], [10.4306640625, -0.037109375], [13.037109375, -0.048828125], [15.64208984375, -0.0625], [18.244140625, -0.07421875], [20.8447265625, -0.0859375], [23.447265625, -0.095703125], [26.0439453125, -0.103515625], [28.642578125, -0.111328125], [31.2373046875, -0.12109375], [33.83154296875, -0.1328125], [36.4228515625, -0.14453125], [39.01220703125, -0.16015625], [41.59912109375, -0.1796875], [44.18603515625, -0.203125], [46.76904296875, -0.228515625], [49.34326171875, -0.255859375], [51.9189453125, -0.28125]], "future_hz": 4, "speed_windows": [{"t_s": 0.5, "speed_mps": 10.431}, {"t_s": 1.5, "speed_mps": 10.414}, {"t_s": 2.5, "speed_mps": 10.393}, {"t_s": 3.5, "speed_mps": 10.362}, {"t_s": 4.5, "speed_mps": 10.32}], "minimum_1s_acceleration_mps2": -0.042, "maximum_speed_drop_mps": 0.125, "recorded_response": "roughly_maintain_speed", "method": "4 Hz trajectory path length; 1 s mean speeds; differences of adjacent 1 s means. Recorded response is descriptive, not a causal label."}, "frames": [{"t_s": 0.0, "source_frame": 210, "images": {"front_left": "images/6ea8c5deda9a20df56a42e2476a3caaf-210/+000_front_left.webp", "front": "images/6ea8c5deda9a20df56a42e2476a3caaf-210/+000_front.webp", "front_right": "images/6ea8c5deda9a20df56a42e2476a3caaf-210/+000_front_right.webp", "side_left": "images/6ea8c5deda9a20df56a42e2476a3caaf-210/+000_side_left.webp", "side_right": "images/6ea8c5deda9a20df56a42e2476a3caaf-210/+000_side_right.webp", "rear_left": "images/6ea8c5deda9a20df56a42e2476a3caaf-210/+000_rear_left.webp", "rear": "images/6ea8c5deda9a20df56a42e2476a3caaf-210/+000_rear.webp", "rear_right": "images/6ea8c5deda9a20df56a42e2476a3caaf-210/+000_rear_right.webp"}}], "camera_count": 8, "available_source_times_s": [-2.0, -1.0, 0.0, 1.0], "camera_scope": "current_only", "label": {"title": "Marked nighttime construction corridor", "category": "work_zone", "tags": ["construction channelization", "keep left", "low illumination"], "current_situation": "Ego is traveling straight at 10.446 m/s toward visible green signals. Orange barriers line the left roadside, while reflective posts and a KEEP LEFT sign bound the right side of the open travel corridor; double-yellow lines remain visible on ego's left. Across the available history, these stationary markers approach as ego advances. All eight cameras show poorly illuminated surroundings, with no clearly identifiable road user creating a conflict.", "baseline_decision": "Continue straight toward the green signals at a speed appropriate for visibility, remaining right of the double-yellow lines.", "decision_changing_cue": "Reflective construction posts occupy the right portion of the roadway, and a KEEP LEFT sign directs traffic through the remaining corridor.", "causal_mechanism": "The channelization limits usable lateral space and calls for careful positioning and modest speed moderation while passing the markers. It does not visibly require stopping, crossing the centerline, or negotiating with another actor.", "expected_action": "slow_down", "decision_deviation": false, "annotation": "Reflective posts, orange barriers, and a KEEP LEFT sign channel the straight road toward green signals at night. Although ego can continue straight, it should ease speed as needed over the next few seconds and pass left of the right-side posts while remaining right of the double-yellow lines.", "interest_score": 52, "confidence": 0.85, "selection_reason": "Reject as a strong long-tail candidate: this is clearly marked construction channelization with an open path, supporting routine speed and positioning adjustments rather than a substantial plan change.", "camera_evidence": [{"camera": "front", "t_s": -2, "detail": "Double-yellow lines, roadside barriers, reflective posts, and green signals define an open straight corridor."}, {"camera": "front", "t_s": -1, "detail": "The same construction corridor remains open as the right-side temporary sign and posts become larger in view."}, {"camera": "front", "t_s": 0, "detail": "The enlarged image clearly shows a KEEP LEFT sign beside right-side reflective posts, double-yellow lines to the left, and green signals ahead."}, {"camera": "front_left", "t_s": 0, "detail": "Orange barriers with amber lamps run alongside the roadway in front of dimly lit buildings."}, {"camera": "front_right", "t_s": 0, "detail": "A roadside rail and fence are visible against dark surroundings; no actor is clearly identifiable."}, {"camera": "side_left", "t_s": 0, "detail": "Construction barriers border the poorly illuminated building frontage."}, {"camera": "side_right", "t_s": 0, "detail": "The roadside is very poorly illuminated, with no clearly discernible interacting road user."}, {"camera": "rear_left", "t_s": 0, "detail": "Passed barriers and an amber-lit construction marker remain visible alongside the road."}, {"camera": "rear", "t_s": 0, "detail": "The road behind has double-yellow lines and construction markers; no close following vehicle is clearly visible."}, {"camera": "rear_right", "t_s": 0, "detail": "A reflective construction marker stands beside the roadside edge."}], "uncertainties": ["Low illumination limits identification of objects and road users outside the headlight-lit corridor.", "Usable lane width and lateral clearance cannot be measured from these images.", "No future signal state or recorded ego response is available."]}, "discovery_label": {"title": "Marked nighttime construction corridor", "category": "work_zone", "tags": ["construction channelization", "keep left", "low illumination"], "current_situation": "Ego is traveling straight at 10.446 m/s toward visible green signals. Orange barriers line the left roadside, while reflective posts and a KEEP LEFT sign bound the right side of the open travel corridor; double-yellow lines remain visible on ego's left. Across the available history, these stationary markers approach as ego advances. All eight cameras show poorly illuminated surroundings, with no clearly identifiable road user creating a conflict.", "baseline_decision": "Continue straight toward the green signals at a speed appropriate for visibility, remaining right of the double-yellow lines.", "decision_changing_cue": "Reflective construction posts occupy the right portion of the roadway, and a KEEP LEFT sign directs traffic through the remaining corridor.", "causal_mechanism": "The channelization limits usable lateral space and calls for careful positioning and modest speed moderation while passing the markers. It does not visibly require stopping, crossing the centerline, or negotiating with another actor.", "expected_action": "slow_down", "decision_deviation": false, "annotation": "Reflective posts, orange barriers, and a KEEP LEFT sign channel the straight road toward green signals at night. Although ego can continue straight, it should ease speed as needed over the next few seconds and pass left of the right-side posts while remaining right of the double-yellow lines.", "interest_score": 52, "confidence": 0.85, "selection_reason": "Reject as a strong long-tail candidate: this is clearly marked construction channelization with an open path, supporting routine speed and positioning adjustments rather than a substantial plan change.", "camera_evidence": [{"camera": "front", "t_s": -2, "detail": "Double-yellow lines, roadside barriers, reflective posts, and green signals define an open straight corridor."}, {"camera": "front", "t_s": -1, "detail": "The same construction corridor remains open as the right-side temporary sign and posts become larger in view."}, {"camera": "front", "t_s": 0, "detail": "The enlarged image clearly shows a KEEP LEFT sign beside right-side reflective posts, double-yellow lines to the left, and green signals ahead."}, {"camera": "front_left", "t_s": 0, "detail": "Orange barriers with amber lamps run alongside the roadway in front of dimly lit buildings."}, {"camera": "front_right", "t_s": 0, "detail": "A roadside rail and fence are visible against dark surroundings; no actor is clearly identifiable."}, {"camera": "side_left", "t_s": 0, "detail": "Construction barriers border the poorly illuminated building frontage."}, {"camera": "side_right", "t_s": 0, "detail": "The roadside is very poorly illuminated, with no clearly discernible interacting road user."}, {"camera": "rear_left", "t_s": 0, "detail": "Passed barriers and an amber-lit construction marker remain visible alongside the road."}, {"camera": "rear", "t_s": 0, "detail": "The road behind has double-yellow lines and construction markers; no close following vehicle is clearly visible."}, {"camera": "rear_right", "t_s": 0, "detail": "A reflective construction marker stands beside the roadside edge."}], "uncertainties": ["Low illumination limits identification of objects and road users outside the headlight-lit corridor.", "Usable lane width and lateral clearance cannot be measured from these images.", "No future signal state or recorded ego response is available."], "_binding_sha256": "a7899250e18c8a1c2520fc16d73e421a374fba65bb0b82bef35ba1bcdf6c3f2e", "_request": "requests/6ea8c5deda9a20df56a42e2476a3caaf-210/discovery-001"}, "review": null, "status": "dismissed", "annotation": "Reflective posts, orange barriers, and a KEEP LEFT sign channel the straight road toward green signals at night. Although ego can continue straight, it should ease speed as needed over the next few seconds and pass left of the right-side posts while remaining right of the double-yellow lines.", "selected": false}
{"id": "3467c79e47280ad548a440e8366c008f-030", "scenario_id": "3467c79e47280ad548a440e8366c008f", "split": "train", "batch_index": 14, "source_manifest_line": 14, "intent": "GO_STRAIGHT", "anchor_frame": 30, "motion": {"current_speed_mps": 13.945, "future_xy_m": [[3.48388671875, -0.0126953125], [6.9605712890625, -0.0458984375], [10.4295654296875, -0.10595703125], [13.8946533203125, -0.20166015625], [17.3363037109375, -0.33447265625], [20.7818603515625, -0.51416015625], [24.2235107421875, -0.751953125], [27.6552734375, -1.04248046875], [31.0830078125, -1.38671875], [34.4881591796875, -1.7861328125], [37.9100341796875, -2.24365234375], [41.3212890625, -2.75], [44.74560546875, -3.29833984375], [48.1727294921875, -3.8837890625], [51.608154296875, -4.50146484375], [55.044189453125, -5.14599609375], [58.4873046875, -5.81298828125], [61.939453125, -6.49755859375], [65.4041748046875, -7.201171875], [68.8753662109375, -7.9169921875]], "future_hz": 4, "speed_windows": [{"t_s": 0.5, "speed_mps": 13.897}, {"t_s": 1.5, "speed_mps": 13.788}, {"t_s": 2.5, "speed_mps": 13.774}, {"t_s": 3.5, "speed_mps": 13.931}, {"t_s": 4.5, "speed_mps": 14.106}], "minimum_1s_acceleration_mps2": -0.108, "maximum_speed_drop_mps": 0.171, "recorded_response": "roughly_maintain_speed", "method": "4 Hz trajectory path length; 1 s mean speeds; differences of adjacent 1 s means. Recorded response is descriptive, not a causal label."}, "frames": [{"t_s": 0.0, "source_frame": 30, "images": {"front_left": "images/3467c79e47280ad548a440e8366c008f-030/+000_front_left.webp", "front": "images/3467c79e47280ad548a440e8366c008f-030/+000_front.webp", "front_right": "images/3467c79e47280ad548a440e8366c008f-030/+000_front_right.webp", "side_left": "images/3467c79e47280ad548a440e8366c008f-030/+000_side_left.webp", "side_right": "images/3467c79e47280ad548a440e8366c008f-030/+000_side_right.webp", "rear_left": "images/3467c79e47280ad548a440e8366c008f-030/+000_rear_left.webp", "rear": "images/3467c79e47280ad548a440e8366c008f-030/+000_rear.webp", "rear_right": "images/3467c79e47280ad548a440e8366c008f-030/+000_rear_right.webp"}}], "camera_count": 8, "available_source_times_s": [0.0, 1.0, 2.0, 3.0, 4.0, 5.0], "camera_scope": "current_only", "label": {"title": "Green Intersection With Cross-Street Vehicles", "category": "routine", "tags": ["green signal", "cross-street vehicles", "low illumination"], "current_situation": "Ego approaches a marked, multilane intersection on a straight route under a visible green signal. A car is ahead-left, with additional traffic farther ahead. Vehicles are visible at the left and right cross-street approaches; the right vehicle is partly obscured by roadside poles. Side views show building-lined sidewalks, and the rear view shows a vehicle behind. Only one observation time is available, so actor motion is unverified.", "baseline_decision": "Continue straight through the green signal in the current lane, maintaining appropriate clearance from traffic ahead and checking the intersection.", "decision_changing_cue": "No established decision-changing cue is visible. Cross-street vehicles are present, but this frame does not establish movement into ego's path.", "causal_mechanism": "The cross-street vehicles warrant ordinary intersection monitoring, but their visible positions do not support a conflicting trajectory requiring braking or lateral avoidance.", "expected_action": "maintain_speed", "decision_deviation": false, "annotation": "Ego approaches a marked intersection under a green signal, with a car ahead-left and vehicles visible at both cross-street approaches. Continue straight in the current lane while maintaining forward clearance and monitoring cross traffic; no visible crossing conflict currently requires a different maneuver.", "interest_score": 24, "confidence": 0.86, "selection_reason": "Reject as a long-tail candidate: this is a routine green-signal traversal without a visually established unusual interaction. Low illumination and partial obstruction of a cross-street vehicle alone do not establish a material plan change.", "camera_evidence": [{"camera": "front_left", "t_s": 0, "detail": "A dark vehicle is visible in side profile at the left cross-street approach beside intersection markings; its movement cannot be determined."}, {"camera": "front", "t_s": 0, "detail": "A green signal is visible above the through roadway, with marked crosswalks, a car ahead-left, and additional vehicles farther ahead."}, {"camera": "front_right", "t_s": 0, "detail": "Part of a vehicle with an illuminated headlamp is visible at the right cross-street approach, partly obscured by roadside poles."}, {"camera": "side_left", "t_s": 0, "detail": "A dim building frontage and sidewalk are visible; no identifiable actor occupies the adjacent roadway."}, {"camera": "side_right", "t_s": 0, "detail": "A building wall, windows, doorway, and adjacent sidewalk are visible without an identifiable nearby road user."}, {"camera": "rear_left", "t_s": 0, "detail": "Storefronts and the adjacent roadway are visible, with no identifiable immediate lateral conflict."}, {"camera": "rear", "t_s": 0, "detail": "A vehicle with illuminated headlights is behind ego, with additional vehicle lights farther back."}, {"camera": "rear_right", "t_s": 0, "detail": "A building frontage and sidewalk border the roadway; no identifiable actor creates an immediate conflict."}], "uncertainties": ["A single frame cannot establish vehicle motion, speed, or intended maneuvers.", "Roadside poles obscure part of the right cross-street vehicle.", "Low illumination limits identification of small or distant road users."]}, "discovery_label": {"title": "Green Intersection With Cross-Street Vehicles", "category": "routine", "tags": ["green signal", "cross-street vehicles", "low illumination"], "current_situation": "Ego approaches a marked, multilane intersection on a straight route under a visible green signal. A car is ahead-left, with additional traffic farther ahead. Vehicles are visible at the left and right cross-street approaches; the right vehicle is partly obscured by roadside poles. Side views show building-lined sidewalks, and the rear view shows a vehicle behind. Only one observation time is available, so actor motion is unverified.", "baseline_decision": "Continue straight through the green signal in the current lane, maintaining appropriate clearance from traffic ahead and checking the intersection.", "decision_changing_cue": "No established decision-changing cue is visible. Cross-street vehicles are present, but this frame does not establish movement into ego's path.", "causal_mechanism": "The cross-street vehicles warrant ordinary intersection monitoring, but their visible positions do not support a conflicting trajectory requiring braking or lateral avoidance.", "expected_action": "maintain_speed", "decision_deviation": false, "annotation": "Ego approaches a marked intersection under a green signal, with a car ahead-left and vehicles visible at both cross-street approaches. Continue straight in the current lane while maintaining forward clearance and monitoring cross traffic; no visible crossing conflict currently requires a different maneuver.", "interest_score": 24, "confidence": 0.86, "selection_reason": "Reject as a long-tail candidate: this is a routine green-signal traversal without a visually established unusual interaction. Low illumination and partial obstruction of a cross-street vehicle alone do not establish a material plan change.", "camera_evidence": [{"camera": "front_left", "t_s": 0, "detail": "A dark vehicle is visible in side profile at the left cross-street approach beside intersection markings; its movement cannot be determined."}, {"camera": "front", "t_s": 0, "detail": "A green signal is visible above the through roadway, with marked crosswalks, a car ahead-left, and additional vehicles farther ahead."}, {"camera": "front_right", "t_s": 0, "detail": "Part of a vehicle with an illuminated headlamp is visible at the right cross-street approach, partly obscured by roadside poles."}, {"camera": "side_left", "t_s": 0, "detail": "A dim building frontage and sidewalk are visible; no identifiable actor occupies the adjacent roadway."}, {"camera": "side_right", "t_s": 0, "detail": "A building wall, windows, doorway, and adjacent sidewalk are visible without an identifiable nearby road user."}, {"camera": "rear_left", "t_s": 0, "detail": "Storefronts and the adjacent roadway are visible, with no identifiable immediate lateral conflict."}, {"camera": "rear", "t_s": 0, "detail": "A vehicle with illuminated headlights is behind ego, with additional vehicle lights farther back."}, {"camera": "rear_right", "t_s": 0, "detail": "A building frontage and sidewalk border the roadway; no identifiable actor creates an immediate conflict."}], "uncertainties": ["A single frame cannot establish vehicle motion, speed, or intended maneuvers.", "Roadside poles obscure part of the right cross-street vehicle.", "Low illumination limits identification of small or distant road users."], "_binding_sha256": "13c73615f834425ab48b96d61ba430eb5bdde2a3d5eee5a68ecaae093edb478b", "_request": "requests/3467c79e47280ad548a440e8366c008f-030/discovery-001"}, "review": null, "status": "dismissed", "annotation": "Ego approaches a marked intersection under a green signal, with a car ahead-left and vehicles visible at both cross-street approaches. Continue straight in the current lane while maintaining forward clearance and monitoring cross traffic; no visible crossing conflict currently requires a different maneuver.", "selected": false}
{"id": "9b2ed83be4604830b0071e6da3412b46-177", "scenario_id": "9b2ed83be4604830b0071e6da3412b46", "split": "train", "batch_index": 15, "source_manifest_line": 15, "intent": "GO_RIGHT", "anchor_frame": 177, "motion": {"current_speed_mps": 1.637, "future_xy_m": [[0.433380126953125, -0.075927734375], [0.907196044921875, -0.19287109375], [1.41265869140625, -0.36376953125], [1.947540283203125, -0.59228515625], [2.50384521484375, -0.89697265625], [3.0955810546875, -1.280029296875], [3.69964599609375, -1.755859375], [4.311187744140625, -2.3251953125], [4.9205322265625, -2.99609375], [5.5181121826171875, -3.759033203125], [6.096923828125, -4.620849609375], [6.6374053955078125, -5.5703125], [7.1438751220703125, -6.612548828125], [7.63140869140625, -7.73291015625], [8.0924072265625, -8.9306640625], [8.541595458984375, -10.1904296875], [8.985198974609375, -11.517578125], [9.434982299804688, -12.90966796875], [9.889846801757812, -14.364990234375], [10.35040283203125, -15.883544921875]], "future_hz": 4, "speed_windows": [{"t_s": 0.5, "speed_mps": 2.043}, {"t_s": 1.5, "speed_mps": 2.944}, {"t_s": 2.5, "speed_mps": 4.006}, {"t_s": 3.5, "speed_mps": 5.001}, {"t_s": 4.5, "speed_mps": 5.974}], "minimum_1s_acceleration_mps2": 0.9, "maximum_speed_drop_mps": 0.0, "recorded_response": "accelerate", "method": "4 Hz trajectory path length; 1 s mean speeds; differences of adjacent 1 s means. Recorded response is descriptive, not a causal label."}, "frames": [{"t_s": 0.0, "source_frame": 177, "images": {"front_left": "images/9b2ed83be4604830b0071e6da3412b46-177/+000_front_left.webp", "front": "images/9b2ed83be4604830b0071e6da3412b46-177/+000_front.webp", "front_right": "images/9b2ed83be4604830b0071e6da3412b46-177/+000_front_right.webp", "side_left": "images/9b2ed83be4604830b0071e6da3412b46-177/+000_side_left.webp", "side_right": "images/9b2ed83be4604830b0071e6da3412b46-177/+000_side_right.webp", "rear_left": "images/9b2ed83be4604830b0071e6da3412b46-177/+000_rear_left.webp", "rear": "images/9b2ed83be4604830b0071e6da3412b46-177/+000_rear.webp", "rear_right": "images/9b2ed83be4604830b0071e6da3412b46-177/+000_rear_right.webp"}}], "camera_count": 8, "available_source_times_s": [-2.0, -1.0, 0.0, 1.0, 2.0, 3.0, 4.0, 5.0], "camera_scope": "current_only", "label": {"title": "Routine Right-Turn Gap Check", "category": "routine", "tags": ["right turn", "cross traffic", "sidewalk pedestrians"], "current_situation": "Ego is moving at 1.637 m/s at a junction with a STOP pavement marking visible behind it and a planned right turn. A scooter moves toward the left corner across the three observations, while a sedan travels right-to-left past the parked van across the junction. Two pedestrians approach the corner on the right sidewalk but remain off the roadway. Parked vehicles line the cross street and the street behind ego; daylight and building shadows leave the immediate roadway visible.", "baseline_decision": "Complete the stop-controlled approach, check cross traffic and the right-side sidewalk, then turn right at low speed when the entry path is clear.", "decision_changing_cue": "The scooter's movement toward the left corner warrants checking whether it will continue across the junction before beginning the right turn. This is an ordinary cross-traffic yield cue, not a clearly nonroutine interaction.", "causal_mechanism": "Entering before the scooter's path is resolved could create a conflict with cross traffic. Delaying entry until the path is clear is part of normal right-turn gap selection; neither the sidewalk pedestrians nor parked vehicles establish an additional material plan change.", "expected_action": "yield", "decision_deviation": false, "annotation": "At a stop-marked junction, a scooter moves toward the corner from ego's left while two pedestrians remain on the right sidewalk. Although ego would otherwise complete the required stop and turn right into a clear gap, the scooter requires ego to check its path and yield before entering if it continues across the junction.", "interest_score": 48, "confidence": 0.81, "selection_reason": "Reject as a long-tail candidate: the supported response is routine stop-and-yield gap selection. No pedestrian enters the roadway, and no unusual scooter maneuver, immediate conflict, or obstructed turn path is established.", "camera_evidence": [{"camera": "front_left", "t_s": 0, "detail": "A screened curbside dining structure stands across the junction; the visible roadway in front of it has no crossing pedestrian."}, {"camera": "front", "t_s": -2, "detail": "A white van is parked across the junction, with a dark sedan entering the right edge of the view."}, {"camera": "front", "t_s": 0, "detail": "The dark sedan has moved left relative to the parked van, supporting right-to-left cross-street motion."}, {"camera": "front_right", "t_s": 0, "detail": "The rightward cross street has lane markings and curbside parked vehicles, including a white pickup near the corner."}, {"camera": "side_left", "t_s": -2, "detail": "A rider on a scooter is visible on the cross street to ego's left, to the right of the corner hydrant in the image."}, {"camera": "side_left", "t_s": -1, "detail": "The scooter has shifted toward the corner relative to the hydrant and parked vehicles."}, {"camera": "side_left", "t_s": 0, "detail": "The scooter and rider are now near the left corner beside the curb; their onward path is not established."}, {"camera": "side_right", "t_s": 0, "detail": "Two pedestrians are on the library-side sidewalk near the corner, with pigeons also on the sidewalk; neither pedestrian is visibly in the roadway."}, {"camera": "rear_left", "t_s": 0, "detail": "A white SUV is parked beside the building behind ego on the left."}, {"camera": "rear", "t_s": 0, "detail": "A STOP pavement marking is visible on ego's approach, with parked vehicles along the street behind."}, {"camera": "rear_right", "t_s": 0, "detail": "A parked Honda SUV and parking meter are beside the library; no moving actor is visible in this view."}], "uncertainties": ["The scooter may continue through the junction or stop near the curb; its intention is not observable.", "The pedestrians' eventual crossing intentions are unknown.", "The stop-sign face is not readable, and prior stop compliance cannot be established from these images.", "Camera views do not establish calibrated actor distances or speeds."]}, "discovery_label": {"title": "Routine Right-Turn Gap Check", "category": "routine", "tags": ["right turn", "cross traffic", "sidewalk pedestrians"], "current_situation": "Ego is moving at 1.637 m/s at a junction with a STOP pavement marking visible behind it and a planned right turn. A scooter moves toward the left corner across the three observations, while a sedan travels right-to-left past the parked van across the junction. Two pedestrians approach the corner on the right sidewalk but remain off the roadway. Parked vehicles line the cross street and the street behind ego; daylight and building shadows leave the immediate roadway visible.", "baseline_decision": "Complete the stop-controlled approach, check cross traffic and the right-side sidewalk, then turn right at low speed when the entry path is clear.", "decision_changing_cue": "The scooter's movement toward the left corner warrants checking whether it will continue across the junction before beginning the right turn. This is an ordinary cross-traffic yield cue, not a clearly nonroutine interaction.", "causal_mechanism": "Entering before the scooter's path is resolved could create a conflict with cross traffic. Delaying entry until the path is clear is part of normal right-turn gap selection; neither the sidewalk pedestrians nor parked vehicles establish an additional material plan change.", "expected_action": "yield", "decision_deviation": false, "annotation": "At a stop-marked junction, a scooter moves toward the corner from ego's left while two pedestrians remain on the right sidewalk. Although ego would otherwise complete the required stop and turn right into a clear gap, the scooter requires ego to check its path and yield before entering if it continues across the junction.", "interest_score": 48, "confidence": 0.81, "selection_reason": "Reject as a long-tail candidate: the supported response is routine stop-and-yield gap selection. No pedestrian enters the roadway, and no unusual scooter maneuver, immediate conflict, or obstructed turn path is established.", "camera_evidence": [{"camera": "front_left", "t_s": 0, "detail": "A screened curbside dining structure stands across the junction; the visible roadway in front of it has no crossing pedestrian."}, {"camera": "front", "t_s": -2, "detail": "A white van is parked across the junction, with a dark sedan entering the right edge of the view."}, {"camera": "front", "t_s": 0, "detail": "The dark sedan has moved left relative to the parked van, supporting right-to-left cross-street motion."}, {"camera": "front_right", "t_s": 0, "detail": "The rightward cross street has lane markings and curbside parked vehicles, including a white pickup near the corner."}, {"camera": "side_left", "t_s": -2, "detail": "A rider on a scooter is visible on the cross street to ego's left, to the right of the corner hydrant in the image."}, {"camera": "side_left", "t_s": -1, "detail": "The scooter has shifted toward the corner relative to the hydrant and parked vehicles."}, {"camera": "side_left", "t_s": 0, "detail": "The scooter and rider are now near the left corner beside the curb; their onward path is not established."}, {"camera": "side_right", "t_s": 0, "detail": "Two pedestrians are on the library-side sidewalk near the corner, with pigeons also on the sidewalk; neither pedestrian is visibly in the roadway."}, {"camera": "rear_left", "t_s": 0, "detail": "A white SUV is parked beside the building behind ego on the left."}, {"camera": "rear", "t_s": 0, "detail": "A STOP pavement marking is visible on ego's approach, with parked vehicles along the street behind."}, {"camera": "rear_right", "t_s": 0, "detail": "A parked Honda SUV and parking meter are beside the library; no moving actor is visible in this view."}], "uncertainties": ["The scooter may continue through the junction or stop near the curb; its intention is not observable.", "The pedestrians' eventual crossing intentions are unknown.", "The stop-sign face is not readable, and prior stop compliance cannot be established from these images.", "Camera views do not establish calibrated actor distances or speeds."], "_binding_sha256": "82bb976d950a6aab2459c849992b77388ceab4d82c2d10a44d81dc01cf3525dc", "_request": "requests/9b2ed83be4604830b0071e6da3412b46-177/discovery-001"}, "review": null, "status": "dismissed", "annotation": "At a stop-marked junction, a scooter moves toward the corner from ego's left while two pedestrians remain on the right sidewalk. Although ego would otherwise complete the required stop and turn right into a clear gap, the scooter requires ego to check its path and yield before entering if it continues across the junction.", "selected": false}
{"id": "4bda1aa49344bb3649b35930df569568-032", "scenario_id": "4bda1aa49344bb3649b35930df569568", "split": "train", "batch_index": 16, "source_manifest_line": 16, "intent": "GO_STRAIGHT", "anchor_frame": 32, "motion": {"current_speed_mps": 6.461, "future_xy_m": [[1.619140625, -0.02392578125], [3.251953125, -0.06884765625], [4.892578125, -0.1298828125], [6.544921875, -0.2109375], [8.2109375, -0.30908203125], [9.888671875, -0.42626953125], [11.5703125, -0.5595703125], [13.267578125, -0.71337890625], [14.974609375, -0.87890625], [16.689453125, -1.06005859375], [18.408203125, -1.2529296875], [20.134765625, -1.46142578125], [21.86328125, -1.68359375], [23.587890625, -1.919921875], [25.302734375, -2.1669921875], [26.998046875, -2.4208984375], [28.673828125, -2.68310546875], [30.326171875, -2.95068359375], [31.947265625, -3.2197265625], [33.541015625, -3.4921875]], "future_hz": 4, "speed_windows": [{"t_s": 0.5, "speed_mps": 6.549}, {"t_s": 1.5, "speed_mps": 6.742}, {"t_s": 2.5, "speed_mps": 6.908}, {"t_s": 3.5, "speed_mps": 6.93}, {"t_s": 4.5, "speed_mps": 6.63}], "minimum_1s_acceleration_mps2": -0.3, "maximum_speed_drop_mps": 0.0, "recorded_response": "roughly_maintain_speed", "method": "4 Hz trajectory path length; 1 s mean speeds; differences of adjacent 1 s means. Recorded response is descriptive, not a causal label."}, "frames": [{"t_s": 0.0, "source_frame": 32, "images": {"front_left": "images/4bda1aa49344bb3649b35930df569568-032/+000_front_left.webp", "front": "images/4bda1aa49344bb3649b35930df569568-032/+000_front.webp", "front_right": "images/4bda1aa49344bb3649b35930df569568-032/+000_front_right.webp", "side_left": "images/4bda1aa49344bb3649b35930df569568-032/+000_side_left.webp", "side_right": "images/4bda1aa49344bb3649b35930df569568-032/+000_side_right.webp", "rear_left": "images/4bda1aa49344bb3649b35930df569568-032/+000_rear_left.webp", "rear": "images/4bda1aa49344bb3649b35930df569568-032/+000_rear.webp", "rear_right": "images/4bda1aa49344bb3649b35930df569568-032/+000_rear_right.webp"}}], "camera_count": 8, "available_source_times_s": [-2.0, -1.0, 0.0, 1.0, 2.0, 3.0, 4.0, 5.0], "camera_scope": "current_only", "label": {"title": "Routine Residential Street With Curbside Vehicles", "category": "routine", "tags": ["residential street", "curbside vehicles", "clear travel corridor"], "current_situation": "Ego intends to continue straight at 6.461 m/s on an unmarked residential street. Two large vehicles face ego along the left curb, and a sedan is ahead beside the right curb; their positions across the history are consistent with parking. The travel corridor remains open. All eight cameras show daylight residential surroundings, with no visible pedestrian, cyclist, or immediate crossing conflict. An intersection and a transverse dark vehicle are visible behind ego; no stop sign or signal facing ego is identifiable ahead.", "baseline_decision": "Continue straight at the current moderate speed, positioning within the open corridor to preserve ordinary clearance from curbside vehicles.", "decision_changing_cue": "None established. The curbside vehicles do not visibly pull out or block the available travel corridor.", "causal_mechanism": "The visible vehicles call for normal clearance monitoring, but no supported unusual interaction changes the next 0–5 second plan.", "expected_action": "maintain_speed", "decision_deviation": false, "annotation": "An unmarked residential street has apparently parked vehicles along both curbs and an open travel corridor. Ego should continue straight at the current moderate speed while preserving clearance from the curbside vehicles; no visible conflict requires a material decision change over the next 0–5 seconds.", "interest_score": 17, "confidence": 0.92, "selection_reason": "Reject as a long-tail candidate: ordinary curbside parking and an intersection behind ego provide no visually supported nonroutine hazard or substantial plan change.", "camera_evidence": [{"camera": "front", "t_s": -2, "detail": "Vehicles sit along the left curb and a sedan is farther ahead beside the right curb, leaving the middle travel corridor open."}, {"camera": "front", "t_s": 0, "detail": "The larger front image shows two left-curb vehicles facing ego, a right-curb sedan ahead, and unobstructed pavement between them."}, {"camera": "front_left", "t_s": 0, "detail": "The left curb, sidewalk, lawns, and house frontages are visible without a pedestrian or vehicle entering the roadway."}, {"camera": "front_right", "t_s": 0, "detail": "A sidewalk, lawn, shrubs, and a palm tree border the right side; no actor is visible approaching the roadway."}, {"camera": "side_left", "t_s": 0, "detail": "A red SUV and white sedan are aligned beside the left curb, outside the open forward travel corridor."}, {"camera": "side_right", "t_s": 0, "detail": "The adjacent house, lawn, and walkway contain no visible road user or roadway obstruction."}, {"camera": "rear_left", "t_s": 0, "detail": "The intersection behind ego, a roadside sign, and a white vehicle across the junction are visible."}, {"camera": "rear", "t_s": 0, "detail": "A dark vehicle is oriented transversely at the intersection behind ego, not in the visible forward path."}, {"camera": "rear_right", "t_s": 0, "detail": "Residential frontage, sidewalk, and shrubs are visible with no nearby road user."}], "uncertainties": ["Curbside vehicles appear parked, but their operating status cannot be confirmed from photographs.", "Motion of the distant forward vehicle and the transverse vehicle behind ego is not reliably resolved.", "The rear-left sign text is not legible enough to establish its control meaning."]}, "discovery_label": {"title": "Routine Residential Street With Curbside Vehicles", "category": "routine", "tags": ["residential street", "curbside vehicles", "clear travel corridor"], "current_situation": "Ego intends to continue straight at 6.461 m/s on an unmarked residential street. Two large vehicles face ego along the left curb, and a sedan is ahead beside the right curb; their positions across the history are consistent with parking. The travel corridor remains open. All eight cameras show daylight residential surroundings, with no visible pedestrian, cyclist, or immediate crossing conflict. An intersection and a transverse dark vehicle are visible behind ego; no stop sign or signal facing ego is identifiable ahead.", "baseline_decision": "Continue straight at the current moderate speed, positioning within the open corridor to preserve ordinary clearance from curbside vehicles.", "decision_changing_cue": "None established. The curbside vehicles do not visibly pull out or block the available travel corridor.", "causal_mechanism": "The visible vehicles call for normal clearance monitoring, but no supported unusual interaction changes the next 0–5 second plan.", "expected_action": "maintain_speed", "decision_deviation": false, "annotation": "An unmarked residential street has apparently parked vehicles along both curbs and an open travel corridor. Ego should continue straight at the current moderate speed while preserving clearance from the curbside vehicles; no visible conflict requires a material decision change over the next 0–5 seconds.", "interest_score": 17, "confidence": 0.92, "selection_reason": "Reject as a long-tail candidate: ordinary curbside parking and an intersection behind ego provide no visually supported nonroutine hazard or substantial plan change.", "camera_evidence": [{"camera": "front", "t_s": -2, "detail": "Vehicles sit along the left curb and a sedan is farther ahead beside the right curb, leaving the middle travel corridor open."}, {"camera": "front", "t_s": 0, "detail": "The larger front image shows two left-curb vehicles facing ego, a right-curb sedan ahead, and unobstructed pavement between them."}, {"camera": "front_left", "t_s": 0, "detail": "The left curb, sidewalk, lawns, and house frontages are visible without a pedestrian or vehicle entering the roadway."}, {"camera": "front_right", "t_s": 0, "detail": "A sidewalk, lawn, shrubs, and a palm tree border the right side; no actor is visible approaching the roadway."}, {"camera": "side_left", "t_s": 0, "detail": "A red SUV and white sedan are aligned beside the left curb, outside the open forward travel corridor."}, {"camera": "side_right", "t_s": 0, "detail": "The adjacent house, lawn, and walkway contain no visible road user or roadway obstruction."}, {"camera": "rear_left", "t_s": 0, "detail": "The intersection behind ego, a roadside sign, and a white vehicle across the junction are visible."}, {"camera": "rear", "t_s": 0, "detail": "A dark vehicle is oriented transversely at the intersection behind ego, not in the visible forward path."}, {"camera": "rear_right", "t_s": 0, "detail": "Residential frontage, sidewalk, and shrubs are visible with no nearby road user."}], "uncertainties": ["Curbside vehicles appear parked, but their operating status cannot be confirmed from photographs.", "Motion of the distant forward vehicle and the transverse vehicle behind ego is not reliably resolved.", "The rear-left sign text is not legible enough to establish its control meaning."], "_binding_sha256": "28b192081d147f2cd0ec5fbd2a3428e796da03bb993883460de90469b885c16a", "_request": "requests/4bda1aa49344bb3649b35930df569568-032/discovery-001"}, "review": null, "status": "dismissed", "annotation": "An unmarked residential street has apparently parked vehicles along both curbs and an open travel corridor. Ego should continue straight at the current moderate speed while preserving clearance from the curbside vehicles; no visible conflict requires a material decision change over the next 0–5 seconds.", "selected": false}
{"id": "0fdba2bcc19c78417afbeecfd950bccc-209", "scenario_id": "0fdba2bcc19c78417afbeecfd950bccc", "split": "train", "batch_index": 17, "source_manifest_line": 17, "intent": "GO_RIGHT", "anchor_frame": 209, "motion": {"current_speed_mps": 0.927, "future_xy_m": [[0.21086883544921875, -0.00677490234375], [0.3843994140625, -0.0120849609375], [0.5082550048828125, -0.0169677734375], [0.5450515747070312, -0.01837158203125], [0.5321578979492188, -0.018798828125], [0.5228805541992188, -0.01904296875], [0.531982421875, -0.02093505859375], [0.5854873657226562, -0.027099609375], [0.7304306030273438, -0.04443359375], [0.9762344360351562, -0.08148193359375], [1.3222579956054688, -0.14306640625], [1.754730224609375, -0.2381591796875], [2.25250244140625, -0.37286376953125], [2.7946014404296875, -0.55010986328125], [3.36602783203125, -0.77178955078125], [3.9594573974609375, -1.0416259765625], [4.5665130615234375, -1.366455078125], [5.1742401123046875, -1.74493408203125], [5.796600341796875, -2.1871337890625], [6.4376983642578125, -2.68939208984375]], "future_hz": 4, "speed_windows": [{"t_s": 0.5, "speed_mps": 0.545}, {"t_s": 1.5, "speed_mps": 0.085}, {"t_s": 2.5, "speed_mps": 1.189}, {"t_s": 3.5, "speed_mps": 2.351}, {"t_s": 4.5, "speed_mps": 2.982}], "minimum_1s_acceleration_mps2": -0.46, "maximum_speed_drop_mps": 0.842, "recorded_response": "accelerate", "method": "4 Hz trajectory path length; 1 s mean speeds; differences of adjacent 1 s means. Recorded response is descriptive, not a causal label."}, "frames": [{"t_s": -2.0, "source_frame": 189, "images": {"front_left": "images/0fdba2bcc19c78417afbeecfd950bccc-209/-020_front_left.webp", "front": "images/0fdba2bcc19c78417afbeecfd950bccc-209/-020_front.webp", "front_right": "images/0fdba2bcc19c78417afbeecfd950bccc-209/-020_front_right.webp", "side_left": "images/0fdba2bcc19c78417afbeecfd950bccc-209/-020_side_left.webp", "side_right": "images/0fdba2bcc19c78417afbeecfd950bccc-209/-020_side_right.webp", "rear_left": "images/0fdba2bcc19c78417afbeecfd950bccc-209/-020_rear_left.webp", "rear": "images/0fdba2bcc19c78417afbeecfd950bccc-209/-020_rear.webp", "rear_right": "images/0fdba2bcc19c78417afbeecfd950bccc-209/-020_rear_right.webp"}}, {"t_s": -1.0, "source_frame": 199, "images": {"front_left": "images/0fdba2bcc19c78417afbeecfd950bccc-209/-010_front_left.webp", "front": "images/0fdba2bcc19c78417afbeecfd950bccc-209/-010_front.webp", "front_right": "images/0fdba2bcc19c78417afbeecfd950bccc-209/-010_front_right.webp", "side_left": "images/0fdba2bcc19c78417afbeecfd950bccc-209/-010_side_left.webp", "side_right": "images/0fdba2bcc19c78417afbeecfd950bccc-209/-010_side_right.webp", "rear_left": "images/0fdba2bcc19c78417afbeecfd950bccc-209/-010_rear_left.webp", "rear": "images/0fdba2bcc19c78417afbeecfd950bccc-209/-010_rear.webp", "rear_right": "images/0fdba2bcc19c78417afbeecfd950bccc-209/-010_rear_right.webp"}}, {"t_s": 0.0, "source_frame": 209, "images": {"front_left": "images/0fdba2bcc19c78417afbeecfd950bccc-209/+000_front_left.webp", "front": "images/0fdba2bcc19c78417afbeecfd950bccc-209/+000_front.webp", "front_right": "images/0fdba2bcc19c78417afbeecfd950bccc-209/+000_front_right.webp", "side_left": "images/0fdba2bcc19c78417afbeecfd950bccc-209/+000_side_left.webp", "side_right": "images/0fdba2bcc19c78417afbeecfd950bccc-209/+000_side_right.webp", "rear_left": "images/0fdba2bcc19c78417afbeecfd950bccc-209/+000_rear_left.webp", "rear": "images/0fdba2bcc19c78417afbeecfd950bccc-209/+000_rear.webp", "rear_right": "images/0fdba2bcc19c78417afbeecfd950bccc-209/+000_rear_right.webp"}}, {"t_s": 1.0, "source_frame": 219, "images": {"front_left": "images/0fdba2bcc19c78417afbeecfd950bccc-209/+010_front_left.webp", "front": "images/0fdba2bcc19c78417afbeecfd950bccc-209/+010_front.webp", "front_right": "images/0fdba2bcc19c78417afbeecfd950bccc-209/+010_front_right.webp", "side_left": "images/0fdba2bcc19c78417afbeecfd950bccc-209/+010_side_left.webp", "side_right": "images/0fdba2bcc19c78417afbeecfd950bccc-209/+010_side_right.webp", "rear_left": "images/0fdba2bcc19c78417afbeecfd950bccc-209/+010_rear_left.webp", "rear": "images/0fdba2bcc19c78417afbeecfd950bccc-209/+010_rear.webp", "rear_right": "images/0fdba2bcc19c78417afbeecfd950bccc-209/+010_rear_right.webp"}}], "camera_count": 8, "available_source_times_s": [-2.0, -1.0, 0.0, 1.0], "camera_scope": "full_timeline", "label": {"title": "Right-Turn Entry Constrained by Keep-Left Channelization", "category": "work_zone", "tags": ["right turn", "temporary channelization", "keep left", "barrier clearance"], "current_situation": "Ego has a supplied right-turn route and current speed of approximately 0.93 m/s. Orange barriers border construction areas, while a readable KEEP LEFT sign and striped delineators occupy pavement beyond the right corner. No immediate crossing actor is visible in the supplied views, but distant vehicles and unreadable intersection controls remain relevant.", "baseline_decision": "Without the receiving-road sign and delineators, but retaining the other construction barriers, make a low-speed right turn through verified open pavement after checking controls and traffic, preserving curb and barrier clearance without a sign-directed offset.", "decision_changing_cue": "A readable KEEP LEFT sign beside a striped delineator, with additional posts extending along the receiving road near the right-hand curb.", "causal_mechanism": "The sign directs passage left of the temporary roadway obstructions, constraining the intended turn's entry position. Ego should establish a clear turning path around them; neither an exact offset nor a wider-than-normal turn is measurable from these images.", "expected_action": "increase_clearance", "decision_deviation": true, "annotation": "Ego is creeping toward a right turn at a construction-lined intersection, with a KEEP LEFT sign and striped delineators on the receiving-road pavement near the right corner. After checking intersection controls and traffic, plan the turn to pass left of this temporary channelization with clearance rather than simply following the curb; the required additional offset is uncertain.", "interest_score": 74, "confidence": 0.85, "selection_reason": "A qualitative long-tail candidate because a specific temporary obstacle arrangement changes the lateral execution of the intended right turn. The supported decision change is clearance and turn geometry, not emergency braking or an inferred actor interaction.", "camera_evidence": [{"camera": "front_right", "t_s": -2, "detail": "Striped roadway delineators are already visible beyond the curved right corner, supporting continuity of the temporary layout."}, {"camera": "front_right", "t_s": -1, "detail": "The small directional sign and adjacent striped delineator remain on the receiving-road pavement near the corner."}, {"camera": "front_right", "t_s": 0, "detail": "KEEP LEFT and its left-pointing arrow are readable; an adjacent striped delineator and another farther along stand between the open roadway and right curb."}, {"camera": "front_left", "t_s": 0, "detail": "Orange barriers, exposed ground and temporary boards border the opposite construction area; no immediate crossing vehicle is visible."}, {"camera": "front", "t_s": 0, "detail": "A long orange barrier row borders the far side, while foreground intersection pavement is open."}, {"camera": "side_left", "t_s": 0, "detail": "Pedestrian-symbol direction boards, pennant tape and barriers mark a temporary sidewalk arrangement; the symbols are not actual pedestrians."}, {"camera": "side_right", "t_s": 0, "detail": "The corner sidewalk borders a grass area with a hydrant; striped posts continue along the road to the right."}, {"camera": "rear_left", "t_s": 0, "detail": "Orange barriers and pennant tape border the approach-side sidewalk, with no nearby actor interaction visible."}, {"camera": "rear", "t_s": 0, "detail": "The approach road is open behind ego, with curbside vehicles and distant vehicles; no close follower is evident."}, {"camera": "rear_right", "t_s": 0, "detail": "The back of a nearby octagonal temporary sign and additional roadside posts are visible; the sign face cannot establish ego's applicable control."}], "uncertainties": ["Exact receiving-lane boundaries, clearance distances and additional lateral offset are unresolved.", "Applicable intersection control and whether ego has satisfied it cannot be established.", "Distant vehicle motion is not confidently resolved.", "The supplied later image is only at +1 s and does not show completion of the turn or passage past the delineators."]}, "discovery_label": {"title": "Right Turn Around Temporary Keep-Left Delineators", "category": "work_zone", "tags": ["right turn", "temporary channelization", "keep left", "barrier clearance"], "current_situation": "Ego is moving at 0.927 m/s with a right-turn route at an intersection surrounded by construction barriers. A readable KEEP LEFT sign and striped delineators occupy pavement beyond the right-hand corner, constraining the turn into the receiving road. Pedestrian-direction boards mark the construction area on ego's left. Across the available history, the barriers and posts remain stationary; no nearby moving actor conflict is evident. Visibility is clear in daylight, although the temporary corridor lacks clearly visible lane boundaries.", "baseline_decision": "After satisfying applicable intersection controls and checking cross traffic, make a conventional low-speed right turn into the receiving lane without an additional obstacle-avoidance offset.", "decision_changing_cue": "The KEEP LEFT sign and adjacent striped delineators stand beyond the right-hand corner where ego would enter the receiving road.", "causal_mechanism": "Temporary channelization prevents a tight curb-following turn. Ego must shape the upcoming right turn to pass left of the sign and delineators, preserving clearance rather than accelerating into the ordinary corner-following path.", "expected_action": "increase_clearance", "decision_deviation": true, "annotation": "Orange construction barriers surround the intersection, and a KEEP LEFT sign with striped delineators stands beyond the right-hand corner. Although ego would otherwise make a conventional low-speed right turn after satisfying intersection controls, the temporary channelization requires a wider turn to the left of these obstacles, maintaining low speed and clearance over the next few seconds.", "interest_score": 74, "confidence": 0.85, "selection_reason": "A qualitative long-tail candidate because a specific temporary obstacle arrangement changes the lateral execution of the intended right turn. The supported decision change is clearance and turn geometry, not emergency braking or an inferred actor interaction.", "camera_evidence": [{"camera": "front_left", "t_s": 0, "detail": "Orange barriers border the opposite construction area, with exposed ground and temporary boards; no nearby vehicle is visible approaching from the left."}, {"camera": "front", "t_s": 0, "detail": "A continuous orange barrier row borders the far side of the intersection; the foreground intersection pavement is open."}, {"camera": "front_right", "t_s": 0, "detail": "A readable KEEP LEFT sign stands beside a striped delineator beyond the curved right-hand curb, with another delineator farther along the receiving road."}, {"camera": "front_right", "t_s": -2, "detail": "Striped delineators already occupy the same right-turn receiving area; comparison with the current view supports a stationary temporary layout."}, {"camera": "side_left", "t_s": 0, "detail": "Pedestrian-symbol boards with directional arrows, pennant tape, and orange barriers mark the construction area beside the intersection."}, {"camera": "side_right", "t_s": 0, "detail": "The sidewalk curves around a grass corner with a hydrant; striped construction posts continue along the road to ego's right."}, {"camera": "rear_left", "t_s": 0, "detail": "Orange barriers and pennant tape border the approach-side sidewalk; no nearby actor conflict is visible."}, {"camera": "rear", "t_s": 0, "detail": "The approach road remains open behind ego, with vehicles along the right curb and another vehicle farther back; no close follower is apparent."}, {"camera": "rear_right", "t_s": 0, "detail": "The back of an octagonal sign is visible beside the corner sidewalk, along with construction posts; its face cannot be read."}], "uncertainties": ["The exact receiving-lane boundaries and required lateral offset cannot be established from these uncalibrated images.", "The back-facing octagonal sign does not establish which approach it controls or whether ego has already satisfied that control.", "Motion of distant vehicles is not confidently resolved, and no future actor behavior is available."], "_binding_sha256": "eab4bd09dfe0c2b93238ef665b14f18c9d49ca66fdf5489ada213525e8d3a27a", "_request": "requests/0fdba2bcc19c78417afbeecfd950bccc-209/discovery-001"}, "review": {"verdict": "confirmed", "grounding_score": 0.9, "reason": "The readable KEEP LEFT sign and roadway delineators directly constrain the intended right-turn entry, supporting a nonroutine clearance decision rather than an invented actor conflict. Chronological views support a stationary arrangement; the later view and recorded rightward motion do not establish a completed obstacle-avoidance maneuver.", "corrected_annotation": "Ego is creeping toward a right turn at a construction-lined intersection, with a KEEP LEFT sign and striped delineators on the receiving-road pavement near the right corner. After checking intersection controls and traffic, plan the turn to pass left of this temporary channelization with clearance rather than simply following the curb; the required additional offset is uncertain.", "corrected_title": "Right-Turn Entry Constrained by Keep-Left Channelization", "corrected_current_situation": "Ego has a supplied right-turn route and current speed of approximately 0.93 m/s. Orange barriers border construction areas, while a readable KEEP LEFT sign and striped delineators occupy pavement beyond the right corner. No immediate crossing actor is visible in the supplied views, but distant vehicles and unreadable intersection controls remain relevant.", "corrected_baseline_decision": "Without the receiving-road sign and delineators, but retaining the other construction barriers, make a low-speed right turn through verified open pavement after checking controls and traffic, preserving curb and barrier clearance without a sign-directed offset.", "corrected_decision_changing_cue": "A readable KEEP LEFT sign beside a striped delineator, with additional posts extending along the receiving road near the right-hand curb.", "corrected_causal_mechanism": "The sign directs passage left of the temporary roadway obstructions, constraining the intended turn's entry position. Ego should establish a clear turning path around them; neither an exact offset nor a wider-than-normal turn is measurable from these images.", "corrected_expected_action": "increase_clearance", "corrected_camera_evidence": [{"camera": "front_right", "t_s": -2, "detail": "Striped roadway delineators are already visible beyond the curved right corner, supporting continuity of the temporary layout."}, {"camera": "front_right", "t_s": -1, "detail": "The small directional sign and adjacent striped delineator remain on the receiving-road pavement near the corner."}, {"camera": "front_right", "t_s": 0, "detail": "KEEP LEFT and its left-pointing arrow are readable; an adjacent striped delineator and another farther along stand between the open roadway and right curb."}, {"camera": "front_left", "t_s": 0, "detail": "Orange barriers, exposed ground and temporary boards border the opposite construction area; no immediate crossing vehicle is visible."}, {"camera": "front", "t_s": 0, "detail": "A long orange barrier row borders the far side, while foreground intersection pavement is open."}, {"camera": "side_left", "t_s": 0, "detail": "Pedestrian-symbol direction boards, pennant tape and barriers mark a temporary sidewalk arrangement; the symbols are not actual pedestrians."}, {"camera": "side_right", "t_s": 0, "detail": "The corner sidewalk borders a grass area with a hydrant; striped posts continue along the road to the right."}, {"camera": "rear_left", "t_s": 0, "detail": "Orange barriers and pennant tape border the approach-side sidewalk, with no nearby actor interaction visible."}, {"camera": "rear", "t_s": 0, "detail": "The approach road is open behind ego, with curbside vehicles and distant vehicles; no close follower is evident."}, {"camera": "rear_right", "t_s": 0, "detail": "The back of a nearby octagonal temporary sign and additional roadside posts are visible; the sign face cannot establish ego's applicable control."}], "remaining_uncertainties": ["Exact receiving-lane boundaries, clearance distances and additional lateral offset are unresolved.", "Applicable intersection control and whether ego has satisfied it cannot be established.", "Distant vehicle motion is not confidently resolved.", "The supplied later image is only at +1 s and does not show completion of the turn or passage past the delineators."], "motion_consistency": "partly_consistent", "recorded_motion_explanation": "Recorded motion initially slows nearly to a pause, then accelerates along a rightward-curving trajectory, reaching approximately 2.98 m/s in the final speed window. This is compatible with subsequently executing a right turn but does not prove sign-induced clearance adjustment. Acceleration does not itself contradict the lateral-clearance recommendation. Minimum 1 s acceleration is -0.46 m/s² and speed drop is 0.842 m/s, so recorded strong braking is not supported.", "unsupported_details": ["A necessarily wider-than-normal turn or quantified obstacle-avoidance offset.", "Attributing the recorded slowing or acceleration specifically to the channelization.", "Treating unreadable sign backs as proof of ego's applicable intersection control."], "_binding_sha256": "3e5f298ef44adc8f7082e515d349ec839b612a430efca6db3da0e3eb25dc4ea0", "_request": "requests/0fdba2bcc19c78417afbeecfd950bccc-209/review-002"}, "status": "selected", "annotation": "Ego is creeping toward a right turn at a construction-lined intersection, with a KEEP LEFT sign and striped delineators on the receiving-road pavement near the right corner. After checking intersection controls and traffic, plan the turn to pass left of this temporary channelization with clearance rather than simply following the curb; the required additional offset is uncertain.", "selected": true}
{"id": "e8dfcc593f0120cb77a255d5b43bb320-191", "scenario_id": "e8dfcc593f0120cb77a255d5b43bb320", "split": "train", "batch_index": 18, "source_manifest_line": 18, "intent": "GO_STRAIGHT", "anchor_frame": 191, "motion": {"current_speed_mps": 12.853, "future_xy_m": [[3.203125, -0.009765625], [6.3837890625, -0.037109375], [9.53564453125, -0.0703125], [12.6640625, -0.1171875], [15.7646484375, -0.166015625], [18.84423828125, -0.2109375], [21.89306640625, -0.248046875], [24.90771484375, -0.28515625], [27.87744140625, -0.322265625], [30.79833984375, -0.359375], [33.67578125, -0.39453125], [36.5224609375, -0.431640625], [39.35400390625, -0.46484375], [42.16748046875, -0.48828125], [44.9658203125, -0.509765625], [47.74609375, -0.529296875], [50.50732421875, -0.5546875], [53.23583984375, -0.587890625], [55.91357421875, -0.626953125], [58.54638671875, -0.66015625]], "future_hz": 4, "speed_windows": [{"t_s": 0.5, "speed_mps": 12.665}, {"t_s": 1.5, "speed_mps": 12.245}, {"t_s": 2.5, "speed_mps": 11.616}, {"t_s": 3.5, "speed_mps": 11.224}, {"t_s": 4.5, "speed_mps": 10.801}], "minimum_1s_acceleration_mps2": -0.629, "maximum_speed_drop_mps": 2.051, "recorded_response": "slow_down", "method": "4 Hz trajectory path length; 1 s mean speeds; differences of adjacent 1 s means. Recorded response is descriptive, not a causal label."}, "frames": [{"t_s": 0.0, "source_frame": 191, "images": {"front_left": "images/e8dfcc593f0120cb77a255d5b43bb320-191/+000_front_left.webp", "front": "images/e8dfcc593f0120cb77a255d5b43bb320-191/+000_front.webp", "front_right": "images/e8dfcc593f0120cb77a255d5b43bb320-191/+000_front_right.webp", "side_left": "images/e8dfcc593f0120cb77a255d5b43bb320-191/+000_side_left.webp", "side_right": "images/e8dfcc593f0120cb77a255d5b43bb320-191/+000_side_right.webp", "rear_left": "images/e8dfcc593f0120cb77a255d5b43bb320-191/+000_rear_left.webp", "rear": "images/e8dfcc593f0120cb77a255d5b43bb320-191/+000_rear.webp", "rear_right": "images/e8dfcc593f0120cb77a255d5b43bb320-191/+000_rear_right.webp"}}], "camera_count": 8, "available_source_times_s": [-2.0, -1.0, 0.0, 1.0, 2.0, 3.0], "camera_scope": "current_only", "label": {"title": "Routine Approach to Red Signals", "category": "routine", "tags": ["signal approach", "low light", "roadside fencing"], "current_situation": "Ego is traveling straight at 12.853 m/s on a marked urban road, with double-yellow lines to its left and a white lane divider to its right. Red signals and several vehicles with illuminated taillights are visible ahead throughout the history. Roadside fencing and warning signs are visible on the right, but no obstruction extends into the nearby ego lane. Streetlights illuminate portions of the otherwise dark scene. The side and rear views show no clear crossing actor or lane intrusion.", "baseline_decision": "Follow the straight-ahead route, hold the current lane, and progressively slow for the red signals and traffic ahead, preparing to stop if they remain.", "decision_changing_cue": "No supported nonroutine cue changes that baseline. The visible red signals and traffic ahead warrant ordinary approach deceleration.", "causal_mechanism": "The signal-controlled approach requires a controlled slowdown rather than continued cruising. The fencing, warning signs, and low illumination do not reveal a specific additional conflict requiring evasive braking or a lateral maneuver.", "expected_action": "slow_down", "decision_deviation": false, "annotation": "Ego approaches red traffic signals and several vehicles ahead on a straight, marked road in low light. Even without the roadside fencing and warning signs, ego should slow during the next few seconds while holding its lane and prepare to stop for the signals or traffic ahead.", "interest_score": 43, "confidence": 0.9, "selection_reason": "Reject as a long-tail candidate: the supported decision is a routine signal approach, with no visible unusual interaction, lane obstruction, or material departure from the control-compliant baseline.", "camera_evidence": [{"camera": "front", "t_s": -2, "detail": "Marked lanes lead toward illuminated red signals and vehicles ahead; the nearby travel lane is unobstructed."}, {"camera": "front", "t_s": 0, "detail": "The larger image shows red signals, clustered vehicle taillights ahead, double-yellow lines on the left, and a white divider on the right."}, {"camera": "front_left", "t_s": 0, "detail": "Opposite-side pavement, sidewalk, buildings, and trees are visible without a clear actor entering the road."}, {"camera": "front_right", "t_s": 0, "detail": "A building, fence, sidewalk, and driveway opening lie beside the right-hand road edge; no clear vehicle or pedestrian enters the lane."}, {"camera": "side_left", "t_s": 0, "detail": "The adjacent roadway and opposite sidewalk show no clear lateral conflict."}, {"camera": "side_right", "t_s": 0, "detail": "Grass, trees, sidewalk, and fencing remain outside the travel lanes."}, {"camera": "rear_left", "t_s": -2, "detail": "Several vehicles with illuminated rear lights are visible on the roadway to the rear-left."}, {"camera": "rear", "t_s": 0, "detail": "A vehicle with headlights is visible behind ego, with additional traffic farther back; no clear encroachment is visible."}, {"camera": "rear_right", "t_s": 0, "detail": "The curb, sidewalk, trees, and back of a roadside sign show no clear actor approaching the lane."}], "uncertainties": ["Distant vehicle speeds and whether individual vehicles are stopped cannot be established reliably.", "Exact signal-to-lane assignments and warning-sign text are not fully resolved.", "Low illumination limits detection of small actors, but does not establish any hidden hazard."]}, "discovery_label": {"title": "Routine Approach to Red Signals", "category": "routine", "tags": ["signal approach", "low light", "roadside fencing"], "current_situation": "Ego is traveling straight at 12.853 m/s on a marked urban road, with double-yellow lines to its left and a white lane divider to its right. Red signals and several vehicles with illuminated taillights are visible ahead throughout the history. Roadside fencing and warning signs are visible on the right, but no obstruction extends into the nearby ego lane. Streetlights illuminate portions of the otherwise dark scene. The side and rear views show no clear crossing actor or lane intrusion.", "baseline_decision": "Follow the straight-ahead route, hold the current lane, and progressively slow for the red signals and traffic ahead, preparing to stop if they remain.", "decision_changing_cue": "No supported nonroutine cue changes that baseline. The visible red signals and traffic ahead warrant ordinary approach deceleration.", "causal_mechanism": "The signal-controlled approach requires a controlled slowdown rather than continued cruising. The fencing, warning signs, and low illumination do not reveal a specific additional conflict requiring evasive braking or a lateral maneuver.", "expected_action": "slow_down", "decision_deviation": false, "annotation": "Ego approaches red traffic signals and several vehicles ahead on a straight, marked road in low light. Even without the roadside fencing and warning signs, ego should slow during the next few seconds while holding its lane and prepare to stop for the signals or traffic ahead.", "interest_score": 43, "confidence": 0.9, "selection_reason": "Reject as a long-tail candidate: the supported decision is a routine signal approach, with no visible unusual interaction, lane obstruction, or material departure from the control-compliant baseline.", "camera_evidence": [{"camera": "front", "t_s": -2, "detail": "Marked lanes lead toward illuminated red signals and vehicles ahead; the nearby travel lane is unobstructed."}, {"camera": "front", "t_s": 0, "detail": "The larger image shows red signals, clustered vehicle taillights ahead, double-yellow lines on the left, and a white divider on the right."}, {"camera": "front_left", "t_s": 0, "detail": "Opposite-side pavement, sidewalk, buildings, and trees are visible without a clear actor entering the road."}, {"camera": "front_right", "t_s": 0, "detail": "A building, fence, sidewalk, and driveway opening lie beside the right-hand road edge; no clear vehicle or pedestrian enters the lane."}, {"camera": "side_left", "t_s": 0, "detail": "The adjacent roadway and opposite sidewalk show no clear lateral conflict."}, {"camera": "side_right", "t_s": 0, "detail": "Grass, trees, sidewalk, and fencing remain outside the travel lanes."}, {"camera": "rear_left", "t_s": -2, "detail": "Several vehicles with illuminated rear lights are visible on the roadway to the rear-left."}, {"camera": "rear", "t_s": 0, "detail": "A vehicle with headlights is visible behind ego, with additional traffic farther back; no clear encroachment is visible."}, {"camera": "rear_right", "t_s": 0, "detail": "The curb, sidewalk, trees, and back of a roadside sign show no clear actor approaching the lane."}], "uncertainties": ["Distant vehicle speeds and whether individual vehicles are stopped cannot be established reliably.", "Exact signal-to-lane assignments and warning-sign text are not fully resolved.", "Low illumination limits detection of small actors, but does not establish any hidden hazard."], "_binding_sha256": "43a37d5ee3e4078ae02b9648b46ab847b92efe5043851c7748c0f474a19f3661", "_request": "requests/e8dfcc593f0120cb77a255d5b43bb320-191/discovery-001"}, "review": null, "status": "dismissed", "annotation": "Ego approaches red traffic signals and several vehicles ahead on a straight, marked road in low light. Even without the roadside fencing and warning signs, ego should slow during the next few seconds while holding its lane and prepare to stop for the signals or traffic ahead.", "selected": false}
{"id": "fc04e809a46de174a942f4e73b739f4a-031", "scenario_id": "fc04e809a46de174a942f4e73b739f4a", "split": "train", "batch_index": 19, "source_manifest_line": 20, "intent": "GO_STRAIGHT", "anchor_frame": 31, "motion": {"current_speed_mps": 0.896, "future_xy_m": [[0.228515625, 0.00390625], [0.4599609375, 0.0078125], [0.689453125, 0.013671875], [0.91015625, 0.021484375], [1.115234375, 0.02734375], [1.30078125, 0.037109375], [1.4638671875, 0.044921875], [1.595703125, 0.05078125], [1.6962890625, 0.0546875], [1.7666015625, 0.05859375], [1.8134765625, 0.05859375], [1.8447265625, 0.0625], [1.8671875, 0.0625], [1.8974609375, 0.064453125], [1.94140625, 0.06640625], [1.9921875, 0.068359375], [2.0419921875, 0.072265625], [2.083984375, 0.07421875], [2.1142578125, 0.076171875], [2.1337890625, 0.076171875]], "future_hz": 4, "speed_windows": [{"t_s": 0.5, "speed_mps": 0.91}, {"t_s": 1.5, "speed_mps": 0.686}, {"t_s": 2.5, "speed_mps": 0.249}, {"t_s": 3.5, "speed_mps": 0.148}, {"t_s": 4.5, "speed_mps": 0.142}], "minimum_1s_acceleration_mps2": -0.437, "maximum_speed_drop_mps": 0.754, "recorded_response": "roughly_maintain_speed", "method": "4 Hz trajectory path length; 1 s mean speeds; differences of adjacent 1 s means. Recorded response is descriptive, not a causal label."}, "frames": [{"t_s": 0.0, "source_frame": 31, "images": {"front_left": "images/fc04e809a46de174a942f4e73b739f4a-031/+000_front_left.webp", "front": "images/fc04e809a46de174a942f4e73b739f4a-031/+000_front.webp", "front_right": "images/fc04e809a46de174a942f4e73b739f4a-031/+000_front_right.webp", "side_left": "images/fc04e809a46de174a942f4e73b739f4a-031/+000_side_left.webp", "side_right": "images/fc04e809a46de174a942f4e73b739f4a-031/+000_side_right.webp", "rear_left": "images/fc04e809a46de174a942f4e73b739f4a-031/+000_rear_left.webp", "rear": "images/fc04e809a46de174a942f4e73b739f4a-031/+000_rear.webp", "rear_right": "images/fc04e809a46de174a942f4e73b739f4a-031/+000_rear_right.webp"}}], "camera_count": 8, "available_source_times_s": [0.0, 1.0, 2.0, 3.0, 4.0, 5.0], "camera_scope": "current_only", "label": {"title": "Routine gap assessment before crossing", "category": "routine", "tags": ["cross-street traffic", "straight crossing", "low-speed approach"], "current_situation": "Ego is approaching a broad cross street at 0.896 m/s with a straight route toward the opposite residential street. A gray SUV is on the cross street just left of that entrance, and a white SUV is farther right beside the opposite curb. Daylight provides clear views of the roadway; corner walls and vegetation limit views beyond them. No pedestrian or cyclist conflict is visible. Only one observation time is available, so vehicle motion is not established, and the applicable entry control is not clearly identifiable.", "baseline_decision": "With the cross street confirmed clear, satisfy any applicable entry control and proceed straight into the opposite residential street.", "decision_changing_cue": "Vehicles are visible along the cross street, requiring their movement and crossing clearance to be checked; no nonroutine decision-changing cue is established.", "causal_mechanism": "The straight route crosses perpendicular traffic lanes. Ego should verify a safe gap before entering rather than assume the visible vehicles are stationary or will clear; this is routine gap acceptance.", "expected_action": "wait_for_gap", "decision_deviation": false, "annotation": "Ego is creeping toward a broad cross street, with a gray SUV just left of the opposite residential-street entrance and a white SUV farther right. Although ego would otherwise proceed straight after satisfying entry controls, the cross-street vehicles require it to wait before entering until their movement and a safe crossing gap are confirmed.", "interest_score": 44, "confidence": 0.84, "selection_reason": "Reject as a long-tail candidate: the evidence supports ordinary crossing-gap assessment, not an unusual conflict, obstruction, or substantial plan change.", "camera_evidence": [{"camera": "front_left", "t_s": 0, "detail": "The cross street extends left past the rounded corner; a dark sedan and part of the gray SUV are visible along its opposite side."}, {"camera": "front", "t_s": 0, "detail": "The opposite residential street is visible across the broad roadway, with the gray SUV immediately left of its entrance and curbside vehicles beyond."}, {"camera": "front_right", "t_s": 0, "detail": "A white SUV is beside the opposite curb to the right; lane markings and the near corner curb ramp are visible."}, {"camera": "side_left", "t_s": 0, "detail": "A low wall, palms, sidewalk, and hydrant occupy the corner; vehicles are visible farther along the cross street."}, {"camera": "side_right", "t_s": 0, "detail": "The W Palm Ln street sign stands beside a fenced residential corner, with the cross street extending into the background."}, {"camera": "rear_left", "t_s": 0, "detail": "A residential wall, grass verge, sidewalk, and palm trunks border the road behind-left; no road user is visible in this panel."}, {"camera": "rear", "t_s": 0, "detail": "The residential approach road extends behind ego with several curbside vehicles; their motion cannot be determined."}, {"camera": "rear_right", "t_s": 0, "detail": "A house, tree, fence, and sidewalk occupy the rear-right view, with part of a vehicle at the far edge."}], "uncertainties": ["A single frame cannot establish whether the cross-street SUVs are moving or parked.", "The applicable stop, yield, or signal control is not clearly visible.", "No temporal evidence establishes vehicle trajectories or an immediate crossing conflict."]}, "discovery_label": {"title": "Routine gap assessment before crossing", "category": "routine", "tags": ["cross-street traffic", "straight crossing", "low-speed approach"], "current_situation": "Ego is approaching a broad cross street at 0.896 m/s with a straight route toward the opposite residential street. A gray SUV is on the cross street just left of that entrance, and a white SUV is farther right beside the opposite curb. Daylight provides clear views of the roadway; corner walls and vegetation limit views beyond them. No pedestrian or cyclist conflict is visible. Only one observation time is available, so vehicle motion is not established, and the applicable entry control is not clearly identifiable.", "baseline_decision": "With the cross street confirmed clear, satisfy any applicable entry control and proceed straight into the opposite residential street.", "decision_changing_cue": "Vehicles are visible along the cross street, requiring their movement and crossing clearance to be checked; no nonroutine decision-changing cue is established.", "causal_mechanism": "The straight route crosses perpendicular traffic lanes. Ego should verify a safe gap before entering rather than assume the visible vehicles are stationary or will clear; this is routine gap acceptance.", "expected_action": "wait_for_gap", "decision_deviation": false, "annotation": "Ego is creeping toward a broad cross street, with a gray SUV just left of the opposite residential-street entrance and a white SUV farther right. Although ego would otherwise proceed straight after satisfying entry controls, the cross-street vehicles require it to wait before entering until their movement and a safe crossing gap are confirmed.", "interest_score": 44, "confidence": 0.84, "selection_reason": "Reject as a long-tail candidate: the evidence supports ordinary crossing-gap assessment, not an unusual conflict, obstruction, or substantial plan change.", "camera_evidence": [{"camera": "front_left", "t_s": 0, "detail": "The cross street extends left past the rounded corner; a dark sedan and part of the gray SUV are visible along its opposite side."}, {"camera": "front", "t_s": 0, "detail": "The opposite residential street is visible across the broad roadway, with the gray SUV immediately left of its entrance and curbside vehicles beyond."}, {"camera": "front_right", "t_s": 0, "detail": "A white SUV is beside the opposite curb to the right; lane markings and the near corner curb ramp are visible."}, {"camera": "side_left", "t_s": 0, "detail": "A low wall, palms, sidewalk, and hydrant occupy the corner; vehicles are visible farther along the cross street."}, {"camera": "side_right", "t_s": 0, "detail": "The W Palm Ln street sign stands beside a fenced residential corner, with the cross street extending into the background."}, {"camera": "rear_left", "t_s": 0, "detail": "A residential wall, grass verge, sidewalk, and palm trunks border the road behind-left; no road user is visible in this panel."}, {"camera": "rear", "t_s": 0, "detail": "The residential approach road extends behind ego with several curbside vehicles; their motion cannot be determined."}, {"camera": "rear_right", "t_s": 0, "detail": "A house, tree, fence, and sidewalk occupy the rear-right view, with part of a vehicle at the far edge."}], "uncertainties": ["A single frame cannot establish whether the cross-street SUVs are moving or parked.", "The applicable stop, yield, or signal control is not clearly visible.", "No temporal evidence establishes vehicle trajectories or an immediate crossing conflict."], "_binding_sha256": "d632704549f6e6cd405985a4b1654d2ff115445a521b363f73d9afb9925acd6c", "_request": "requests/fc04e809a46de174a942f4e73b739f4a-031/discovery-001"}, "review": null, "status": "dismissed", "annotation": "Ego is creeping toward a broad cross street, with a gray SUV just left of the opposite residential-street entrance and a white SUV farther right. Although ego would otherwise proceed straight after satisfying entry controls, the cross-street vehicles require it to wait before entering until their movement and a safe crossing gap are confirmed.", "selected": false}
{"id": "914ff4d463c3dcddb72b404704892870-089", "scenario_id": "914ff4d463c3dcddb72b404704892870", "split": "train", "batch_index": 20, "source_manifest_line": 21, "intent": "GO_STRAIGHT", "anchor_frame": 89, "motion": {"current_speed_mps": 0.021, "future_xy_m": [[0.000244140625, 0.000244140625], [0.0, 0.00048828125], [0.000732421875, 0.0009765625], [0.00146484375, 0.001220703125], [0.002197265625, 0.00146484375], [0.002685546875, 0.001708984375], [0.002685546875, 0.001708984375], [0.002685546875, 0.001708984375], [0.002685546875, 0.001708984375], [0.002685546875, 0.001708984375], [0.002685546875, 0.001708984375], [0.002685546875, 0.001708984375], [0.002685546875, 0.001708984375], [0.002685546875, 0.001708984375], [0.002685546875, 0.001708984375], [0.002685546875, 0.001708984375], [0.002685546875, 0.001708984375], [0.007080078125, 0.001708984375], [0.024658203125, 0.002197265625], [0.071533203125, 0.00341796875]], "future_hz": 4, "speed_windows": [{"t_s": 0.5, "speed_mps": 0.002}, {"t_s": 1.5, "speed_mps": 0.001}, {"t_s": 2.5, "speed_mps": 0.0}, {"t_s": 3.5, "speed_mps": 0.0}, {"t_s": 4.5, "speed_mps": 0.069}], "minimum_1s_acceleration_mps2": -0.001, "maximum_speed_drop_mps": 0.021, "recorded_response": "remain_stopped", "method": "4 Hz trajectory path length; 1 s mean speeds; differences of adjacent 1 s means. Recorded response is descriptive, not a causal label."}, "frames": [{"t_s": 0.0, "source_frame": 89, "images": {"front_left": "images/914ff4d463c3dcddb72b404704892870-089/+000_front_left.webp", "front": "images/914ff4d463c3dcddb72b404704892870-089/+000_front.webp", "front_right": "images/914ff4d463c3dcddb72b404704892870-089/+000_front_right.webp", "side_left": "images/914ff4d463c3dcddb72b404704892870-089/+000_side_left.webp", "side_right": "images/914ff4d463c3dcddb72b404704892870-089/+000_side_right.webp", "rear_left": "images/914ff4d463c3dcddb72b404704892870-089/+000_rear_left.webp", "rear": "images/914ff4d463c3dcddb72b404704892870-089/+000_rear.webp", "rear_right": "images/914ff4d463c3dcddb72b404704892870-089/+000_rear_right.webp"}}], "camera_count": 8, "available_source_times_s": [-2.0, -1.0, 0.0, 1.0, 2.0, 3.0, 4.0, 5.0], "camera_scope": "current_only", "label": {"title": "Angled curbside car narrows the forward path", "category": "road_obstruction", "tags": ["curbside maneuver", "lane intrusion", "stopped ego"], "current_situation": "Ego is nearly stationary on a commercial street with a yellow centerline and parked vehicles on both sides. A dark car remains angled within the right-hand lane across the past observations, with its nose toward the centerline. Vehicles are alongside ego and moving through the intersection behind; visible nearby pedestrians are on sidewalks.", "baseline_decision": "Without the angled car, cautiously restart straight ahead only after verifying clearance from adjacent vehicles, surrounding traffic, and applicable intersection controls.", "decision_changing_cue": "The dark car projects beyond the right-side parked row into the forward lane at -2, -1, and 0 seconds.", "causal_mechanism": "The car reduces available forward clearance and its changing position makes departure timing uncertain. Remaining stopped while checking for adequate clearance is conservative; the photographs do not establish that every possible cautious advance is blocked.", "expected_action": "remain_stopped", "decision_deviation": true, "annotation": "Ego is nearly stationary with a dark car angled into the lane ahead beside right-side parked vehicles. Delay departure until sufficient forward clearance is verified rather than assuming a pass near the centerline is safe; without this intrusion, a cautious restart would still require checking nearby traffic and curbside clearance.", "interest_score": 74, "confidence": 0.8, "selection_reason": "A specific diagonal vehicle obstruction changes the immediate plan from restarting to waiting; this is more decision-relevant than ordinary parked-car density. It is a qualitative candidate, although the exact maneuver and its eventual outcome are unresolved.", "camera_evidence": [{"camera": "front", "t_s": -2, "detail": "A dark car is angled within the right-hand lane beside a curbside white SUV, with its nose directed toward the centerline."}, {"camera": "front", "t_s": -1, "detail": "The car's position has changed slightly, but it remains angled beyond the parked row."}, {"camera": "front", "t_s": 0, "detail": "The enlarged photograph shows the dark car occupying part of the forward lane; open pavement remains between it and the yellow centerline."}, {"camera": "front_left", "t_s": 0, "detail": "Storefront seating and people on the sidewalk are visible; no nearby pedestrian is visibly crossing the roadway."}, {"camera": "front_right", "t_s": 0, "detail": "A pedestrian is on the sidewalk near Marine Layer, and a silver SUV is immediately beside ego."}, {"camera": "side_left", "t_s": 0, "detail": "A dark hatchback is alongside the left side and has shifted leftward in this view since -2 seconds."}, {"camera": "side_right", "t_s": 0, "detail": "The silver SUV remains close alongside ego, with people visible through its windows."}, {"camera": "rear_left", "t_s": 0, "detail": "Marked crossings and several vehicles are visible at the intersection behind-left."}, {"camera": "rear", "t_s": 0, "detail": "A marked crossing lies behind ego, with a white sedan on the right side of the rearward roadway."}, {"camera": "rear_right", "t_s": 0, "detail": "A curb ramp, sidewalk bins and boxes, and a curbside white vehicle are visible; these do not establish a forward-path obstruction."}], "uncertainties": ["The exact curbside maneuver and its intended endpoint cannot be established at t<=0.", "Available passing clearance is not measured, so neither a safe bypass nor complete lane blockage is established.", "The original reason for ego's stop and applicable traffic controls are unresolved.", "Recorded waiting cannot establish that the angled car alone caused the response."]}, "discovery_label": {"title": "Angled sedan obstructs straight-ahead departure", "category": "road_obstruction", "tags": ["curbside maneuver", "lane intrusion", "stopped ego"], "current_situation": "Ego is effectively stopped on a straight commercial street with a yellow centerline and parked vehicles along both curbs. A dark sedan ahead is diagonal in the right-hand travel lane, nose toward the centerline and rear beside a parked white SUV. Its position changes slightly across the observations, but it remains angled into the lane. Nearby vehicles are visible beside ego and at the intersection behind; the clearly visible pedestrians remain on sidewalks. Daylight and building shadows provide generally clear forward visibility, with no clearly visible ego-facing stop sign or signal ahead.", "baseline_decision": "Without the angled sedan, cautiously resume travel straight ahead while maintaining clearance from parked vehicles and observing surrounding traffic.", "decision_changing_cue": "The dark sedan remains diagonally across ego's forward path throughout the available history rather than being aligned within the curbside parking row.", "causal_mechanism": "The sedan's lane intrusion makes a straight-ahead restart unsafe until its position resolves. Passing it could require reduced clearance or movement toward the opposing lane, so ego should delay departure rather than assume the maneuver is finished.", "expected_action": "remain_stopped", "decision_deviation": true, "annotation": "A dark sedan is angled into the travel lane ahead, with its nose toward the centerline and rear beside the right-side parked vehicles. Although nearly stopped ego would otherwise cautiously resume straight ahead, the sedan's persistent lane intrusion requires ego to remain stopped until the forward path clears.", "interest_score": 74, "confidence": 0.8, "selection_reason": "A specific diagonal vehicle obstruction changes the immediate plan from restarting to waiting; this is more decision-relevant than ordinary parked-car density. It is a qualitative candidate, although the exact maneuver and its eventual outcome are unresolved.", "camera_evidence": [{"camera": "front", "t_s": -2, "detail": "A dark sedan is already angled across part of the right-hand travel lane beside the curbside white SUV."}, {"camera": "front", "t_s": -1, "detail": "The sedan remains diagonal, with its front toward the centerline and rear nearer the parked row."}, {"camera": "front", "t_s": 0, "detail": "The enlarged view confirms substantial lane intrusion by the dark sedan; the straight street continues ahead between parked rows."}, {"camera": "front_left", "t_s": 0, "detail": "Storefronts, sidewalk seating, parked vehicles, and people near the storefronts are visible; no pedestrian is clearly crossing ego's path."}, {"camera": "front_right", "t_s": 0, "detail": "A pedestrian is on the sidewalk near Marine Layer, while a silver SUV occupies the foreground beside ego."}, {"camera": "side_left", "t_s": 0, "detail": "A dark hatchback is alongside on the left; across the history it shifts leftward in this camera view."}, {"camera": "side_right", "t_s": 0, "detail": "The silver SUV remains beside ego in front of the Pottery Barn storefront, with occupants visible through its windows."}, {"camera": "rear_left", "t_s": 0, "detail": "Vehicles and marked pedestrian crossings are visible at the intersection behind and to the left of ego."}, {"camera": "rear", "t_s": 0, "detail": "A marked crossing is behind ego, and a white sedan is visible on the right side of the rearward roadway."}, {"camera": "rear_right", "t_s": 0, "detail": "A curb ramp, sidewalk bins and boxes, a storefront pedestrian, and a curbside white vehicle are visible behind-right."}], "uncertainties": ["The sedan's exact travel direction and whether it is entering or leaving a parking space cannot be established confidently.", "The images do not establish when the sedan will clear the lane or whether a safe passing gap will develop.", "No future ego motion is supplied; remaining stopped is a recommendation, not a claim about recorded behavior.", "Traffic-control applicability at the intersection behind ego is not fully visible."], "_binding_sha256": "128fe2c9b5f4c9a24090e429d6189f49360ba8ba0d993a5ecb2922c7548c580e", "_request": "requests/914ff4d463c3dcddb72b404704892870-089/discovery-001"}, "review": {"verdict": "reject", "grounding_score": 0.86, "reason": "The angled car and lane intrusion are well supported, but the sequence shows ordinary curbside repositioning without a demonstrated nonroutine conflict. Later views show the car shifting toward the right curb while ego stays essentially stationary; this supports cautious waiting, not a confirmed long-tail interaction or proof of why ego waited.", "corrected_annotation": "Ego is nearly stationary with a dark car angled into the lane ahead beside right-side parked vehicles. Delay departure until sufficient forward clearance is verified rather than assuming a pass near the centerline is safe; without this intrusion, a cautious restart would still require checking nearby traffic and curbside clearance.", "corrected_title": "Angled curbside car narrows the forward path", "corrected_current_situation": "Ego is nearly stationary on a commercial street with a yellow centerline and parked vehicles on both sides. A dark car remains angled within the right-hand lane across the past observations, with its nose toward the centerline. Vehicles are alongside ego and moving through the intersection behind; visible nearby pedestrians are on sidewalks.", "corrected_baseline_decision": "Without the angled car, cautiously restart straight ahead only after verifying clearance from adjacent vehicles, surrounding traffic, and applicable intersection controls.", "corrected_decision_changing_cue": "The dark car projects beyond the right-side parked row into the forward lane at -2, -1, and 0 seconds.", "corrected_causal_mechanism": "The car reduces available forward clearance and its changing position makes departure timing uncertain. Remaining stopped while checking for adequate clearance is conservative; the photographs do not establish that every possible cautious advance is blocked.", "corrected_expected_action": "remain_stopped", "corrected_camera_evidence": [{"camera": "front", "t_s": -2, "detail": "A dark car is angled within the right-hand lane beside a curbside white SUV, with its nose directed toward the centerline."}, {"camera": "front", "t_s": -1, "detail": "The car's position has changed slightly, but it remains angled beyond the parked row."}, {"camera": "front", "t_s": 0, "detail": "The enlarged photograph shows the dark car occupying part of the forward lane; open pavement remains between it and the yellow centerline."}, {"camera": "front_left", "t_s": 0, "detail": "Storefront seating and people on the sidewalk are visible; no nearby pedestrian is visibly crossing the roadway."}, {"camera": "front_right", "t_s": 0, "detail": "A pedestrian is on the sidewalk near Marine Layer, and a silver SUV is immediately beside ego."}, {"camera": "side_left", "t_s": 0, "detail": "A dark hatchback is alongside the left side and has shifted leftward in this view since -2 seconds."}, {"camera": "side_right", "t_s": 0, "detail": "The silver SUV remains close alongside ego, with people visible through its windows."}, {"camera": "rear_left", "t_s": 0, "detail": "Marked crossings and several vehicles are visible at the intersection behind-left."}, {"camera": "rear", "t_s": 0, "detail": "A marked crossing lies behind ego, with a white sedan on the right side of the rearward roadway."}, {"camera": "rear_right", "t_s": 0, "detail": "A curb ramp, sidewalk bins and boxes, and a curbside white vehicle are visible; these do not establish a forward-path obstruction."}], "remaining_uncertainties": ["The exact curbside maneuver and its intended endpoint cannot be established at t<=0.", "Available passing clearance is not measured, so neither a safe bypass nor complete lane blockage is established.", "The original reason for ego's stop and applicable traffic controls are unresolved.", "Recorded waiting cannot establish that the angled car alone caused the response."], "motion_consistency": "consistent", "recorded_motion_explanation": "Ego starts at approximately 0.021 m/s and remains essentially stopped, moving only about 0.072 m forward over the supplied trajectory. The final 1-second average is approximately 0.069 m/s. This agrees with the waiting recommendation but does not prove causality; acceleration of -0.001 m/s² and a 0.021 m/s speed drop do not indicate strong braking.", "unsupported_details": ["A confirmed nonroutine or long-tail interaction rather than ordinary curbside repositioning.", "An unconditional claim that a straight-ahead restart is impossible.", "The candidate's statement that no future ego motion was supplied."], "_binding_sha256": "9b713c134c41ac12577d8ade8f1c15046ea363bd0ee96c70f64a2e5bcdb9b79a", "_request": "requests/914ff4d463c3dcddb72b404704892870-089/review-002"}, "status": "dismissed", "annotation": "Ego is nearly stationary with a dark car angled into the lane ahead beside right-side parked vehicles. Delay departure until sufficient forward clearance is verified rather than assuming a pass near the centerline is safe; without this intrusion, a cautious restart would still require checking nearby traffic and curbside clearance.", "selected": false}
{"id": "65b0ca6cf5aee3a75a53a01d2d17f832-198", "scenario_id": "65b0ca6cf5aee3a75a53a01d2d17f832", "split": "train", "batch_index": 21, "source_manifest_line": 22, "intent": "GO_STRAIGHT", "anchor_frame": 198, "motion": {"current_speed_mps": 9.785, "future_xy_m": [[2.44921875, 0.00146484375], [4.900390625, 0.005859375], [7.357421875, 0.01318359375], [9.828125, 0.0234375], [12.310546875, 0.037109375], [14.80859375, 0.05224609375], [17.318359375, 0.0703125], [19.849609375, 0.08984375], [22.396484375, 0.11181640625], [24.958984375, 0.13525390625], [27.537109375, 0.15966796875], [30.12890625, 0.18603515625], [32.73828125, 0.21435546875], [35.36328125, 0.24365234375], [38.001953125, 0.27587890625], [40.65625, 0.31005859375], [43.322265625, 0.34619140625], [45.998046875, 0.38427734375], [48.677734375, 0.421875], [51.36328125, 0.45556640625]], "future_hz": 4, "speed_windows": [{"t_s": 0.5, "speed_mps": 9.828}, {"t_s": 1.5, "speed_mps": 10.022}, {"t_s": 2.5, "speed_mps": 10.28}, {"t_s": 3.5, "speed_mps": 10.528}, {"t_s": 4.5, "speed_mps": 10.708}], "minimum_1s_acceleration_mps2": 0.18, "maximum_speed_drop_mps": 0.0, "recorded_response": "roughly_maintain_speed", "method": "4 Hz trajectory path length; 1 s mean speeds; differences of adjacent 1 s means. Recorded response is descriptive, not a causal label."}, "frames": [{"t_s": 0.0, "source_frame": 198, "images": {"front_left": "images/65b0ca6cf5aee3a75a53a01d2d17f832-198/+000_front_left.webp", "front": "images/65b0ca6cf5aee3a75a53a01d2d17f832-198/+000_front.webp", "front_right": "images/65b0ca6cf5aee3a75a53a01d2d17f832-198/+000_front_right.webp", "side_left": "images/65b0ca6cf5aee3a75a53a01d2d17f832-198/+000_side_left.webp", "side_right": "images/65b0ca6cf5aee3a75a53a01d2d17f832-198/+000_side_right.webp", "rear_left": "images/65b0ca6cf5aee3a75a53a01d2d17f832-198/+000_rear_left.webp", "rear": "images/65b0ca6cf5aee3a75a53a01d2d17f832-198/+000_rear.webp", "rear_right": "images/65b0ca6cf5aee3a75a53a01d2d17f832-198/+000_rear_right.webp"}}], "camera_count": 8, "available_source_times_s": [-2.0, -1.0, 0.0, 1.0, 2.0, 3.0], "camera_scope": "current_only", "label": {"title": "Routine Following Past a Marked Crosswalk", "category": "routine", "tags": ["marked crosswalk", "vehicle following", "sidewalk pedestrian", "streetlit road"], "current_situation": "Ego is traveling straight at 9.785 m/s toward a marked crosswalk on a two-way street. A vehicle remains ahead throughout the available history, while oncoming vehicles approach in the opposite lane. Cars are parked along the right curb, and an apparent pedestrian is visible on the right sidewalk near the crossing sign and building steps. Streetlights illuminate the roadway, but sidewalk detail is limited.", "baseline_decision": "Continue straight in lane at a safe following speed, checking the crosswalk and yielding if someone enters it.", "decision_changing_cue": "No clear material cue is established: the crosswalk is visibly unoccupied, and the apparent sidewalk pedestrian is not shown entering the roadway.", "causal_mechanism": "The crossing and sidewalk activity warrant routine monitoring, but the available history does not establish a crossing conflict, cut-in, or obstruction requiring a different immediate plan.", "expected_action": "maintain_speed", "decision_deviation": false, "annotation": "Ego approaches a marked crosswalk behind another vehicle, with oncoming traffic to the left and an apparent pedestrian on the right sidewalk. Continue straight in lane with a safe following gap while monitoring the crossing; no visible roadway entry requires an additional stop or evasive maneuver.", "interest_score": 32, "confidence": 0.81, "selection_reason": "Reject as a long-tail candidate: normal following, parked cars, and sidewalk activity do not establish a specific nonroutine interaction or material decision change.", "camera_evidence": [{"camera": "front", "t_s": -2, "detail": "A vehicle is ahead in ego's lane; transverse yield markings and a striped crosswalk are visible along the straight route."}, {"camera": "front", "t_s": -1, "detail": "The lead vehicle remains ahead beyond the crosswalk, with approaching headlights in the opposite lane."}, {"camera": "front", "t_s": 0, "detail": "The crosswalk spans the foreground without a visible pedestrian in it; the lead vehicle, oncoming cars, and right-side parked vehicles remain visible."}, {"camera": "front_left", "t_s": 0, "detail": "A pedestrian-crossing sign, sidewalk ramp, and crosswalk stripes are visible at the left end of the crossing, with no visible roadway entrant."}, {"camera": "front_right", "t_s": 0, "detail": "An apparent pedestrian is on the sidewalk near the crossing sign and building steps, rather than visibly occupying the crosswalk."}, {"camera": "side_left", "t_s": 0, "detail": "The side street and its curbs are visible; no nearby actor is visibly entering ego's route."}, {"camera": "side_right", "t_s": 0, "detail": "Parked vehicles line the side street beside the corner sidewalk."}, {"camera": "rear_left", "t_s": 0, "detail": "Buildings, trees, and the corner sidewalk are visible without a clear nearby moving conflict."}, {"camera": "rear", "t_s": 0, "detail": "A vehicle's headlights are visible behind ego, with parked cars along the street and transverse yield markings in the foreground."}, {"camera": "rear_right", "t_s": 0, "detail": "The building corner, sidewalk, and curb ramp are visible without an actor occupying the roadway."}], "uncertainties": ["Low illumination limits identification and precise motion assessment of the apparent right-side pedestrian.", "The lead vehicle's speed and acceleration cannot be determined reliably from these images.", "Distant signal indications do not establish the control applicable to the foreground crossing."]}, "discovery_label": {"title": "Routine Following Past a Marked Crosswalk", "category": "routine", "tags": ["marked crosswalk", "vehicle following", "sidewalk pedestrian", "streetlit road"], "current_situation": "Ego is traveling straight at 9.785 m/s toward a marked crosswalk on a two-way street. A vehicle remains ahead throughout the available history, while oncoming vehicles approach in the opposite lane. Cars are parked along the right curb, and an apparent pedestrian is visible on the right sidewalk near the crossing sign and building steps. Streetlights illuminate the roadway, but sidewalk detail is limited.", "baseline_decision": "Continue straight in lane at a safe following speed, checking the crosswalk and yielding if someone enters it.", "decision_changing_cue": "No clear material cue is established: the crosswalk is visibly unoccupied, and the apparent sidewalk pedestrian is not shown entering the roadway.", "causal_mechanism": "The crossing and sidewalk activity warrant routine monitoring, but the available history does not establish a crossing conflict, cut-in, or obstruction requiring a different immediate plan.", "expected_action": "maintain_speed", "decision_deviation": false, "annotation": "Ego approaches a marked crosswalk behind another vehicle, with oncoming traffic to the left and an apparent pedestrian on the right sidewalk. Continue straight in lane with a safe following gap while monitoring the crossing; no visible roadway entry requires an additional stop or evasive maneuver.", "interest_score": 32, "confidence": 0.81, "selection_reason": "Reject as a long-tail candidate: normal following, parked cars, and sidewalk activity do not establish a specific nonroutine interaction or material decision change.", "camera_evidence": [{"camera": "front", "t_s": -2, "detail": "A vehicle is ahead in ego's lane; transverse yield markings and a striped crosswalk are visible along the straight route."}, {"camera": "front", "t_s": -1, "detail": "The lead vehicle remains ahead beyond the crosswalk, with approaching headlights in the opposite lane."}, {"camera": "front", "t_s": 0, "detail": "The crosswalk spans the foreground without a visible pedestrian in it; the lead vehicle, oncoming cars, and right-side parked vehicles remain visible."}, {"camera": "front_left", "t_s": 0, "detail": "A pedestrian-crossing sign, sidewalk ramp, and crosswalk stripes are visible at the left end of the crossing, with no visible roadway entrant."}, {"camera": "front_right", "t_s": 0, "detail": "An apparent pedestrian is on the sidewalk near the crossing sign and building steps, rather than visibly occupying the crosswalk."}, {"camera": "side_left", "t_s": 0, "detail": "The side street and its curbs are visible; no nearby actor is visibly entering ego's route."}, {"camera": "side_right", "t_s": 0, "detail": "Parked vehicles line the side street beside the corner sidewalk."}, {"camera": "rear_left", "t_s": 0, "detail": "Buildings, trees, and the corner sidewalk are visible without a clear nearby moving conflict."}, {"camera": "rear", "t_s": 0, "detail": "A vehicle's headlights are visible behind ego, with parked cars along the street and transverse yield markings in the foreground."}, {"camera": "rear_right", "t_s": 0, "detail": "The building corner, sidewalk, and curb ramp are visible without an actor occupying the roadway."}], "uncertainties": ["Low illumination limits identification and precise motion assessment of the apparent right-side pedestrian.", "The lead vehicle's speed and acceleration cannot be determined reliably from these images.", "Distant signal indications do not establish the control applicable to the foreground crossing."], "_binding_sha256": "73183083587aee1ba5458ef0bd3df056a325a035070c56280ae9b083138641e3", "_request": "requests/65b0ca6cf5aee3a75a53a01d2d17f832-198/discovery-001"}, "review": null, "status": "dismissed", "annotation": "Ego approaches a marked crosswalk behind another vehicle, with oncoming traffic to the left and an apparent pedestrian on the right sidewalk. Continue straight in lane with a safe following gap while monitoring the crossing; no visible roadway entry requires an additional stop or evasive maneuver.", "selected": false}
{"id": "807a4d340b634681cd9d8043617a0a6a-073", "scenario_id": "807a4d340b634681cd9d8043617a0a6a", "split": "train", "batch_index": 22, "source_manifest_line": 23, "intent": "GO_STRAIGHT", "anchor_frame": 73, "motion": {"current_speed_mps": 9.95, "future_xy_m": [[2.50244140625, -0.0126953125], [5.031005859375, -0.0302734375], [7.5751953125, -0.05029296875], [10.114501953125, -0.06787109375], [12.6427001953125, -0.07861328125], [15.135498046875, -0.0771484375], [17.596923828125, -0.06884765625], [20.0445556640625, -0.0517578125], [22.461181640625, -0.02880859375], [24.806640625, -0.00634765625], [27.052490234375, 0.01220703125], [29.2000732421875, 0.02783203125], [31.2421875, 0.0380859375], [33.1668701171875, 0.04296875], [34.9644775390625, 0.04296875], [36.6292724609375, 0.03759765625], [38.1536865234375, 0.02490234375], [39.5396728515625, 0.00634765625], [40.80029296875, -0.0146484375], [41.9271240234375, -0.0361328125]], "future_hz": 4, "speed_windows": [{"t_s": 0.5, "speed_mps": 10.115}, {"t_s": 1.5, "speed_mps": 9.93}, {"t_s": 2.5, "speed_mps": 9.156}, {"t_s": 3.5, "speed_mps": 7.429}, {"t_s": 4.5, "speed_mps": 5.298}], "minimum_1s_acceleration_mps2": -2.131, "maximum_speed_drop_mps": 4.652, "recorded_response": "slow_down", "method": "4 Hz trajectory path length; 1 s mean speeds; differences of adjacent 1 s means. Recorded response is descriptive, not a causal label."}, "frames": [{"t_s": 0.0, "source_frame": 73, "images": {"front_left": "images/807a4d340b634681cd9d8043617a0a6a-073/+000_front_left.webp", "front": "images/807a4d340b634681cd9d8043617a0a6a-073/+000_front.webp", "front_right": "images/807a4d340b634681cd9d8043617a0a6a-073/+000_front_right.webp", "side_left": "images/807a4d340b634681cd9d8043617a0a6a-073/+000_side_left.webp", "side_right": "images/807a4d340b634681cd9d8043617a0a6a-073/+000_side_right.webp", "rear_left": "images/807a4d340b634681cd9d8043617a0a6a-073/+000_rear_left.webp", "rear": "images/807a4d340b634681cd9d8043617a0a6a-073/+000_rear.webp", "rear_right": "images/807a4d340b634681cd9d8043617a0a6a-073/+000_rear_right.webp"}}], "camera_count": 8, "available_source_times_s": [-2.0, -1.0, 0.0, 1.0, 2.0, 3.0, 4.0, 5.0], "camera_scope": "current_only", "label": {"title": "Routine approach to stop-controlled intersection", "category": "routine", "tags": ["stop sign", "uphill street", "curbside parking"], "current_situation": "Ego is traveling straight at 9.95 m/s along an uphill residential street with vehicles parked on both sides. The immediate travel corridor is open, and a stop sign facing ego is visible ahead on the right. Across the available history, no clear vehicle departure or immediate crossing conflict is visible; the crest limits visibility farther ahead.", "baseline_decision": "Continue straight while decelerating for the visible stop sign, stop before entering the intersection, and assess cross traffic before proceeding.", "decision_changing_cue": "No additional nonroutine cue is established. The visible stop sign requires an ordinary controlled stop regardless of the curbside parking.", "causal_mechanism": "The traffic control already determines the longitudinal response. Parked vehicles and limited visibility beyond the crest do not establish a separate conflict requiring a material departure from that baseline.", "expected_action": "stop", "decision_deviation": false, "annotation": "Ego approaches a stop-controlled intersection on an uphill residential street with parked vehicles on both sides and an open travel corridor. Begin decelerating now and stop before entering the intersection, maintaining the straight path; no immediate visible conflict warrants an additional evasive maneuver.", "interest_score": 43, "confidence": 0.93, "selection_reason": "Reject as a long-tail candidate: the supported decision is a routine stop-sign approach, with no specific unusual interaction or obstruction.", "camera_evidence": [{"camera": "front", "t_s": 0, "detail": "A readable stop sign faces ego ahead on the right; parked vehicles border an open uphill travel corridor."}, {"camera": "front", "t_s": -2, "detail": "The straight roadway ahead is open between curbside vehicles; comparison with later frames shows ego progressing along the block without a clear vehicle entering its path."}, {"camera": "front_left", "t_s": 0, "detail": "A curbside SUV, trees, sidewalk, and fenced building frontage are visible without an immediate crossing actor."}, {"camera": "front_right", "t_s": 0, "detail": "A white sedan is aligned beside the right curb beneath residential frontage, with no visible lateral departure."}, {"camera": "side_left", "t_s": 0, "detail": "Curbside cars stand beside a sidewalk and fenced sports grounds."}, {"camera": "side_right", "t_s": 0, "detail": "An SUV faces the street from a sloped residential driveway; no movement into the roadway is established."}, {"camera": "rear_left", "t_s": 0, "detail": "Sedans line the left curb beside fenced sports grounds."}, {"camera": "rear", "t_s": 0, "detail": "The roadway behind slopes downhill between parked vehicles, with no clear immediate rear conflict."}, {"camera": "rear_right", "t_s": 0, "detail": "A silver SUV occupies the right curbside area beside residential steps and driveways."}], "uncertainties": ["Cross traffic at the upcoming intersection cannot be assessed reliably from these images.", "The crest limits the view beyond the intersection.", "Small distant actors and subtle vehicle movement cannot be resolved confidently."]}, "discovery_label": {"title": "Routine approach to stop-controlled intersection", "category": "routine", "tags": ["stop sign", "uphill street", "curbside parking"], "current_situation": "Ego is traveling straight at 9.95 m/s along an uphill residential street with vehicles parked on both sides. The immediate travel corridor is open, and a stop sign facing ego is visible ahead on the right. Across the available history, no clear vehicle departure or immediate crossing conflict is visible; the crest limits visibility farther ahead.", "baseline_decision": "Continue straight while decelerating for the visible stop sign, stop before entering the intersection, and assess cross traffic before proceeding.", "decision_changing_cue": "No additional nonroutine cue is established. The visible stop sign requires an ordinary controlled stop regardless of the curbside parking.", "causal_mechanism": "The traffic control already determines the longitudinal response. Parked vehicles and limited visibility beyond the crest do not establish a separate conflict requiring a material departure from that baseline.", "expected_action": "stop", "decision_deviation": false, "annotation": "Ego approaches a stop-controlled intersection on an uphill residential street with parked vehicles on both sides and an open travel corridor. Begin decelerating now and stop before entering the intersection, maintaining the straight path; no immediate visible conflict warrants an additional evasive maneuver.", "interest_score": 43, "confidence": 0.93, "selection_reason": "Reject as a long-tail candidate: the supported decision is a routine stop-sign approach, with no specific unusual interaction or obstruction.", "camera_evidence": [{"camera": "front", "t_s": 0, "detail": "A readable stop sign faces ego ahead on the right; parked vehicles border an open uphill travel corridor."}, {"camera": "front", "t_s": -2, "detail": "The straight roadway ahead is open between curbside vehicles; comparison with later frames shows ego progressing along the block without a clear vehicle entering its path."}, {"camera": "front_left", "t_s": 0, "detail": "A curbside SUV, trees, sidewalk, and fenced building frontage are visible without an immediate crossing actor."}, {"camera": "front_right", "t_s": 0, "detail": "A white sedan is aligned beside the right curb beneath residential frontage, with no visible lateral departure."}, {"camera": "side_left", "t_s": 0, "detail": "Curbside cars stand beside a sidewalk and fenced sports grounds."}, {"camera": "side_right", "t_s": 0, "detail": "An SUV faces the street from a sloped residential driveway; no movement into the roadway is established."}, {"camera": "rear_left", "t_s": 0, "detail": "Sedans line the left curb beside fenced sports grounds."}, {"camera": "rear", "t_s": 0, "detail": "The roadway behind slopes downhill between parked vehicles, with no clear immediate rear conflict."}, {"camera": "rear_right", "t_s": 0, "detail": "A silver SUV occupies the right curbside area beside residential steps and driveways."}], "uncertainties": ["Cross traffic at the upcoming intersection cannot be assessed reliably from these images.", "The crest limits the view beyond the intersection.", "Small distant actors and subtle vehicle movement cannot be resolved confidently."], "_binding_sha256": "f7f5435afee9611f18aed33dd057a5c1d82b5ad36c232ef07d57e4329281fe0c", "_request": "requests/807a4d340b634681cd9d8043617a0a6a-073/discovery-001"}, "review": null, "status": "dismissed", "annotation": "Ego approaches a stop-controlled intersection on an uphill residential street with parked vehicles on both sides and an open travel corridor. Begin decelerating now and stop before entering the intersection, maintaining the straight path; no immediate visible conflict warrants an additional evasive maneuver.", "selected": false}
{"id": "c5151b62478ef942f88f975f2b31ea47-208", "scenario_id": "c5151b62478ef942f88f975f2b31ea47", "split": "train", "batch_index": 23, "source_manifest_line": 24, "intent": "GO_STRAIGHT", "anchor_frame": 208, "motion": {"current_speed_mps": 8.45, "future_xy_m": [[2.1142578125, -0.0078125], [4.228759765625, -0.02734375], [6.343017578125, -0.052734375], [8.452880859375, -0.083984375], [10.538818359375, -0.1171875], [12.62255859375, -0.146484375], [14.69091796875, -0.173828125], [16.741455078125, -0.1953125], [18.774169921875, -0.21484375], [20.788330078125, -0.236328125], [22.7841796875, -0.255859375], [24.765625, -0.28125], [26.731689453125, -0.310546875], [28.686767578125, -0.337890625], [30.6318359375, -0.365234375], [32.563232421875, -0.408203125], [34.487060546875, -0.48828125], [36.420654296875, -0.626953125], [38.369140625, -0.837890625], [40.34033203125, -1.119140625]], "future_hz": 4, "speed_windows": [{"t_s": 0.5, "speed_mps": 8.453}, {"t_s": 1.5, "speed_mps": 8.289}, {"t_s": 2.5, "speed_mps": 8.025}, {"t_s": 3.5, "speed_mps": 7.799}, {"t_s": 4.5, "speed_mps": 7.815}], "minimum_1s_acceleration_mps2": -0.265, "maximum_speed_drop_mps": 0.652, "recorded_response": "roughly_maintain_speed", "method": "4 Hz trajectory path length; 1 s mean speeds; differences of adjacent 1 s means. Recorded response is descriptive, not a causal label."}, "frames": [{"t_s": 0.0, "source_frame": 208, "images": {"front_left": "images/c5151b62478ef942f88f975f2b31ea47-208/+000_front_left.webp", "front": "images/c5151b62478ef942f88f975f2b31ea47-208/+000_front.webp", "front_right": "images/c5151b62478ef942f88f975f2b31ea47-208/+000_front_right.webp", "side_left": "images/c5151b62478ef942f88f975f2b31ea47-208/+000_side_left.webp", "side_right": "images/c5151b62478ef942f88f975f2b31ea47-208/+000_side_right.webp", "rear_left": "images/c5151b62478ef942f88f975f2b31ea47-208/+000_rear_left.webp", "rear": "images/c5151b62478ef942f88f975f2b31ea47-208/+000_rear.webp", "rear_right": "images/c5151b62478ef942f88f975f2b31ea47-208/+000_rear_right.webp"}}], "camera_count": 8, "available_source_times_s": [-2.0, -1.0, 0.0, 1.0], "camera_scope": "current_only", "label": {"title": "Clear Passage Through Delineated Work Zone", "category": "work_zone", "tags": ["construction corridor", "temporary delineators", "concrete barrier"], "current_situation": "Ego is traveling straight at 8.45 m/s through a construction corridor. Orange-and-white delineators bound the left side of the passage, while concrete barriers and plywood-backed scaffolding border the right. The passage remains visibly open across the three observation times. Vehicles are visible farther ahead and in adjacent parking areas, without a demonstrated crossing conflict. A worker is visible on an elevated construction floor to the right, not in the roadway. Daylight visibility is generally clear; plywood obscures the construction-site interior.", "baseline_decision": "Continue straight at a controlled speed in the available lane, subject to applicable traffic controls; no visible queue or crossing actor requires stopping.", "decision_changing_cue": "Temporary delineators and the concrete barrier constrain the usable road space, but no additional obstruction or developing actor conflict is visible.", "causal_mechanism": "The temporary boundaries require careful lateral positioning and clearance rather than unrestricted lane placement. Ego is already aligned with the open passage, so the evidence supports routine work-zone tracking rather than a substantial maneuver or urgent braking.", "expected_action": "maintain_speed", "decision_deviation": false, "annotation": "Ego's straight route passes through an open construction corridor between left-side delineators and a right-side concrete barrier. Although an unobstructed street would allow ordinary lane placement, these temporary boundaries require ego to continue at a controlled speed while staying centered with clearance on both sides over the next few seconds.", "interest_score": 53, "confidence": 0.9, "selection_reason": "Reject as a long-tail candidate: the construction geometry is concrete and relevant, but the passage is clearly delineated and unobstructed, with no visible unusual interaction requiring a material departure from routine straight travel.", "camera_evidence": [{"camera": "front", "t_s": -2, "detail": "Delineators on the left and concrete barriers on the right already define an open straight passage."}, {"camera": "front", "t_s": -1, "detail": "The same construction corridor remains open; no actor is visibly entering the immediate travel path."}, {"camera": "front", "t_s": 0, "detail": "The larger image shows clear pavement between staggered left-side delineators and the continuous right-side barrier, with vehicles farther ahead."}, {"camera": "front_left", "t_s": 0, "detail": "A curb, roadside construction marker, trees, and vehicles in a parking area are visible; no crossing pedestrian is evident."}, {"camera": "front_right", "t_s": 0, "detail": "Concrete barrier, scaffold braces, and plywood enclosure border the roadway and obscure the site interior."}, {"camera": "side_left", "t_s": 0, "detail": "Building frontage, gravel landscaping, parking meters, and a palm tree line the curb; no actor is visible entering the road."}, {"camera": "side_right", "t_s": 0, "detail": "A worker is visible on an elevated construction floor above the plywood-backed scaffold structure, separated from the roadway."}, {"camera": "rear_left", "t_s": 0, "detail": "Building frontage, curbside construction markers, and a pickup in an adjacent parking area are visible behind ego."}, {"camera": "rear", "t_s": 0, "detail": "Temporary delineators continue behind ego; no close following vehicle or immediate rear conflict is evident."}, {"camera": "rear_right", "t_s": 0, "detail": "The construction enclosure and barrier continue behind ego, beside sidewalk barricades and a parking area."}], "uncertainties": ["Distant vehicle motion cannot be reliably separated from ego motion in these images.", "Temporary sign text and distant traffic-control states are not reliably legible.", "Images do not establish calibrated corridor width or whether the current speed needs further reduction."]}, "discovery_label": {"title": "Clear Passage Through Delineated Work Zone", "category": "work_zone", "tags": ["construction corridor", "temporary delineators", "concrete barrier"], "current_situation": "Ego is traveling straight at 8.45 m/s through a construction corridor. Orange-and-white delineators bound the left side of the passage, while concrete barriers and plywood-backed scaffolding border the right. The passage remains visibly open across the three observation times. Vehicles are visible farther ahead and in adjacent parking areas, without a demonstrated crossing conflict. A worker is visible on an elevated construction floor to the right, not in the roadway. Daylight visibility is generally clear; plywood obscures the construction-site interior.", "baseline_decision": "Continue straight at a controlled speed in the available lane, subject to applicable traffic controls; no visible queue or crossing actor requires stopping.", "decision_changing_cue": "Temporary delineators and the concrete barrier constrain the usable road space, but no additional obstruction or developing actor conflict is visible.", "causal_mechanism": "The temporary boundaries require careful lateral positioning and clearance rather than unrestricted lane placement. Ego is already aligned with the open passage, so the evidence supports routine work-zone tracking rather than a substantial maneuver or urgent braking.", "expected_action": "maintain_speed", "decision_deviation": false, "annotation": "Ego's straight route passes through an open construction corridor between left-side delineators and a right-side concrete barrier. Although an unobstructed street would allow ordinary lane placement, these temporary boundaries require ego to continue at a controlled speed while staying centered with clearance on both sides over the next few seconds.", "interest_score": 53, "confidence": 0.9, "selection_reason": "Reject as a long-tail candidate: the construction geometry is concrete and relevant, but the passage is clearly delineated and unobstructed, with no visible unusual interaction requiring a material departure from routine straight travel.", "camera_evidence": [{"camera": "front", "t_s": -2, "detail": "Delineators on the left and concrete barriers on the right already define an open straight passage."}, {"camera": "front", "t_s": -1, "detail": "The same construction corridor remains open; no actor is visibly entering the immediate travel path."}, {"camera": "front", "t_s": 0, "detail": "The larger image shows clear pavement between staggered left-side delineators and the continuous right-side barrier, with vehicles farther ahead."}, {"camera": "front_left", "t_s": 0, "detail": "A curb, roadside construction marker, trees, and vehicles in a parking area are visible; no crossing pedestrian is evident."}, {"camera": "front_right", "t_s": 0, "detail": "Concrete barrier, scaffold braces, and plywood enclosure border the roadway and obscure the site interior."}, {"camera": "side_left", "t_s": 0, "detail": "Building frontage, gravel landscaping, parking meters, and a palm tree line the curb; no actor is visible entering the road."}, {"camera": "side_right", "t_s": 0, "detail": "A worker is visible on an elevated construction floor above the plywood-backed scaffold structure, separated from the roadway."}, {"camera": "rear_left", "t_s": 0, "detail": "Building frontage, curbside construction markers, and a pickup in an adjacent parking area are visible behind ego."}, {"camera": "rear", "t_s": 0, "detail": "Temporary delineators continue behind ego; no close following vehicle or immediate rear conflict is evident."}, {"camera": "rear_right", "t_s": 0, "detail": "The construction enclosure and barrier continue behind ego, beside sidewalk barricades and a parking area."}], "uncertainties": ["Distant vehicle motion cannot be reliably separated from ego motion in these images.", "Temporary sign text and distant traffic-control states are not reliably legible.", "Images do not establish calibrated corridor width or whether the current speed needs further reduction."], "_binding_sha256": "3c13e16f24dc078fc4c4e049397fa8c8e9631f2863c951e85dd04b5b709ab0d4", "_request": "requests/c5151b62478ef942f88f975f2b31ea47-208/discovery-001"}, "review": null, "status": "dismissed", "annotation": "Ego's straight route passes through an open construction corridor between left-side delineators and a right-side concrete barrier. Although an unobstructed street would allow ordinary lane placement, these temporary boundaries require ego to continue at a controlled speed while staying centered with clearance on both sides over the next few seconds.", "selected": false}
{"id": "b197472f28df9f18c22654a5b514082a-072", "scenario_id": "b197472f28df9f18c22654a5b514082a", "split": "train", "batch_index": 24, "source_manifest_line": 25, "intent": "GO_STRAIGHT", "anchor_frame": 72, "motion": {"current_speed_mps": 8.654, "future_xy_m": [[2.15240478515625, -0.005126953125], [4.28076171875, -0.0098876953125], [6.3839111328125, -0.0147705078125], [8.463623046875, -0.02191162109375], [10.52093505859375, -0.0294189453125], [12.55426025390625, -0.03955078125], [14.5653076171875, -0.05126953125], [16.53204345703125, -0.06439208984375], [18.4365234375, -0.0782470703125], [20.26324462890625, -0.09405517578125], [22.01116943359375, -0.1103515625], [23.67559814453125, -0.1265869140625], [25.25958251953125, -0.142822265625], [26.76416015625, -0.1593017578125], [28.185791015625, -0.17572021484375], [29.52398681640625, -0.19140625], [30.778564453125, -0.20599365234375], [31.9510498046875, -0.21795654296875], [33.04150390625, -0.22967529296875], [34.038330078125, -0.24005126953125]], "future_hz": 4, "speed_windows": [{"t_s": 0.5, "speed_mps": 8.464}, {"t_s": 1.5, "speed_mps": 8.069}, {"t_s": 2.5, "speed_mps": 7.144}, {"t_s": 3.5, "speed_mps": 5.849}, {"t_s": 4.5, "speed_mps": 4.515}], "minimum_1s_acceleration_mps2": -1.334, "maximum_speed_drop_mps": 4.14, "recorded_response": "slow_down", "method": "4 Hz trajectory path length; 1 s mean speeds; differences of adjacent 1 s means. Recorded response is descriptive, not a causal label."}, "frames": [{"t_s": 0.0, "source_frame": 72, "images": {"front_left": "images/b197472f28df9f18c22654a5b514082a-072/+000_front_left.webp", "front": "images/b197472f28df9f18c22654a5b514082a-072/+000_front.webp", "front_right": "images/b197472f28df9f18c22654a5b514082a-072/+000_front_right.webp", "side_left": "images/b197472f28df9f18c22654a5b514082a-072/+000_side_left.webp", "side_right": "images/b197472f28df9f18c22654a5b514082a-072/+000_side_right.webp", "rear_left": "images/b197472f28df9f18c22654a5b514082a-072/+000_rear_left.webp", "rear": "images/b197472f28df9f18c22654a5b514082a-072/+000_rear.webp", "rear_right": "images/b197472f28df9f18c22654a5b514082a-072/+000_rear_right.webp"}}], "camera_count": 8, "available_source_times_s": [-2.0, -1.0, 0.0, 1.0, 2.0, 3.0, 4.0, 5.0], "camera_scope": "current_only", "label": {"title": "Routine stop approach past sidewalk ladder", "category": "routine", "tags": ["stop-controlled intersection", "parked vehicles", "sidewalk ladder"], "current_situation": "Ego is traveling straight at 8.654 m/s along a residential street toward a marked crosswalk and a facing STOP sign. Vehicles line both curbs, with the central roadway visibly open. Two people beside a ladder at a right-side building move from side-right to rear-right views as ego advances; no movement toward the roadway is established. A small tan item is visible on the pavement beside the right parking row, but its identity and relevance to ego's path are unclear. Bright exposure affects the right-facing images without hiding the forward roadway.", "baseline_decision": "Begin a controlled slowdown and stop before entering the marked crossing and intersection, respecting the STOP sign while remaining on the straight route.", "decision_changing_cue": "No additional material cue is established: the ladder and people are behind ego on the sidewalk, and the small roadside item does not clearly obstruct the straight travel path.", "causal_mechanism": "The visible stop control requires ordinary approach braking and a full stop. Neither the sidewalk activity nor the unidentified item establishes a conflict requiring extra braking or lateral avoidance beyond that baseline.", "expected_action": "stop", "decision_deviation": false, "annotation": "A facing STOP sign and marked crosswalk lie ahead on a residential street lined with parked cars, while two people beside a ladder are behind ego on the right sidewalk. Ego should begin slowing now and stop before entering the intersection, as the normal stop-controlled approach requires; no visible nonroutine conflict establishes an additional maneuver.", "interest_score": 43, "confidence": 0.88, "selection_reason": "Reject as a long-tail candidate: the required stop is routine, the sidewalk ladder activity is already behind ego, and the small unidentified roadside item has no clearly supported material effect on the plan.", "camera_evidence": [{"camera": "front", "t_s": 0, "detail": "A facing STOP sign stands on the right ahead of the intersection, with white crosswalk bars across the roadway and an open central approach."}, {"camera": "front", "t_s": 0, "detail": "A small tan angular item lies on the pavement beside the right-side parked vehicles; its identity is unresolved."}, {"camera": "front_left", "t_s": 0, "detail": "A Jeep and other vehicles sit along the left curb beside residential buildings; no vehicle visibly crosses ego's path."}, {"camera": "front_right", "t_s": 0, "detail": "A gray sedan is alongside the right curb, with the adjacent sidewalk and building entrance visible."}, {"camera": "side_left", "t_s": 0, "detail": "Curbside vehicles and house frontages occupy the left side; no roadway-entering pedestrian is visible."}, {"camera": "side_right", "t_s": -2, "detail": "One person is elevated on a ladder against a building and another stands below on the sidewalk; a curbside car obscures part of the lower scene."}, {"camera": "side_right", "t_s": 0, "detail": "House steps, sidewalk, and a curbside white vehicle are alongside ego; the ladder activity is no longer in this view."}, {"camera": "rear_left", "t_s": 0, "detail": "Several vehicles line the left curb behind ego, with no visible lateral intrusion."}, {"camera": "rear", "t_s": 0, "detail": "The street behind has vehicles along both curbs and a visibly open central roadway."}, {"camera": "rear_right", "t_s": 0, "detail": "The elevated person, ladder, and second person are visible at the right-side building behind ego, remaining outside the roadway."}], "uncertainties": ["The small tan item's identity, dimensions, and exact relationship to ego's swept path cannot be determined from these images.", "The photographs do not establish the intentions of the sidewalk people or occupants of parked vehicles.", "No future frames or recorded braking behavior are supplied."]}, "discovery_label": {"title": "Routine stop approach past sidewalk ladder", "category": "routine", "tags": ["stop-controlled intersection", "parked vehicles", "sidewalk ladder"], "current_situation": "Ego is traveling straight at 8.654 m/s along a residential street toward a marked crosswalk and a facing STOP sign. Vehicles line both curbs, with the central roadway visibly open. Two people beside a ladder at a right-side building move from side-right to rear-right views as ego advances; no movement toward the roadway is established. A small tan item is visible on the pavement beside the right parking row, but its identity and relevance to ego's path are unclear. Bright exposure affects the right-facing images without hiding the forward roadway.", "baseline_decision": "Begin a controlled slowdown and stop before entering the marked crossing and intersection, respecting the STOP sign while remaining on the straight route.", "decision_changing_cue": "No additional material cue is established: the ladder and people are behind ego on the sidewalk, and the small roadside item does not clearly obstruct the straight travel path.", "causal_mechanism": "The visible stop control requires ordinary approach braking and a full stop. Neither the sidewalk activity nor the unidentified item establishes a conflict requiring extra braking or lateral avoidance beyond that baseline.", "expected_action": "stop", "decision_deviation": false, "annotation": "A facing STOP sign and marked crosswalk lie ahead on a residential street lined with parked cars, while two people beside a ladder are behind ego on the right sidewalk. Ego should begin slowing now and stop before entering the intersection, as the normal stop-controlled approach requires; no visible nonroutine conflict establishes an additional maneuver.", "interest_score": 43, "confidence": 0.88, "selection_reason": "Reject as a long-tail candidate: the required stop is routine, the sidewalk ladder activity is already behind ego, and the small unidentified roadside item has no clearly supported material effect on the plan.", "camera_evidence": [{"camera": "front", "t_s": 0, "detail": "A facing STOP sign stands on the right ahead of the intersection, with white crosswalk bars across the roadway and an open central approach."}, {"camera": "front", "t_s": 0, "detail": "A small tan angular item lies on the pavement beside the right-side parked vehicles; its identity is unresolved."}, {"camera": "front_left", "t_s": 0, "detail": "A Jeep and other vehicles sit along the left curb beside residential buildings; no vehicle visibly crosses ego's path."}, {"camera": "front_right", "t_s": 0, "detail": "A gray sedan is alongside the right curb, with the adjacent sidewalk and building entrance visible."}, {"camera": "side_left", "t_s": 0, "detail": "Curbside vehicles and house frontages occupy the left side; no roadway-entering pedestrian is visible."}, {"camera": "side_right", "t_s": -2, "detail": "One person is elevated on a ladder against a building and another stands below on the sidewalk; a curbside car obscures part of the lower scene."}, {"camera": "side_right", "t_s": 0, "detail": "House steps, sidewalk, and a curbside white vehicle are alongside ego; the ladder activity is no longer in this view."}, {"camera": "rear_left", "t_s": 0, "detail": "Several vehicles line the left curb behind ego, with no visible lateral intrusion."}, {"camera": "rear", "t_s": 0, "detail": "The street behind has vehicles along both curbs and a visibly open central roadway."}, {"camera": "rear_right", "t_s": 0, "detail": "The elevated person, ladder, and second person are visible at the right-side building behind ego, remaining outside the roadway."}], "uncertainties": ["The small tan item's identity, dimensions, and exact relationship to ego's swept path cannot be determined from these images.", "The photographs do not establish the intentions of the sidewalk people or occupants of parked vehicles.", "No future frames or recorded braking behavior are supplied."], "_binding_sha256": "d55e5e5dac9d197d3bc892ae519213f1f8b3137d0a9009db7cfe4dee53dba696", "_request": "requests/b197472f28df9f18c22654a5b514082a-072/discovery-001"}, "review": null, "status": "dismissed", "annotation": "A facing STOP sign and marked crosswalk lie ahead on a residential street lined with parked cars, while two people beside a ladder are behind ego on the right sidewalk. Ego should begin slowing now and stop before entering the intersection, as the normal stop-controlled approach requires; no visible nonroutine conflict establishes an additional maneuver.", "selected": false}
{"id": "ca328ceb6400d5472ffae255edf10aa4-036", "scenario_id": "ca328ceb6400d5472ffae255edf10aa4", "split": "train", "batch_index": 25, "source_manifest_line": 26, "intent": "GO_STRAIGHT", "anchor_frame": 36, "motion": {"current_speed_mps": 15.646, "future_xy_m": [[3.9169921875, -0.01171875], [7.818359375, -0.015625], [11.7119140625, -0.009765625], [15.5966796875, 0.00390625], [19.4833984375, 0.01171875], [23.3681640625, 0.0146484375], [27.255859375, 0.017578125], [31.13671875, 0.01953125], [35.01171875, 0.0205078125], [38.88671875, 0.0283203125], [42.7646484375, 0.0400390625], [46.64453125, 0.0546875], [50.5302734375, 0.0654296875], [54.4169921875, 0.0751953125], [58.30859375, 0.0869140625], [62.203125, 0.0947265625], [66.0986328125, 0.1025390625], [69.994140625, 0.111328125], [73.8896484375, 0.11328125], [77.7822265625, 0.1142578125]], "future_hz": 4, "speed_windows": [{"t_s": 0.5, "speed_mps": 15.597}, {"t_s": 1.5, "speed_mps": 15.54}, {"t_s": 2.5, "speed_mps": 15.508}, {"t_s": 3.5, "speed_mps": 15.559}, {"t_s": 4.5, "speed_mps": 15.579}], "minimum_1s_acceleration_mps2": -0.057, "maximum_speed_drop_mps": 0.138, "recorded_response": "roughly_maintain_speed", "method": "4 Hz trajectory path length; 1 s mean speeds; differences of adjacent 1 s means. Recorded response is descriptive, not a causal label."}, "frames": [{"t_s": 0.0, "source_frame": 36, "images": {"front_left": "images/ca328ceb6400d5472ffae255edf10aa4-036/+000_front_left.webp", "front": "images/ca328ceb6400d5472ffae255edf10aa4-036/+000_front.webp", "front_right": "images/ca328ceb6400d5472ffae255edf10aa4-036/+000_front_right.webp", "side_left": "images/ca328ceb6400d5472ffae255edf10aa4-036/+000_side_left.webp", "side_right": "images/ca328ceb6400d5472ffae255edf10aa4-036/+000_side_right.webp", "rear_left": "images/ca328ceb6400d5472ffae255edf10aa4-036/+000_rear_left.webp", "rear": "images/ca328ceb6400d5472ffae255edf10aa4-036/+000_rear.webp", "rear_right": "images/ca328ceb6400d5472ffae255edf10aa4-036/+000_rear_right.webp"}}], "camera_count": 8, "available_source_times_s": [0.0, 1.0, 2.0, 3.0, 4.0, 5.0], "camera_scope": "current_only", "label": {"title": "Clear Through Lane With Adjacent Traffic", "category": "routine", "tags": ["clear through lane", "adjacent traffic", "side-street vehicles"], "current_situation": "Ego is traveling at 15.646 m/s with a straight-ahead route on a daylight urban road. The right-hand through lane is visibly clear nearby, with a white car ahead in the adjacent left lane, vehicles alongside or behind on the left, and curbside vehicles on side streets. A roadside speed-limit sign shows 35; distant signals are visible but their states are not reliably resolved.", "baseline_decision": "Continue straight in the current lane at an appropriate speed, maintaining normal traffic spacing and observing the distant intersection controls.", "decision_changing_cue": "No visible cue establishes a material departure from ordinary straight-ahead driving. No vehicle is visibly intruding into ego's lane, and no pedestrian is visibly entering its path.", "causal_mechanism": "The surrounding vehicles occupy adjacent lanes or roadside positions rather than visibly obstructing the through lane. Their presence warrants routine monitoring, not a supported immediate braking or lateral-avoidance maneuver.", "expected_action": "maintain_speed", "decision_deviation": false, "annotation": "Ego has a clear right-hand through lane, with a white car ahead in the adjacent left lane and curbside vehicles on the intersecting street. Over the next 0–5 seconds, ego should continue straight at an appropriate speed while monitoring adjacent traffic and upcoming controls; no visible conflict requires a special braking or lane-change response.", "interest_score": 18, "confidence": 0.9, "selection_reason": "Reject as a long-tail candidate: all eight views show ordinary traffic and roadside activity without a specific, visually supported interaction that materially changes the straight-ahead plan.", "camera_evidence": [{"camera": "front_left", "t_s": 0, "detail": "A dark car is beside the far-side curb near a side-street opening; the foreground roadway has no visible crossing actor."}, {"camera": "front", "t_s": 0, "detail": "The nearby right-hand lane is clear, a white car is ahead to the left of the dashed lane boundary, and a roadside sign displays 35."}, {"camera": "front_right", "t_s": 0, "detail": "A side street, curb ramp, silver curbside sedan and partially visible white vehicle are present; neither vehicle visibly extends into ego's through lane."}, {"camera": "side_left", "t_s": 0, "detail": "A red vehicle is visible on the side street across the main road, beyond the opposite curb."}, {"camera": "side_right", "t_s": 0, "detail": "Several curbside vehicles appear along the side street beside a grass verge and sidewalk."}, {"camera": "rear_left", "t_s": 0, "detail": "A white SUV and beige sedan are visible close to ego's left-rear side; this still image does not establish lateral movement."}, {"camera": "rear", "t_s": 0, "detail": "Several vehicles occupy the roadway behind, with part of a white SUV at the right image edge; no visible obstruction blocks the lane behind."}, {"camera": "rear_right", "t_s": 0, "detail": "A white building, lawn and sidewalk occupy the roadside; a small figure beside the building is separated from the roadway by the lawn."}], "uncertainties": ["Only t=0 is available, so other actors' motion, relative speeds and lane-change trends cannot be established.", "The distant traffic-light states are not reliably discernible.", "The small rear-right figure is poorly resolved; no roadway-entry motion can be established."]}, "discovery_label": {"title": "Clear Through Lane With Adjacent Traffic", "category": "routine", "tags": ["clear through lane", "adjacent traffic", "side-street vehicles"], "current_situation": "Ego is traveling at 15.646 m/s with a straight-ahead route on a daylight urban road. The right-hand through lane is visibly clear nearby, with a white car ahead in the adjacent left lane, vehicles alongside or behind on the left, and curbside vehicles on side streets. A roadside speed-limit sign shows 35; distant signals are visible but their states are not reliably resolved.", "baseline_decision": "Continue straight in the current lane at an appropriate speed, maintaining normal traffic spacing and observing the distant intersection controls.", "decision_changing_cue": "No visible cue establishes a material departure from ordinary straight-ahead driving. No vehicle is visibly intruding into ego's lane, and no pedestrian is visibly entering its path.", "causal_mechanism": "The surrounding vehicles occupy adjacent lanes or roadside positions rather than visibly obstructing the through lane. Their presence warrants routine monitoring, not a supported immediate braking or lateral-avoidance maneuver.", "expected_action": "maintain_speed", "decision_deviation": false, "annotation": "Ego has a clear right-hand through lane, with a white car ahead in the adjacent left lane and curbside vehicles on the intersecting street. Over the next 0–5 seconds, ego should continue straight at an appropriate speed while monitoring adjacent traffic and upcoming controls; no visible conflict requires a special braking or lane-change response.", "interest_score": 18, "confidence": 0.9, "selection_reason": "Reject as a long-tail candidate: all eight views show ordinary traffic and roadside activity without a specific, visually supported interaction that materially changes the straight-ahead plan.", "camera_evidence": [{"camera": "front_left", "t_s": 0, "detail": "A dark car is beside the far-side curb near a side-street opening; the foreground roadway has no visible crossing actor."}, {"camera": "front", "t_s": 0, "detail": "The nearby right-hand lane is clear, a white car is ahead to the left of the dashed lane boundary, and a roadside sign displays 35."}, {"camera": "front_right", "t_s": 0, "detail": "A side street, curb ramp, silver curbside sedan and partially visible white vehicle are present; neither vehicle visibly extends into ego's through lane."}, {"camera": "side_left", "t_s": 0, "detail": "A red vehicle is visible on the side street across the main road, beyond the opposite curb."}, {"camera": "side_right", "t_s": 0, "detail": "Several curbside vehicles appear along the side street beside a grass verge and sidewalk."}, {"camera": "rear_left", "t_s": 0, "detail": "A white SUV and beige sedan are visible close to ego's left-rear side; this still image does not establish lateral movement."}, {"camera": "rear", "t_s": 0, "detail": "Several vehicles occupy the roadway behind, with part of a white SUV at the right image edge; no visible obstruction blocks the lane behind."}, {"camera": "rear_right", "t_s": 0, "detail": "A white building, lawn and sidewalk occupy the roadside; a small figure beside the building is separated from the roadway by the lawn."}], "uncertainties": ["Only t=0 is available, so other actors' motion, relative speeds and lane-change trends cannot be established.", "The distant traffic-light states are not reliably discernible.", "The small rear-right figure is poorly resolved; no roadway-entry motion can be established."], "_binding_sha256": "bdca098380e965ed9b30086e080226cedebaef54952a09a06d2a1c3dcab9038b", "_request": "requests/ca328ceb6400d5472ffae255edf10aa4-036/discovery-001"}, "review": null, "status": "dismissed", "annotation": "Ego has a clear right-hand through lane, with a white car ahead in the adjacent left lane and curbside vehicles on the intersecting street. Over the next 0–5 seconds, ego should continue straight at an appropriate speed while monitoring adjacent traffic and upcoming controls; no visible conflict requires a special braking or lane-change response.", "selected": false}
{"id": "53983b15bde945c91208271897c8cfd8-105", "scenario_id": "53983b15bde945c91208271897c8cfd8", "split": "train", "batch_index": 26, "source_manifest_line": 27, "intent": "GO_STRAIGHT", "anchor_frame": 105, "motion": {"current_speed_mps": 10.13, "future_xy_m": [[2.55029296875, -0.00811767578125], [5.12548828125, -0.01666259765625], [7.7177734375, -0.025146484375], [10.33984375, -0.03363037109375], [12.9892578125, -0.0330810546875], [15.67333984375, -0.0224609375], [18.38671875, -0.00311279296875], [21.12109375, 0.0318603515625], [23.87451171875, 0.08319091796875], [26.63916015625, 0.15045166015625], [29.4228515625, 0.232177734375], [32.21533203125, 0.3297119140625], [35.0205078125, 0.439208984375], [37.83056640625, 0.56640625], [40.65185546875, 0.7135009765625], [43.47900390625, 0.8782958984375], [46.3095703125, 1.058837890625], [49.13671875, 1.2537841796875], [51.9677734375, 1.46258544921875], [54.796875, 1.677490234375]], "future_hz": 4, "speed_windows": [{"t_s": 0.5, "speed_mps": 10.34}, {"t_s": 1.5, "speed_mps": 10.782}, {"t_s": 2.5, "speed_mps": 11.098}, {"t_s": 3.5, "speed_mps": 11.277}, {"t_s": 4.5, "speed_mps": 11.346}], "minimum_1s_acceleration_mps2": 0.069, "maximum_speed_drop_mps": 0.0, "recorded_response": "roughly_maintain_speed", "method": "4 Hz trajectory path length; 1 s mean speeds; differences of adjacent 1 s means. Recorded response is descriptive, not a causal label."}, "frames": [{"t_s": 0.0, "source_frame": 105, "images": {"front_left": "images/53983b15bde945c91208271897c8cfd8-105/+000_front_left.webp", "front": "images/53983b15bde945c91208271897c8cfd8-105/+000_front.webp", "front_right": "images/53983b15bde945c91208271897c8cfd8-105/+000_front_right.webp", "side_left": "images/53983b15bde945c91208271897c8cfd8-105/+000_side_left.webp", "side_right": "images/53983b15bde945c91208271897c8cfd8-105/+000_side_right.webp", "rear_left": "images/53983b15bde945c91208271897c8cfd8-105/+000_rear_left.webp", "rear": "images/53983b15bde945c91208271897c8cfd8-105/+000_rear.webp", "rear_right": "images/53983b15bde945c91208271897c8cfd8-105/+000_rear_right.webp"}}], "camera_count": 8, "available_source_times_s": [-2.0, -1.0, 0.0, 1.0, 2.0, 3.0, 4.0, 5.0], "camera_scope": "current_only", "label": {"title": "Routine Green-Light Intersection", "category": "routine", "tags": ["green signal", "cross-street vehicle", "normal following"], "current_situation": "Ego is traveling at 10.13 m/s on a straight route through a signalized urban intersection. Forward signals are green, with marked crosswalks, a median island, and a green-painted bicycle lane along the right. A van remains ahead and a hatchback ahead-left across the observation history. An SUV faces the intersection from the right-hand cross street at its crosswalk, with another vehicle behind it; no intrusion into ego's through lane is established. Daylight visibility is generally clear, with bright sunlight toward the left.", "baseline_decision": "Continue straight at a steady, traffic-appropriate speed through the green signal, maintaining a safe gap behind the van and remaining in the through lane.", "decision_changing_cue": "No material decision-changing cue is established. The right-side SUV warrants monitoring, but the photographs do not demonstrate that it is entering ego's path.", "causal_mechanism": "A vehicle near the cross-street crosswalk alone does not establish a crossing conflict. The visible situation supports ordinary intersection monitoring and following rather than an additional yield, brake, or lateral maneuver.", "expected_action": "maintain_speed", "decision_deviation": false, "annotation": "Ego approaches a green-light intersection behind a van, with a hatchback ahead-left and an SUV at the right-hand cross-street crosswalk. No vehicle is visibly entering ego's through lane, so ego should continue straight at a traffic-appropriate speed over the next few seconds, maintaining its following gap and monitoring the right-side SUV.", "interest_score": 28, "confidence": 0.86, "selection_reason": "Reject as a long-tail candidate: the images show ordinary green-light progression with cross-street traffic, without a supported unusual interaction or material change to the straight-through plan.", "camera_evidence": [{"camera": "front", "t_s": -2, "detail": "Green forward signals, a van ahead, and a hatchback ahead-left are visible approaching the marked intersection."}, {"camera": "front", "t_s": 0, "detail": "Forward signals remain green; the van and hatchback remain ahead, and the through lane continues beside a right-side bicycle lane."}, {"camera": "front_left", "t_s": 0, "detail": "The left-side intersection approach is visible beside a corner building; a person is on the sidewalk near the signal pole, not visibly in the roadway."}, {"camera": "front_right", "t_s": -1, "detail": "An SUV faces toward the intersection from the right-hand cross street, with a second vehicle behind it."}, {"camera": "front_right", "t_s": 0, "detail": "The SUV is at the cross-street crosswalk, but no overlap with ego's through lane is established."}, {"camera": "side_left", "t_s": 0, "detail": "The left cross-street approach, marked crosswalk, median island, and vehicles farther along the street are visible."}, {"camera": "side_right", "t_s": 0, "detail": "A side-facing traffic signal is red beside the corner sidewalk and curb ramps; no nearby pedestrian is visibly crossing."}, {"camera": "rear_left", "t_s": 0, "detail": "Curbside vehicles, storefronts, and the median island are visible without an evident moving conflict."}, {"camera": "rear", "t_s": 0, "detail": "A sedan is behind ego; the roadway and bicycle-lane markings remain visible."}, {"camera": "rear_right", "t_s": 0, "detail": "The corner building, sidewalk, tree, and hydrant are visible without an actor entering the roadway."}], "uncertainties": ["Ego motion and changing perspective prevent confident determination of whether the right-side SUV is stationary or moving slightly.", "The right-side SUV's intended maneuver is unknown.", "Small or distant actors are difficult to resolve in the camera mosaics."]}, "discovery_label": {"title": "Routine Green-Light Intersection", "category": "routine", "tags": ["green signal", "cross-street vehicle", "normal following"], "current_situation": "Ego is traveling at 10.13 m/s on a straight route through a signalized urban intersection. Forward signals are green, with marked crosswalks, a median island, and a green-painted bicycle lane along the right. A van remains ahead and a hatchback ahead-left across the observation history. An SUV faces the intersection from the right-hand cross street at its crosswalk, with another vehicle behind it; no intrusion into ego's through lane is established. Daylight visibility is generally clear, with bright sunlight toward the left.", "baseline_decision": "Continue straight at a steady, traffic-appropriate speed through the green signal, maintaining a safe gap behind the van and remaining in the through lane.", "decision_changing_cue": "No material decision-changing cue is established. The right-side SUV warrants monitoring, but the photographs do not demonstrate that it is entering ego's path.", "causal_mechanism": "A vehicle near the cross-street crosswalk alone does not establish a crossing conflict. The visible situation supports ordinary intersection monitoring and following rather than an additional yield, brake, or lateral maneuver.", "expected_action": "maintain_speed", "decision_deviation": false, "annotation": "Ego approaches a green-light intersection behind a van, with a hatchback ahead-left and an SUV at the right-hand cross-street crosswalk. No vehicle is visibly entering ego's through lane, so ego should continue straight at a traffic-appropriate speed over the next few seconds, maintaining its following gap and monitoring the right-side SUV.", "interest_score": 28, "confidence": 0.86, "selection_reason": "Reject as a long-tail candidate: the images show ordinary green-light progression with cross-street traffic, without a supported unusual interaction or material change to the straight-through plan.", "camera_evidence": [{"camera": "front", "t_s": -2, "detail": "Green forward signals, a van ahead, and a hatchback ahead-left are visible approaching the marked intersection."}, {"camera": "front", "t_s": 0, "detail": "Forward signals remain green; the van and hatchback remain ahead, and the through lane continues beside a right-side bicycle lane."}, {"camera": "front_left", "t_s": 0, "detail": "The left-side intersection approach is visible beside a corner building; a person is on the sidewalk near the signal pole, not visibly in the roadway."}, {"camera": "front_right", "t_s": -1, "detail": "An SUV faces toward the intersection from the right-hand cross street, with a second vehicle behind it."}, {"camera": "front_right", "t_s": 0, "detail": "The SUV is at the cross-street crosswalk, but no overlap with ego's through lane is established."}, {"camera": "side_left", "t_s": 0, "detail": "The left cross-street approach, marked crosswalk, median island, and vehicles farther along the street are visible."}, {"camera": "side_right", "t_s": 0, "detail": "A side-facing traffic signal is red beside the corner sidewalk and curb ramps; no nearby pedestrian is visibly crossing."}, {"camera": "rear_left", "t_s": 0, "detail": "Curbside vehicles, storefronts, and the median island are visible without an evident moving conflict."}, {"camera": "rear", "t_s": 0, "detail": "A sedan is behind ego; the roadway and bicycle-lane markings remain visible."}, {"camera": "rear_right", "t_s": 0, "detail": "The corner building, sidewalk, tree, and hydrant are visible without an actor entering the roadway."}], "uncertainties": ["Ego motion and changing perspective prevent confident determination of whether the right-side SUV is stationary or moving slightly.", "The right-side SUV's intended maneuver is unknown.", "Small or distant actors are difficult to resolve in the camera mosaics."], "_binding_sha256": "af0dd0db6799b321621c2659745e27a4cffb89f26459faad0f61559732674743", "_request": "requests/53983b15bde945c91208271897c8cfd8-105/discovery-001"}, "review": null, "status": "dismissed", "annotation": "Ego approaches a green-light intersection behind a van, with a hatchback ahead-left and an SUV at the right-hand cross-street crosswalk. No vehicle is visibly entering ego's through lane, so ego should continue straight at a traffic-appropriate speed over the next few seconds, maintaining its following gap and monitoring the right-side SUV.", "selected": false}
{"id": "8c07eae9261203513afb25aac288dd9f-103", "scenario_id": "8c07eae9261203513afb25aac288dd9f", "split": "train", "batch_index": 27, "source_manifest_line": 28, "intent": "GO_LEFT", "anchor_frame": 103, "motion": {"current_speed_mps": 0.185, "future_xy_m": [[0.02783203125, 0.001220703125], [0.0224609375, 0.001220703125], [0.01220703125, 0.000732421875], [0.01318359375, 0.0009765625], [0.01953125, 0.001220703125], [0.02880859375, 0.001953125], [0.03955078125, 0.002685546875], [0.0517578125, 0.00341796875], [0.06591796875, 0.004150390625], [0.08251953125, 0.005615234375], [0.107421875, 0.0087890625], [0.1513671875, 0.014892578125], [0.2255859375, 0.029296875], [0.3359375, 0.057373046875], [0.49169921875, 0.10888671875], [0.697265625, 0.195556640625], [0.958984375, 0.323974609375], [1.27197265625, 0.5078125], [1.6337890625, 0.747802734375], [2.041015625, 1.033935546875]], "future_hz": 4, "speed_windows": [{"t_s": 0.5, "speed_mps": 0.045}, {"t_s": 1.5, "speed_mps": 0.039}, {"t_s": 2.5, "speed_mps": 0.1}, {"t_s": 3.5, "speed_mps": 0.577}, {"t_s": 4.5, "speed_mps": 1.586}], "minimum_1s_acceleration_mps2": -0.006, "maximum_speed_drop_mps": 0.147, "recorded_response": "start_moving", "method": "4 Hz trajectory path length; 1 s mean speeds; differences of adjacent 1 s means. Recorded response is descriptive, not a causal label."}, "frames": [{"t_s": -2.0, "source_frame": 83, "images": {"front_left": "images/8c07eae9261203513afb25aac288dd9f-103/-020_front_left.webp", "front": "images/8c07eae9261203513afb25aac288dd9f-103/-020_front.webp", "front_right": "images/8c07eae9261203513afb25aac288dd9f-103/-020_front_right.webp", "side_left": "images/8c07eae9261203513afb25aac288dd9f-103/-020_side_left.webp", "side_right": "images/8c07eae9261203513afb25aac288dd9f-103/-020_side_right.webp", "rear_left": "images/8c07eae9261203513afb25aac288dd9f-103/-020_rear_left.webp", "rear": "images/8c07eae9261203513afb25aac288dd9f-103/-020_rear.webp", "rear_right": "images/8c07eae9261203513afb25aac288dd9f-103/-020_rear_right.webp"}}, {"t_s": -1.0, "source_frame": 93, "images": {"front_left": "images/8c07eae9261203513afb25aac288dd9f-103/-010_front_left.webp", "front": "images/8c07eae9261203513afb25aac288dd9f-103/-010_front.webp", "front_right": "images/8c07eae9261203513afb25aac288dd9f-103/-010_front_right.webp", "side_left": "images/8c07eae9261203513afb25aac288dd9f-103/-010_side_left.webp", "side_right": "images/8c07eae9261203513afb25aac288dd9f-103/-010_side_right.webp", "rear_left": "images/8c07eae9261203513afb25aac288dd9f-103/-010_rear_left.webp", "rear": "images/8c07eae9261203513afb25aac288dd9f-103/-010_rear.webp", "rear_right": "images/8c07eae9261203513afb25aac288dd9f-103/-010_rear_right.webp"}}, {"t_s": 0.0, "source_frame": 103, "images": {"front_left": "images/8c07eae9261203513afb25aac288dd9f-103/+000_front_left.webp", "front": "images/8c07eae9261203513afb25aac288dd9f-103/+000_front.webp", "front_right": "images/8c07eae9261203513afb25aac288dd9f-103/+000_front_right.webp", "side_left": "images/8c07eae9261203513afb25aac288dd9f-103/+000_side_left.webp", "side_right": "images/8c07eae9261203513afb25aac288dd9f-103/+000_side_right.webp", "rear_left": "images/8c07eae9261203513afb25aac288dd9f-103/+000_rear_left.webp", "rear": "images/8c07eae9261203513afb25aac288dd9f-103/+000_rear.webp", "rear_right": "images/8c07eae9261203513afb25aac288dd9f-103/+000_rear_right.webp"}}, {"t_s": 1.0, "source_frame": 113, "images": {"front_left": "images/8c07eae9261203513afb25aac288dd9f-103/+010_front_left.webp", "front": "images/8c07eae9261203513afb25aac288dd9f-103/+010_front.webp", "front_right": "images/8c07eae9261203513afb25aac288dd9f-103/+010_front_right.webp", "side_left": "images/8c07eae9261203513afb25aac288dd9f-103/+010_side_left.webp", "side_right": "images/8c07eae9261203513afb25aac288dd9f-103/+010_side_right.webp", "rear_left": "images/8c07eae9261203513afb25aac288dd9f-103/+010_rear_left.webp", "rear": "images/8c07eae9261203513afb25aac288dd9f-103/+010_rear.webp", "rear_right": "images/8c07eae9261203513afb25aac288dd9f-103/+010_rear_right.webp"}}, {"t_s": 2.0, "source_frame": 123, "images": {"front_left": "images/8c07eae9261203513afb25aac288dd9f-103/+020_front_left.webp", "front": "images/8c07eae9261203513afb25aac288dd9f-103/+020_front.webp", "front_right": "images/8c07eae9261203513afb25aac288dd9f-103/+020_front_right.webp", "side_left": "images/8c07eae9261203513afb25aac288dd9f-103/+020_side_left.webp", "side_right": "images/8c07eae9261203513afb25aac288dd9f-103/+020_side_right.webp", "rear_left": "images/8c07eae9261203513afb25aac288dd9f-103/+020_rear_left.webp", "rear": "images/8c07eae9261203513afb25aac288dd9f-103/+020_rear.webp", "rear_right": "images/8c07eae9261203513afb25aac288dd9f-103/+020_rear_right.webp"}}, {"t_s": 3.0, "source_frame": 133, "images": {"front_left": "images/8c07eae9261203513afb25aac288dd9f-103/+030_front_left.webp", "front": "images/8c07eae9261203513afb25aac288dd9f-103/+030_front.webp", "front_right": "images/8c07eae9261203513afb25aac288dd9f-103/+030_front_right.webp", "side_left": "images/8c07eae9261203513afb25aac288dd9f-103/+030_side_left.webp", "side_right": "images/8c07eae9261203513afb25aac288dd9f-103/+030_side_right.webp", "rear_left": "images/8c07eae9261203513afb25aac288dd9f-103/+030_rear_left.webp", "rear": "images/8c07eae9261203513afb25aac288dd9f-103/+030_rear.webp", "rear_right": "images/8c07eae9261203513afb25aac288dd9f-103/+030_rear_right.webp"}}, {"t_s": 4.0, "source_frame": 143, "images": {"front_left": "images/8c07eae9261203513afb25aac288dd9f-103/+040_front_left.webp", "front": "images/8c07eae9261203513afb25aac288dd9f-103/+040_front.webp", "front_right": "images/8c07eae9261203513afb25aac288dd9f-103/+040_front_right.webp", "side_left": "images/8c07eae9261203513afb25aac288dd9f-103/+040_side_left.webp", "side_right": "images/8c07eae9261203513afb25aac288dd9f-103/+040_side_right.webp", "rear_left": "images/8c07eae9261203513afb25aac288dd9f-103/+040_rear_left.webp", "rear": "images/8c07eae9261203513afb25aac288dd9f-103/+040_rear.webp", "rear_right": "images/8c07eae9261203513afb25aac288dd9f-103/+040_rear_right.webp"}}, {"t_s": 5.0, "source_frame": 153, "images": {"front_left": "images/8c07eae9261203513afb25aac288dd9f-103/+050_front_left.webp", "front": "images/8c07eae9261203513afb25aac288dd9f-103/+050_front.webp", "front_right": "images/8c07eae9261203513afb25aac288dd9f-103/+050_front_right.webp", "side_left": "images/8c07eae9261203513afb25aac288dd9f-103/+050_side_left.webp", "side_right": "images/8c07eae9261203513afb25aac288dd9f-103/+050_side_right.webp", "rear_left": "images/8c07eae9261203513afb25aac288dd9f-103/+050_rear_left.webp", "rear": "images/8c07eae9261203513afb25aac288dd9f-103/+050_rear.webp", "rear_right": "images/8c07eae9261203513afb25aac288dd9f-103/+050_rear_right.webp"}}], "camera_count": 8, "available_source_times_s": [-2.0, -1.0, 0.0, 1.0, 2.0, 3.0, 4.0, 5.0], "camera_scope": "full_timeline", "label": {"title": "Oncoming Vehicle Delays Bypass of an Obstructing Truck", "category": "road_obstruction", "tags": ["delivery truck", "oncoming traffic", "constrained bypass"], "current_situation": "At 0.185 m/s, ego is nearly stationary behind a UPS truck occupying the forward corridor on a residential street with curbside parking. A facing red vehicle grows larger to the truck's left across the past views. The truck obscures the road directly ahead; a pedestrian remains on the left sidewalk.", "baseline_decision": "Without the approaching vehicle, assess whether a low-speed leftward bypass is possible while preserving clearance from the truck and parked vehicles. Proceed only after obtaining adequate visibility and confirming the passage is clear; otherwise continue waiting. GO_LEFT does not establish an immediate turn location.", "decision_changing_cue": "An approaching red vehicle is visible in the left-side passage that a bypass would require.", "causal_mechanism": "The truck and right-side parked cars prevent straightforward forward passage. Entering the left-side passage while the approaching vehicle occupies it would create an opposing-path conflict, adding a traffic-gap requirement to the existing visibility and clearance requirements.", "expected_action": "wait_for_gap", "decision_deviation": true, "annotation": "Ego is nearly stationary behind a UPS truck that obstructs forward passage beside right-side parked cars, while a red vehicle approaches through the space to its left. Without the approaching vehicle, ego could assess a cautious leftward bypass, but the truck's occlusion still rules out a blind pass. Ego should defer entering that passage until the approaching vehicle clears the intended path and bypass visibility and clearance are verified.", "interest_score": 75, "confidence": 0.83, "selection_reason": "Qualitative long-tail candidate: a delivery-truck obstruction and visibly approaching opposing vehicle jointly prevent a leftward bypass. The decision effect comes from the shared constrained corridor, not parking density or the sidewalk pedestrian.", "camera_evidence": [{"camera": "front", "t_s": -2, "detail": "The UPS truck is ahead alongside right-side parked cars; a small facing red vehicle is visible beyond its left edge."}, {"camera": "front", "t_s": -1, "detail": "The red vehicle is more prominent to the truck's left, and both rear amber lamps are brightly illuminated."}, {"camera": "front", "t_s": 0, "detail": "The facing red vehicle has grown larger across the history. The truck obscures the road directly ahead, with a black car and silver coupe parked immediately to its right."}, {"camera": "front_left", "t_s": 0, "detail": "A pedestrian is on the sidewalk beside residential steps; a silver wagon and white pickup occupy the left curbside."}, {"camera": "front_right", "t_s": 0, "detail": "A silver coupe borders the right curb beside a tree, shrub and residential entrances."}, {"camera": "side_left", "t_s": 0, "detail": "The adjacent sidewalk, tree and residential steps are visible; no roadway entry by an actor is visible."}, {"camera": "side_right", "t_s": 0, "detail": "A dark crossover occupies the immediate right curbside."}, {"camera": "rear_left", "t_s": 0, "detail": "A gray SUV is parked beside the left sidewalk."}, {"camera": "rear", "t_s": 0, "detail": "Parked vehicles line the street behind; no close following vehicle is visible in the central foreground corridor."}, {"camera": "rear_right", "t_s": 0, "detail": "A white SUV with a roof cargo box and part of a dark crossover occupy the right curbside."}], "uncertainties": ["The truck appears stopped or very slow; its exact motion is not established at t<=0.", "Changing rear amber-lamp illumination does not establish signaling mode or driver intention.", "The truck obscures forward visibility, and complete bypass clearance is not established.", "The intended left-turn location and applicable controls are not established ahead.", "Recorded motion does not prove that the driver waited specifically because of the approaching vehicle."]}, "discovery_label": {"title": "Delivery Truck Bypass Blocked by Oncoming Sedan", "category": "road_obstruction", "tags": ["delivery truck", "oncoming traffic", "constrained bypass"], "current_situation": "Ego is nearly stationary at 0.185 m/s behind a UPS truck occupying the forward travel corridor beside right-side parked cars. A red sedan approaches through the open corridor to the truck's left across the supplied history. The residential street has curbside parking on both sides, daylight visibility, and tree shadows. A pedestrian moves along the left sidewalk without entering the road. No intersection or applicable left-turn control is established in these views.", "baseline_decision": "Without the approaching sedan, cautiously bypass the truck to the left after verifying clearance, then continue toward the intended left turn; GO_LEFT does not establish an immediate turn here.", "decision_changing_cue": "The approaching red sedan occupies the opposing corridor that ego would need for a leftward bypass of the truck.", "causal_mechanism": "The truck and right-side parked vehicles constrain forward passage, while the approaching sedan prevents immediate use of the left-side corridor. Moving around the truck now would create an opposing-path conflict rather than ordinary following.", "expected_action": "wait_for_gap", "decision_deviation": true, "annotation": "A UPS truck occupies the forward corridor beside parked cars, while a red sedan approaches through the open space to its left. Although ego would otherwise cautiously bypass the truck before continuing toward its planned left turn, the opposing sedan requires ego to hold behind the truck now and defer moving left until the sedan passes and bypass clearance is verified.", "interest_score": 75, "confidence": 0.83, "selection_reason": "Qualitative long-tail candidate: a delivery-truck obstruction and visibly approaching opposing vehicle jointly prevent a leftward bypass. The decision effect comes from the shared constrained corridor, not parking density or the sidewalk pedestrian.", "camera_evidence": [{"camera": "front", "t_s": -2, "detail": "The UPS truck occupies the forward corridor beside right-side parked cars; a small red vehicle is visible beyond its left edge."}, {"camera": "front", "t_s": -1, "detail": "Both rear amber lamps on the truck are illuminated, and the red sedan is more prominent to its left."}, {"camera": "front", "t_s": 0, "detail": "The red sedan faces ego and has grown visibly larger across the history. The truck blocks the view directly ahead, with a black sedan and silver coupe parked to its right."}, {"camera": "front_left", "t_s": 0, "detail": "A pedestrian is on the sidewalk beside residential steps, farther left than at -1 s; a silver wagon and white pickup occupy the curbside."}, {"camera": "front_right", "t_s": 0, "detail": "A silver coupe is parked beside the right sidewalk; trees, a shrub, and residential entrances border the curb."}, {"camera": "side_left", "t_s": 0, "detail": "The adjacent sidewalk contains a tree and residential steps; no roadway actor is visible in this view."}, {"camera": "side_right", "t_s": 0, "detail": "A dark crossover occupies the immediate right curbside beside residential entrances."}, {"camera": "rear_left", "t_s": 0, "detail": "A gray SUV is parked beside the left-side sidewalk."}, {"camera": "rear", "t_s": 0, "detail": "The street behind is lined with parked vehicles, with no close following vehicle visibly occupying the central corridor."}, {"camera": "rear_right", "t_s": 0, "detail": "A white SUV with a roof cargo box and part of a dark crossover occupy the right curbside."}], "uncertainties": ["The truck appears stopped or very slow, but its exact motion cannot be separated confidently from ego's movement.", "Rear amber-lamp illumination changes across frames; its signaling mode and the driver's intention are not established.", "The truck obscures forward clearance, so a safe bypass after the sedan passes is not yet confirmed.", "The intended left-turn junction and its applicable controls are outside the established view."], "_binding_sha256": "653b56c40dcaf7f190ddc4c4220079910b3304d3a201bfa7553cb9e726f29bd9", "_request": "requests/8c07eae9261203513afb25aac288dd9f-103/discovery-001"}, "review": {"verdict": "confirmed", "grounding_score": 0.91, "reason": "The truck occupies the forward travel corridor alongside parked cars, and an approaching red vehicle uses the apparent left-side bypass passage. This supports a decision-changing obstruction interaction rather than parking density alone. The sedan classification is incorrect, and bypass safety must remain conditional.", "corrected_annotation": "Ego is nearly stationary behind a UPS truck that obstructs forward passage beside right-side parked cars, while a red vehicle approaches through the space to its left. Without the approaching vehicle, ego could assess a cautious leftward bypass, but the truck's occlusion still rules out a blind pass. Ego should defer entering that passage until the approaching vehicle clears the intended path and bypass visibility and clearance are verified.", "corrected_title": "Oncoming Vehicle Delays Bypass of an Obstructing Truck", "corrected_current_situation": "At 0.185 m/s, ego is nearly stationary behind a UPS truck occupying the forward corridor on a residential street with curbside parking. A facing red vehicle grows larger to the truck's left across the past views. The truck obscures the road directly ahead; a pedestrian remains on the left sidewalk.", "corrected_baseline_decision": "Without the approaching vehicle, assess whether a low-speed leftward bypass is possible while preserving clearance from the truck and parked vehicles. Proceed only after obtaining adequate visibility and confirming the passage is clear; otherwise continue waiting. GO_LEFT does not establish an immediate turn location.", "corrected_decision_changing_cue": "An approaching red vehicle is visible in the left-side passage that a bypass would require.", "corrected_causal_mechanism": "The truck and right-side parked cars prevent straightforward forward passage. Entering the left-side passage while the approaching vehicle occupies it would create an opposing-path conflict, adding a traffic-gap requirement to the existing visibility and clearance requirements.", "corrected_expected_action": "wait_for_gap", "corrected_camera_evidence": [{"camera": "front", "t_s": -2, "detail": "The UPS truck is ahead alongside right-side parked cars; a small facing red vehicle is visible beyond its left edge."}, {"camera": "front", "t_s": -1, "detail": "The red vehicle is more prominent to the truck's left, and both rear amber lamps are brightly illuminated."}, {"camera": "front", "t_s": 0, "detail": "The facing red vehicle has grown larger across the history. The truck obscures the road directly ahead, with a black car and silver coupe parked immediately to its right."}, {"camera": "front_left", "t_s": 0, "detail": "A pedestrian is on the sidewalk beside residential steps; a silver wagon and white pickup occupy the left curbside."}, {"camera": "front_right", "t_s": 0, "detail": "A silver coupe borders the right curb beside a tree, shrub and residential entrances."}, {"camera": "side_left", "t_s": 0, "detail": "The adjacent sidewalk, tree and residential steps are visible; no roadway entry by an actor is visible."}, {"camera": "side_right", "t_s": 0, "detail": "A dark crossover occupies the immediate right curbside."}, {"camera": "rear_left", "t_s": 0, "detail": "A gray SUV is parked beside the left sidewalk."}, {"camera": "rear", "t_s": 0, "detail": "Parked vehicles line the street behind; no close following vehicle is visible in the central foreground corridor."}, {"camera": "rear_right", "t_s": 0, "detail": "A white SUV with a roof cargo box and part of a dark crossover occupy the right curbside."}], "remaining_uncertainties": ["The truck appears stopped or very slow; its exact motion is not established at t<=0.", "Changing rear amber-lamp illumination does not establish signaling mode or driver intention.", "The truck obscures forward visibility, and complete bypass clearance is not established.", "The intended left-turn location and applicable controls are not established ahead.", "Recorded motion does not prove that the driver waited specifically because of the approaching vehicle."], "motion_consistency": "consistent", "recorded_motion_explanation": "Ego remains almost stationary initially, with approximate 1 s speeds of 0.045 and 0.039 m/s, then starts moving and bends left as the red vehicle passes along its left in the later views. By 5 s the trajectory reaches approximately 2.04 m forward and 1.03 m left; the final speed window averages 1.586 m/s. This is compatible with a temporary wait followed by cautious movement, not proof of a completed or safe bypass. Recorded strong braking is absent: minimum 1 s acceleration is -0.006 m/s^2 and maximum speed drop is 0.147 m/s.", "unsupported_details": ["The approaching vehicle is not a sedan; later offline views show a crossover/SUV.", "UPS branding does not establish active delivery work or the truck driver's intention.", "Neither GO_LEFT nor the leftward trajectory establishes an immediate intersection turn."], "_binding_sha256": "2207c8324249d3029583194f0d6db98f4258a1c4ad524a5c26d016cbe4b1d723", "_request": "requests/8c07eae9261203513afb25aac288dd9f-103/review-002"}, "status": "selected", "annotation": "Ego is nearly stationary behind a UPS truck that obstructs forward passage beside right-side parked cars, while a red vehicle approaches through the space to its left. Without the approaching vehicle, ego could assess a cautious leftward bypass, but the truck's occlusion still rules out a blind pass. Ego should defer entering that passage until the approaching vehicle clears the intended path and bypass visibility and clearance are verified.", "selected": true}
{"id": "645e94a60cc2fde29de84e93199dbb91-198", "scenario_id": "645e94a60cc2fde29de84e93199dbb91", "split": "train", "batch_index": 28, "source_manifest_line": 29, "intent": "GO_STRAIGHT", "anchor_frame": 198, "motion": {"current_speed_mps": 1.928, "future_xy_m": [[0.5135498046875, 0.125732421875], [1.09423828125, 0.302978515625], [1.7392578125, 0.53192138671875], [2.4432373046875, 0.79425048828125], [3.20703125, 1.0653076171875], [4.0379638671875, 1.30987548828125], [4.93798828125, 1.48822021484375], [5.9033203125, 1.59454345703125], [6.9287109375, 1.66552734375], [8.0301513671875, 1.69879150390625], [9.201416015625, 1.68438720703125], [10.436279296875, 1.63726806640625], [11.7274169921875, 1.55828857421875], [13.0711669921875, 1.44964599609375], [14.46533203125, 1.31280517578125], [15.897216796875, 1.1558837890625], [17.3575439453125, 0.986083984375], [18.8258056640625, 0.80560302734375], [20.292236328125, 0.6192626953125], [21.7352294921875, 0.4281005859375]], "future_hz": 4, "speed_windows": [{"t_s": 0.5, "speed_mps": 2.572}, {"t_s": 1.5, "speed_mps": 3.565}, {"t_s": 2.5, "speed_mps": 4.537}, {"t_s": 3.5, "speed_mps": 5.483}, {"t_s": 4.5, "speed_mps": 5.883}], "minimum_1s_acceleration_mps2": 0.4, "maximum_speed_drop_mps": 0.0, "recorded_response": "accelerate", "method": "4 Hz trajectory path length; 1 s mean speeds; differences of adjacent 1 s means. Recorded response is descriptive, not a causal label."}, "frames": [{"t_s": 0.0, "source_frame": 198, "images": {"front_left": "images/645e94a60cc2fde29de84e93199dbb91-198/+000_front_left.webp", "front": "images/645e94a60cc2fde29de84e93199dbb91-198/+000_front.webp", "front_right": "images/645e94a60cc2fde29de84e93199dbb91-198/+000_front_right.webp", "side_left": "images/645e94a60cc2fde29de84e93199dbb91-198/+000_side_left.webp", "side_right": "images/645e94a60cc2fde29de84e93199dbb91-198/+000_side_right.webp", "rear_left": "images/645e94a60cc2fde29de84e93199dbb91-198/+000_rear_left.webp", "rear": "images/645e94a60cc2fde29de84e93199dbb91-198/+000_rear.webp", "rear_right": "images/645e94a60cc2fde29de84e93199dbb91-198/+000_rear_right.webp"}}], "camera_count": 8, "available_source_times_s": [-2.0, -1.0, 0.0, 1.0, 2.0], "camera_scope": "current_only", "label": {"title": "Curbside Van on Narrow Residential Street", "category": "routine", "tags": ["parked-vehicle clearance", "curbside open door", "narrow street"], "current_situation": "Ego is traveling at 1.928 m/s on a straight residential street without visible lane markings. A white Hertz van is immediately ahead near the right curb, with a curbside door open; vehicles parked along the left curb constrain passing space. The van blocks part of the view farther ahead. Across all eight cameras, no visible actor is entering ego's path, and no nearby stop or signal control is identifiable.", "baseline_decision": "Continue the GO_STRAIGHT route slowly, maintaining ordinary clearance from parked vehicles and checking available roadway before a leftward passing offset.", "decision_changing_cue": "The van narrows the forward corridor, but its open door is on the curb side rather than visibly intruding into the left-side passing space. No additional unusual conflict is visible.", "causal_mechanism": "The van requires normal parked-vehicle clearance, while the vehicles along the opposite curb limit how far ego can offset. The open door does not establish a separate material decision change or justify emergency braking.", "expected_action": "increase_clearance", "decision_deviation": false, "annotation": "A white van sits near the right curb with its curbside door open, while parked vehicles line the left side of the residential street. Ego should continue its straight route slowly, checking the available roadway before taking a leftward passing offset around the van; no visible roadward door intrusion or emerging actor requires an exceptional response.", "interest_score": 48, "confidence": 0.86, "selection_reason": "Reject as a long-tail candidate: the grounded response is ordinary clearance around a curbside vehicle. Neither the open curbside door nor the delivery truck behind-left establishes a nonroutine interaction.", "camera_evidence": [{"camera": "front", "t_s": -2, "detail": "The white van is ahead beside the right curb, with its curbside door already open."}, {"camera": "front", "t_s": 0, "detail": "The van occupies the right-side forward corridor; roadway remains visible to its left, bounded by parked vehicles."}, {"camera": "front_left", "t_s": 0, "detail": "A minivan and other cars are aligned along the left curb; no actor is visibly stepping into the street."}, {"camera": "front_right", "t_s": 0, "detail": "Sidewalk, palm trees, residential frontage, and driveway vehicles are visible without a roadway entrant."}, {"camera": "side_left", "t_s": 0, "detail": "A dark sedan is alongside and toward the rear of ego, with residential frontage beyond it."}, {"camera": "side_right", "t_s": 0, "detail": "Vehicles occupy a residential driveway behind the sidewalk, not ego's roadway."}, {"camera": "rear_left", "t_s": 0, "detail": "An Amazon delivery truck is behind-left, with part of the nearby dark sedan visible below it."}, {"camera": "rear", "t_s": 0, "detail": "A pickup is near the curb behind ego; no immediate rear conflict is apparent."}, {"camera": "rear_right", "t_s": 0, "detail": "Trees, fencing, and residential frontage are visible; no road-entering actor appears."}], "uncertainties": ["The van appears stationary, but its exact motion cannot be established independently of ego motion.", "The van obscures part of the roadway ahead, so complete passing clearance is not established.", "A yellow roadside sign is partly obscured and unreadable.", "No occupant or door-related activity is visible."]}, "discovery_label": {"title": "Curbside Van on Narrow Residential Street", "category": "routine", "tags": ["parked-vehicle clearance", "curbside open door", "narrow street"], "current_situation": "Ego is traveling at 1.928 m/s on a straight residential street without visible lane markings. A white Hertz van is immediately ahead near the right curb, with a curbside door open; vehicles parked along the left curb constrain passing space. The van blocks part of the view farther ahead. Across all eight cameras, no visible actor is entering ego's path, and no nearby stop or signal control is identifiable.", "baseline_decision": "Continue the GO_STRAIGHT route slowly, maintaining ordinary clearance from parked vehicles and checking available roadway before a leftward passing offset.", "decision_changing_cue": "The van narrows the forward corridor, but its open door is on the curb side rather than visibly intruding into the left-side passing space. No additional unusual conflict is visible.", "causal_mechanism": "The van requires normal parked-vehicle clearance, while the vehicles along the opposite curb limit how far ego can offset. The open door does not establish a separate material decision change or justify emergency braking.", "expected_action": "increase_clearance", "decision_deviation": false, "annotation": "A white van sits near the right curb with its curbside door open, while parked vehicles line the left side of the residential street. Ego should continue its straight route slowly, checking the available roadway before taking a leftward passing offset around the van; no visible roadward door intrusion or emerging actor requires an exceptional response.", "interest_score": 48, "confidence": 0.86, "selection_reason": "Reject as a long-tail candidate: the grounded response is ordinary clearance around a curbside vehicle. Neither the open curbside door nor the delivery truck behind-left establishes a nonroutine interaction.", "camera_evidence": [{"camera": "front", "t_s": -2, "detail": "The white van is ahead beside the right curb, with its curbside door already open."}, {"camera": "front", "t_s": 0, "detail": "The van occupies the right-side forward corridor; roadway remains visible to its left, bounded by parked vehicles."}, {"camera": "front_left", "t_s": 0, "detail": "A minivan and other cars are aligned along the left curb; no actor is visibly stepping into the street."}, {"camera": "front_right", "t_s": 0, "detail": "Sidewalk, palm trees, residential frontage, and driveway vehicles are visible without a roadway entrant."}, {"camera": "side_left", "t_s": 0, "detail": "A dark sedan is alongside and toward the rear of ego, with residential frontage beyond it."}, {"camera": "side_right", "t_s": 0, "detail": "Vehicles occupy a residential driveway behind the sidewalk, not ego's roadway."}, {"camera": "rear_left", "t_s": 0, "detail": "An Amazon delivery truck is behind-left, with part of the nearby dark sedan visible below it."}, {"camera": "rear", "t_s": 0, "detail": "A pickup is near the curb behind ego; no immediate rear conflict is apparent."}, {"camera": "rear_right", "t_s": 0, "detail": "Trees, fencing, and residential frontage are visible; no road-entering actor appears."}], "uncertainties": ["The van appears stationary, but its exact motion cannot be established independently of ego motion.", "The van obscures part of the roadway ahead, so complete passing clearance is not established.", "A yellow roadside sign is partly obscured and unreadable.", "No occupant or door-related activity is visible."], "_binding_sha256": "cfb3dfeb2960a50d5b292974066d349c6d27cd36c7647b3fdc4ee6f3c1b651a8", "_request": "requests/645e94a60cc2fde29de84e93199dbb91-198/discovery-001"}, "review": null, "status": "dismissed", "annotation": "A white van sits near the right curb with its curbside door open, while parked vehicles line the left side of the residential street. Ego should continue its straight route slowly, checking the available roadway before taking a leftward passing offset around the van; no visible roadward door intrusion or emerging actor requires an exceptional response.", "selected": false}
{"id": "1ef64de69cd77d33bb1a394ac1a8856c-087", "scenario_id": "1ef64de69cd77d33bb1a394ac1a8856c", "split": "train", "batch_index": 29, "source_manifest_line": 30, "intent": "GO_STRAIGHT", "anchor_frame": 87, "motion": {"current_speed_mps": 7.304, "future_xy_m": [[1.828125, -0.00537109375], [3.654296875, -0.01416015625], [5.4794921875, -0.02001953125], [7.3037109375, -0.02294921875], [9.125, -0.0205078125], [10.9423828125, -0.01171875], [12.7568359375, 0.001953125], [14.5703125, 0.0205078125], [16.376953125, 0.04345703125], [18.1669921875, 0.06787109375], [19.943359375, 0.09326171875], [21.7060546875, 0.1201171875], [23.458984375, 0.1474609375], [25.2041015625, 0.17626953125], [26.9453125, 0.20361328125], [28.6845703125, 0.232421875], [30.427734375, 0.259765625], [32.17578125, 0.28662109375], [33.935546875, 0.31396484375], [35.7041015625, 0.337890625]], "future_hz": 4, "speed_windows": [{"t_s": 0.5, "speed_mps": 7.304}, {"t_s": 1.5, "speed_mps": 7.267}, {"t_s": 2.5, "speed_mps": 7.136}, {"t_s": 3.5, "speed_mps": 6.979}, {"t_s": 4.5, "speed_mps": 7.02}], "minimum_1s_acceleration_mps2": -0.157, "maximum_speed_drop_mps": 0.324, "recorded_response": "roughly_maintain_speed", "method": "4 Hz trajectory path length; 1 s mean speeds; differences of adjacent 1 s means. Recorded response is descriptive, not a causal label."}, "frames": [{"t_s": 0.0, "source_frame": 87, "images": {"front_left": "images/1ef64de69cd77d33bb1a394ac1a8856c-087/+000_front_left.webp", "front": "images/1ef64de69cd77d33bb1a394ac1a8856c-087/+000_front.webp", "front_right": "images/1ef64de69cd77d33bb1a394ac1a8856c-087/+000_front_right.webp", "side_left": "images/1ef64de69cd77d33bb1a394ac1a8856c-087/+000_side_left.webp", "side_right": "images/1ef64de69cd77d33bb1a394ac1a8856c-087/+000_side_right.webp", "rear_left": "images/1ef64de69cd77d33bb1a394ac1a8856c-087/+000_rear_left.webp", "rear": "images/1ef64de69cd77d33bb1a394ac1a8856c-087/+000_rear.webp", "rear_right": "images/1ef64de69cd77d33bb1a394ac1a8856c-087/+000_rear_right.webp"}}], "camera_count": 8, "available_source_times_s": [-2.0, -1.0, 0.0, 1.0, 2.0, 3.0, 4.0, 5.0], "camera_scope": "current_only", "label": {"title": "Curbside Bins and Portable Signs", "category": "road_obstruction", "tags": ["curbside objects", "minor clearance", "residential street"], "current_situation": "Ego is traveling straight at 7.304 m/s on an unmarked residential street in daylight. A blue bin and freestanding sign bases occupy the right roadway edge, with another freestanding sign near the left curb and a clear passage between them. Parked vehicles line portions of the street. Three people are now behind ego on the left in a driveway beside a pickup; no movement into ego's path is established. No ego-facing stop sign or signal is visible.", "baseline_decision": "Continue straight at a suitable residential speed, maintaining normal clearance from parked vehicles and checking the side-street opening on the left.", "decision_changing_cue": "The curbside bin and portable sign bases warrant modest additional clearance, but no immediate conflict or substantial route obstruction is visible.", "causal_mechanism": "These stationary objects reduce usable space along the roadway edges. Keeping toward the open middle before passing avoids their protruding bases without requiring a stop or major lateral maneuver.", "expected_action": "increase_clearance", "decision_deviation": false, "annotation": "A blue bin and freestanding signs occupy the curbside edges of an unmarked residential street, leaving an open central passage. Although ego would otherwise continue straight with normal parked-vehicle clearance, these protruding objects require modest positioning toward the open middle before passing over the next few seconds.", "interest_score": 43, "confidence": 0.9, "selection_reason": "Reject as a strong long-tail candidate: the visible objects require only routine clearance management. The people are behind ego in a driveway, and no unusual negotiation, crossing, or immediate conflict supports a material decision change.", "camera_evidence": [{"camera": "front", "t_s": 0, "detail": "A blue bin and a white freestanding sign with a broad base occupy the right roadway edge; the middle of the street remains open."}, {"camera": "front", "t_s": -2, "detail": "The same right-side bin and portable sign are visible ahead near the curb, consistent with stationary roadside objects."}, {"camera": "front_left", "t_s": 0, "detail": "A parked sedan is alongside the left curb, with a freestanding white sign ahead near that curb."}, {"camera": "front_right", "t_s": 0, "detail": "A fenced residential frontage and sidewalk border the right curb; no pedestrian is visible there."}, {"camera": "side_left", "t_s": -1, "detail": "Three people are visible in the driveway beside a pickup, which obscures their lower bodies."}, {"camera": "side_left", "t_s": 0, "detail": "The view shows a driveway, a pickup farther inside the property, and part of the curbside sedan."}, {"camera": "side_right", "t_s": 0, "detail": "A residential driveway and fenced yard are visible without an actor entering the roadway."}, {"camera": "rear_left", "t_s": 0, "detail": "Three people are visible behind ego in the driveway beside the parked pickup; none is visibly in the roadway."}, {"camera": "rear", "t_s": 0, "detail": "The road behind has curbside bins and parked vehicles, with no close following vehicle visible."}, {"camera": "rear_right", "t_s": 0, "detail": "A trailer and parked vehicles are inside fenced residential property rather than blocking the street."}], "uncertainties": ["Exact clearance between ego's intended path and the roadside objects cannot be measured from the images.", "The portable signs' full wording is not reliably legible.", "The driveway pedestrians' independent motion is not established by the available views."]}, "discovery_label": {"title": "Curbside Bins and Portable Signs", "category": "road_obstruction", "tags": ["curbside objects", "minor clearance", "residential street"], "current_situation": "Ego is traveling straight at 7.304 m/s on an unmarked residential street in daylight. A blue bin and freestanding sign bases occupy the right roadway edge, with another freestanding sign near the left curb and a clear passage between them. Parked vehicles line portions of the street. Three people are now behind ego on the left in a driveway beside a pickup; no movement into ego's path is established. No ego-facing stop sign or signal is visible.", "baseline_decision": "Continue straight at a suitable residential speed, maintaining normal clearance from parked vehicles and checking the side-street opening on the left.", "decision_changing_cue": "The curbside bin and portable sign bases warrant modest additional clearance, but no immediate conflict or substantial route obstruction is visible.", "causal_mechanism": "These stationary objects reduce usable space along the roadway edges. Keeping toward the open middle before passing avoids their protruding bases without requiring a stop or major lateral maneuver.", "expected_action": "increase_clearance", "decision_deviation": false, "annotation": "A blue bin and freestanding signs occupy the curbside edges of an unmarked residential street, leaving an open central passage. Although ego would otherwise continue straight with normal parked-vehicle clearance, these protruding objects require modest positioning toward the open middle before passing over the next few seconds.", "interest_score": 43, "confidence": 0.9, "selection_reason": "Reject as a strong long-tail candidate: the visible objects require only routine clearance management. The people are behind ego in a driveway, and no unusual negotiation, crossing, or immediate conflict supports a material decision change.", "camera_evidence": [{"camera": "front", "t_s": 0, "detail": "A blue bin and a white freestanding sign with a broad base occupy the right roadway edge; the middle of the street remains open."}, {"camera": "front", "t_s": -2, "detail": "The same right-side bin and portable sign are visible ahead near the curb, consistent with stationary roadside objects."}, {"camera": "front_left", "t_s": 0, "detail": "A parked sedan is alongside the left curb, with a freestanding white sign ahead near that curb."}, {"camera": "front_right", "t_s": 0, "detail": "A fenced residential frontage and sidewalk border the right curb; no pedestrian is visible there."}, {"camera": "side_left", "t_s": -1, "detail": "Three people are visible in the driveway beside a pickup, which obscures their lower bodies."}, {"camera": "side_left", "t_s": 0, "detail": "The view shows a driveway, a pickup farther inside the property, and part of the curbside sedan."}, {"camera": "side_right", "t_s": 0, "detail": "A residential driveway and fenced yard are visible without an actor entering the roadway."}, {"camera": "rear_left", "t_s": 0, "detail": "Three people are visible behind ego in the driveway beside the parked pickup; none is visibly in the roadway."}, {"camera": "rear", "t_s": 0, "detail": "The road behind has curbside bins and parked vehicles, with no close following vehicle visible."}, {"camera": "rear_right", "t_s": 0, "detail": "A trailer and parked vehicles are inside fenced residential property rather than blocking the street."}], "uncertainties": ["Exact clearance between ego's intended path and the roadside objects cannot be measured from the images.", "The portable signs' full wording is not reliably legible.", "The driveway pedestrians' independent motion is not established by the available views."], "_binding_sha256": "2d34102645cee418067d09b68d8e392adef32cb6df353171b274f82f9d1a0708", "_request": "requests/1ef64de69cd77d33bb1a394ac1a8856c-087/discovery-001"}, "review": null, "status": "dismissed", "annotation": "A blue bin and freestanding signs occupy the curbside edges of an unmarked residential street, leaving an open central passage. Although ego would otherwise continue straight with normal parked-vehicle clearance, these protruding objects require modest positioning toward the open middle before passing over the next few seconds.", "selected": false}
{"id": "609a245346eae6b23c1d3626c0c64eaa-080", "scenario_id": "609a245346eae6b23c1d3626c0c64eaa", "split": "train", "batch_index": 30, "source_manifest_line": 31, "intent": "GO_STRAIGHT", "anchor_frame": 80, "motion": {"current_speed_mps": 6.598, "future_xy_m": [[1.640625, -0.001953125], [3.267578125, -0.005859375], [4.87890625, -0.009765625], [6.4931640625, -0.013671875], [8.12353515625, -0.017578125], [9.763671875, -0.025390625], [11.39501953125, -0.033203125], [13.0009765625, -0.0390625], [14.55810546875, -0.04296875], [16.05029296875, -0.044921875], [17.470703125, -0.048828125], [18.81787109375, -0.048828125], [20.11474609375, -0.05078125], [21.38818359375, -0.048828125], [22.63525390625, -0.048828125], [23.85791015625, -0.046875], [25.0673828125, -0.04296875], [26.30419921875, -0.02734375], [27.58349609375, -0.01171875], [28.91162109375, 0.005859375]], "future_hz": 4, "speed_windows": [{"t_s": 0.5, "speed_mps": 6.493}, {"t_s": 1.5, "speed_mps": 6.508}, {"t_s": 2.5, "speed_mps": 5.817}, {"t_s": 3.5, "speed_mps": 5.04}, {"t_s": 4.5, "speed_mps": 5.054}], "minimum_1s_acceleration_mps2": -0.777, "maximum_speed_drop_mps": 1.558, "recorded_response": "slow_down", "method": "4 Hz trajectory path length; 1 s mean speeds; differences of adjacent 1 s means. Recorded response is descriptive, not a causal label."}, "frames": [{"t_s": -2.0, "source_frame": 60, "images": {"front_left": "images/609a245346eae6b23c1d3626c0c64eaa-080/-020_front_left.webp", "front": "images/609a245346eae6b23c1d3626c0c64eaa-080/-020_front.webp", "front_right": "images/609a245346eae6b23c1d3626c0c64eaa-080/-020_front_right.webp", "side_left": "images/609a245346eae6b23c1d3626c0c64eaa-080/-020_side_left.webp", "side_right": "images/609a245346eae6b23c1d3626c0c64eaa-080/-020_side_right.webp", "rear_left": "images/609a245346eae6b23c1d3626c0c64eaa-080/-020_rear_left.webp", "rear": "images/609a245346eae6b23c1d3626c0c64eaa-080/-020_rear.webp", "rear_right": "images/609a245346eae6b23c1d3626c0c64eaa-080/-020_rear_right.webp"}}, {"t_s": -1.0, "source_frame": 70, "images": {"front_left": "images/609a245346eae6b23c1d3626c0c64eaa-080/-010_front_left.webp", "front": "images/609a245346eae6b23c1d3626c0c64eaa-080/-010_front.webp", "front_right": "images/609a245346eae6b23c1d3626c0c64eaa-080/-010_front_right.webp", "side_left": "images/609a245346eae6b23c1d3626c0c64eaa-080/-010_side_left.webp", "side_right": "images/609a245346eae6b23c1d3626c0c64eaa-080/-010_side_right.webp", "rear_left": "images/609a245346eae6b23c1d3626c0c64eaa-080/-010_rear_left.webp", "rear": "images/609a245346eae6b23c1d3626c0c64eaa-080/-010_rear.webp", "rear_right": "images/609a245346eae6b23c1d3626c0c64eaa-080/-010_rear_right.webp"}}, {"t_s": 0.0, "source_frame": 80, "images": {"front_left": "images/609a245346eae6b23c1d3626c0c64eaa-080/+000_front_left.webp", "front": "images/609a245346eae6b23c1d3626c0c64eaa-080/+000_front.webp", "front_right": "images/609a245346eae6b23c1d3626c0c64eaa-080/+000_front_right.webp", "side_left": "images/609a245346eae6b23c1d3626c0c64eaa-080/+000_side_left.webp", "side_right": "images/609a245346eae6b23c1d3626c0c64eaa-080/+000_side_right.webp", "rear_left": "images/609a245346eae6b23c1d3626c0c64eaa-080/+000_rear_left.webp", "rear": "images/609a245346eae6b23c1d3626c0c64eaa-080/+000_rear.webp", "rear_right": "images/609a245346eae6b23c1d3626c0c64eaa-080/+000_rear_right.webp"}}, {"t_s": 1.0, "source_frame": 90, "images": {"front_left": "images/609a245346eae6b23c1d3626c0c64eaa-080/+010_front_left.webp", "front": "images/609a245346eae6b23c1d3626c0c64eaa-080/+010_front.webp", "front_right": "images/609a245346eae6b23c1d3626c0c64eaa-080/+010_front_right.webp", "side_left": "images/609a245346eae6b23c1d3626c0c64eaa-080/+010_side_left.webp", "side_right": "images/609a245346eae6b23c1d3626c0c64eaa-080/+010_side_right.webp", "rear_left": "images/609a245346eae6b23c1d3626c0c64eaa-080/+010_rear_left.webp", "rear": "images/609a245346eae6b23c1d3626c0c64eaa-080/+010_rear.webp", "rear_right": "images/609a245346eae6b23c1d3626c0c64eaa-080/+010_rear_right.webp"}}, {"t_s": 2.0, "source_frame": 100, "images": {"front_left": "images/609a245346eae6b23c1d3626c0c64eaa-080/+020_front_left.webp", "front": "images/609a245346eae6b23c1d3626c0c64eaa-080/+020_front.webp", "front_right": "images/609a245346eae6b23c1d3626c0c64eaa-080/+020_front_right.webp", "side_left": "images/609a245346eae6b23c1d3626c0c64eaa-080/+020_side_left.webp", "side_right": "images/609a245346eae6b23c1d3626c0c64eaa-080/+020_side_right.webp", "rear_left": "images/609a245346eae6b23c1d3626c0c64eaa-080/+020_rear_left.webp", "rear": "images/609a245346eae6b23c1d3626c0c64eaa-080/+020_rear.webp", "rear_right": "images/609a245346eae6b23c1d3626c0c64eaa-080/+020_rear_right.webp"}}, {"t_s": 3.0, "source_frame": 110, "images": {"front_left": "images/609a245346eae6b23c1d3626c0c64eaa-080/+030_front_left.webp", "front": "images/609a245346eae6b23c1d3626c0c64eaa-080/+030_front.webp", "front_right": "images/609a245346eae6b23c1d3626c0c64eaa-080/+030_front_right.webp", "side_left": "images/609a245346eae6b23c1d3626c0c64eaa-080/+030_side_left.webp", "side_right": "images/609a245346eae6b23c1d3626c0c64eaa-080/+030_side_right.webp", "rear_left": "images/609a245346eae6b23c1d3626c0c64eaa-080/+030_rear_left.webp", "rear": "images/609a245346eae6b23c1d3626c0c64eaa-080/+030_rear.webp", "rear_right": "images/609a245346eae6b23c1d3626c0c64eaa-080/+030_rear_right.webp"}}, {"t_s": 4.0, "source_frame": 120, "images": {"front_left": "images/609a245346eae6b23c1d3626c0c64eaa-080/+040_front_left.webp", "front": "images/609a245346eae6b23c1d3626c0c64eaa-080/+040_front.webp", "front_right": "images/609a245346eae6b23c1d3626c0c64eaa-080/+040_front_right.webp", "side_left": "images/609a245346eae6b23c1d3626c0c64eaa-080/+040_side_left.webp", "side_right": "images/609a245346eae6b23c1d3626c0c64eaa-080/+040_side_right.webp", "rear_left": "images/609a245346eae6b23c1d3626c0c64eaa-080/+040_rear_left.webp", "rear": "images/609a245346eae6b23c1d3626c0c64eaa-080/+040_rear.webp", "rear_right": "images/609a245346eae6b23c1d3626c0c64eaa-080/+040_rear_right.webp"}}, {"t_s": 5.0, "source_frame": 130, "images": {"front_left": "images/609a245346eae6b23c1d3626c0c64eaa-080/+050_front_left.webp", "front": "images/609a245346eae6b23c1d3626c0c64eaa-080/+050_front.webp", "front_right": "images/609a245346eae6b23c1d3626c0c64eaa-080/+050_front_right.webp", "side_left": "images/609a245346eae6b23c1d3626c0c64eaa-080/+050_side_left.webp", "side_right": "images/609a245346eae6b23c1d3626c0c64eaa-080/+050_side_right.webp", "rear_left": "images/609a245346eae6b23c1d3626c0c64eaa-080/+050_rear_left.webp", "rear": "images/609a245346eae6b23c1d3626c0c64eaa-080/+050_rear.webp", "rear_right": "images/609a245346eae6b23c1d3626c0c64eaa-080/+050_rear_right.webp"}}], "camera_count": 8, "available_source_times_s": [-2.0, -1.0, 0.0, 1.0, 2.0, 3.0, 4.0, 5.0], "camera_scope": "full_timeline", "label": {"title": "Unresolved Passage Between Temporary Markers", "category": "work_zone", "tags": ["temporary channelizers", "constrained passage", "straight route"], "current_situation": "Ego travels straight at approximately 6.6 m/s toward an intersection on a two-way street with marked bicycle lanes. Temporary markers and curbside vehicles are visible beyond the intersection; a pedestrian is visible on the left sidewalk, without an established entry into the roadway. Buildings and the right-corner utility wall limit some side-street visibility.", "baseline_decision": "Without the markers, proceed straight cautiously after checking side streets and yielding as required, maintaining clearance from curbside vehicles and bicycle lanes. Their removal would not justify an unchecked intersection approach or bypass.", "decision_changing_cue": "Orange-and-white markers beyond the intersection appear near the centerline and beside vehicles on the right, leaving the usable passage incompletely resolved.", "causal_mechanism": "The uncertain marker-to-vehicle clearance warrants reducing approach speed to preserve time to assess the corridor and adjust safely. The evidence does not establish a required opposing-lane maneuver, stop, or emergency response.", "expected_action": "slow_down", "decision_deviation": true, "annotation": "Ego approaches an intersection with orange-and-white temporary markers visible beyond it near the centerline and beside right-side vehicles, suggesting a constrained passage whose clearance is not yet resolved. In addition to normal intersection checks, slow before reaching the markers and verify the open corridor rather than committing to an unchecked bypass.", "interest_score": 72, "confidence": 0.76, "selection_reason": "A moderate-strength qualitative candidate: temporary roadway channelization changes the approach plan, rather than parked-vehicle density alone. The evidence does not establish an immediate conflict, full closure, or severe hazard.", "camera_evidence": [{"camera": "front", "t_s": -2, "detail": "The straight roadway, bicycle-lane boundaries, approaching intersection, and small distant temporary markers are visible."}, {"camera": "front", "t_s": 0, "detail": "The supplied larger front photograph shows an orange-and-white marker near the centerline beyond the intersection and additional markers beside right-side vehicles; exact passage width remains unclear."}, {"camera": "front_left", "t_s": 0, "detail": "The left side-street opening, back of a roadside sign, curbside white van, and a pedestrian near the green doorway are visible; no roadway entry is established."}, {"camera": "front_right", "t_s": 0, "detail": "The utility wall and pole partly obscure the right corner; cars are visible across the side-street opening, without an identifiable incursion into ego's path."}, {"camera": "side_left", "t_s": 0, "detail": "A white van is alongside the left curb by the pink building, not visibly occupying ego's through corridor."}, {"camera": "side_right", "t_s": 0, "detail": "The gated utility entrance and sidewalk are visible, with no identifiable entering road user."}, {"camera": "rear_left", "t_s": -2, "detail": "A work truck, dirt pile, and orange temporary sign are visible behind ego; these establish nearby work activity, not the forward passage width."}, {"camera": "rear", "t_s": 0, "detail": "The roadway behind is visibly open between curbside vehicles, with no immediate rear conflict identifiable."}, {"camera": "rear_right", "t_s": 0, "detail": "A white SUV is alongside the right curb near the utility wall, with temporary flags visible farther behind."}], "uncertainties": ["Exact marker layout and usable through-lane clearance at t<=0.", "Whether the passage demands more than routine work-zone caution.", "Side-street traffic obscured by corner structures and parked vehicles.", "Whether the markers caused the recorded slowdown."]}, "discovery_label": {"title": "Temporary Markers Constrain Straight-Ahead Passage", "category": "work_zone", "tags": ["temporary channelizers", "constrained passage", "straight route"], "current_situation": "Ego is traveling straight at 6.598 m/s toward an intersection on a two-way street with marked curbside bicycle lanes. Orange-and-white temporary markers are visible ahead near the centerline and beside vehicles on the right, constraining the apparent passage beyond the intersection. All eight cameras show curbside vehicles, buildings, and roadside infrastructure without an identifiable immediate moving conflict. Brightness affects the right-facing view, but the forward roadway remains visible.", "baseline_decision": "Without the temporary markers, continue straight at a steady cautious speed within the through lane, outside the bicycle lane. No ego-facing stop sign or traffic signal is identifiable at the approaching intersection.", "decision_changing_cue": "Temporary markers stand near the left edge of ego's forward travel corridor, with additional markers beside the right-side vehicles.", "causal_mechanism": "The markers reduce the apparent usable corridor and make an unrestricted straight-through trajectory inappropriate until the passage is better resolved. This supports a controlled speed reduction, not emergency braking or an unsupported lane change.", "expected_action": "slow_down", "decision_deviation": true, "annotation": "Orange-and-white temporary markers constrain the straight-ahead passage beyond the intersection, with vehicles along the right curb. Although ego would otherwise continue straight at a steady cautious speed, the channelized corridor requires slowing before reaching the markers and keeping within the visibly open through-lane passage.", "interest_score": 72, "confidence": 0.76, "selection_reason": "A moderate-strength qualitative candidate: temporary roadway channelization changes the approach plan, rather than parked-vehicle density alone. The evidence does not establish an immediate conflict, full closure, or severe hazard.", "camera_evidence": [{"camera": "front", "t_s": -2, "detail": "Straight roadway and curbside bicycle-lane boundaries are visible; small temporary markers appear farther ahead."}, {"camera": "front", "t_s": 0, "detail": "The larger image resolves an orange-and-white marker near the centerline and additional striped markers beside right-side vehicles beyond the intersection."}, {"camera": "front_left", "t_s": 0, "detail": "A side-street opening, the back of a roadside sign, and a curbside white van are visible; no actor is visibly entering ego's path."}, {"camera": "front_right", "t_s": 0, "detail": "A corner with a red curb, utility wall, and pole is visible, with vehicles across the side-street opening; bright sky reduces contrast."}, {"camera": "side_left", "t_s": 0, "detail": "A white van sits along the left curb beside the pink building, outside the through roadway."}, {"camera": "side_right", "t_s": 0, "detail": "A gated utility entrance and sidewalk are visible without an identifiable entering road user."}, {"camera": "rear_left", "t_s": -2, "detail": "A work truck, dirt pile, and orange temporary roadwork sign are visible behind ego on the left."}, {"camera": "rear", "t_s": 0, "detail": "The roadway behind remains open between vehicles along both curbs; no immediate rear conflict is evident."}, {"camera": "rear_right", "t_s": 0, "detail": "A white SUV is beside the right curb near the utility wall, with temporary flags visible farther behind."}], "uncertainties": ["The precise marker layout and remaining usable lane width are not fully resolved.", "No definite worker or independent actor motion can be established from the distant forward details.", "The images do not establish a full road closure or a required crossing into the opposing lane.", "Any farther traffic-control state is unreadable; no recorded future braking behavior is supplied."], "_binding_sha256": "48fe73a63128dafb285b9fe54b0fd22d9287aa3ab899cd4430f4f10bf675a955", "_request": "requests/609a245346eae6b23c1d3626c0c64eaa-080/discovery-001"}, "review": {"verdict": "needs_review", "grounding_score": 0.8, "reason": "Temporary markers are genuinely visible ahead, and later views verify their layout without showing a forced maneuver or immediate conflict. A cautious slowdown is defensible, but the current views do not establish sufficiently unusual narrowing or interaction to confirm a long-tail event; recorded slowing alone cannot establish causality.", "corrected_annotation": "Ego approaches an intersection with orange-and-white temporary markers visible beyond it near the centerline and beside right-side vehicles, suggesting a constrained passage whose clearance is not yet resolved. In addition to normal intersection checks, slow before reaching the markers and verify the open corridor rather than committing to an unchecked bypass.", "corrected_title": "Unresolved Passage Between Temporary Markers", "corrected_current_situation": "Ego travels straight at approximately 6.6 m/s toward an intersection on a two-way street with marked bicycle lanes. Temporary markers and curbside vehicles are visible beyond the intersection; a pedestrian is visible on the left sidewalk, without an established entry into the roadway. Buildings and the right-corner utility wall limit some side-street visibility.", "corrected_baseline_decision": "Without the markers, proceed straight cautiously after checking side streets and yielding as required, maintaining clearance from curbside vehicles and bicycle lanes. Their removal would not justify an unchecked intersection approach or bypass.", "corrected_decision_changing_cue": "Orange-and-white markers beyond the intersection appear near the centerline and beside vehicles on the right, leaving the usable passage incompletely resolved.", "corrected_causal_mechanism": "The uncertain marker-to-vehicle clearance warrants reducing approach speed to preserve time to assess the corridor and adjust safely. The evidence does not establish a required opposing-lane maneuver, stop, or emergency response.", "corrected_expected_action": "slow_down", "corrected_camera_evidence": [{"camera": "front", "t_s": -2, "detail": "The straight roadway, bicycle-lane boundaries, approaching intersection, and small distant temporary markers are visible."}, {"camera": "front", "t_s": 0, "detail": "The supplied larger front photograph shows an orange-and-white marker near the centerline beyond the intersection and additional markers beside right-side vehicles; exact passage width remains unclear."}, {"camera": "front_left", "t_s": 0, "detail": "The left side-street opening, back of a roadside sign, curbside white van, and a pedestrian near the green doorway are visible; no roadway entry is established."}, {"camera": "front_right", "t_s": 0, "detail": "The utility wall and pole partly obscure the right corner; cars are visible across the side-street opening, without an identifiable incursion into ego's path."}, {"camera": "side_left", "t_s": 0, "detail": "A white van is alongside the left curb by the pink building, not visibly occupying ego's through corridor."}, {"camera": "side_right", "t_s": 0, "detail": "The gated utility entrance and sidewalk are visible, with no identifiable entering road user."}, {"camera": "rear_left", "t_s": -2, "detail": "A work truck, dirt pile, and orange temporary sign are visible behind ego; these establish nearby work activity, not the forward passage width."}, {"camera": "rear", "t_s": 0, "detail": "The roadway behind is visibly open between curbside vehicles, with no immediate rear conflict identifiable."}, {"camera": "rear_right", "t_s": 0, "detail": "A white SUV is alongside the right curb near the utility wall, with temporary flags visible farther behind."}], "remaining_uncertainties": ["Exact marker layout and usable through-lane clearance at t<=0.", "Whether the passage demands more than routine work-zone caution.", "Side-street traffic obscured by corner structures and parked vehicles.", "Whether the markers caused the recorded slowdown."], "motion_consistency": "consistent", "recorded_motion_explanation": "The trajectory advances approximately 28.9 m over five seconds with negligible lateral displacement. Approximate one-second speeds decrease from 6.51 to 5.04 m/s, consistent with slowing while continuing straight. Minimum one-second acceleration is -0.777 m/s² and maximum speed drop is 1.558 m/s, so recorded strong braking is not supported. This agrees with the recommendation but does not prove its cause.", "unsupported_details": ["A definitively inadequate lane width or mandatory special maneuver is not established.", "Absence of an identifiable immediate conflict does not establish fully clear side-street approaches.", "The candidate's statement that no recorded future braking evidence is supplied is superseded by the supplied motion evidence."], "_binding_sha256": "215feacf225e8896a4300b32ebe3c2c33eaddf61a750945fa413e6c276921519", "_request": "requests/609a245346eae6b23c1d3626c0c64eaa-080/review-002"}, "status": "needs_review", "annotation": "Ego approaches an intersection with orange-and-white temporary markers visible beyond it near the centerline and beside right-side vehicles, suggesting a constrained passage whose clearance is not yet resolved. In addition to normal intersection checks, slow before reaching the markers and verify the open corridor rather than committing to an unchecked bypass.", "selected": false}
{"id": "a24a5553f5101062a5cb2afc9c81c657-189", "scenario_id": "a24a5553f5101062a5cb2afc9c81c657", "split": "train", "batch_index": 31, "source_manifest_line": 32, "intent": "GO_STRAIGHT", "anchor_frame": 189, "motion": {"current_speed_mps": 0.85, "future_xy_m": [[0.224609375, -0.000732421875], [0.478515625, -0.001708984375], [0.755859375, -0.00341796875], [1.0625, -0.00537109375], [1.40234375, -0.00927734375], [1.775390625, -0.015380859375], [2.19140625, -0.024658203125], [2.63671875, -0.036376953125], [3.05859375, -0.04931640625], [3.416015625, -0.062255859375], [3.689453125, -0.072998046875], [3.857421875, -0.07958984375], [3.953125, -0.083984375], [4.001953125, -0.08642578125], [4.0234375, -0.087646484375], [4.0234375, -0.088134765625], [4.015625, -0.08837890625], [4.015625, -0.088623046875], [4.0390625, -0.08984375], [4.083984375, -0.092529296875]], "future_hz": 4, "speed_windows": [{"t_s": 0.5, "speed_mps": 1.063}, {"t_s": 1.5, "speed_mps": 1.575}, {"t_s": 2.5, "speed_mps": 1.221}, {"t_s": 3.5, "speed_mps": 0.167}, {"t_s": 4.5, "speed_mps": 0.077}], "minimum_1s_acceleration_mps2": -1.055, "maximum_speed_drop_mps": 0.773, "recorded_response": "roughly_maintain_speed", "method": "4 Hz trajectory path length; 1 s mean speeds; differences of adjacent 1 s means. Recorded response is descriptive, not a causal label."}, "frames": [{"t_s": 0.0, "source_frame": 189, "images": {"front_left": "images/a24a5553f5101062a5cb2afc9c81c657-189/+000_front_left.webp", "front": "images/a24a5553f5101062a5cb2afc9c81c657-189/+000_front.webp", "front_right": "images/a24a5553f5101062a5cb2afc9c81c657-189/+000_front_right.webp", "side_left": "images/a24a5553f5101062a5cb2afc9c81c657-189/+000_side_left.webp", "side_right": "images/a24a5553f5101062a5cb2afc9c81c657-189/+000_side_right.webp", "rear_left": "images/a24a5553f5101062a5cb2afc9c81c657-189/+000_rear_left.webp", "rear": "images/a24a5553f5101062a5cb2afc9c81c657-189/+000_rear.webp", "rear_right": "images/a24a5553f5101062a5cb2afc9c81c657-189/+000_rear_right.webp"}}], "camera_count": 8, "available_source_times_s": [-2.0, -1.0, 0.0, 1.0, 2.0, 3.0], "camera_scope": "current_only", "label": {"title": "Routine Red-Light Stop on Wet Road", "category": "routine", "tags": ["red signal", "cross traffic", "wet pavement", "lens droplets"], "current_situation": "Ego intends to go straight and is moving at 0.85 m/s toward a signalized intersection. Forward-facing signals are red, and cars are crossing ahead; the history shows a sedan progressing from front to front-left. Wet pavement reflects lights, and visible lens droplets reduce image clarity. A car is directly behind ego. The right corner has a turning-vehicles-yield-to-pedestrians sign, but no pedestrian conflict is identifiable.", "baseline_decision": "Even with no crossing vehicles or visibility degradation, the straight-ahead route requires smoothly stopping before the intersection for the red signal and holding the current lane.", "decision_changing_cue": "No supported nonroutine cue materially changes the red-light stopping decision.", "causal_mechanism": "Cross traffic is consistent with the visible signal control. Reflections and lens droplets warrant careful observation but do not establish an additional immediate conflict or justify exceptional braking.", "expected_action": "stop", "decision_deviation": false, "annotation": "Ego is creeping toward red signals at a wet intersection while cars cross ahead, with lens droplets and reflected lights reducing image clarity. Ego should smoothly stop before entering the intersection and hold its lane; even without the cross traffic, the red signal requires the same decision.", "interest_score": 44, "confidence": 0.93, "selection_reason": "Reject as a long-tail candidate: the visible interaction is an ordinary signal-controlled stop, with no supported obstruction, unexpected encroachment, or material departure from the required baseline.", "camera_evidence": [{"camera": "front", "t_s": 0, "detail": "Red signals face the approach, a blue sedan is crossing the intersection, and wet pavement reflects the signals beneath visible lens droplets."}, {"camera": "front", "t_s": -2, "detail": "A gray sedan is crossing directly ahead while the forward signals are red."}, {"camera": "front_left", "t_s": -1, "detail": "The crossing gray sedan appears at the right edge of this view, supporting movement toward ego's left."}, {"camera": "front_left", "t_s": 0, "detail": "The gray sedan is now toward the left edge, with other cars crossing farther across the intersection."}, {"camera": "front_right", "t_s": 0, "detail": "A curved curb and signal pole occupy the near corner; the pole carries a turning-vehicles-yield-to-pedestrians sign."}, {"camera": "side_left", "t_s": 0, "detail": "Wet roadway and transverse painted markings are visible beside the intersection; part of a passing vehicle appears at the right edge."}, {"camera": "side_right", "t_s": 0, "detail": "The lateral view shows roadway, distant lights, and roadside structures, without a clearly identifiable nearby conflict."}, {"camera": "rear_left", "t_s": 0, "detail": "Lane markings, a roadside shelter, and vehicles beside buildings are visible; no vehicle is visibly encroaching toward ego."}, {"camera": "rear", "t_s": 0, "detail": "A car with illuminated headlights is directly behind ego, also visible in both earlier observations."}, {"camera": "rear_right", "t_s": 0, "detail": "A building wall and adjacent paved area fill the view, with no identifiable moving actor."}], "uncertainties": ["Future signal timing is unavailable.", "Low illumination, glare, and lens droplets limit identification of small or distant actors.", "The images do not establish precise vehicle speeds or gaps.", "Only current ego speed is supplied; recorded braking behavior is not established."]}, "discovery_label": {"title": "Routine Red-Light Stop on Wet Road", "category": "routine", "tags": ["red signal", "cross traffic", "wet pavement", "lens droplets"], "current_situation": "Ego intends to go straight and is moving at 0.85 m/s toward a signalized intersection. Forward-facing signals are red, and cars are crossing ahead; the history shows a sedan progressing from front to front-left. Wet pavement reflects lights, and visible lens droplets reduce image clarity. A car is directly behind ego. The right corner has a turning-vehicles-yield-to-pedestrians sign, but no pedestrian conflict is identifiable.", "baseline_decision": "Even with no crossing vehicles or visibility degradation, the straight-ahead route requires smoothly stopping before the intersection for the red signal and holding the current lane.", "decision_changing_cue": "No supported nonroutine cue materially changes the red-light stopping decision.", "causal_mechanism": "Cross traffic is consistent with the visible signal control. Reflections and lens droplets warrant careful observation but do not establish an additional immediate conflict or justify exceptional braking.", "expected_action": "stop", "decision_deviation": false, "annotation": "Ego is creeping toward red signals at a wet intersection while cars cross ahead, with lens droplets and reflected lights reducing image clarity. Ego should smoothly stop before entering the intersection and hold its lane; even without the cross traffic, the red signal requires the same decision.", "interest_score": 44, "confidence": 0.93, "selection_reason": "Reject as a long-tail candidate: the visible interaction is an ordinary signal-controlled stop, with no supported obstruction, unexpected encroachment, or material departure from the required baseline.", "camera_evidence": [{"camera": "front", "t_s": 0, "detail": "Red signals face the approach, a blue sedan is crossing the intersection, and wet pavement reflects the signals beneath visible lens droplets."}, {"camera": "front", "t_s": -2, "detail": "A gray sedan is crossing directly ahead while the forward signals are red."}, {"camera": "front_left", "t_s": -1, "detail": "The crossing gray sedan appears at the right edge of this view, supporting movement toward ego's left."}, {"camera": "front_left", "t_s": 0, "detail": "The gray sedan is now toward the left edge, with other cars crossing farther across the intersection."}, {"camera": "front_right", "t_s": 0, "detail": "A curved curb and signal pole occupy the near corner; the pole carries a turning-vehicles-yield-to-pedestrians sign."}, {"camera": "side_left", "t_s": 0, "detail": "Wet roadway and transverse painted markings are visible beside the intersection; part of a passing vehicle appears at the right edge."}, {"camera": "side_right", "t_s": 0, "detail": "The lateral view shows roadway, distant lights, and roadside structures, without a clearly identifiable nearby conflict."}, {"camera": "rear_left", "t_s": 0, "detail": "Lane markings, a roadside shelter, and vehicles beside buildings are visible; no vehicle is visibly encroaching toward ego."}, {"camera": "rear", "t_s": 0, "detail": "A car with illuminated headlights is directly behind ego, also visible in both earlier observations."}, {"camera": "rear_right", "t_s": 0, "detail": "A building wall and adjacent paved area fill the view, with no identifiable moving actor."}], "uncertainties": ["Future signal timing is unavailable.", "Low illumination, glare, and lens droplets limit identification of small or distant actors.", "The images do not establish precise vehicle speeds or gaps.", "Only current ego speed is supplied; recorded braking behavior is not established."], "_binding_sha256": "ba65f651ac014a89272519e588f1e37d1eae8023b8f5f40eb208917403ce4a71", "_request": "requests/a24a5553f5101062a5cb2afc9c81c657-189/discovery-001"}, "review": null, "status": "dismissed", "annotation": "Ego is creeping toward red signals at a wet intersection while cars cross ahead, with lens droplets and reflected lights reducing image clarity. Ego should smoothly stop before entering the intersection and hold its lane; even without the cross traffic, the red signal requires the same decision.", "selected": false}
{"id": "f17e44388a430e099334c48f8df62601-076", "scenario_id": "f17e44388a430e099334c48f8df62601", "split": "train", "batch_index": 32, "source_manifest_line": 33, "intent": "GO_STRAIGHT", "anchor_frame": 76, "motion": {"current_speed_mps": 7.074, "future_xy_m": [[1.786376953125, -0.002685546875], [3.61572265625, 0.00634765625], [5.4847412109375, 0.0220947265625], [7.384521484375, 0.0364990234375], [9.3128662109375, 0.053466796875], [11.2657470703125, 0.0791015625], [13.2509765625, 0.1217041015625], [15.26904296875, 0.1729736328125], [17.321044921875, 0.22412109375], [19.404052734375, 0.274169921875], [21.5179443359375, 0.322509765625], [23.6597900390625, 0.371337890625], [25.828125, 0.419921875], [28.0260009765625, 0.4716796875], [30.2435302734375, 0.5350341796875], [32.480224609375, 0.62255859375], [34.7320556640625, 0.7437744140625], [36.994384765625, 0.896484375], [39.26220703125, 1.0794677734375], [41.5380859375, 1.292236328125]], "future_hz": 4, "speed_windows": [{"t_s": 0.5, "speed_mps": 7.385}, {"t_s": 1.5, "speed_mps": 7.886}, {"t_s": 2.5, "speed_mps": 8.393}, {"t_s": 3.5, "speed_mps": 8.824}, {"t_s": 4.5, "speed_mps": 9.084}], "minimum_1s_acceleration_mps2": 0.259, "maximum_speed_drop_mps": 0.0, "recorded_response": "accelerate", "method": "4 Hz trajectory path length; 1 s mean speeds; differences of adjacent 1 s means. Recorded response is descriptive, not a causal label."}, "frames": [{"t_s": 0.0, "source_frame": 76, "images": {"front_left": "images/f17e44388a430e099334c48f8df62601-076/+000_front_left.webp", "front": "images/f17e44388a430e099334c48f8df62601-076/+000_front.webp", "front_right": "images/f17e44388a430e099334c48f8df62601-076/+000_front_right.webp", "side_left": "images/f17e44388a430e099334c48f8df62601-076/+000_side_left.webp", "side_right": "images/f17e44388a430e099334c48f8df62601-076/+000_side_right.webp", "rear_left": "images/f17e44388a430e099334c48f8df62601-076/+000_rear_left.webp", "rear": "images/f17e44388a430e099334c48f8df62601-076/+000_rear.webp", "rear_right": "images/f17e44388a430e099334c48f8df62601-076/+000_rear_right.webp"}}], "camera_count": 8, "available_source_times_s": [-2.0, -1.0, 0.0, 1.0, 2.0, 3.0, 4.0, 5.0], "camera_scope": "current_only", "label": {"title": "Routine travel beside separated railway", "category": "routine", "tags": ["oncoming traffic", "protected bike lane", "separated railway"], "current_situation": "Ego is traveling at 7.074 m/s on a two-way urban road with double-yellow centerlines and a gentle leftward alignment ahead. A green bicycle lane and white separator posts border the right side, with passenger railcars behind a fence. A light-colored vehicle is farther ahead, while a minivan approaches in the opposing lane. History shows a black sedan and then a silver hatchback passing on ego's left. Two pedestrians are visible at the intersection behind-left, outside the current forward path. Visibility is clear, a speed-limit sign reads 25, and the signalized intersection is behind ego.", "baseline_decision": "Continue along the straight route at the current modest speed, following the lane alignment and maintaining appropriate spacing from the vehicle ahead.", "decision_changing_cue": "No material decision-changing cue is visible. The raised arm at the passing black sedan's open window does not accompany visible encroachment into ego's lane.", "causal_mechanism": "Oncoming vehicles remain across the centerline, the pedestrians are behind-left, and the railway is fenced off. These observations do not support an additional stop, evasive maneuver, or unusual yield within the next 0–5 seconds.", "expected_action": "maintain_speed", "decision_deviation": false, "annotation": "Ego travels along a two-way road beside a post-separated bicycle lane and fenced railway, with oncoming vehicles staying across the double-yellow lines. No visible interaction requires departure from normal straight-route travel; ego should maintain its modest speed, follow the lane alignment, and preserve spacing from the vehicle ahead.", "interest_score": 18, "confidence": 0.91, "selection_reason": "Reject as a long-tail candidate: the railcars and raised arm are visually distinctive but have no supported material effect on ego's next decision. Passing opposing traffic and pedestrians at the intersection behind are routine, without visible forward-path conflict.", "camera_evidence": [{"camera": "front_left", "t_s": -2, "detail": "A black sedan passes in the opposing lane, with an arm raised outside its open front window."}, {"camera": "side_left", "t_s": -1, "detail": "The black sedan is alongside ego, supporting its passage from front-left toward rear-left."}, {"camera": "front_left", "t_s": 0, "detail": "An approaching white minivan remains in the opposing lane beside the green bicycle-lane markings."}, {"camera": "front", "t_s": 0, "detail": "Double-yellow lines follow a gentle leftward alignment; a light-colored vehicle is ahead, right-side separator posts border the lane, and a speed-limit sign reads 25."}, {"camera": "front_right", "t_s": 0, "detail": "Passenger railcars sit beyond a continuous fence, separated from the road and green bicycle lane."}, {"camera": "side_left", "t_s": 0, "detail": "A silver hatchback is alongside ego on the opposing-traffic side."}, {"camera": "side_right", "t_s": 0, "detail": "The railway fence and green bicycle lane continue beside ego, with no visible actor entering the travel lane."}, {"camera": "rear_left", "t_s": 0, "detail": "The black sedan has passed behind-left; two pedestrians remain visible near the intersection's sidewalk corner."}, {"camera": "rear", "t_s": 0, "detail": "A marked crosswalk and signal heads are at the intersection behind ego, rather than ahead on the current route."}, {"camera": "rear_right", "t_s": 0, "detail": "The bicycle-lane corner and fenced railway frontage recede behind-right, without a visible crossing actor."}], "uncertainties": ["The distant light-colored vehicle's motion cannot be established reliably from these images.", "The raised arm's meaning and the sedan occupant's intentions are unknown.", "Railcar motion is not reliably distinguishable from ego-relative image changes.", "No future recorded ego response is supplied."]}, "discovery_label": {"title": "Routine travel beside separated railway", "category": "routine", "tags": ["oncoming traffic", "protected bike lane", "separated railway"], "current_situation": "Ego is traveling at 7.074 m/s on a two-way urban road with double-yellow centerlines and a gentle leftward alignment ahead. A green bicycle lane and white separator posts border the right side, with passenger railcars behind a fence. A light-colored vehicle is farther ahead, while a minivan approaches in the opposing lane. History shows a black sedan and then a silver hatchback passing on ego's left. Two pedestrians are visible at the intersection behind-left, outside the current forward path. Visibility is clear, a speed-limit sign reads 25, and the signalized intersection is behind ego.", "baseline_decision": "Continue along the straight route at the current modest speed, following the lane alignment and maintaining appropriate spacing from the vehicle ahead.", "decision_changing_cue": "No material decision-changing cue is visible. The raised arm at the passing black sedan's open window does not accompany visible encroachment into ego's lane.", "causal_mechanism": "Oncoming vehicles remain across the centerline, the pedestrians are behind-left, and the railway is fenced off. These observations do not support an additional stop, evasive maneuver, or unusual yield within the next 0–5 seconds.", "expected_action": "maintain_speed", "decision_deviation": false, "annotation": "Ego travels along a two-way road beside a post-separated bicycle lane and fenced railway, with oncoming vehicles staying across the double-yellow lines. No visible interaction requires departure from normal straight-route travel; ego should maintain its modest speed, follow the lane alignment, and preserve spacing from the vehicle ahead.", "interest_score": 18, "confidence": 0.91, "selection_reason": "Reject as a long-tail candidate: the railcars and raised arm are visually distinctive but have no supported material effect on ego's next decision. Passing opposing traffic and pedestrians at the intersection behind are routine, without visible forward-path conflict.", "camera_evidence": [{"camera": "front_left", "t_s": -2, "detail": "A black sedan passes in the opposing lane, with an arm raised outside its open front window."}, {"camera": "side_left", "t_s": -1, "detail": "The black sedan is alongside ego, supporting its passage from front-left toward rear-left."}, {"camera": "front_left", "t_s": 0, "detail": "An approaching white minivan remains in the opposing lane beside the green bicycle-lane markings."}, {"camera": "front", "t_s": 0, "detail": "Double-yellow lines follow a gentle leftward alignment; a light-colored vehicle is ahead, right-side separator posts border the lane, and a speed-limit sign reads 25."}, {"camera": "front_right", "t_s": 0, "detail": "Passenger railcars sit beyond a continuous fence, separated from the road and green bicycle lane."}, {"camera": "side_left", "t_s": 0, "detail": "A silver hatchback is alongside ego on the opposing-traffic side."}, {"camera": "side_right", "t_s": 0, "detail": "The railway fence and green bicycle lane continue beside ego, with no visible actor entering the travel lane."}, {"camera": "rear_left", "t_s": 0, "detail": "The black sedan has passed behind-left; two pedestrians remain visible near the intersection's sidewalk corner."}, {"camera": "rear", "t_s": 0, "detail": "A marked crosswalk and signal heads are at the intersection behind ego, rather than ahead on the current route."}, {"camera": "rear_right", "t_s": 0, "detail": "The bicycle-lane corner and fenced railway frontage recede behind-right, without a visible crossing actor."}], "uncertainties": ["The distant light-colored vehicle's motion cannot be established reliably from these images.", "The raised arm's meaning and the sedan occupant's intentions are unknown.", "Railcar motion is not reliably distinguishable from ego-relative image changes.", "No future recorded ego response is supplied."], "_binding_sha256": "9db4a5dde218f015bd72ab1f0d2721122efdb48d845c8b1ffde2727fa1cbf786", "_request": "requests/f17e44388a430e099334c48f8df62601-076/discovery-001"}, "review": null, "status": "dismissed", "annotation": "Ego travels along a two-way road beside a post-separated bicycle lane and fenced railway, with oncoming vehicles staying across the double-yellow lines. No visible interaction requires departure from normal straight-route travel; ego should maintain its modest speed, follow the lane alignment, and preserve spacing from the vehicle ahead.", "selected": false}
{"id": "450910c0dc4eded544737d693ee38b1b-107", "scenario_id": "450910c0dc4eded544737d693ee38b1b", "split": "train", "batch_index": 33, "source_manifest_line": 34, "intent": "GO_STRAIGHT", "anchor_frame": 107, "motion": {"current_speed_mps": 10.582, "future_xy_m": [[2.619140625, 0.001953125], [5.1689453125, 0.00390625], [7.646484375, 0.009765625], [10.05078125, 0.015625], [12.38671875, 0.021484375], [14.6572265625, 0.0234375], [16.87890625, 0.021484375], [19.0546875, 0.017578125], [21.1904296875, 0.009765625], [23.279296875, 0.001953125], [25.3251953125, -0.0078125], [27.3076171875, -0.015625], [29.2177734375, -0.021484375], [31.0439453125, -0.0234375], [32.7880859375, -0.025390625], [34.453125, -0.025390625], [36.0380859375, -0.02734375], [37.54296875, -0.02734375], [38.970703125, -0.029296875], [40.3193359375, -0.03125]], "future_hz": 4, "speed_windows": [{"t_s": 0.5, "speed_mps": 10.051}, {"t_s": 1.5, "speed_mps": 9.004}, {"t_s": 2.5, "speed_mps": 8.253}, {"t_s": 3.5, "speed_mps": 7.146}, {"t_s": 4.5, "speed_mps": 5.866}], "minimum_1s_acceleration_mps2": -1.279, "maximum_speed_drop_mps": 4.716, "recorded_response": "slow_down", "method": "4 Hz trajectory path length; 1 s mean speeds; differences of adjacent 1 s means. Recorded response is descriptive, not a causal label."}, "frames": [{"t_s": 0.0, "source_frame": 107, "images": {"front_left": "images/450910c0dc4eded544737d693ee38b1b-107/+000_front_left.webp", "front": "images/450910c0dc4eded544737d693ee38b1b-107/+000_front.webp", "front_right": "images/450910c0dc4eded544737d693ee38b1b-107/+000_front_right.webp", "side_left": "images/450910c0dc4eded544737d693ee38b1b-107/+000_side_left.webp", "side_right": "images/450910c0dc4eded544737d693ee38b1b-107/+000_side_right.webp", "rear_left": "images/450910c0dc4eded544737d693ee38b1b-107/+000_rear_left.webp", "rear": "images/450910c0dc4eded544737d693ee38b1b-107/+000_rear.webp", "rear_right": "images/450910c0dc4eded544737d693ee38b1b-107/+000_rear_right.webp"}}], "camera_count": 8, "available_source_times_s": [-2.0, -1.0, 0.0, 1.0, 2.0, 3.0, 4.0, 5.0], "camera_scope": "current_only", "label": {"title": "Marked Curbside Closure With Low Obstruction", "category": "work_zone", "tags": ["curbside closure", "channelizers", "contained obstruction"], "current_situation": "Ego is traveling straight at 10.582 m/s behind a sedan toward a signalized intersection. Orange-and-white delineators separate the open through-lane from a closed curbside strip containing a low dark-and-blue object. The travel corridor remains visibly open. An oncoming SUV passes on ego's left across the history, and a sedan follows behind. A small pedestrian figure is visible near the distant intersection, but its motion and relationship to ego's path are unresolved. Daylight and tree shadows leave the nearby roadway visible.", "baseline_decision": "Continue straight behind the lead sedan with a safe following gap, adjusting speed or stopping as required by the intersection signal.", "decision_changing_cue": "Delineators border the right side of the through-lane, with a low object lying on their closed-lane side.", "causal_mechanism": "The delineators constrain usable lateral space and require clearance while passing, but the object does not visibly block the open lane. This supports ordinary channelized-lane positioning rather than a substantial change in the straight-ahead plan.", "expected_action": "increase_clearance", "decision_deviation": false, "annotation": "Orange-and-white delineators close the curbside strip, where a low dark-and-blue object lies beside the open lane. Although ego would otherwise follow the lead sedan straight toward the signalized intersection, the closure requires maintaining clearance from the delineators within the open lane over the next few seconds while continuing to obey the intersection controls.", "interest_score": 55, "confidence": 0.85, "selection_reason": "Reject as a long-tail selection: the visible closure is clearly channelized, and the low object remains inside it. No immediate intrusion, blocked through-path, or unusual negotiation establishes a material decision change.", "camera_evidence": [{"camera": "front", "t_s": 0, "detail": "A sedan leads in the open corridor; delineators border its right side, and a low dark-and-blue object lies farther right inside the closure. Signal heads and a small pedestrian figure are visible near the intersection."}, {"camera": "front", "t_s": -2, "detail": "The lead vehicle, right-side delineators, and a trailer-mounted sign board are already visible along the straight approach."}, {"camera": "front_left", "t_s": 0, "detail": "The opposite roadway, double-yellow lines, fenced property, and sidewalk shelter are visible without an immediate crossing actor."}, {"camera": "front_right", "t_s": 0, "detail": "Two delineators stand beside the right curb; the adjacent sidewalk and fenced property show no visible actor entering the roadway."}, {"camera": "side_left", "t_s": 0, "detail": "The opposite-side curb, building frontage, and driveway are visible without a vehicle entering ego's path."}, {"camera": "side_right", "t_s": 0, "detail": "The building corner, sidewalk, and fenced entrance are visible without a nearby pedestrian or cyclist."}, {"camera": "rear_left", "t_s": 0, "detail": "The SUV previously seen approaching on the left is now behind ego on the opposite side of the roadway."}, {"camera": "rear", "t_s": 0, "detail": "A sedan follows in the open corridor, with delineators and the passed sign trailer along the curbside closure."}, {"camera": "rear_right", "t_s": 0, "detail": "The building frontage, sidewalk utilities, and edge of the passed sign trailer are visible; no merging actor is apparent."}], "uncertainties": ["The intersection signal state cannot be read confidently.", "The low dark-and-blue object's identity and exact footprint are unclear.", "The distant pedestrian's motion and whether it will enter ego's lane are not established."]}, "discovery_label": {"title": "Marked Curbside Closure With Low Obstruction", "category": "work_zone", "tags": ["curbside closure", "channelizers", "contained obstruction"], "current_situation": "Ego is traveling straight at 10.582 m/s behind a sedan toward a signalized intersection. Orange-and-white delineators separate the open through-lane from a closed curbside strip containing a low dark-and-blue object. The travel corridor remains visibly open. An oncoming SUV passes on ego's left across the history, and a sedan follows behind. A small pedestrian figure is visible near the distant intersection, but its motion and relationship to ego's path are unresolved. Daylight and tree shadows leave the nearby roadway visible.", "baseline_decision": "Continue straight behind the lead sedan with a safe following gap, adjusting speed or stopping as required by the intersection signal.", "decision_changing_cue": "Delineators border the right side of the through-lane, with a low object lying on their closed-lane side.", "causal_mechanism": "The delineators constrain usable lateral space and require clearance while passing, but the object does not visibly block the open lane. This supports ordinary channelized-lane positioning rather than a substantial change in the straight-ahead plan.", "expected_action": "increase_clearance", "decision_deviation": false, "annotation": "Orange-and-white delineators close the curbside strip, where a low dark-and-blue object lies beside the open lane. Although ego would otherwise follow the lead sedan straight toward the signalized intersection, the closure requires maintaining clearance from the delineators within the open lane over the next few seconds while continuing to obey the intersection controls.", "interest_score": 55, "confidence": 0.85, "selection_reason": "Reject as a long-tail selection: the visible closure is clearly channelized, and the low object remains inside it. No immediate intrusion, blocked through-path, or unusual negotiation establishes a material decision change.", "camera_evidence": [{"camera": "front", "t_s": 0, "detail": "A sedan leads in the open corridor; delineators border its right side, and a low dark-and-blue object lies farther right inside the closure. Signal heads and a small pedestrian figure are visible near the intersection."}, {"camera": "front", "t_s": -2, "detail": "The lead vehicle, right-side delineators, and a trailer-mounted sign board are already visible along the straight approach."}, {"camera": "front_left", "t_s": 0, "detail": "The opposite roadway, double-yellow lines, fenced property, and sidewalk shelter are visible without an immediate crossing actor."}, {"camera": "front_right", "t_s": 0, "detail": "Two delineators stand beside the right curb; the adjacent sidewalk and fenced property show no visible actor entering the roadway."}, {"camera": "side_left", "t_s": 0, "detail": "The opposite-side curb, building frontage, and driveway are visible without a vehicle entering ego's path."}, {"camera": "side_right", "t_s": 0, "detail": "The building corner, sidewalk, and fenced entrance are visible without a nearby pedestrian or cyclist."}, {"camera": "rear_left", "t_s": 0, "detail": "The SUV previously seen approaching on the left is now behind ego on the opposite side of the roadway."}, {"camera": "rear", "t_s": 0, "detail": "A sedan follows in the open corridor, with delineators and the passed sign trailer along the curbside closure."}, {"camera": "rear_right", "t_s": 0, "detail": "The building frontage, sidewalk utilities, and edge of the passed sign trailer are visible; no merging actor is apparent."}], "uncertainties": ["The intersection signal state cannot be read confidently.", "The low dark-and-blue object's identity and exact footprint are unclear.", "The distant pedestrian's motion and whether it will enter ego's lane are not established."], "_binding_sha256": "e7d60f5712b438f9b1eac7afeaf1fa32b6fff157ba1f8477d0e0115f06b77dc8", "_request": "requests/450910c0dc4eded544737d693ee38b1b-107/discovery-002"}, "review": null, "status": "dismissed", "annotation": "Orange-and-white delineators close the curbside strip, where a low dark-and-blue object lies beside the open lane. Although ego would otherwise follow the lead sedan straight toward the signalized intersection, the closure requires maintaining clearance from the delineators within the open lane over the next few seconds while continuing to obey the intersection controls.", "selected": false}
{"id": "051b4464459ec44e35fe60785ee16a85-190", "scenario_id": "051b4464459ec44e35fe60785ee16a85", "split": "train", "batch_index": 34, "source_manifest_line": 35, "intent": "GO_STRAIGHT", "anchor_frame": 190, "motion": {"current_speed_mps": 3.962, "future_xy_m": [[1.0089111328125, -0.00341796875], [2.053466796875, -0.0048828125], [3.13818359375, -0.004638671875], [4.263916015625, -0.00341796875], [5.427978515625, -0.001708984375], [6.6273193359375, 0.00341796875], [7.8572998046875, 0.006103515625], [9.101318359375, 0.01123046875], [10.3544921875, 0.013671875], [11.619140625, 0.015380859375], [12.89111328125, 0.0126953125], [14.1519775390625, 0.0107421875], [15.4058837890625, 0.006103515625], [16.6544189453125, -0.000244140625], [17.8851318359375, -0.001220703125], [19.104736328125, 0.016357421875], [20.305419921875, 0.058349609375], [21.4892578125, 0.1220703125], [22.64697265625, 0.197265625], [23.788818359375, 0.260009765625]], "future_hz": 4, "speed_windows": [{"t_s": 0.5, "speed_mps": 4.264}, {"t_s": 1.5, "speed_mps": 4.837}, {"t_s": 2.5, "speed_mps": 5.051}, {"t_s": 3.5, "speed_mps": 4.953}, {"t_s": 4.5, "speed_mps": 4.691}], "minimum_1s_acceleration_mps2": -0.262, "maximum_speed_drop_mps": 0.0, "recorded_response": "roughly_maintain_speed", "method": "4 Hz trajectory path length; 1 s mean speeds; differences of adjacent 1 s means. Recorded response is descriptive, not a causal label."}, "frames": [{"t_s": 0.0, "source_frame": 190, "images": {"front_left": "images/051b4464459ec44e35fe60785ee16a85-190/+000_front_left.webp", "front": "images/051b4464459ec44e35fe60785ee16a85-190/+000_front.webp", "front_right": "images/051b4464459ec44e35fe60785ee16a85-190/+000_front_right.webp", "side_left": "images/051b4464459ec44e35fe60785ee16a85-190/+000_side_left.webp", "side_right": "images/051b4464459ec44e35fe60785ee16a85-190/+000_side_right.webp", "rear_left": "images/051b4464459ec44e35fe60785ee16a85-190/+000_rear_left.webp", "rear": "images/051b4464459ec44e35fe60785ee16a85-190/+000_rear.webp", "rear_right": "images/051b4464459ec44e35fe60785ee16a85-190/+000_rear_right.webp"}}], "camera_count": 8, "available_source_times_s": [-2.0, -1.0, 0.0, 1.0, 2.0, 3.0], "camera_scope": "current_only", "label": {"title": "Routine Descent Past Sidewalk Scaffolding", "category": "routine", "tags": ["steep descent", "oncoming traffic", "sidewalk scaffolding"], "current_situation": "Ego is traveling straight downhill at 3.962 m/s on a steep street with double-yellow center markings. Vehicles are parked along the left curb, and scaffolding occupies the right sidewalk without visibly blocking the travel lane. A car ahead faces ego and appears to approach in the opposing lane across the observation history. Yellow crossing markings and a small pedestrian figure on the right sidewalk are visible at the downhill intersection; no pedestrian entry into the roadway is established.", "baseline_decision": "Continue straight at the current controlled low speed, remain right of the center markings, and prepare to comply with the upcoming intersection controls.", "decision_changing_cue": "None established: the scaffolding remains beside the roadway, and neither the approaching car nor the distant pedestrian visibly conflicts with ego's path.", "causal_mechanism": "The steep grade warrants routine speed control, but the visible roadside structures and opposing traffic do not establish a material departure from normal lane keeping and intersection approach.", "expected_action": "maintain_speed", "decision_deviation": false, "annotation": "Ego is descending a steep street past parked vehicles on the left and sidewalk scaffolding on the right, with an approaching car in the opposing lane. Continue straight at a controlled low speed within the downhill lane and prepare to obey the upcoming intersection controls; no visible conflict requires an evasive maneuver.", "interest_score": 43, "confidence": 0.86, "selection_reason": "Reject as a long-tail candidate: the steep descent is useful context, but no scaffold intrusion, pedestrian conflict, or unusual vehicle negotiation materially changes the straight-ahead plan.", "camera_evidence": [{"camera": "front_left", "t_s": 0, "detail": "Two sedans and a white pickup are positioned along the left curb, outside the open downhill path."}, {"camera": "front", "t_s": -2, "detail": "The street descends steeply toward an intersection, with double-yellow markings and a small car facing ego ahead."}, {"camera": "front", "t_s": 0, "detail": "The facing car appears larger than in the earlier view, consistent with approaching uphill. Yellow crossing markings and a small pedestrian figure on the right sidewalk are visible farther downhill."}, {"camera": "front_right", "t_s": 0, "detail": "Scaffold poles, diagonal braces, and plywood surround the building frontage over the sidewalk; no roadway blockage is visible."}, {"camera": "side_left", "t_s": 0, "detail": "A green pickup sits alongside the left curb beside the brick-and-stone building."}, {"camera": "side_right", "t_s": 0, "detail": "Scaffolding and the adjacent building fill the side view, without a visible worker or pedestrian entering the roadway."}, {"camera": "rear_left", "t_s": 0, "detail": "Parked vehicles and a STOP sign are visible at the intersection behind ego; this does not establish an immediate forward conflict."}, {"camera": "rear", "t_s": 0, "detail": "The rear view shows buildings, overhead wires, and sky, with little roadway visible."}, {"camera": "rear_right", "t_s": 0, "detail": "Scaffold braces and sidewalk steps are visible behind ego on the right, with no visible actor interaction."}], "uncertainties": ["The small red sign at the downhill intersection appears stop-like, but its lettering and precise applicability are not reliably readable.", "The distant pedestrian's movement cannot be resolved from these images.", "The approaching car's exact clearance from the center markings is not calibrated.", "Limited roadway coverage in the rear view prevents a reliable assessment of following traffic."]}, "discovery_label": {"title": "Routine Descent Past Sidewalk Scaffolding", "category": "routine", "tags": ["steep descent", "oncoming traffic", "sidewalk scaffolding"], "current_situation": "Ego is traveling straight downhill at 3.962 m/s on a steep street with double-yellow center markings. Vehicles are parked along the left curb, and scaffolding occupies the right sidewalk without visibly blocking the travel lane. A car ahead faces ego and appears to approach in the opposing lane across the observation history. Yellow crossing markings and a small pedestrian figure on the right sidewalk are visible at the downhill intersection; no pedestrian entry into the roadway is established.", "baseline_decision": "Continue straight at the current controlled low speed, remain right of the center markings, and prepare to comply with the upcoming intersection controls.", "decision_changing_cue": "None established: the scaffolding remains beside the roadway, and neither the approaching car nor the distant pedestrian visibly conflicts with ego's path.", "causal_mechanism": "The steep grade warrants routine speed control, but the visible roadside structures and opposing traffic do not establish a material departure from normal lane keeping and intersection approach.", "expected_action": "maintain_speed", "decision_deviation": false, "annotation": "Ego is descending a steep street past parked vehicles on the left and sidewalk scaffolding on the right, with an approaching car in the opposing lane. Continue straight at a controlled low speed within the downhill lane and prepare to obey the upcoming intersection controls; no visible conflict requires an evasive maneuver.", "interest_score": 43, "confidence": 0.86, "selection_reason": "Reject as a long-tail candidate: the steep descent is useful context, but no scaffold intrusion, pedestrian conflict, or unusual vehicle negotiation materially changes the straight-ahead plan.", "camera_evidence": [{"camera": "front_left", "t_s": 0, "detail": "Two sedans and a white pickup are positioned along the left curb, outside the open downhill path."}, {"camera": "front", "t_s": -2, "detail": "The street descends steeply toward an intersection, with double-yellow markings and a small car facing ego ahead."}, {"camera": "front", "t_s": 0, "detail": "The facing car appears larger than in the earlier view, consistent with approaching uphill. Yellow crossing markings and a small pedestrian figure on the right sidewalk are visible farther downhill."}, {"camera": "front_right", "t_s": 0, "detail": "Scaffold poles, diagonal braces, and plywood surround the building frontage over the sidewalk; no roadway blockage is visible."}, {"camera": "side_left", "t_s": 0, "detail": "A green pickup sits alongside the left curb beside the brick-and-stone building."}, {"camera": "side_right", "t_s": 0, "detail": "Scaffolding and the adjacent building fill the side view, without a visible worker or pedestrian entering the roadway."}, {"camera": "rear_left", "t_s": 0, "detail": "Parked vehicles and a STOP sign are visible at the intersection behind ego; this does not establish an immediate forward conflict."}, {"camera": "rear", "t_s": 0, "detail": "The rear view shows buildings, overhead wires, and sky, with little roadway visible."}, {"camera": "rear_right", "t_s": 0, "detail": "Scaffold braces and sidewalk steps are visible behind ego on the right, with no visible actor interaction."}], "uncertainties": ["The small red sign at the downhill intersection appears stop-like, but its lettering and precise applicability are not reliably readable.", "The distant pedestrian's movement cannot be resolved from these images.", "The approaching car's exact clearance from the center markings is not calibrated.", "Limited roadway coverage in the rear view prevents a reliable assessment of following traffic."], "_binding_sha256": "b336cc304c6cd8696838817884f7f92f9be1abd30216ea3a4c46a81332021d00", "_request": "requests/051b4464459ec44e35fe60785ee16a85-190/discovery-001"}, "review": null, "status": "dismissed", "annotation": "Ego is descending a steep street past parked vehicles on the left and sidewalk scaffolding on the right, with an approaching car in the opposing lane. Continue straight at a controlled low speed within the downhill lane and prepare to obey the upcoming intersection controls; no visible conflict requires an evasive maneuver.", "selected": false}
{"id": "e22e1e4288bef78000a11b8423401aa7-023", "scenario_id": "e22e1e4288bef78000a11b8423401aa7", "split": "train", "batch_index": 35, "source_manifest_line": 36, "intent": "GO_STRAIGHT", "anchor_frame": 23, "motion": {"current_speed_mps": 8.255, "future_xy_m": [[2.05908203125, -0.005615234375], [4.091796875, -0.01708984375], [6.07421875, -0.0350341796875], [8.0087890625, -0.056396484375], [9.888671875, -0.0830078125], [11.72119140625, -0.110595703125], [13.49853515625, -0.1363525390625], [15.22802734375, -0.16748046875], [16.9130859375, -0.2008056640625], [18.5537109375, -0.2396240234375], [20.14990234375, -0.2796630859375], [21.69970703125, -0.322021484375], [23.21240234375, -0.368408203125], [24.67529296875, -0.42041015625], [26.11279296875, -0.47412109375], [27.56689453125, -0.5302734375], [29.064453125, -0.582275390625], [30.62451171875, -0.62939453125], [32.2587890625, -0.670654296875], [33.96142578125, -0.6995849609375]], "future_hz": 4, "speed_windows": [{"t_s": 0.5, "speed_mps": 8.009}, {"t_s": 1.5, "speed_mps": 7.22}, {"t_s": 2.5, "speed_mps": 6.474}, {"t_s": 3.5, "speed_mps": 5.871}, {"t_s": 4.5, "speed_mps": 6.397}], "minimum_1s_acceleration_mps2": -0.789, "maximum_speed_drop_mps": 2.385, "recorded_response": "slow_down", "method": "4 Hz trajectory path length; 1 s mean speeds; differences of adjacent 1 s means. Recorded response is descriptive, not a causal label."}, "frames": [{"t_s": 0.0, "source_frame": 23, "images": {"front_left": "images/e22e1e4288bef78000a11b8423401aa7-023/+000_front_left.webp", "front": "images/e22e1e4288bef78000a11b8423401aa7-023/+000_front.webp", "front_right": "images/e22e1e4288bef78000a11b8423401aa7-023/+000_front_right.webp", "side_left": "images/e22e1e4288bef78000a11b8423401aa7-023/+000_side_left.webp", "side_right": "images/e22e1e4288bef78000a11b8423401aa7-023/+000_side_right.webp", "rear_left": "images/e22e1e4288bef78000a11b8423401aa7-023/+000_rear_left.webp", "rear": "images/e22e1e4288bef78000a11b8423401aa7-023/+000_rear.webp", "rear_right": "images/e22e1e4288bef78000a11b8423401aa7-023/+000_rear_right.webp"}}], "camera_count": 8, "available_source_times_s": [-1.0, 0.0, 1.0, 2.0, 3.0, 4.0, 5.0], "camera_scope": "current_only", "label": {"title": "Routine Residential Street With Parked Vehicles", "category": "routine", "tags": ["residential street", "curbside parking", "clear travel corridor"], "current_situation": "Ego is traveling at 8.255 m/s with a straight-ahead route on an unmarked residential street. Vehicles line both curbs and several driveways; the nearby left SUV and right pickup and white SUV appear stationary as ego passes between observations. Trees shade the road and interrupt views of some frontage, but the forward travel corridor remains visibly open. Side and rear views show no identifiable pedestrian, cyclist, or vehicle entering ego's path. Distant traffic controls are not confidently readable.", "baseline_decision": "Continue straight at an appropriate residential speed, preserving clearance from parked vehicles and complying with any upcoming controls once identifiable.", "decision_changing_cue": "None supported: nearby vehicles remain curbside, and no visible actor or obstruction intrudes into the travel corridor.", "causal_mechanism": "The parked vehicles impose ordinary clearance requirements, not a demonstrated conflict requiring a material change to the straight-ahead plan. Their presence alone does not establish a hidden pedestrian or impending pull-out.", "expected_action": "maintain_speed", "decision_deviation": false, "annotation": "Ego approaches along an unmarked residential street with parked vehicles on both sides and an open travel corridor. With no visible actor entering its path, ego should continue straight over the next few seconds at an appropriate steady speed while maintaining clearance from the parked vehicles.", "interest_score": 14, "confidence": 0.93, "selection_reason": "Reject as a long-tail candidate: this is routine passage between parked vehicles, without a visually supported unusual interaction, obstruction, or material decision change.", "camera_evidence": [{"camera": "front_left", "t_s": -1, "detail": "A dark SUV sits beside the left curb, with houses and driveway vehicles behind it."}, {"camera": "front_left", "t_s": 0, "detail": "The curbside SUV has shifted toward the image edge as ego advances; driveway vehicles and a sidewalk hydrant remain outside the travel corridor."}, {"camera": "front", "t_s": 0, "detail": "The unmarked road continues straight with open pavement ahead; a silver sedan sits along the right curb beneath trees."}, {"camera": "front_right", "t_s": -1, "detail": "A silver pickup with a bed rack and a white SUV occupy the right curbside area."}, {"camera": "front_right", "t_s": 0, "detail": "The white SUV remains alongside the right curb, with a trailer and houses beyond; no visible intrusion into the forward corridor is evident."}, {"camera": "side_left", "t_s": 0, "detail": "The dark curbside SUV is beside ego, with a residential yard and sidewalk behind it."}, {"camera": "side_right", "t_s": 0, "detail": "Part of the white SUV appears beside ego; the remaining view shows residential frontage and sidewalk."}, {"camera": "rear_left", "t_s": 0, "detail": "Driveways, landscaping, and sidewalk are visible without an identifiable actor approaching the roadway."}, {"camera": "rear", "t_s": 0, "detail": "The street behind remains open between curbside vehicles, with no close following conflict visible."}, {"camera": "rear_right", "t_s": 0, "detail": "The silver pickup previously seen ahead-right is now behind-right, consistent with ego passing a curbside vehicle."}], "uncertainties": ["The two observations do not establish the motion of distant vehicles.", "Distant signs or intersection controls cannot be identified confidently at this resolution.", "Parked vehicles and trees limit some frontage views, but no hidden actor is established by the images."]}, "discovery_label": {"title": "Routine Residential Street With Parked Vehicles", "category": "routine", "tags": ["residential street", "curbside parking", "clear travel corridor"], "current_situation": "Ego is traveling at 8.255 m/s with a straight-ahead route on an unmarked residential street. Vehicles line both curbs and several driveways; the nearby left SUV and right pickup and white SUV appear stationary as ego passes between observations. Trees shade the road and interrupt views of some frontage, but the forward travel corridor remains visibly open. Side and rear views show no identifiable pedestrian, cyclist, or vehicle entering ego's path. Distant traffic controls are not confidently readable.", "baseline_decision": "Continue straight at an appropriate residential speed, preserving clearance from parked vehicles and complying with any upcoming controls once identifiable.", "decision_changing_cue": "None supported: nearby vehicles remain curbside, and no visible actor or obstruction intrudes into the travel corridor.", "causal_mechanism": "The parked vehicles impose ordinary clearance requirements, not a demonstrated conflict requiring a material change to the straight-ahead plan. Their presence alone does not establish a hidden pedestrian or impending pull-out.", "expected_action": "maintain_speed", "decision_deviation": false, "annotation": "Ego approaches along an unmarked residential street with parked vehicles on both sides and an open travel corridor. With no visible actor entering its path, ego should continue straight over the next few seconds at an appropriate steady speed while maintaining clearance from the parked vehicles.", "interest_score": 14, "confidence": 0.93, "selection_reason": "Reject as a long-tail candidate: this is routine passage between parked vehicles, without a visually supported unusual interaction, obstruction, or material decision change.", "camera_evidence": [{"camera": "front_left", "t_s": -1, "detail": "A dark SUV sits beside the left curb, with houses and driveway vehicles behind it."}, {"camera": "front_left", "t_s": 0, "detail": "The curbside SUV has shifted toward the image edge as ego advances; driveway vehicles and a sidewalk hydrant remain outside the travel corridor."}, {"camera": "front", "t_s": 0, "detail": "The unmarked road continues straight with open pavement ahead; a silver sedan sits along the right curb beneath trees."}, {"camera": "front_right", "t_s": -1, "detail": "A silver pickup with a bed rack and a white SUV occupy the right curbside area."}, {"camera": "front_right", "t_s": 0, "detail": "The white SUV remains alongside the right curb, with a trailer and houses beyond; no visible intrusion into the forward corridor is evident."}, {"camera": "side_left", "t_s": 0, "detail": "The dark curbside SUV is beside ego, with a residential yard and sidewalk behind it."}, {"camera": "side_right", "t_s": 0, "detail": "Part of the white SUV appears beside ego; the remaining view shows residential frontage and sidewalk."}, {"camera": "rear_left", "t_s": 0, "detail": "Driveways, landscaping, and sidewalk are visible without an identifiable actor approaching the roadway."}, {"camera": "rear", "t_s": 0, "detail": "The street behind remains open between curbside vehicles, with no close following conflict visible."}, {"camera": "rear_right", "t_s": 0, "detail": "The silver pickup previously seen ahead-right is now behind-right, consistent with ego passing a curbside vehicle."}], "uncertainties": ["The two observations do not establish the motion of distant vehicles.", "Distant signs or intersection controls cannot be identified confidently at this resolution.", "Parked vehicles and trees limit some frontage views, but no hidden actor is established by the images."], "_binding_sha256": "64cdaf6507452219c1b74976aa9c4b443b112522cb983df8994ff63b12b18f66", "_request": "requests/e22e1e4288bef78000a11b8423401aa7-023/discovery-001"}, "review": null, "status": "dismissed", "annotation": "Ego approaches along an unmarked residential street with parked vehicles on both sides and an open travel corridor. With no visible actor entering its path, ego should continue straight over the next few seconds at an appropriate steady speed while maintaining clearance from the parked vehicles.", "selected": false}
{"id": "05c8e9f423c12a6c2d49ec46f042abd9-150", "scenario_id": "05c8e9f423c12a6c2d49ec46f042abd9", "split": "train", "batch_index": 36, "source_manifest_line": 37, "intent": "GO_STRAIGHT", "anchor_frame": 150, "motion": {"current_speed_mps": 7.596, "future_xy_m": [[1.89453125, 0.00146484375], [3.765625, 0.001953125], [5.625, 0.0009765625], [7.455078125, 0.0], [9.240234375, -0.0009765625], [10.984375, -0.00634765625], [12.68359375, -0.009765625], [14.3359375, -0.01708984375], [15.951171875, -0.021484375], [17.51953125, -0.0302734375], [19.048828125, -0.0419921875], [20.5390625, -0.0576171875], [21.982421875, -0.07666015625], [23.39453125, -0.0986328125], [24.767578125, -0.12109375], [26.10546875, -0.14306640625], [27.41015625, -0.16748046875], [28.69140625, -0.193359375], [29.94921875, -0.22216796875], [31.19140625, -0.25341796875]], "future_hz": 4, "speed_windows": [{"t_s": 0.5, "speed_mps": 7.455}, {"t_s": 1.5, "speed_mps": 6.881}, {"t_s": 2.5, "speed_mps": 6.203}, {"t_s": 3.5, "speed_mps": 5.567}, {"t_s": 4.5, "speed_mps": 5.087}], "minimum_1s_acceleration_mps2": -0.678, "maximum_speed_drop_mps": 2.509, "recorded_response": "slow_down", "method": "4 Hz trajectory path length; 1 s mean speeds; differences of adjacent 1 s means. Recorded response is descriptive, not a causal label."}, "frames": [{"t_s": 0.0, "source_frame": 150, "images": {"front_left": "images/05c8e9f423c12a6c2d49ec46f042abd9-150/+000_front_left.webp", "front": "images/05c8e9f423c12a6c2d49ec46f042abd9-150/+000_front.webp", "front_right": "images/05c8e9f423c12a6c2d49ec46f042abd9-150/+000_front_right.webp", "side_left": "images/05c8e9f423c12a6c2d49ec46f042abd9-150/+000_side_left.webp", "side_right": "images/05c8e9f423c12a6c2d49ec46f042abd9-150/+000_side_right.webp", "rear_left": "images/05c8e9f423c12a6c2d49ec46f042abd9-150/+000_rear_left.webp", "rear": "images/05c8e9f423c12a6c2d49ec46f042abd9-150/+000_rear.webp", "rear_right": "images/05c8e9f423c12a6c2d49ec46f042abd9-150/+000_rear_right.webp"}}], "camera_count": 8, "available_source_times_s": [-2.0, -1.0, 0.0, 1.0, 2.0, 3.0, 4.0, 5.0], "camera_scope": "current_only", "label": {"title": "Barricaded Road Edge Before Red Signals", "category": "work_zone", "tags": ["road-edge barricades", "red signals", "lead vehicle", "limited lighting"], "current_situation": "Ego is traveling straight at 7.596 m/s toward visibly red signals, with a truck ahead and oncoming vehicles to the left. Reflective barricades with amber lamps line the right roadway edge beside a construction fence; pedestrian-direction signs are also visible. Streetlights illuminate portions of the otherwise dim scene. Across all eight cameras, no clear pedestrian, worker, or vehicle incursion into ego's path is visible.", "baseline_decision": "Without the barricades, continue straight in the existing lane and decelerate behind the truck for the red signals, stopping as required rather than maintaining speed.", "decision_changing_cue": "The barricades bound the right edge of the usable roadway, but no forced merge or blockage of the through path is clearly visible.", "causal_mechanism": "The barricades reduce tolerance for drifting toward the right edge and warrant careful clearance during the approach. They do not visibly establish a substantial maneuver change beyond the signal- and lead-vehicle-controlled deceleration already required.", "expected_action": "slow_down", "decision_deviation": false, "annotation": "Ego approaches red signals behind a truck, with reflective construction barricades lining the right roadway edge and oncoming traffic to the left. Ego should decelerate for the signal and lead vehicle over the next few seconds while maintaining clearance from the barricades; the visible work-zone boundary does not establish a forced merge or immediate evasive maneuver.", "interest_score": 56, "confidence": 0.88, "selection_reason": "Reject as a strong long-tail candidate: the construction boundary is concrete and relevant to clearance, but the visible through path remains available and routine signal approach already requires slowing. No specific unusual interaction supports a material decision deviation.", "camera_evidence": [{"camera": "front", "t_s": 0, "detail": "A truck is ahead, red signal indications are visible farther along the street, and striped barricades with amber lamps line the right edge."}, {"camera": "front", "t_s": -2, "detail": "The truck, red signal indications, and right-side barricade line are already visible earlier in the approach."}, {"camera": "front_left", "t_s": -2, "detail": "A dark vehicle with illuminated headlights is passing on ego's left."}, {"camera": "front_left", "t_s": 0, "detail": "The opposing roadway and a sidewalk shelter are visible; no clear crossing actor appears."}, {"camera": "front_right", "t_s": 0, "detail": "A tall construction fence screens the worksite, with a pedestrian-direction sign at its roadside edge."}, {"camera": "side_left", "t_s": 0, "detail": "Storefronts and the roadway across ego's left side are visible without a clear actor entering ego's path."}, {"camera": "side_right", "t_s": 0, "detail": "A side street with parked vehicles is visible, including a van near the corner; no clear entering vehicle is shown."}, {"camera": "rear_left", "t_s": -1, "detail": "A dark sedan is visible behind and to ego's left, supporting the observation of passing traffic."}, {"camera": "rear", "t_s": 0, "detail": "The road extends behind ego with vehicles farther back and a scooter at the sidewalk edge."}, {"camera": "rear_right", "t_s": 0, "detail": "A fenced building corner and sidewalk are visible without a clear roadway incursion."}], "uncertainties": ["The truck's precise speed and whether it is already stopped cannot be established from the images.", "Exact barricade clearance and lane widths are not measurable from these uncalibrated views.", "Signal-to-lane assignment and stop-line position are not fully resolved.", "Dim exposure limits small-actor detection; the fence conceals the worksite, but no hidden actor is inferred."]}, "discovery_label": {"title": "Barricaded Road Edge Before Red Signals", "category": "work_zone", "tags": ["road-edge barricades", "red signals", "lead vehicle", "limited lighting"], "current_situation": "Ego is traveling straight at 7.596 m/s toward visibly red signals, with a truck ahead and oncoming vehicles to the left. Reflective barricades with amber lamps line the right roadway edge beside a construction fence; pedestrian-direction signs are also visible. Streetlights illuminate portions of the otherwise dim scene. Across all eight cameras, no clear pedestrian, worker, or vehicle incursion into ego's path is visible.", "baseline_decision": "Without the barricades, continue straight in the existing lane and decelerate behind the truck for the red signals, stopping as required rather than maintaining speed.", "decision_changing_cue": "The barricades bound the right edge of the usable roadway, but no forced merge or blockage of the through path is clearly visible.", "causal_mechanism": "The barricades reduce tolerance for drifting toward the right edge and warrant careful clearance during the approach. They do not visibly establish a substantial maneuver change beyond the signal- and lead-vehicle-controlled deceleration already required.", "expected_action": "slow_down", "decision_deviation": false, "annotation": "Ego approaches red signals behind a truck, with reflective construction barricades lining the right roadway edge and oncoming traffic to the left. Ego should decelerate for the signal and lead vehicle over the next few seconds while maintaining clearance from the barricades; the visible work-zone boundary does not establish a forced merge or immediate evasive maneuver.", "interest_score": 56, "confidence": 0.88, "selection_reason": "Reject as a strong long-tail candidate: the construction boundary is concrete and relevant to clearance, but the visible through path remains available and routine signal approach already requires slowing. No specific unusual interaction supports a material decision deviation.", "camera_evidence": [{"camera": "front", "t_s": 0, "detail": "A truck is ahead, red signal indications are visible farther along the street, and striped barricades with amber lamps line the right edge."}, {"camera": "front", "t_s": -2, "detail": "The truck, red signal indications, and right-side barricade line are already visible earlier in the approach."}, {"camera": "front_left", "t_s": -2, "detail": "A dark vehicle with illuminated headlights is passing on ego's left."}, {"camera": "front_left", "t_s": 0, "detail": "The opposing roadway and a sidewalk shelter are visible; no clear crossing actor appears."}, {"camera": "front_right", "t_s": 0, "detail": "A tall construction fence screens the worksite, with a pedestrian-direction sign at its roadside edge."}, {"camera": "side_left", "t_s": 0, "detail": "Storefronts and the roadway across ego's left side are visible without a clear actor entering ego's path."}, {"camera": "side_right", "t_s": 0, "detail": "A side street with parked vehicles is visible, including a van near the corner; no clear entering vehicle is shown."}, {"camera": "rear_left", "t_s": -1, "detail": "A dark sedan is visible behind and to ego's left, supporting the observation of passing traffic."}, {"camera": "rear", "t_s": 0, "detail": "The road extends behind ego with vehicles farther back and a scooter at the sidewalk edge."}, {"camera": "rear_right", "t_s": 0, "detail": "A fenced building corner and sidewalk are visible without a clear roadway incursion."}], "uncertainties": ["The truck's precise speed and whether it is already stopped cannot be established from the images.", "Exact barricade clearance and lane widths are not measurable from these uncalibrated views.", "Signal-to-lane assignment and stop-line position are not fully resolved.", "Dim exposure limits small-actor detection; the fence conceals the worksite, but no hidden actor is inferred."], "_binding_sha256": "e0e4ec69c434af7797e97bdad33c04d0eda569bf1510fc0b2b5db4bf9d883b3d", "_request": "requests/05c8e9f423c12a6c2d49ec46f042abd9-150/discovery-001"}, "review": null, "status": "dismissed", "annotation": "Ego approaches red signals behind a truck, with reflective construction barricades lining the right roadway edge and oncoming traffic to the left. Ego should decelerate for the signal and lead vehicle over the next few seconds while maintaining clearance from the barricades; the visible work-zone boundary does not establish a forced merge or immediate evasive maneuver.", "selected": false}
{"id": "e9675cb299c0aa55718343d74f879bb6-033", "scenario_id": "e9675cb299c0aa55718343d74f879bb6", "split": "train", "batch_index": 37, "source_manifest_line": 38, "intent": "GO_STRAIGHT", "anchor_frame": 33, "motion": {"current_speed_mps": 25.356, "future_xy_m": [[6.336517333984375, -0.0076446533203125], [12.664764404296875, -0.01538848876953125], [18.98828125, -0.026092529296875], [25.304962158203125, -0.0326385498046875], [31.62164306640625, -0.039031982421875], [37.9351806640625, -0.05025482177734375], [44.248779296875, -0.06919097900390625], [50.569122314453125, -0.093841552734375], [56.906219482421875, -0.12082672119140625], [63.2548828125, -0.1478729248046875], [69.62161254882812, -0.18175506591796875], [75.99673461914062, -0.23166656494140625], [82.39047241210938, -0.3033294677734375], [88.79452514648438, -0.40027618408203125], [95.20558166503906, -0.5196456909179688], [101.62065124511719, -0.6613845825195312], [108.04827880859375, -0.8295135498046875], [114.47804260253906, -1.0331802368164062], [120.91490173339844, -1.2853927612304688], [127.34700012207031, -1.5988311767578125]], "future_hz": 4, "speed_windows": [{"t_s": 0.5, "speed_mps": 25.305}, {"t_s": 1.5, "speed_mps": 25.264}, {"t_s": 2.5, "speed_mps": 25.428}, {"t_s": 3.5, "speed_mps": 25.628}, {"t_s": 4.5, "speed_mps": 25.744}], "minimum_1s_acceleration_mps2": -0.041, "maximum_speed_drop_mps": 0.092, "recorded_response": "roughly_maintain_speed", "method": "4 Hz trajectory path length; 1 s mean speeds; differences of adjacent 1 s means. Recorded response is descriptive, not a causal label."}, "frames": [{"t_s": 0.0, "source_frame": 33, "images": {"front_left": "images/e9675cb299c0aa55718343d74f879bb6-033/+000_front_left.webp", "front": "images/e9675cb299c0aa55718343d74f879bb6-033/+000_front.webp", "front_right": "images/e9675cb299c0aa55718343d74f879bb6-033/+000_front_right.webp", "side_left": "images/e9675cb299c0aa55718343d74f879bb6-033/+000_side_left.webp", "side_right": "images/e9675cb299c0aa55718343d74f879bb6-033/+000_side_right.webp", "rear_left": "images/e9675cb299c0aa55718343d74f879bb6-033/+000_rear_left.webp", "rear": "images/e9675cb299c0aa55718343d74f879bb6-033/+000_rear.webp", "rear_right": "images/e9675cb299c0aa55718343d74f879bb6-033/+000_rear_right.webp"}}], "camera_count": 8, "available_source_times_s": [0.0, 1.0, 2.0, 3.0, 4.0, 5.0], "camera_scope": "current_only", "label": {"title": "Routine elevated-road cruising with adjacent traffic", "category": "routine", "tags": ["elevated roadway", "adjacent traffic", "clear forward lane"], "current_situation": "Ego is traveling at the supplied 25.356 m/s in the rightmost lane of an elevated multilane roadway that bends gently right. A white SUV is immediately ahead-left, a silver hatchback is farther left, and a bus and other vehicles are farther ahead. Barriers border the roadway, visibility is clear in daylight, and no immediate obstruction or applicable stop control is visible. Only t=0 is available, so other actors' motion cannot be established.", "baseline_decision": "Continue the GO_STRAIGHT route in the current lane, following the roadway bend at a safe traffic-appropriate speed and maintaining headway.", "decision_changing_cue": "None visible: adjacent vehicles do not visibly encroach into ego's lane, and the immediate forward path is clear.", "causal_mechanism": "The visible traffic and roadside barriers require ordinary lane keeping and monitoring, not a material departure from the baseline plan.", "expected_action": "maintain_speed", "decision_deviation": false, "annotation": "Ego occupies the rightmost lane of an elevated roadway, with a white SUV ahead-left and a bus farther ahead to the left; the immediate forward lane is clear. Over the next 0–5 seconds, continue in the current lane through the gentle bend at a traffic-appropriate speed, as no visible conflict requires braking or a lane change.", "interest_score": 14, "confidence": 0.93, "selection_reason": "Reject as a long-tail candidate: the scene shows ordinary multilane traffic without a supported cut-in, obstruction, unusual negotiation, or other material decision-changing cue.", "camera_evidence": [{"camera": "front_left", "t_s": 0, "detail": "A silver hatchback and white SUV occupy lanes left of ego; neither visibly crosses the lane markings."}, {"camera": "front", "t_s": 0, "detail": "The immediate rightmost lane is clear, with a bus ahead to the left, smaller vehicles farther ahead, and a barrier along the right edge."}, {"camera": "front_right", "t_s": 0, "detail": "The elevated-road barrier separates ego's roadway from buildings, parking areas, and a surface street below."}, {"camera": "side_left", "t_s": 0, "detail": "A yellow roadway-edge line, barrier, and tall screening panels are visible; vehicles appear beyond the separation."}, {"camera": "side_right", "t_s": 0, "detail": "Parking areas and lower-level streets are visible below the elevated roadway, without a visible connection into ego's immediate path."}, {"camera": "rear_left", "t_s": 0, "detail": "Roadside screening and the yellow edge line continue behind ego; part of a dark vehicle is visible at the left image edge."}, {"camera": "rear", "t_s": 0, "detail": "Several vehicles are behind across the roadway lanes, including a gray car, white SUV, and dark car."}, {"camera": "rear_right", "t_s": 0, "detail": "The roadway barrier overlooks parking areas and buildings below; no actor is visibly entering ego's roadway from this side."}], "uncertainties": ["The single observation cannot establish relative speeds, braking, or lateral motion of surrounding vehicles.", "The applicable speed limit and precise headways are not supplied.", "Distant vehicle details are limited by image resolution."]}, "discovery_label": {"title": "Routine elevated-road cruising with adjacent traffic", "category": "routine", "tags": ["elevated roadway", "adjacent traffic", "clear forward lane"], "current_situation": "Ego is traveling at the supplied 25.356 m/s in the rightmost lane of an elevated multilane roadway that bends gently right. A white SUV is immediately ahead-left, a silver hatchback is farther left, and a bus and other vehicles are farther ahead. Barriers border the roadway, visibility is clear in daylight, and no immediate obstruction or applicable stop control is visible. Only t=0 is available, so other actors' motion cannot be established.", "baseline_decision": "Continue the GO_STRAIGHT route in the current lane, following the roadway bend at a safe traffic-appropriate speed and maintaining headway.", "decision_changing_cue": "None visible: adjacent vehicles do not visibly encroach into ego's lane, and the immediate forward path is clear.", "causal_mechanism": "The visible traffic and roadside barriers require ordinary lane keeping and monitoring, not a material departure from the baseline plan.", "expected_action": "maintain_speed", "decision_deviation": false, "annotation": "Ego occupies the rightmost lane of an elevated roadway, with a white SUV ahead-left and a bus farther ahead to the left; the immediate forward lane is clear. Over the next 0–5 seconds, continue in the current lane through the gentle bend at a traffic-appropriate speed, as no visible conflict requires braking or a lane change.", "interest_score": 14, "confidence": 0.93, "selection_reason": "Reject as a long-tail candidate: the scene shows ordinary multilane traffic without a supported cut-in, obstruction, unusual negotiation, or other material decision-changing cue.", "camera_evidence": [{"camera": "front_left", "t_s": 0, "detail": "A silver hatchback and white SUV occupy lanes left of ego; neither visibly crosses the lane markings."}, {"camera": "front", "t_s": 0, "detail": "The immediate rightmost lane is clear, with a bus ahead to the left, smaller vehicles farther ahead, and a barrier along the right edge."}, {"camera": "front_right", "t_s": 0, "detail": "The elevated-road barrier separates ego's roadway from buildings, parking areas, and a surface street below."}, {"camera": "side_left", "t_s": 0, "detail": "A yellow roadway-edge line, barrier, and tall screening panels are visible; vehicles appear beyond the separation."}, {"camera": "side_right", "t_s": 0, "detail": "Parking areas and lower-level streets are visible below the elevated roadway, without a visible connection into ego's immediate path."}, {"camera": "rear_left", "t_s": 0, "detail": "Roadside screening and the yellow edge line continue behind ego; part of a dark vehicle is visible at the left image edge."}, {"camera": "rear", "t_s": 0, "detail": "Several vehicles are behind across the roadway lanes, including a gray car, white SUV, and dark car."}, {"camera": "rear_right", "t_s": 0, "detail": "The roadway barrier overlooks parking areas and buildings below; no actor is visibly entering ego's roadway from this side."}], "uncertainties": ["The single observation cannot establish relative speeds, braking, or lateral motion of surrounding vehicles.", "The applicable speed limit and precise headways are not supplied.", "Distant vehicle details are limited by image resolution."], "_binding_sha256": "5775126d070a04942c40d002283a0fa1d0546244db51f22c3e872670d526babc", "_request": "requests/e9675cb299c0aa55718343d74f879bb6-033/discovery-001"}, "review": null, "status": "dismissed", "annotation": "Ego occupies the rightmost lane of an elevated roadway, with a white SUV ahead-left and a bus farther ahead to the left; the immediate forward lane is clear. Over the next 0–5 seconds, continue in the current lane through the gentle bend at a traffic-appropriate speed, as no visible conflict requires braking or a lane change.", "selected": false}
{"id": "aa2d7eccc3b82464dce08c23fbeb565c-083", "scenario_id": "aa2d7eccc3b82464dce08c23fbeb565c", "split": "train", "batch_index": 38, "source_manifest_line": 39, "intent": "GO_STRAIGHT", "anchor_frame": 83, "motion": {"current_speed_mps": 10.627, "future_xy_m": [[2.65625, -0.00439453125], [5.3089599609375, -0.00927734375], [7.960205078125, -0.0166015625], [10.608642578125, -0.02685546875], [13.2540283203125, -0.042236328125], [15.898193359375, -0.061767578125], [18.5426025390625, -0.08447265625], [21.18310546875, -0.110107421875], [23.822021484375, -0.137451171875], [26.4559326171875, -0.164306640625], [29.0889892578125, -0.190673828125], [31.717529296875, -0.21533203125], [34.3455810546875, -0.23974609375], [36.9696044921875, -0.263671875], [39.59326171875, -0.292236328125], [42.2138671875, -0.322265625], [44.8331298828125, -0.356201171875], [47.448974609375, -0.390625], [50.0640869140625, -0.424072265625], [52.678466796875, -0.45703125]], "future_hz": 4, "speed_windows": [{"t_s": 0.5, "speed_mps": 10.609}, {"t_s": 1.5, "speed_mps": 10.575}, {"t_s": 2.5, "speed_mps": 10.535}, {"t_s": 3.5, "speed_mps": 10.497}, {"t_s": 4.5, "speed_mps": 10.465}], "minimum_1s_acceleration_mps2": -0.04, "maximum_speed_drop_mps": 0.161, "recorded_response": "roughly_maintain_speed", "method": "4 Hz trajectory path length; 1 s mean speeds; differences of adjacent 1 s means. Recorded response is descriptive, not a causal label."}, "frames": [{"t_s": 0.0, "source_frame": 83, "images": {"front_left": "images/aa2d7eccc3b82464dce08c23fbeb565c-083/+000_front_left.webp", "front": "images/aa2d7eccc3b82464dce08c23fbeb565c-083/+000_front.webp", "front_right": "images/aa2d7eccc3b82464dce08c23fbeb565c-083/+000_front_right.webp", "side_left": "images/aa2d7eccc3b82464dce08c23fbeb565c-083/+000_side_left.webp", "side_right": "images/aa2d7eccc3b82464dce08c23fbeb565c-083/+000_side_right.webp", "rear_left": "images/aa2d7eccc3b82464dce08c23fbeb565c-083/+000_rear_left.webp", "rear": "images/aa2d7eccc3b82464dce08c23fbeb565c-083/+000_rear.webp", "rear_right": "images/aa2d7eccc3b82464dce08c23fbeb565c-083/+000_rear_right.webp"}}], "camera_count": 8, "available_source_times_s": [-2.0, -1.0, 0.0, 1.0, 2.0, 3.0, 4.0, 5.0], "camera_scope": "current_only", "label": {"title": "Open Through Lane Beside Work-Zone Drums", "category": "work_zone", "tags": ["reflective drums", "marked channel", "low illumination"], "current_situation": "Ego is traveling straight at 10.627 m/s on a street illuminated by headlights and streetlights. Double yellow lines lie to ego's left and a dashed white line to its right. Reflective drums and left-pointing chevrons mark a work-zone channel ahead; the current through lane remains visibly open. Headlights are visible ahead on the opposite side of the centerline. Across all eight cameras, no immediate crossing actor, merging vehicle, or obstacle in ego's lane is discernible.", "baseline_decision": "Continue straight in the current lane at a controlled, lawful speed, observing the upcoming traffic signal and roadside speed controls.", "decision_changing_cue": "Reflective drums and left-pointing chevrons delineate the roadway ahead, but no visible taper currently forces ego out of its lane.", "causal_mechanism": "The work-zone markers require attention to the channel boundaries and clearance while proceeding. They do not establish an immediate conflict or a material change from the existing straight-through plan.", "expected_action": "maintain_speed", "decision_deviation": false, "annotation": "Reflective drums and left-pointing chevrons mark a work-zone channel ahead, while ego's current through lane remains open. Ego should continue straight at a controlled speed over the next few seconds, maintaining clearance from the markers; no visible conflict presently requires braking or a lane change.", "interest_score": 50, "confidence": 0.83, "selection_reason": "Reject as a high-interest long-tail candidate: this is a visibly marked work-zone approach without a supported unusual interaction, blocked ego lane, or substantial decision change.", "camera_evidence": [{"camera": "front", "t_s": 0, "detail": "Double yellow lines, a dashed white lane line, reflective drums, and left-pointing chevrons are visible ahead. The foreground through lane is open, with headlights beyond the centerline and a distant green signal."}, {"camera": "front", "t_s": -2, "detail": "The same straight roadway and rows of reflective markers are visible before the current observation, supporting an ongoing approach rather than a newly appearing obstruction."}, {"camera": "front_left", "t_s": 0, "detail": "An upright reflective drum stands on the roadway to ego's left beside the sidewalk; no nearby moving actor is discernible."}, {"camera": "front_right", "t_s": 0, "detail": "A sidewalk, lawn, trees, and low wall border the right side; no actor entering the roadway is discernible."}, {"camera": "side_left", "t_s": -2, "detail": "A continuous construction barrier with striped barricade elements borders the left side."}, {"camera": "side_right", "t_s": 0, "detail": "A dim side-street opening and a hydrant are visible, without discernible crossing traffic."}, {"camera": "rear_left", "t_s": -1, "detail": "Construction fencing and freestanding striped barricades are visible beside the roadway behind ego."}, {"camera": "rear", "t_s": 0, "detail": "The roadway behind remains visibly open, with construction barriers along its image-right edge and distant illuminated signals."}, {"camera": "rear_right", "t_s": 0, "detail": "The right-side sidewalk and building frontage are dimly visible; no nearby road user is discernible."}], "uncertainties": ["Low illumination limits detection of small or unlit actors outside the headlight beam.", "The precise downstream work-zone taper and usable lane width cannot be established from these images.", "Small temporary-sign text and the distant signal's lane assignment are not fully resolvable.", "Only observations through t=0 are available; subsequent ego behavior is unknown."]}, "discovery_label": {"title": "Open Through Lane Beside Work-Zone Drums", "category": "work_zone", "tags": ["reflective drums", "marked channel", "low illumination"], "current_situation": "Ego is traveling straight at 10.627 m/s on a street illuminated by headlights and streetlights. Double yellow lines lie to ego's left and a dashed white line to its right. Reflective drums and left-pointing chevrons mark a work-zone channel ahead; the current through lane remains visibly open. Headlights are visible ahead on the opposite side of the centerline. Across all eight cameras, no immediate crossing actor, merging vehicle, or obstacle in ego's lane is discernible.", "baseline_decision": "Continue straight in the current lane at a controlled, lawful speed, observing the upcoming traffic signal and roadside speed controls.", "decision_changing_cue": "Reflective drums and left-pointing chevrons delineate the roadway ahead, but no visible taper currently forces ego out of its lane.", "causal_mechanism": "The work-zone markers require attention to the channel boundaries and clearance while proceeding. They do not establish an immediate conflict or a material change from the existing straight-through plan.", "expected_action": "maintain_speed", "decision_deviation": false, "annotation": "Reflective drums and left-pointing chevrons mark a work-zone channel ahead, while ego's current through lane remains open. Ego should continue straight at a controlled speed over the next few seconds, maintaining clearance from the markers; no visible conflict presently requires braking or a lane change.", "interest_score": 50, "confidence": 0.83, "selection_reason": "Reject as a high-interest long-tail candidate: this is a visibly marked work-zone approach without a supported unusual interaction, blocked ego lane, or substantial decision change.", "camera_evidence": [{"camera": "front", "t_s": 0, "detail": "Double yellow lines, a dashed white lane line, reflective drums, and left-pointing chevrons are visible ahead. The foreground through lane is open, with headlights beyond the centerline and a distant green signal."}, {"camera": "front", "t_s": -2, "detail": "The same straight roadway and rows of reflective markers are visible before the current observation, supporting an ongoing approach rather than a newly appearing obstruction."}, {"camera": "front_left", "t_s": 0, "detail": "An upright reflective drum stands on the roadway to ego's left beside the sidewalk; no nearby moving actor is discernible."}, {"camera": "front_right", "t_s": 0, "detail": "A sidewalk, lawn, trees, and low wall border the right side; no actor entering the roadway is discernible."}, {"camera": "side_left", "t_s": -2, "detail": "A continuous construction barrier with striped barricade elements borders the left side."}, {"camera": "side_right", "t_s": 0, "detail": "A dim side-street opening and a hydrant are visible, without discernible crossing traffic."}, {"camera": "rear_left", "t_s": -1, "detail": "Construction fencing and freestanding striped barricades are visible beside the roadway behind ego."}, {"camera": "rear", "t_s": 0, "detail": "The roadway behind remains visibly open, with construction barriers along its image-right edge and distant illuminated signals."}, {"camera": "rear_right", "t_s": 0, "detail": "The right-side sidewalk and building frontage are dimly visible; no nearby road user is discernible."}], "uncertainties": ["Low illumination limits detection of small or unlit actors outside the headlight beam.", "The precise downstream work-zone taper and usable lane width cannot be established from these images.", "Small temporary-sign text and the distant signal's lane assignment are not fully resolvable.", "Only observations through t=0 are available; subsequent ego behavior is unknown."], "_binding_sha256": "2206d156321e6549b454e24d9750a43cb3c51d3c09d4c9435ccdb96215011f5a", "_request": "requests/aa2d7eccc3b82464dce08c23fbeb565c-083/discovery-001"}, "review": null, "status": "dismissed", "annotation": "Reflective drums and left-pointing chevrons mark a work-zone channel ahead, while ego's current through lane remains open. Ego should continue straight at a controlled speed over the next few seconds, maintaining clearance from the markers; no visible conflict presently requires braking or a lane change.", "selected": false}
{"id": "3b51f290af7362c445ef81211d4c2c1f-211", "scenario_id": "3b51f290af7362c445ef81211d4c2c1f", "split": "train", "batch_index": 39, "source_manifest_line": 40, "intent": "GO_STRAIGHT", "anchor_frame": 211, "motion": {"current_speed_mps": 8.288, "future_xy_m": [[2.074462890625, 0.009765625], [4.152099609375, 0.041015625], [6.2265625, 0.091796875], [8.30126953125, 0.15625], [10.380859375, 0.236328125], [12.45556640625, 0.326171875], [14.53125, 0.421875], [16.609619140625, 0.521484375], [18.69140625, 0.625], [20.77294921875, 0.71875], [22.8544921875, 0.8046875], [24.93798828125, 0.88671875], [27.0224609375, 0.966796875], [29.109375, 1.04296875], [31.197998046875, 1.119140625], [33.28857421875, 1.19140625], [35.382568359375, 1.265625], [37.47998046875, 1.33984375], [39.575439453125, 1.4140625], [41.671875, 1.48828125]], "future_hz": 4, "speed_windows": [{"t_s": 0.5, "speed_mps": 8.303}, {"t_s": 1.5, "speed_mps": 8.316}, {"t_s": 2.5, "speed_mps": 8.336}, {"t_s": 3.5, "speed_mps": 8.356}, {"t_s": 4.5, "speed_mps": 8.389}], "minimum_1s_acceleration_mps2": 0.013, "maximum_speed_drop_mps": 0.0, "recorded_response": "roughly_maintain_speed", "method": "4 Hz trajectory path length; 1 s mean speeds; differences of adjacent 1 s means. Recorded response is descriptive, not a causal label."}, "frames": [{"t_s": 0.0, "source_frame": 211, "images": {"front_left": "images/3b51f290af7362c445ef81211d4c2c1f-211/+000_front_left.webp", "front": "images/3b51f290af7362c445ef81211d4c2c1f-211/+000_front.webp", "front_right": "images/3b51f290af7362c445ef81211d4c2c1f-211/+000_front_right.webp", "side_left": "images/3b51f290af7362c445ef81211d4c2c1f-211/+000_side_left.webp", "side_right": "images/3b51f290af7362c445ef81211d4c2c1f-211/+000_side_right.webp", "rear_left": "images/3b51f290af7362c445ef81211d4c2c1f-211/+000_rear_left.webp", "rear": "images/3b51f290af7362c445ef81211d4c2c1f-211/+000_rear.webp", "rear_right": "images/3b51f290af7362c445ef81211d4c2c1f-211/+000_rear_right.webp"}}], "camera_count": 8, "available_source_times_s": [-2.0, -1.0, 0.0, 1.0], "camera_scope": "current_only", "label": {"title": "Routine Residential Passing Between Parked Vehicles", "category": "routine", "tags": ["curbside parking", "residential street", "clear passage"], "current_situation": "Ego is traveling at 8.288 m/s with a straight-ahead route on an unmarked residential street in daylight. Pickups are parked along both curbs ahead, leaving a visible central passage. Two people are visible in a yard on ego's left, set back from the roadway. A large green container occupies a right-side driveway, not the street. No applicable stop or signal is identifiable in the visible approach.", "baseline_decision": "Continue straight at a steady, appropriate residential speed, selecting a path with normal clearance from the parked vehicles.", "decision_changing_cue": "None established: the parked vehicles remain aligned with the curbs across the available history, and no visible person or object enters ego's path.", "causal_mechanism": "Curbside parking requires ordinary passing clearance, but neither the yard occupants nor the driveway container creates a visible conflict requiring a material change to the straight-ahead plan.", "expected_action": "maintain_speed", "decision_deviation": false, "annotation": "Parked pickups line both curbs of a straight residential street, leaving a clear passage, while two people are set back in a yard on ego's left. Ego should continue straight over the next few seconds at an appropriate residential speed with normal parked-vehicle clearance; no visible roadway intrusion warrants additional braking or a route change.", "interest_score": 22, "confidence": 0.89, "selection_reason": "Reject as a long-tail candidate: ordinary curbside parking, people outside the roadway, and a driveway container do not establish a nonroutine interaction or substantial decision change.", "camera_evidence": [{"camera": "front", "t_s": -2, "detail": "White vehicles along the left curb and a gray pickup along the right curb leave the middle of the street open."}, {"camera": "front", "t_s": -1, "detail": "The same curbside vehicles remain in place relative to their adjacent sidewalks as ego approaches."}, {"camera": "front", "t_s": 0, "detail": "The enlarged view shows an unmarked straight roadway and a visible passage between the parked pickups."}, {"camera": "front_left", "t_s": 0, "detail": "A chain-link fence separates a residential yard from the sidewalk; a vehicle is parked on the property."}, {"camera": "front_right", "t_s": 0, "detail": "A large green container sits on a driveway behind the sidewalk rather than in the roadway."}, {"camera": "side_left", "t_s": 0, "detail": "Two people are visible near the house and yard fence, set back from the sidewalk and street."}, {"camera": "side_right", "t_s": 0, "detail": "The adjacent sidewalk and residential frontage show no visible roadway-entering actor."}, {"camera": "rear_left", "t_s": 0, "detail": "Vehicles are visible in residential driveways behind ego, with no visible lateral intrusion."}, {"camera": "rear", "t_s": 0, "detail": "The street behind remains open, with a sedan along the curb and no evident immediate rear conflict."}, {"camera": "rear_right", "t_s": 0, "detail": "Residential driveways, landscaping, and sidewalk are visible without an actor entering the road."}], "uncertainties": ["The yard occupants' precise activities and future movements cannot be determined.", "Photographs do not establish calibrated passing widths or distances.", "Distant signs are not readable enough to determine their restrictions."]}, "discovery_label": {"title": "Routine Residential Passing Between Parked Vehicles", "category": "routine", "tags": ["curbside parking", "residential street", "clear passage"], "current_situation": "Ego is traveling at 8.288 m/s with a straight-ahead route on an unmarked residential street in daylight. Pickups are parked along both curbs ahead, leaving a visible central passage. Two people are visible in a yard on ego's left, set back from the roadway. A large green container occupies a right-side driveway, not the street. No applicable stop or signal is identifiable in the visible approach.", "baseline_decision": "Continue straight at a steady, appropriate residential speed, selecting a path with normal clearance from the parked vehicles.", "decision_changing_cue": "None established: the parked vehicles remain aligned with the curbs across the available history, and no visible person or object enters ego's path.", "causal_mechanism": "Curbside parking requires ordinary passing clearance, but neither the yard occupants nor the driveway container creates a visible conflict requiring a material change to the straight-ahead plan.", "expected_action": "maintain_speed", "decision_deviation": false, "annotation": "Parked pickups line both curbs of a straight residential street, leaving a clear passage, while two people are set back in a yard on ego's left. Ego should continue straight over the next few seconds at an appropriate residential speed with normal parked-vehicle clearance; no visible roadway intrusion warrants additional braking or a route change.", "interest_score": 22, "confidence": 0.89, "selection_reason": "Reject as a long-tail candidate: ordinary curbside parking, people outside the roadway, and a driveway container do not establish a nonroutine interaction or substantial decision change.", "camera_evidence": [{"camera": "front", "t_s": -2, "detail": "White vehicles along the left curb and a gray pickup along the right curb leave the middle of the street open."}, {"camera": "front", "t_s": -1, "detail": "The same curbside vehicles remain in place relative to their adjacent sidewalks as ego approaches."}, {"camera": "front", "t_s": 0, "detail": "The enlarged view shows an unmarked straight roadway and a visible passage between the parked pickups."}, {"camera": "front_left", "t_s": 0, "detail": "A chain-link fence separates a residential yard from the sidewalk; a vehicle is parked on the property."}, {"camera": "front_right", "t_s": 0, "detail": "A large green container sits on a driveway behind the sidewalk rather than in the roadway."}, {"camera": "side_left", "t_s": 0, "detail": "Two people are visible near the house and yard fence, set back from the sidewalk and street."}, {"camera": "side_right", "t_s": 0, "detail": "The adjacent sidewalk and residential frontage show no visible roadway-entering actor."}, {"camera": "rear_left", "t_s": 0, "detail": "Vehicles are visible in residential driveways behind ego, with no visible lateral intrusion."}, {"camera": "rear", "t_s": 0, "detail": "The street behind remains open, with a sedan along the curb and no evident immediate rear conflict."}, {"camera": "rear_right", "t_s": 0, "detail": "Residential driveways, landscaping, and sidewalk are visible without an actor entering the road."}], "uncertainties": ["The yard occupants' precise activities and future movements cannot be determined.", "Photographs do not establish calibrated passing widths or distances.", "Distant signs are not readable enough to determine their restrictions."], "_binding_sha256": "5bed510acfb6a645f9b4271097f10a3a0b9516c82b8e753c5b11a24312f70a0b", "_request": "requests/3b51f290af7362c445ef81211d4c2c1f-211/discovery-001"}, "review": null, "status": "dismissed", "annotation": "Parked pickups line both curbs of a straight residential street, leaving a clear passage, while two people are set back in a yard on ego's left. Ego should continue straight over the next few seconds at an appropriate residential speed with normal parked-vehicle clearance; no visible roadway intrusion warrants additional braking or a route change.", "selected": false}
{"id": "6c1968916f97cf11f599d7a2f87827d0-051", "scenario_id": "6c1968916f97cf11f599d7a2f87827d0", "split": "train", "batch_index": 40, "source_manifest_line": 41, "intent": "GO_STRAIGHT", "anchor_frame": 51, "motion": {"current_speed_mps": 10.483, "future_xy_m": [[2.614013671875, -0.032379150390625], [5.22119140625, -0.09832763671875], [7.8271484375, -0.195098876953125], [10.422607421875, -0.32244873046875], [13.015380859375, -0.479705810546875], [15.6005859375, -0.659515380859375], [18.17431640625, -0.85546875], [20.731201171875, -1.06597900390625], [23.26708984375, -1.2884521484375], [25.76953125, -1.5201416015625], [28.223876953125, -1.75762939453125], [30.624755859375, -1.9976806640625], [32.971435546875, -2.235107421875], [35.264892578125, -2.458953857421875], [37.4990234375, -2.661407470703125], [39.66748046875, -2.83843994140625], [41.7685546875, -2.98687744140625], [43.807373046875, -3.111053466796875], [45.78369140625, -3.213958740234375], [47.699462890625, -3.29718017578125]], "future_hz": 4, "speed_windows": [{"t_s": 0.5, "speed_mps": 10.429}, {"t_s": 1.5, "speed_mps": 10.336}, {"t_s": 2.5, "speed_mps": 9.937}, {"t_s": 3.5, "speed_mps": 9.082}, {"t_s": 4.5, "speed_mps": 8.045}], "minimum_1s_acceleration_mps2": -1.036, "maximum_speed_drop_mps": 2.438, "recorded_response": "slow_down", "method": "4 Hz trajectory path length; 1 s mean speeds; differences of adjacent 1 s means. Recorded response is descriptive, not a causal label."}, "frames": [{"t_s": 0.0, "source_frame": 51, "images": {"front_left": "images/6c1968916f97cf11f599d7a2f87827d0-051/+000_front_left.webp", "front": "images/6c1968916f97cf11f599d7a2f87827d0-051/+000_front.webp", "front_right": "images/6c1968916f97cf11f599d7a2f87827d0-051/+000_front_right.webp", "side_left": "images/6c1968916f97cf11f599d7a2f87827d0-051/+000_side_left.webp", "side_right": "images/6c1968916f97cf11f599d7a2f87827d0-051/+000_side_right.webp", "rear_left": "images/6c1968916f97cf11f599d7a2f87827d0-051/+000_rear_left.webp", "rear": "images/6c1968916f97cf11f599d7a2f87827d0-051/+000_rear.webp", "rear_right": "images/6c1968916f97cf11f599d7a2f87827d0-051/+000_rear_right.webp"}}], "camera_count": 8, "available_source_times_s": [-2.0, -1.0, 0.0, 1.0, 2.0, 3.0, 4.0, 5.0], "camera_scope": "current_only", "label": {"title": "Routine Residential Curve With Oncoming Car", "category": "routine", "tags": ["residential curve", "oncoming traffic", "off-road parking"], "current_situation": "Ego is traveling at 10.483 m/s on a gently curving two-way residential road with double-yellow centerlines and a white right-edge line. An oncoming car becomes larger across the observation history while remaining in the opposing lane. A blue pickup and other vehicles appear parked in right-side driveways, outside the travel lane. Trees, walls, and houses border the road; sunlight brightens the pavement, but lane boundaries remain visible. No pedestrian, roadway obstruction, or applicable stop or signal control is visible.", "baseline_decision": "Follow the through road consistent with GO_STRAIGHT, maintaining an appropriate steady speed and staying within the ego lane through the curve.", "decision_changing_cue": "None supported: the oncoming car remains across the centerline, and the driveway vehicles do not visibly enter or obstruct the ego lane.", "causal_mechanism": "The visible actors require ordinary lane keeping and monitoring, not a material change from the normal through-road plan.", "expected_action": "maintain_speed", "decision_deviation": false, "annotation": "An oncoming car approaches in the opposing lane on a gently curving residential road, while vehicles remain parked off the right side. Over the next few seconds, ego should continue through the curve at an appropriate steady speed within its lane; no visible interaction requires an additional yield, stop, or evasive maneuver.", "interest_score": 18, "confidence": 0.93, "selection_reason": "Reject as a long-tail candidate: the curve, opposing traffic, and driveway parking are routine, with no visibly supported conflict or substantial decision change.", "camera_evidence": [{"camera": "front", "t_s": -2, "detail": "A small oncoming vehicle is visible across the double-yellow centerline; the ego lane is unobstructed."}, {"camera": "front", "t_s": -1, "detail": "The oncoming car appears larger and remains in the opposing lane as ego advances along the curve."}, {"camera": "front", "t_s": 0, "detail": "The approaching car remains left of the double-yellow centerline; the white right-edge line and clear ego lane are visible."}, {"camera": "front_left", "t_s": 0, "detail": "A sloped residential driveway, trees, and stone frontage are visible without an actor entering the road."}, {"camera": "front_right", "t_s": 0, "detail": "A blue pickup and white minivan sit in residential driveway areas beyond the curb, without visible travel-lane intrusion."}, {"camera": "side_left", "t_s": 0, "detail": "Trees, fencing, stone steps, and residential frontage border the left side; no nearby road user is visible."}, {"camera": "side_right", "t_s": 0, "detail": "Trees and a house occupy the roadside view; no actor is visible entering the road beside ego."}, {"camera": "rear_left", "t_s": 0, "detail": "A gated residential driveway and stone pillars are visible behind the left side."}, {"camera": "rear", "t_s": 0, "detail": "The road curves away behind ego, with no close following vehicle apparent."}, {"camera": "rear_right", "t_s": 0, "detail": "A white car and pickup are visible in a driveway off the road, beside a fence and house."}], "uncertainties": ["Independent motion of driveway vehicles cannot be established from these views; they appear parked.", "Fine details of distant actors are limited by image resolution and bright pavement reflections.", "The supplied evidence does not establish ego's subsequent recorded response."]}, "discovery_label": {"title": "Routine Residential Curve With Oncoming Car", "category": "routine", "tags": ["residential curve", "oncoming traffic", "off-road parking"], "current_situation": "Ego is traveling at 10.483 m/s on a gently curving two-way residential road with double-yellow centerlines and a white right-edge line. An oncoming car becomes larger across the observation history while remaining in the opposing lane. A blue pickup and other vehicles appear parked in right-side driveways, outside the travel lane. Trees, walls, and houses border the road; sunlight brightens the pavement, but lane boundaries remain visible. No pedestrian, roadway obstruction, or applicable stop or signal control is visible.", "baseline_decision": "Follow the through road consistent with GO_STRAIGHT, maintaining an appropriate steady speed and staying within the ego lane through the curve.", "decision_changing_cue": "None supported: the oncoming car remains across the centerline, and the driveway vehicles do not visibly enter or obstruct the ego lane.", "causal_mechanism": "The visible actors require ordinary lane keeping and monitoring, not a material change from the normal through-road plan.", "expected_action": "maintain_speed", "decision_deviation": false, "annotation": "An oncoming car approaches in the opposing lane on a gently curving residential road, while vehicles remain parked off the right side. Over the next few seconds, ego should continue through the curve at an appropriate steady speed within its lane; no visible interaction requires an additional yield, stop, or evasive maneuver.", "interest_score": 18, "confidence": 0.93, "selection_reason": "Reject as a long-tail candidate: the curve, opposing traffic, and driveway parking are routine, with no visibly supported conflict or substantial decision change.", "camera_evidence": [{"camera": "front", "t_s": -2, "detail": "A small oncoming vehicle is visible across the double-yellow centerline; the ego lane is unobstructed."}, {"camera": "front", "t_s": -1, "detail": "The oncoming car appears larger and remains in the opposing lane as ego advances along the curve."}, {"camera": "front", "t_s": 0, "detail": "The approaching car remains left of the double-yellow centerline; the white right-edge line and clear ego lane are visible."}, {"camera": "front_left", "t_s": 0, "detail": "A sloped residential driveway, trees, and stone frontage are visible without an actor entering the road."}, {"camera": "front_right", "t_s": 0, "detail": "A blue pickup and white minivan sit in residential driveway areas beyond the curb, without visible travel-lane intrusion."}, {"camera": "side_left", "t_s": 0, "detail": "Trees, fencing, stone steps, and residential frontage border the left side; no nearby road user is visible."}, {"camera": "side_right", "t_s": 0, "detail": "Trees and a house occupy the roadside view; no actor is visible entering the road beside ego."}, {"camera": "rear_left", "t_s": 0, "detail": "A gated residential driveway and stone pillars are visible behind the left side."}, {"camera": "rear", "t_s": 0, "detail": "The road curves away behind ego, with no close following vehicle apparent."}, {"camera": "rear_right", "t_s": 0, "detail": "A white car and pickup are visible in a driveway off the road, beside a fence and house."}], "uncertainties": ["Independent motion of driveway vehicles cannot be established from these views; they appear parked.", "Fine details of distant actors are limited by image resolution and bright pavement reflections.", "The supplied evidence does not establish ego's subsequent recorded response."], "_binding_sha256": "2d39ce4c9162eb292c7195f888f5288e32b3c367d82b58ef575d3d447404016e", "_request": "requests/6c1968916f97cf11f599d7a2f87827d0-051/discovery-001"}, "review": null, "status": "dismissed", "annotation": "An oncoming car approaches in the opposing lane on a gently curving residential road, while vehicles remain parked off the right side. Over the next few seconds, ego should continue through the curve at an appropriate steady speed within its lane; no visible interaction requires an additional yield, stop, or evasive maneuver.", "selected": false}
{"id": "e8adc7293c640346b8b0cbf167b91654-040", "scenario_id": "e8adc7293c640346b8b0cbf167b91654", "split": "train", "batch_index": 41, "source_manifest_line": 42, "intent": "GO_LEFT", "anchor_frame": 40, "motion": {"current_speed_mps": 0.0, "future_xy_m": [[0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, -0.000244140625], [0.0, -0.000244140625], [0.0, -0.000244140625], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0]], "future_hz": 4, "speed_windows": [{"t_s": 0.5, "speed_mps": 0.0}, {"t_s": 1.5, "speed_mps": 0.0}, {"t_s": 2.5, "speed_mps": 0.0}, {"t_s": 3.5, "speed_mps": 0.0}, {"t_s": 4.5, "speed_mps": 0.0}], "minimum_1s_acceleration_mps2": -0.0, "maximum_speed_drop_mps": 0.0, "recorded_response": "remain_stopped", "method": "4 Hz trajectory path length; 1 s mean speeds; differences of adjacent 1 s means. Recorded response is descriptive, not a causal label."}, "frames": [{"t_s": 0.0, "source_frame": 40, "images": {"front_left": "images/e8adc7293c640346b8b0cbf167b91654-040/+000_front_left.webp", "front": "images/e8adc7293c640346b8b0cbf167b91654-040/+000_front.webp", "front_right": "images/e8adc7293c640346b8b0cbf167b91654-040/+000_front_right.webp", "side_left": "images/e8adc7293c640346b8b0cbf167b91654-040/+000_side_left.webp", "side_right": "images/e8adc7293c640346b8b0cbf167b91654-040/+000_side_right.webp", "rear_left": "images/e8adc7293c640346b8b0cbf167b91654-040/+000_rear_left.webp", "rear": "images/e8adc7293c640346b8b0cbf167b91654-040/+000_rear.webp", "rear_right": "images/e8adc7293c640346b8b0cbf167b91654-040/+000_rear_right.webp"}}], "camera_count": 8, "available_source_times_s": [-1.0, 0.0, 1.0, 2.0, 3.0, 4.0, 5.0], "camera_scope": "current_only", "label": {"title": "Routine signal wait before a restricted left turn", "category": "routine", "tags": ["signal wait", "left-turn route", "cross traffic", "time-dependent restriction"], "current_situation": "Ego is stationary before a signalized intersection with a planned left turn. Upper red signal lamps face ego. A white pickup moves from right toward left across the intersection between observations, and a van is visible entering from the left at t=0. A roadside sign prohibits left turns during posted weekday peak hours. No pedestrian, cyclist, or obstruction in ego's immediate path is visible across the eight cameras.", "baseline_decision": "Even without the crossing vehicles, remain stopped for the red signal. Subsequently turn left only when the signal, posted turn restriction, and traffic permit.", "decision_changing_cue": "No material nonroutine cue is supported. Crossing traffic reinforces the existing signal-controlled wait rather than changing the baseline decision.", "causal_mechanism": "The red signal already prevents departure. Cross traffic occupies the intersection, but does not require an additional maneuver or stronger braking from the stationary ego.", "expected_action": "remain_stopped", "decision_deviation": false, "annotation": "Ego is stopped at a red signal for a planned left turn while vehicles cross ahead, with a weekday peak-hour left-turn prohibition posted nearby. Even without those vehicles, ego should remain stopped now and begin the left turn only when the signal, restriction, and traffic permit.", "interest_score": 44, "confidence": 0.91, "selection_reason": "Reject as a long-tail candidate: this is a routine signal-controlled wait, with no visible unusual conflict or material deviation from the required baseline. The posted restriction is relevant to route legality but its applicability at capture time is unknown.", "camera_evidence": [{"camera": "front", "t_s": 0, "detail": "Upper red signal lamps face ego; intersection markings lie ahead, with a dark car near the opposite approach."}, {"camera": "front_right", "t_s": -1, "detail": "A white pickup is visible on the cross street to ego's right."}, {"camera": "front_right", "t_s": 0, "detail": "The pickup has shifted leftward toward the front view, supporting right-to-left cross-street motion."}, {"camera": "front_left", "t_s": 0, "detail": "A van is visible on the cross street at the left edge. The nearby sign prohibits left turns from 6–9 AM and 4–6 PM, Monday–Friday."}, {"camera": "side_left", "t_s": 0, "detail": "Vehicles are visible along the cross street beyond landscaping; the nearby sidewalk has no visible pedestrian."}, {"camera": "side_right", "t_s": 0, "detail": "A wall, shrubs, and palm trunks limit the lateral view; no road user is visible in this camera."}, {"camera": "rear_left", "t_s": 0, "detail": "A building, landscaped frontage, and sidewalk are visible without an adjacent moving actor."}, {"camera": "rear", "t_s": 0, "detail": "The approach behind ego has double-yellow center lines and no nearby following vehicle visible."}, {"camera": "rear_right", "t_s": 0, "detail": "A paved driveway and wall are visible, with a ROAD CLOSED sign beside the driveway rather than across ego's approach."}], "uncertainties": ["The capture time and weekday are not supplied, so applicability of the posted left-turn prohibition cannot be determined.", "The available one-second history does not establish future signal changes or vehicle maneuvers."]}, "discovery_label": {"title": "Routine signal wait before a restricted left turn", "category": "routine", "tags": ["signal wait", "left-turn route", "cross traffic", "time-dependent restriction"], "current_situation": "Ego is stationary before a signalized intersection with a planned left turn. Upper red signal lamps face ego. A white pickup moves from right toward left across the intersection between observations, and a van is visible entering from the left at t=0. A roadside sign prohibits left turns during posted weekday peak hours. No pedestrian, cyclist, or obstruction in ego's immediate path is visible across the eight cameras.", "baseline_decision": "Even without the crossing vehicles, remain stopped for the red signal. Subsequently turn left only when the signal, posted turn restriction, and traffic permit.", "decision_changing_cue": "No material nonroutine cue is supported. Crossing traffic reinforces the existing signal-controlled wait rather than changing the baseline decision.", "causal_mechanism": "The red signal already prevents departure. Cross traffic occupies the intersection, but does not require an additional maneuver or stronger braking from the stationary ego.", "expected_action": "remain_stopped", "decision_deviation": false, "annotation": "Ego is stopped at a red signal for a planned left turn while vehicles cross ahead, with a weekday peak-hour left-turn prohibition posted nearby. Even without those vehicles, ego should remain stopped now and begin the left turn only when the signal, restriction, and traffic permit.", "interest_score": 44, "confidence": 0.91, "selection_reason": "Reject as a long-tail candidate: this is a routine signal-controlled wait, with no visible unusual conflict or material deviation from the required baseline. The posted restriction is relevant to route legality but its applicability at capture time is unknown.", "camera_evidence": [{"camera": "front", "t_s": 0, "detail": "Upper red signal lamps face ego; intersection markings lie ahead, with a dark car near the opposite approach."}, {"camera": "front_right", "t_s": -1, "detail": "A white pickup is visible on the cross street to ego's right."}, {"camera": "front_right", "t_s": 0, "detail": "The pickup has shifted leftward toward the front view, supporting right-to-left cross-street motion."}, {"camera": "front_left", "t_s": 0, "detail": "A van is visible on the cross street at the left edge. The nearby sign prohibits left turns from 6–9 AM and 4–6 PM, Monday–Friday."}, {"camera": "side_left", "t_s": 0, "detail": "Vehicles are visible along the cross street beyond landscaping; the nearby sidewalk has no visible pedestrian."}, {"camera": "side_right", "t_s": 0, "detail": "A wall, shrubs, and palm trunks limit the lateral view; no road user is visible in this camera."}, {"camera": "rear_left", "t_s": 0, "detail": "A building, landscaped frontage, and sidewalk are visible without an adjacent moving actor."}, {"camera": "rear", "t_s": 0, "detail": "The approach behind ego has double-yellow center lines and no nearby following vehicle visible."}, {"camera": "rear_right", "t_s": 0, "detail": "A paved driveway and wall are visible, with a ROAD CLOSED sign beside the driveway rather than across ego's approach."}], "uncertainties": ["The capture time and weekday are not supplied, so applicability of the posted left-turn prohibition cannot be determined.", "The available one-second history does not establish future signal changes or vehicle maneuvers."], "_binding_sha256": "90f40b57520628b96d15ffe83986e6281a222b616eecb4efc6165df4b1b10140", "_request": "requests/e8adc7293c640346b8b0cbf167b91654-040/discovery-001"}, "review": null, "status": "dismissed", "annotation": "Ego is stopped at a red signal for a planned left turn while vehicles cross ahead, with a weekday peak-hour left-turn prohibition posted nearby. Even without those vehicles, ego should remain stopped now and begin the left turn only when the signal, restriction, and traffic permit.", "selected": false}
{"id": "d69b6d5dadc361ae15030b67780d055c-189", "scenario_id": "d69b6d5dadc361ae15030b67780d055c", "split": "train", "batch_index": 42, "source_manifest_line": 43, "intent": "GO_STRAIGHT", "anchor_frame": 189, "motion": {"current_speed_mps": 8.029, "future_xy_m": [[2.0126953125, -0.001953125], [4.0322265625, -0.0048828125], [6.0458984375, -0.0078125], [8.0205078125, -0.0107421875], [9.94189453125, -0.015625], [11.81787109375, -0.01953125], [13.6494140625, -0.017578125], [15.43994140625, -0.017578125], [17.1787109375, -0.0126953125], [18.8623046875, -0.0087890625], [20.47802734375, -0.001953125], [22.009765625, 0.005859375], [23.44140625, 0.0146484375], [24.76611328125, 0.021484375], [25.98193359375, 0.025390625], [27.10107421875, 0.01953125], [28.13720703125, -0.0048828125], [29.10986328125, -0.0654296875], [30.03955078125, -0.169921875], [30.927734375, -0.33984375]], "future_hz": 4, "speed_windows": [{"t_s": 0.5, "speed_mps": 8.021}, {"t_s": 1.5, "speed_mps": 7.419}, {"t_s": 2.5, "speed_mps": 6.57}, {"t_s": 3.5, "speed_mps": 5.091}, {"t_s": 4.5, "speed_mps": 3.851}], "minimum_1s_acceleration_mps2": -1.478, "maximum_speed_drop_mps": 4.178, "recorded_response": "slow_down", "method": "4 Hz trajectory path length; 1 s mean speeds; differences of adjacent 1 s means. Recorded response is descriptive, not a causal label."}, "frames": [{"t_s": -2.0, "source_frame": 169, "images": {"front_left": "images/d69b6d5dadc361ae15030b67780d055c-189/-020_front_left.webp", "front": "images/d69b6d5dadc361ae15030b67780d055c-189/-020_front.webp", "front_right": "images/d69b6d5dadc361ae15030b67780d055c-189/-020_front_right.webp", "side_left": "images/d69b6d5dadc361ae15030b67780d055c-189/-020_side_left.webp", "side_right": "images/d69b6d5dadc361ae15030b67780d055c-189/-020_side_right.webp", "rear_left": "images/d69b6d5dadc361ae15030b67780d055c-189/-020_rear_left.webp", "rear": "images/d69b6d5dadc361ae15030b67780d055c-189/-020_rear.webp", "rear_right": "images/d69b6d5dadc361ae15030b67780d055c-189/-020_rear_right.webp"}}, {"t_s": -1.0, "source_frame": 179, "images": {"front_left": "images/d69b6d5dadc361ae15030b67780d055c-189/-010_front_left.webp", "front": "images/d69b6d5dadc361ae15030b67780d055c-189/-010_front.webp", "front_right": "images/d69b6d5dadc361ae15030b67780d055c-189/-010_front_right.webp", "side_left": "images/d69b6d5dadc361ae15030b67780d055c-189/-010_side_left.webp", "side_right": "images/d69b6d5dadc361ae15030b67780d055c-189/-010_side_right.webp", "rear_left": "images/d69b6d5dadc361ae15030b67780d055c-189/-010_rear_left.webp", "rear": "images/d69b6d5dadc361ae15030b67780d055c-189/-010_rear.webp", "rear_right": "images/d69b6d5dadc361ae15030b67780d055c-189/-010_rear_right.webp"}}, {"t_s": 0.0, "source_frame": 189, "images": {"front_left": "images/d69b6d5dadc361ae15030b67780d055c-189/+000_front_left.webp", "front": "images/d69b6d5dadc361ae15030b67780d055c-189/+000_front.webp", "front_right": "images/d69b6d5dadc361ae15030b67780d055c-189/+000_front_right.webp", "side_left": "images/d69b6d5dadc361ae15030b67780d055c-189/+000_side_left.webp", "side_right": "images/d69b6d5dadc361ae15030b67780d055c-189/+000_side_right.webp", "rear_left": "images/d69b6d5dadc361ae15030b67780d055c-189/+000_rear_left.webp", "rear": "images/d69b6d5dadc361ae15030b67780d055c-189/+000_rear.webp", "rear_right": "images/d69b6d5dadc361ae15030b67780d055c-189/+000_rear_right.webp"}}, {"t_s": 1.0, "source_frame": 199, "images": {"front_left": "images/d69b6d5dadc361ae15030b67780d055c-189/+010_front_left.webp", "front": "images/d69b6d5dadc361ae15030b67780d055c-189/+010_front.webp", "front_right": "images/d69b6d5dadc361ae15030b67780d055c-189/+010_front_right.webp", "side_left": "images/d69b6d5dadc361ae15030b67780d055c-189/+010_side_left.webp", "side_right": "images/d69b6d5dadc361ae15030b67780d055c-189/+010_side_right.webp", "rear_left": "images/d69b6d5dadc361ae15030b67780d055c-189/+010_rear_left.webp", "rear": "images/d69b6d5dadc361ae15030b67780d055c-189/+010_rear.webp", "rear_right": "images/d69b6d5dadc361ae15030b67780d055c-189/+010_rear_right.webp"}}, {"t_s": 2.0, "source_frame": 209, "images": {"front_left": "images/d69b6d5dadc361ae15030b67780d055c-189/+020_front_left.webp", "front": "images/d69b6d5dadc361ae15030b67780d055c-189/+020_front.webp", "front_right": "images/d69b6d5dadc361ae15030b67780d055c-189/+020_front_right.webp", "side_left": "images/d69b6d5dadc361ae15030b67780d055c-189/+020_side_left.webp", "side_right": "images/d69b6d5dadc361ae15030b67780d055c-189/+020_side_right.webp", "rear_left": "images/d69b6d5dadc361ae15030b67780d055c-189/+020_rear_left.webp", "rear": "images/d69b6d5dadc361ae15030b67780d055c-189/+020_rear.webp", "rear_right": "images/d69b6d5dadc361ae15030b67780d055c-189/+020_rear_right.webp"}}, {"t_s": 3.0, "source_frame": 219, "images": {"front_left": "images/d69b6d5dadc361ae15030b67780d055c-189/+030_front_left.webp", "front": "images/d69b6d5dadc361ae15030b67780d055c-189/+030_front.webp", "front_right": "images/d69b6d5dadc361ae15030b67780d055c-189/+030_front_right.webp", "side_left": "images/d69b6d5dadc361ae15030b67780d055c-189/+030_side_left.webp", "side_right": "images/d69b6d5dadc361ae15030b67780d055c-189/+030_side_right.webp", "rear_left": "images/d69b6d5dadc361ae15030b67780d055c-189/+030_rear_left.webp", "rear": "images/d69b6d5dadc361ae15030b67780d055c-189/+030_rear.webp", "rear_right": "images/d69b6d5dadc361ae15030b67780d055c-189/+030_rear_right.webp"}}, {"t_s": 4.0, "source_frame": 229, "images": {"front_left": "images/d69b6d5dadc361ae15030b67780d055c-189/+040_front_left.webp", "front": "images/d69b6d5dadc361ae15030b67780d055c-189/+040_front.webp", "front_right": "images/d69b6d5dadc361ae15030b67780d055c-189/+040_front_right.webp", "side_left": "images/d69b6d5dadc361ae15030b67780d055c-189/+040_side_left.webp", "side_right": "images/d69b6d5dadc361ae15030b67780d055c-189/+040_side_right.webp", "rear_left": "images/d69b6d5dadc361ae15030b67780d055c-189/+040_rear_left.webp", "rear": "images/d69b6d5dadc361ae15030b67780d055c-189/+040_rear.webp", "rear_right": "images/d69b6d5dadc361ae15030b67780d055c-189/+040_rear_right.webp"}}], "camera_count": 8, "available_source_times_s": [-2.0, -1.0, 0.0, 1.0, 2.0, 3.0, 4.0], "camera_scope": "full_timeline", "label": {"title": "Nighttime work-zone passage with uncertain barrier-edge clearance", "category": "work_zone", "tags": ["temporary channel", "low visibility", "barrier clearance", "conflicting lane markings"], "current_situation": "Ego is moving at approximately 8.029 m/s through a dark temporary corridor bounded by delineators on the left and orange barriers on the right. Existing yellow markings remain visible within the passage, with a low striped piece and rectangular object at the right barrier edge; no immediate moving-road-user conflict is clearly identifiable.", "baseline_decision": "Without the low barrier-edge objects, retain cautious progress through the same verified open work-zone passage, preserving clearance and obeying applicable controls; the remaining barriers and darkness still preclude assuming normal-speed travel or a blind bypass.", "decision_changing_cue": "A low angled striped piece and rectangular object lie at the right barrier edge beside the open passage, with uncertain usable clearance.", "causal_mechanism": "Possible local encroachment adds clearance uncertainty to an already constrained nighttime passage, supporting slower progress while checking the open path. The images do not establish that these objects require a distinct steering maneuver or caused the recorded deceleration.", "expected_action": "slow_down", "decision_deviation": true, "annotation": "At night, reflective delineators and right-side orange barriers bound an open passage containing existing yellow markings; a low angled striped piece and rectangular object sit beside the right barrier. Slow over the next few seconds and maintain clearance through the visible passage, although the objects' exact encroachment and any need for additional steering remain uncertain.", "interest_score": 72, "confidence": 0.81, "selection_reason": "Qualitative candidate because the temporary boundaries supersede the painted lane geometry and impose a concrete speed and path constraint. No immediate actor conflict supports emergency braking, and this is not a claim of measured rarity.", "camera_evidence": [{"camera": "front", "t_s": -2, "detail": "Reflective delineators and right-side orange barriers border the passage, with yellow road markings visible inside it."}, {"camera": "front", "t_s": -1, "detail": "The same passage continues ahead between reflective posts and right-side barriers."}, {"camera": "front", "t_s": 0, "detail": "A low angled orange-and-white striped piece and rectangular object are visible at the right barrier edge; their exact intrusion is unclear."}, {"camera": "front_left", "t_s": 0, "detail": "Illuminated building columns and landscaping border a largely dark roadside; no moving road user is clearly identifiable."}, {"camera": "front_right", "t_s": 0, "detail": "A walking-person-symbol sign with a left arrow stands beside striped barricades; the symbol is not a visible pedestrian."}, {"camera": "side_left", "t_s": 0, "detail": "Building frontage, landscaping and an access area are visible without a clearly identifiable moving road user."}, {"camera": "side_right", "t_s": 0, "detail": "A dark access area and building frontage are visible; no entering vehicle is clearly identifiable."}, {"camera": "rear_left", "t_s": 0, "detail": "Lit entrances and roadside building frontage are visible behind ego."}, {"camera": "rear", "t_s": 0, "detail": "Reflective construction posts and yellow markings continue behind ego; no close following vehicle is clearly identifiable."}, {"camera": "rear_right", "t_s": 0, "detail": "An orange barrier and reflective post appear along the lower roadside beside a dim building."}], "uncertainties": ["Corridor width and clearance to the low barrier-edge objects are not calibrated.", "The striped piece's installation state and whether it unusually encroaches on the travel path are unclear.", "A definite conflict between temporary boundaries and original lane guidance is not established.", "Dark regions limit road-user detection, and distant signal applicability is uncertain.", "The cause of recorded slowing and whether this exceeds routine work-zone negotiation remain unresolved."]}, "discovery_label": {"title": "Low-light construction corridor across existing lane markings", "category": "work_zone", "tags": ["temporary channel", "low visibility", "barrier clearance", "conflicting lane markings"], "current_situation": "Ego is traveling straight at 8.029 m/s through a dimly lit construction corridor. Reflective delineators bound the left side, orange barriers bound the right, and existing double-yellow markings run through the open passage. An angled striped component and rectangular base project from the right barrier edge. The history shows ego progressing past construction equipment; no moving road user or immediate crossing conflict is clearly identifiable in the eight views.", "baseline_decision": "Without the construction channel, continue straight within the normal marked lane at an appropriate speed, obeying applicable traffic signals.", "decision_changing_cue": "The temporary passage spans existing centerline markings and is constrained by right-side barriers with projecting hardware and left-side delineators.", "causal_mechanism": "Following the original paint alone would not reliably preserve clearance within the temporary passage. Restricted lateral space and poorly illuminated barrier hardware require slower progress and alignment with the open construction corridor instead.", "expected_action": "slow_down", "decision_deviation": true, "annotation": "Reflective delineators and orange barriers form a dimly lit temporary passage across existing double-yellow markings, with hardware projecting from the right barrier edge. Although ego would otherwise continue straight in the normal marked lane, these temporary boundaries require ego to slow over the next few seconds and steer along the open corridor while preserving clearance from both sides.", "interest_score": 72, "confidence": 0.81, "selection_reason": "Qualitative candidate because the temporary boundaries supersede the painted lane geometry and impose a concrete speed and path constraint. No immediate actor conflict supports emergency braking, and this is not a claim of measured rarity.", "camera_evidence": [{"camera": "front", "t_s": -2, "detail": "Reflective posts and right-side orange barriers already define a passage around the existing yellow markings."}, {"camera": "front", "t_s": 0, "detail": "Double-yellow markings extend through the open channel; an angled striped component and rectangular base sit at the right barrier edge."}, {"camera": "front_left", "t_s": 0, "detail": "Illuminated building columns and roadside landscaping are visible, while much of the road edge remains poorly illuminated."}, {"camera": "front_right", "t_s": 0, "detail": "A temporary sign displays a walking-person symbol and left arrow beside striped barricades; this is a sign, not a visible pedestrian."}, {"camera": "side_left", "t_s": 0, "detail": "A building entrance and landscaped frontage are visible without a clearly identifiable moving road user."}, {"camera": "side_right", "t_s": 0, "detail": "A dim driveway or access area lies beside the road; no entering vehicle is clearly identifiable."}, {"camera": "rear_left", "t_s": 0, "detail": "Lit building entrances and roadside frontage are visible behind ego."}, {"camera": "rear", "t_s": 0, "detail": "Reflective construction posts continue along the roadway behind ego; no close following vehicle is clearly identifiable."}, {"camera": "rear_right", "t_s": 0, "detail": "An orange barrier and reflective post occupy the lower-right roadside area beside a dim building."}], "uncertainties": ["Dark image regions limit detection of road users and precise construction boundaries.", "The angled striped component's installation state and exact intrusion into usable pavement are unclear.", "Distant signal lights are visible, but their applicability to ego cannot be established confidently.", "The images do not establish calibrated corridor width or recorded ego braking."], "_binding_sha256": "497d3eaf8f630731b73b791e682568f68712fdf999369ff10f0aba8f30d840a9", "_request": "requests/d69b6d5dadc361ae15030b67780d055c-189/discovery-001"}, "review": {"verdict": "needs_review", "grounding_score": 0.82, "reason": "The temporary corridor and low barrier-edge objects are visible, but their intrusion into usable pavement and a definite conflict with lane markings are not established. Chronological inspection of all eight cameras, including later verification views, supports a clearance concern but does not establish an exceptional interaction beyond routine work-zone passage.", "corrected_annotation": "At night, reflective delineators and right-side orange barriers bound an open passage containing existing yellow markings; a low angled striped piece and rectangular object sit beside the right barrier. Slow over the next few seconds and maintain clearance through the visible passage, although the objects' exact encroachment and any need for additional steering remain uncertain.", "corrected_title": "Nighttime work-zone passage with uncertain barrier-edge clearance", "corrected_current_situation": "Ego is moving at approximately 8.029 m/s through a dark temporary corridor bounded by delineators on the left and orange barriers on the right. Existing yellow markings remain visible within the passage, with a low striped piece and rectangular object at the right barrier edge; no immediate moving-road-user conflict is clearly identifiable.", "corrected_baseline_decision": "Without the low barrier-edge objects, retain cautious progress through the same verified open work-zone passage, preserving clearance and obeying applicable controls; the remaining barriers and darkness still preclude assuming normal-speed travel or a blind bypass.", "corrected_decision_changing_cue": "A low angled striped piece and rectangular object lie at the right barrier edge beside the open passage, with uncertain usable clearance.", "corrected_causal_mechanism": "Possible local encroachment adds clearance uncertainty to an already constrained nighttime passage, supporting slower progress while checking the open path. The images do not establish that these objects require a distinct steering maneuver or caused the recorded deceleration.", "corrected_expected_action": "slow_down", "corrected_camera_evidence": [{"camera": "front", "t_s": -2, "detail": "Reflective delineators and right-side orange barriers border the passage, with yellow road markings visible inside it."}, {"camera": "front", "t_s": -1, "detail": "The same passage continues ahead between reflective posts and right-side barriers."}, {"camera": "front", "t_s": 0, "detail": "A low angled orange-and-white striped piece and rectangular object are visible at the right barrier edge; their exact intrusion is unclear."}, {"camera": "front_left", "t_s": 0, "detail": "Illuminated building columns and landscaping border a largely dark roadside; no moving road user is clearly identifiable."}, {"camera": "front_right", "t_s": 0, "detail": "A walking-person-symbol sign with a left arrow stands beside striped barricades; the symbol is not a visible pedestrian."}, {"camera": "side_left", "t_s": 0, "detail": "Building frontage, landscaping and an access area are visible without a clearly identifiable moving road user."}, {"camera": "side_right", "t_s": 0, "detail": "A dark access area and building frontage are visible; no entering vehicle is clearly identifiable."}, {"camera": "rear_left", "t_s": 0, "detail": "Lit entrances and roadside building frontage are visible behind ego."}, {"camera": "rear", "t_s": 0, "detail": "Reflective construction posts and yellow markings continue behind ego; no close following vehicle is clearly identifiable."}, {"camera": "rear_right", "t_s": 0, "detail": "An orange barrier and reflective post appear along the lower roadside beside a dim building."}], "remaining_uncertainties": ["Corridor width and clearance to the low barrier-edge objects are not calibrated.", "The striped piece's installation state and whether it unusually encroaches on the travel path are unclear.", "A definite conflict between temporary boundaries and original lane guidance is not established.", "Dark regions limit road-user detection, and distant signal applicability is uncertain.", "The cause of recorded slowing and whether this exceeds routine work-zone negotiation remain unresolved."], "motion_consistency": "consistent", "recorded_motion_explanation": "Recorded one-second mean speeds decline from approximately 8.021 to 3.851 m/s, consistent with slowing. The 4.178 m/s speed drop accompanies a minimum one-second acceleration of only -1.478 m/s², so this is not recorded strong braking. Motion remains nearly straight before a small rightward displacement, ending at y=-0.340 m; neither the slowing nor that displacement establishes obstacle causality. Later mosaics show continued passage beside the barriers without establishing a new actor conflict.", "unsupported_details": ["Definite supersession or conflict of the original lane markings.", "A confirmed hazardous projection into ego's required travel envelope.", "A necessary steering deviation caused by the barrier-edge objects.", "A demonstrated nonroutine interaction or causal explanation for the recorded slowing."], "_binding_sha256": "f7ef9dfc1a9d59882c50ed62c97c0c212ef6b080a849dec344a2aeb62611b423", "_request": "requests/d69b6d5dadc361ae15030b67780d055c-189/review-002"}, "status": "needs_review", "annotation": "At night, reflective delineators and right-side orange barriers bound an open passage containing existing yellow markings; a low angled striped piece and rectangular object sit beside the right barrier. Slow over the next few seconds and maintain clearance through the visible passage, although the objects' exact encroachment and any need for additional steering remain uncertain.", "selected": false}
{"id": "cb012b60588f004052ff7ce3e1925e46-074", "scenario_id": "cb012b60588f004052ff7ce3e1925e46", "split": "train", "batch_index": 43, "source_manifest_line": 44, "intent": "GO_STRAIGHT", "anchor_frame": 74, "motion": {"current_speed_mps": 0.347, "future_xy_m": [[0.109130859375, -0.00078582763671875], [0.2872314453125, -0.00191497802734375], [0.5726318359375, -0.0036773681640625], [0.9822998046875, -0.0051116943359375], [1.504150390625, -0.0078582763671875], [2.10693359375, -0.00836944580078125], [2.7769775390625, -0.00908660888671875], [3.485107421875, -0.01000213623046875], [4.233154296875, -0.00997161865234375], [5.002685546875, -0.01129913330078125], [5.730712890625, -0.01160430908203125], [6.4141845703125, -0.01575469970703125], [7.031982421875, -0.0159454345703125], [7.5732421875, -0.019287109375], [8.03515625, -0.0200347900390625], [8.4150390625, -0.0206756591796875], [8.720458984375, -0.021728515625], [8.938720703125, -0.0225830078125], [9.06689453125, -0.02227783203125], [9.141357421875, -0.022552490234375]], "future_hz": 4, "speed_windows": [{"t_s": 0.5, "speed_mps": 0.982}, {"t_s": 1.5, "speed_mps": 2.503}, {"t_s": 2.5, "speed_mps": 2.929}, {"t_s": 3.5, "speed_mps": 2.001}, {"t_s": 4.5, "speed_mps": 0.726}], "minimum_1s_acceleration_mps2": -1.275, "maximum_speed_drop_mps": 0.0, "recorded_response": "start_moving", "method": "4 Hz trajectory path length; 1 s mean speeds; differences of adjacent 1 s means. Recorded response is descriptive, not a causal label."}, "frames": [{"t_s": 0.0, "source_frame": 74, "images": {"front_left": "images/cb012b60588f004052ff7ce3e1925e46-074/+000_front_left.webp", "front": "images/cb012b60588f004052ff7ce3e1925e46-074/+000_front.webp", "front_right": "images/cb012b60588f004052ff7ce3e1925e46-074/+000_front_right.webp", "side_left": "images/cb012b60588f004052ff7ce3e1925e46-074/+000_side_left.webp", "side_right": "images/cb012b60588f004052ff7ce3e1925e46-074/+000_side_right.webp", "rear_left": "images/cb012b60588f004052ff7ce3e1925e46-074/+000_rear_left.webp", "rear": "images/cb012b60588f004052ff7ce3e1925e46-074/+000_rear.webp", "rear_right": "images/cb012b60588f004052ff7ce3e1925e46-074/+000_rear_right.webp"}}], "camera_count": 8, "available_source_times_s": [-2.0, -1.0, 0.0, 1.0, 2.0, 3.0, 4.0, 5.0], "camera_scope": "current_only", "label": {"title": "Routine All-Way Stop Queue", "category": "routine", "tags": ["all-way stop", "lead vehicle", "marked crossings", "sidewalk pedestrians"], "current_situation": "Ego is creeping at 0.347 m/s behind a sedan approaching an all-way stop on its straight route. The sedan advances between -1 s and 0 s. A pedestrian crosses toward the left during the history and is no longer visible in the current front view. Other pedestrians remain on the right sidewalk, including one at the corner. Parked vehicles line the street, and the lead sedan obscures part of the crossing directly ahead. Daylight and building shadows are visible; no immediate conflict is established.", "baseline_decision": "Stop behind the lead sedan, advance only when space opens, and make ego's own required stop before proceeding straight according to all-way-stop priority.", "decision_changing_cue": "No supported nonroutine cue is present. The historical pedestrian crossing and current sidewalk pedestrians call for ordinary crossing checks, not a material departure from the required stop-and-yield plan.", "causal_mechanism": "The stop control and lead vehicle already require stopping. No pedestrian is currently shown entering ego's path, and no visible vehicle maneuver requires exceptional braking or lateral avoidance.", "expected_action": "stop", "decision_deviation": false, "annotation": "Ego is creeping behind an advancing sedan at an all-way stop with marked crossings; a pedestrian crossed toward the left during the history, while current right-side pedestrians remain on the sidewalk. Ego should stop behind the sedan, make its own required stop as the queue advances, and proceed straight only after checking pedestrian and vehicle priority.", "interest_score": 44, "confidence": 0.91, "selection_reason": "Reject as a long-tail candidate: this is ordinary stop-controlled queue progression with routine pedestrian monitoring, without a visually supported unusual interaction or material decision change.", "camera_evidence": [{"camera": "front", "t_s": -2, "detail": "A pedestrian is on the marked crossing left of the lead sedan; an SUV is traversing the intersection."}, {"camera": "front", "t_s": -1, "detail": "The crossing pedestrian has moved toward the left edge, while the sedan remains immediately ahead."}, {"camera": "front", "t_s": 0, "detail": "The sedan has advanced relative to the STOP pavement marking. A STOP sign with an ALL WAY plaque, marked crossings, and a pedestrian standing on the right corner sidewalk are visible."}, {"camera": "front_left", "t_s": 0, "detail": "A silver sedan and gray SUV occupy the left curbside foreground; neither shows a clear new encroachment across the supplied history."}, {"camera": "front_right", "t_s": 0, "detail": "A bag-carrying pedestrian is walking on the sidewalk beside the building, not in the roadway."}, {"camera": "side_left", "t_s": 0, "detail": "A blue sedan and part of a silver vehicle are beside the left curb and storefront."}, {"camera": "side_right", "t_s": 0, "detail": "The building entrance, steps, and adjacent sidewalk are visible without an actor entering the roadway."}, {"camera": "rear_left", "t_s": 0, "detail": "A minivan and sedans line the left curb behind ego; no lateral maneuver is evident."}, {"camera": "rear", "t_s": 0, "detail": "A white SUV is directly behind ego, with curbside vehicles farther back."}, {"camera": "rear_right", "t_s": 0, "detail": "A pedestrian has progressed rightward along the sidewalk across the history and remains off the roadway."}], "uncertainties": ["The crossing pedestrian's final position is outside the current frontal view.", "The corner pedestrian's next movement is unknown.", "The photographs do not establish whether ego has already completed a legally sufficient stop or the arrival order of all intersection traffic."]}, "discovery_label": {"title": "Routine All-Way Stop Queue", "category": "routine", "tags": ["all-way stop", "lead vehicle", "marked crossings", "sidewalk pedestrians"], "current_situation": "Ego is creeping at 0.347 m/s behind a sedan approaching an all-way stop on its straight route. The sedan advances between -1 s and 0 s. A pedestrian crosses toward the left during the history and is no longer visible in the current front view. Other pedestrians remain on the right sidewalk, including one at the corner. Parked vehicles line the street, and the lead sedan obscures part of the crossing directly ahead. Daylight and building shadows are visible; no immediate conflict is established.", "baseline_decision": "Stop behind the lead sedan, advance only when space opens, and make ego's own required stop before proceeding straight according to all-way-stop priority.", "decision_changing_cue": "No supported nonroutine cue is present. The historical pedestrian crossing and current sidewalk pedestrians call for ordinary crossing checks, not a material departure from the required stop-and-yield plan.", "causal_mechanism": "The stop control and lead vehicle already require stopping. No pedestrian is currently shown entering ego's path, and no visible vehicle maneuver requires exceptional braking or lateral avoidance.", "expected_action": "stop", "decision_deviation": false, "annotation": "Ego is creeping behind an advancing sedan at an all-way stop with marked crossings; a pedestrian crossed toward the left during the history, while current right-side pedestrians remain on the sidewalk. Ego should stop behind the sedan, make its own required stop as the queue advances, and proceed straight only after checking pedestrian and vehicle priority.", "interest_score": 44, "confidence": 0.91, "selection_reason": "Reject as a long-tail candidate: this is ordinary stop-controlled queue progression with routine pedestrian monitoring, without a visually supported unusual interaction or material decision change.", "camera_evidence": [{"camera": "front", "t_s": -2, "detail": "A pedestrian is on the marked crossing left of the lead sedan; an SUV is traversing the intersection."}, {"camera": "front", "t_s": -1, "detail": "The crossing pedestrian has moved toward the left edge, while the sedan remains immediately ahead."}, {"camera": "front", "t_s": 0, "detail": "The sedan has advanced relative to the STOP pavement marking. A STOP sign with an ALL WAY plaque, marked crossings, and a pedestrian standing on the right corner sidewalk are visible."}, {"camera": "front_left", "t_s": 0, "detail": "A silver sedan and gray SUV occupy the left curbside foreground; neither shows a clear new encroachment across the supplied history."}, {"camera": "front_right", "t_s": 0, "detail": "A bag-carrying pedestrian is walking on the sidewalk beside the building, not in the roadway."}, {"camera": "side_left", "t_s": 0, "detail": "A blue sedan and part of a silver vehicle are beside the left curb and storefront."}, {"camera": "side_right", "t_s": 0, "detail": "The building entrance, steps, and adjacent sidewalk are visible without an actor entering the roadway."}, {"camera": "rear_left", "t_s": 0, "detail": "A minivan and sedans line the left curb behind ego; no lateral maneuver is evident."}, {"camera": "rear", "t_s": 0, "detail": "A white SUV is directly behind ego, with curbside vehicles farther back."}, {"camera": "rear_right", "t_s": 0, "detail": "A pedestrian has progressed rightward along the sidewalk across the history and remains off the roadway."}], "uncertainties": ["The crossing pedestrian's final position is outside the current frontal view.", "The corner pedestrian's next movement is unknown.", "The photographs do not establish whether ego has already completed a legally sufficient stop or the arrival order of all intersection traffic."], "_binding_sha256": "bce87dc9b4d08511e71afbad9369d4ff9b7c9867dfd601c66a86b6e7a7926e00", "_request": "requests/cb012b60588f004052ff7ce3e1925e46-074/discovery-001"}, "review": null, "status": "dismissed", "annotation": "Ego is creeping behind an advancing sedan at an all-way stop with marked crossings; a pedestrian crossed toward the left during the history, while current right-side pedestrians remain on the sidewalk. Ego should stop behind the sedan, make its own required stop as the queue advances, and proceed straight only after checking pedestrian and vehicle priority.", "selected": false}
{"id": "f70628a3233d1a6f2e992cb1c7190308-221", "scenario_id": "f70628a3233d1a6f2e992cb1c7190308", "split": "train", "batch_index": 44, "source_manifest_line": 45, "intent": "GO_STRAIGHT", "anchor_frame": 221, "motion": {"current_speed_mps": 9.157, "future_xy_m": [[2.31591796875, -0.001953125], [4.68115234375, 0.0], [7.0888671875, 0.0], [9.53857421875, 0.001953125], [12.02978515625, 0.001953125], [14.55517578125, 0.001953125], [17.11328125, 0.005859375], [19.69873046875, 0.00390625], [22.30908203125, 0.0], [24.94775390625, -0.00390625], [27.61083984375, -0.01171875], [30.30078125, -0.021484375], [33.015625, -0.03515625], [35.7490234375, -0.048828125], [38.51513671875, -0.0703125], [41.30126953125, -0.095703125], [44.111328125, -0.126953125], [46.94384765625, -0.1640625], [49.79931640625, -0.208984375], [52.677734375, -0.259765625]], "future_hz": 4, "speed_windows": [{"t_s": 0.5, "speed_mps": 9.539}, {"t_s": 1.5, "speed_mps": 10.16}, {"t_s": 2.5, "speed_mps": 10.602}, {"t_s": 3.5, "speed_mps": 11.001}, {"t_s": 4.5, "speed_mps": 11.378}], "minimum_1s_acceleration_mps2": 0.377, "maximum_speed_drop_mps": 0.0, "recorded_response": "accelerate", "method": "4 Hz trajectory path length; 1 s mean speeds; differences of adjacent 1 s means. Recorded response is descriptive, not a causal label."}, "frames": [{"t_s": 0.0, "source_frame": 221, "images": {"front_left": "images/f70628a3233d1a6f2e992cb1c7190308-221/+000_front_left.webp", "front": "images/f70628a3233d1a6f2e992cb1c7190308-221/+000_front.webp", "front_right": "images/f70628a3233d1a6f2e992cb1c7190308-221/+000_front_right.webp", "side_left": "images/f70628a3233d1a6f2e992cb1c7190308-221/+000_side_left.webp", "side_right": "images/f70628a3233d1a6f2e992cb1c7190308-221/+000_side_right.webp", "rear_left": "images/f70628a3233d1a6f2e992cb1c7190308-221/+000_rear_left.webp", "rear": "images/f70628a3233d1a6f2e992cb1c7190308-221/+000_rear.webp", "rear_right": "images/f70628a3233d1a6f2e992cb1c7190308-221/+000_rear_right.webp"}}], "camera_count": 8, "available_source_times_s": [-2.0, -1.0, 0.0], "camera_scope": "current_only", "label": {"title": "Roadside Construction With Clear Through Lane", "category": "work_zone", "tags": ["roadside barricades", "normal following", "low-light visibility"], "current_situation": "Ego is traveling straight at 9.157 m/s behind a car that remains ahead across the available history. Construction delineators line the left roadway area, while barricades and stacked panels occupy the right roadside. The visible through lane remains open, with worn markings and patched pavement. Opposing traffic is visible to the left; parking areas and the intersection behind show no immediate conflict with ego's path.", "baseline_decision": "Continue straight at an appropriate following speed, preserving the gap to the car ahead and obeying upcoming traffic controls.", "decision_changing_cue": "No material decision-changing cue is established: the visible construction equipment remains outside ego's through path.", "causal_mechanism": "The roadside works warrant monitoring but do not visibly force a merge, obstruct the lane, or introduce a crossing actor. They therefore do not support a departure from ordinary straight-ahead following.", "expected_action": "maintain_speed", "decision_deviation": false, "annotation": "Construction delineators line the left roadway area, and barricades with stacked panels occupy the right roadside while a car continues ahead in ego's lane. Because the visible through path remains open, ego should continue straight at a controlled following speed over the next few seconds, without a construction-driven brake or lane change.", "interest_score": 35, "confidence": 0.89, "selection_reason": "Reject as a long-tail candidate: visible construction and low-light conditions do not establish a specific unusual interaction or material change to the next decision.", "camera_evidence": [{"camera": "front", "t_s": -2, "detail": "A car is ahead in the through lane; construction posts are visible along the left roadway area."}, {"camera": "front", "t_s": 0, "detail": "The car remains ahead on the straight roadway, with no visible obstruction between ego and it; pavement markings are worn and distant signal lights are visible."}, {"camera": "front_left", "t_s": 0, "detail": "Striped delineators stand along the left roadway area, with vehicles showing headlights beyond them."}, {"camera": "front_right", "t_s": 0, "detail": "Barricades with amber lamps and a pedestrian-direction sign occupy the roadside beside the building, outside the visible through lane."}, {"camera": "side_left", "t_s": 0, "detail": "Cars occupy the roadway across the separating strip beside illuminated storefronts; no vehicle is visibly entering ego's lane."}, {"camera": "side_right", "t_s": 0, "detail": "Stacked panels and striped barricades are beside a parking area containing parked vehicles."}, {"camera": "rear_left", "t_s": 0, "detail": "Several cars and construction posts are visible along the roadway to the left and behind ego."}, {"camera": "rear", "t_s": 0, "detail": "The intersection behind contains vehicle headlights, construction channelization, and red signal lights."}, {"camera": "rear_right", "t_s": 0, "detail": "Barricades and stacked construction panels border the parking-area entrance behind ego."}], "uncertainties": ["Distant forward signal indications and their lane applicability are not reliably resolved.", "Low illumination limits fine-detail assessment of lane boundaries and construction layout farther ahead.", "The images do not establish future motion of surrounding vehicles or any recorded ego response."]}, "discovery_label": {"title": "Roadside Construction With Clear Through Lane", "category": "work_zone", "tags": ["roadside barricades", "normal following", "low-light visibility"], "current_situation": "Ego is traveling straight at 9.157 m/s behind a car that remains ahead across the available history. Construction delineators line the left roadway area, while barricades and stacked panels occupy the right roadside. The visible through lane remains open, with worn markings and patched pavement. Opposing traffic is visible to the left; parking areas and the intersection behind show no immediate conflict with ego's path.", "baseline_decision": "Continue straight at an appropriate following speed, preserving the gap to the car ahead and obeying upcoming traffic controls.", "decision_changing_cue": "No material decision-changing cue is established: the visible construction equipment remains outside ego's through path.", "causal_mechanism": "The roadside works warrant monitoring but do not visibly force a merge, obstruct the lane, or introduce a crossing actor. They therefore do not support a departure from ordinary straight-ahead following.", "expected_action": "maintain_speed", "decision_deviation": false, "annotation": "Construction delineators line the left roadway area, and barricades with stacked panels occupy the right roadside while a car continues ahead in ego's lane. Because the visible through path remains open, ego should continue straight at a controlled following speed over the next few seconds, without a construction-driven brake or lane change.", "interest_score": 35, "confidence": 0.89, "selection_reason": "Reject as a long-tail candidate: visible construction and low-light conditions do not establish a specific unusual interaction or material change to the next decision.", "camera_evidence": [{"camera": "front", "t_s": -2, "detail": "A car is ahead in the through lane; construction posts are visible along the left roadway area."}, {"camera": "front", "t_s": 0, "detail": "The car remains ahead on the straight roadway, with no visible obstruction between ego and it; pavement markings are worn and distant signal lights are visible."}, {"camera": "front_left", "t_s": 0, "detail": "Striped delineators stand along the left roadway area, with vehicles showing headlights beyond them."}, {"camera": "front_right", "t_s": 0, "detail": "Barricades with amber lamps and a pedestrian-direction sign occupy the roadside beside the building, outside the visible through lane."}, {"camera": "side_left", "t_s": 0, "detail": "Cars occupy the roadway across the separating strip beside illuminated storefronts; no vehicle is visibly entering ego's lane."}, {"camera": "side_right", "t_s": 0, "detail": "Stacked panels and striped barricades are beside a parking area containing parked vehicles."}, {"camera": "rear_left", "t_s": 0, "detail": "Several cars and construction posts are visible along the roadway to the left and behind ego."}, {"camera": "rear", "t_s": 0, "detail": "The intersection behind contains vehicle headlights, construction channelization, and red signal lights."}, {"camera": "rear_right", "t_s": 0, "detail": "Barricades and stacked construction panels border the parking-area entrance behind ego."}], "uncertainties": ["Distant forward signal indications and their lane applicability are not reliably resolved.", "Low illumination limits fine-detail assessment of lane boundaries and construction layout farther ahead.", "The images do not establish future motion of surrounding vehicles or any recorded ego response."], "_binding_sha256": "c0f19bb401055f976c0f295e3344d606f2ac96deebef6ae3a0f7d0ee496fe7ee", "_request": "requests/f70628a3233d1a6f2e992cb1c7190308-221/discovery-001"}, "review": null, "status": "dismissed", "annotation": "Construction delineators line the left roadway area, and barricades with stacked panels occupy the right roadside while a car continues ahead in ego's lane. Because the visible through path remains open, ego should continue straight at a controlled following speed over the next few seconds, without a construction-driven brake or lane change.", "selected": false}
{"id": "30465d51196f9f8020f3b01ada513e4f-106", "scenario_id": "30465d51196f9f8020f3b01ada513e4f", "split": "train", "batch_index": 45, "source_manifest_line": 46, "intent": "GO_STRAIGHT", "anchor_frame": 106, "motion": {"current_speed_mps": 3.085, "future_xy_m": [[0.81787109375, -0.00341796875], [1.71826171875, -0.0068359375], [2.7041015625, -0.00927734375], [3.75244140625, -0.013916015625], [4.8544921875, -0.01611328125], [6.00244140625, -0.017333984375], [7.19677734375, -0.016845703125], [8.427734375, -0.01025390625], [9.70068359375, -0.00390625], [11.01220703125, 0.003173828125], [12.35595703125, 0.010009765625], [13.73974609375, 0.016845703125], [15.1259765625, 0.0224609375], [16.4921875, 0.02783203125], [17.85546875, 0.0283203125], [19.2080078125, 0.029052734375], [20.513671875, 0.022705078125], [21.73828125, -0.017333984375], [22.86181640625, -0.120361328125], [23.9208984375, -0.283447265625]], "future_hz": 4, "speed_windows": [{"t_s": 0.5, "speed_mps": 3.752}, {"t_s": 1.5, "speed_mps": 4.675}, {"t_s": 2.5, "speed_mps": 5.312}, {"t_s": 3.5, "speed_mps": 5.468}, {"t_s": 4.5, "speed_mps": 4.731}], "minimum_1s_acceleration_mps2": -0.738, "maximum_speed_drop_mps": 0.0, "recorded_response": "accelerate", "method": "4 Hz trajectory path length; 1 s mean speeds; differences of adjacent 1 s means. Recorded response is descriptive, not a causal label."}, "frames": [{"t_s": 0.0, "source_frame": 106, "images": {"front_left": "images/30465d51196f9f8020f3b01ada513e4f-106/+000_front_left.webp", "front": "images/30465d51196f9f8020f3b01ada513e4f-106/+000_front.webp", "front_right": "images/30465d51196f9f8020f3b01ada513e4f-106/+000_front_right.webp", "side_left": "images/30465d51196f9f8020f3b01ada513e4f-106/+000_side_left.webp", "side_right": "images/30465d51196f9f8020f3b01ada513e4f-106/+000_side_right.webp", "rear_left": "images/30465d51196f9f8020f3b01ada513e4f-106/+000_rear_left.webp", "rear": "images/30465d51196f9f8020f3b01ada513e4f-106/+000_rear.webp", "rear_right": "images/30465d51196f9f8020f3b01ada513e4f-106/+000_rear_right.webp"}}], "camera_count": 8, "available_source_times_s": [-2.0, -1.0, 0.0, 1.0, 2.0, 3.0, 4.0, 5.0], "camera_scope": "current_only", "label": {"title": "Clear Intersection Beside a Sidewalk Shelter", "category": "routine", "tags": ["marked intersection", "low light", "sidewalk pedestrian", "parked vehicles"], "current_situation": "Ego is moving at 3.085 m/s on a straight route through a streetlit intersection with marked crosswalks. Parked vehicles line the intersecting streets and the uphill road ahead, including a box truck on the left and a white compact car on the right. A person is visible beside the right-side sidewalk shelter across the supplied history, without visible entry into the roadway. All eight views show no clear moving actor conflicting with ego's path; low illumination limits detail, and applicable intersection controls are not confidently readable.", "baseline_decision": "Continue straight in lane at the current low speed once applicable controls and intersection right-of-way are confirmed.", "decision_changing_cue": "No supported decision-changing cue: the visible person remains on the sidewalk, and curbside vehicles do not visibly obstruct the straight path.", "causal_mechanism": "The crosswalks, sidewalk activity, and low illumination warrant ordinary intersection scanning, but the images establish no immediate conflict or obstruction requiring a material departure from cautious straight travel.", "expected_action": "maintain_speed", "decision_deviation": false, "annotation": "A streetlit intersection has clear marked crosswalks, curbside parked vehicles, and a person beside the right-side sidewalk shelter. Ego should continue straight at its current low speed once right-of-way is confirmed; no visible roadway entry or obstruction warrants additional braking or a lateral maneuver.", "interest_score": 25, "confidence": 0.8, "selection_reason": "Reject as a long-tail candidate: no specific nonroutine interaction is visible. Low illumination and a sidewalk pedestrian alone do not establish a material decision change.", "camera_evidence": [{"camera": "front_left", "t_s": 0, "detail": "Marked crosswalk and curbside minivan are visible at the left corner; a small red illuminated indication is present but its type and applicability are unclear."}, {"camera": "front", "t_s": -2, "detail": "The straight uphill roadway is open, with a box truck at the left curb and a white compact car at the right curb beyond the crosswalk."}, {"camera": "front", "t_s": 0, "detail": "The crosswalk ahead remains visibly unoccupied, and parked vehicles leave the straight travel path open."}, {"camera": "front_right", "t_s": 0, "detail": "Crosswalk stripes span the right-hand street; a white SUV and darker vehicles are positioned along its curb."}, {"camera": "side_left", "t_s": 0, "detail": "A curbside SUV, corner sidewalk, and crosswalk are visible, without a clear actor entering the intersection."}, {"camera": "side_right", "t_s": -2, "detail": "A person is visible on the sidewalk beside an illuminated shelter, with a sedan along the curb."}, {"camera": "side_right", "t_s": -1, "detail": "The person remains visible beside the shelter, outside the roadway."}, {"camera": "side_right", "t_s": 0, "detail": "The shelter and person are still on the right sidewalk; no roadway entry is visible."}, {"camera": "rear_left", "t_s": 0, "detail": "Dim building frontage and curbside vehicles are visible, with no clear moving conflict."}, {"camera": "rear", "t_s": 0, "detail": "The roadway behind is lined with parked vehicles; no clearly approaching vehicle occupies its visible center."}, {"camera": "rear_right", "t_s": 0, "detail": "Parked vehicles and a sidewalk building entrance are visible beside the road."}], "uncertainties": ["Applicable intersection controls and right-of-way cannot be confidently determined from the images.", "Low illumination limits identification of small or distant actors.", "The sidewalk person's precise motion is unclear; the snapshots do not establish crossing intent.", "Only observations through t=0 are available; future actor behavior and ego response are unknown."]}, "discovery_label": {"title": "Clear Intersection Beside a Sidewalk Shelter", "category": "routine", "tags": ["marked intersection", "low light", "sidewalk pedestrian", "parked vehicles"], "current_situation": "Ego is moving at 3.085 m/s on a straight route through a streetlit intersection with marked crosswalks. Parked vehicles line the intersecting streets and the uphill road ahead, including a box truck on the left and a white compact car on the right. A person is visible beside the right-side sidewalk shelter across the supplied history, without visible entry into the roadway. All eight views show no clear moving actor conflicting with ego's path; low illumination limits detail, and applicable intersection controls are not confidently readable.", "baseline_decision": "Continue straight in lane at the current low speed once applicable controls and intersection right-of-way are confirmed.", "decision_changing_cue": "No supported decision-changing cue: the visible person remains on the sidewalk, and curbside vehicles do not visibly obstruct the straight path.", "causal_mechanism": "The crosswalks, sidewalk activity, and low illumination warrant ordinary intersection scanning, but the images establish no immediate conflict or obstruction requiring a material departure from cautious straight travel.", "expected_action": "maintain_speed", "decision_deviation": false, "annotation": "A streetlit intersection has clear marked crosswalks, curbside parked vehicles, and a person beside the right-side sidewalk shelter. Ego should continue straight at its current low speed once right-of-way is confirmed; no visible roadway entry or obstruction warrants additional braking or a lateral maneuver.", "interest_score": 25, "confidence": 0.8, "selection_reason": "Reject as a long-tail candidate: no specific nonroutine interaction is visible. Low illumination and a sidewalk pedestrian alone do not establish a material decision change.", "camera_evidence": [{"camera": "front_left", "t_s": 0, "detail": "Marked crosswalk and curbside minivan are visible at the left corner; a small red illuminated indication is present but its type and applicability are unclear."}, {"camera": "front", "t_s": -2, "detail": "The straight uphill roadway is open, with a box truck at the left curb and a white compact car at the right curb beyond the crosswalk."}, {"camera": "front", "t_s": 0, "detail": "The crosswalk ahead remains visibly unoccupied, and parked vehicles leave the straight travel path open."}, {"camera": "front_right", "t_s": 0, "detail": "Crosswalk stripes span the right-hand street; a white SUV and darker vehicles are positioned along its curb."}, {"camera": "side_left", "t_s": 0, "detail": "A curbside SUV, corner sidewalk, and crosswalk are visible, without a clear actor entering the intersection."}, {"camera": "side_right", "t_s": -2, "detail": "A person is visible on the sidewalk beside an illuminated shelter, with a sedan along the curb."}, {"camera": "side_right", "t_s": -1, "detail": "The person remains visible beside the shelter, outside the roadway."}, {"camera": "side_right", "t_s": 0, "detail": "The shelter and person are still on the right sidewalk; no roadway entry is visible."}, {"camera": "rear_left", "t_s": 0, "detail": "Dim building frontage and curbside vehicles are visible, with no clear moving conflict."}, {"camera": "rear", "t_s": 0, "detail": "The roadway behind is lined with parked vehicles; no clearly approaching vehicle occupies its visible center."}, {"camera": "rear_right", "t_s": 0, "detail": "Parked vehicles and a sidewalk building entrance are visible beside the road."}], "uncertainties": ["Applicable intersection controls and right-of-way cannot be confidently determined from the images.", "Low illumination limits identification of small or distant actors.", "The sidewalk person's precise motion is unclear; the snapshots do not establish crossing intent.", "Only observations through t=0 are available; future actor behavior and ego response are unknown."], "_binding_sha256": "ccc95d1c6ac290753c9a3a971eb3bb46349a361385f1b20e0e7ad5460a364cec", "_request": "requests/30465d51196f9f8020f3b01ada513e4f-106/discovery-001"}, "review": null, "status": "dismissed", "annotation": "A streetlit intersection has clear marked crosswalks, curbside parked vehicles, and a person beside the right-side sidewalk shelter. Ego should continue straight at its current low speed once right-of-way is confirmed; no visible roadway entry or obstruction warrants additional braking or a lateral maneuver.", "selected": false}
{"id": "eb0b7e82148c232bb2813bb714a10459-100", "scenario_id": "eb0b7e82148c232bb2813bb714a10459", "split": "train", "batch_index": 46, "source_manifest_line": 47, "intent": "GO_STRAIGHT", "anchor_frame": 100, "motion": {"current_speed_mps": 6.85, "future_xy_m": [[1.66864013671875, -0.0008087158203125], [3.2435455322265625, 0.0029449462890625], [4.7148895263671875, 0.0129852294921875], [6.066009521484375, 0.0220794677734375], [7.2991485595703125, 0.0327301025390625], [8.41094970703125, 0.041656494140625], [9.39947509765625, 0.0520477294921875], [10.253448486328125, 0.0596160888671875], [10.974029541015625, 0.0668182373046875], [11.570175170898438, 0.072601318359375], [12.0537109375, 0.0775909423828125], [12.427688598632812, 0.0806732177734375], [12.711654663085938, 0.0841827392578125], [12.91168212890625, 0.0857391357421875], [13.035171508789062, 0.0871734619140625], [13.097305297851562, 0.087188720703125], [13.109420776367188, 0.087005615234375], [13.10089111328125, 0.086700439453125], [13.101333618164062, 0.0867156982421875], [13.098831176757812, 0.086822509765625]], "future_hz": 4, "speed_windows": [{"t_s": 0.5, "speed_mps": 6.066}, {"t_s": 1.5, "speed_mps": 4.188}, {"t_s": 2.5, "speed_mps": 2.174}, {"t_s": 3.5, "speed_mps": 0.67}, {"t_s": 4.5, "speed_mps": 0.024}], "minimum_1s_acceleration_mps2": -2.013, "maximum_speed_drop_mps": 6.827, "recorded_response": "slow_to_stop", "method": "4 Hz trajectory path length; 1 s mean speeds; differences of adjacent 1 s means. Recorded response is descriptive, not a causal label."}, "frames": [{"t_s": 0.0, "source_frame": 100, "images": {"front_left": "images/eb0b7e82148c232bb2813bb714a10459-100/+000_front_left.webp", "front": "images/eb0b7e82148c232bb2813bb714a10459-100/+000_front.webp", "front_right": "images/eb0b7e82148c232bb2813bb714a10459-100/+000_front_right.webp", "side_left": "images/eb0b7e82148c232bb2813bb714a10459-100/+000_side_left.webp", "side_right": "images/eb0b7e82148c232bb2813bb714a10459-100/+000_side_right.webp", "rear_left": "images/eb0b7e82148c232bb2813bb714a10459-100/+000_rear_left.webp", "rear": "images/eb0b7e82148c232bb2813bb714a10459-100/+000_rear.webp", "rear_right": "images/eb0b7e82148c232bb2813bb714a10459-100/+000_rear_right.webp"}}], "camera_count": 8, "available_source_times_s": [-2.0, -1.0, 0.0, 1.0, 2.0, 3.0, 4.0, 5.0], "camera_scope": "current_only", "label": {"title": "Routine Stop Approach on Wet Residential Road", "category": "routine", "tags": ["stop-controlled intersection", "wet pavement", "water-blurred views"], "current_situation": "Ego is traveling at 6.85 m/s with a straight-ahead route toward a residential intersection. A stop sign on the right, STOP pavement lettering, and a transverse white line are visible ahead. Pavement is wet, and water droplets blur portions of the camera views. A dark SUV is aligned along the opposite-side curb; its independent motion is not established by the history. Other vehicles are visible along the street and beyond the right corner, but none visibly enters ego's path. Side and rear views show curbside vehicles, buildings, fencing, and bins without a visible immediate conflict.", "baseline_decision": "Begin controlled deceleration now, stop before the intersection at the visible transverse line, check cross traffic and right-of-way, and then continue straight when clear.", "decision_changing_cue": "No supported nonroutine decision-changing cue. The stop control already requires stopping; wet pavement and water-blurred views warrant care but do not establish an additional conflict.", "causal_mechanism": "The stop sign governs the straight-ahead route regardless of the nearby vehicles. Water droplets obscure portions of the views, supporting a careful traffic check from the stop rather than an unsupported evasive maneuver or emergency brake.", "expected_action": "stop", "decision_deviation": false, "annotation": "Ego approaches a residential intersection with a stop sign and STOP pavement marking on wet pavement, while water droplets blur portions of the forward views. The straight-ahead plan already requires controlled braking to stop before the intersection and check cross traffic; no visible conflict warrants an additional evasive maneuver.", "interest_score": 44, "confidence": 0.93, "selection_reason": "Reject as a long-tail candidate: this is a necessary routine stop, with no visibly supported unusual interaction, obstruction, or material deviation from the control-respecting baseline.", "camera_evidence": [{"camera": "front", "t_s": 0, "detail": "Right-side stop sign, STOP pavement lettering, and transverse white line are visible at the approaching intersection; water droplets blur portions of the view."}, {"camera": "front", "t_s": -1, "detail": "The same straight residential approach and right-side stop sign are visible, with vehicles farther along the street and wet reflective pavement."}, {"camera": "front_left", "t_s": 0, "detail": "A dark SUV is aligned along the opposite-side curb beside a tall hedge; it does not visibly extend across ego's forward path."}, {"camera": "front_left", "t_s": -1, "detail": "The dark SUV is visible beside the same hedge; the history does not independently establish its motion."}, {"camera": "front_right", "t_s": 0, "detail": "A wooden fence and shrubs border the right corner, with a white pickup visible beyond them; no crossing motion is established."}, {"camera": "side_left", "t_s": 0, "detail": "A hedge, sidewalk, grass strip, and curb occupy the side view, with no visible road user entering the roadway."}, {"camera": "side_right", "t_s": 0, "detail": "A garage and wet driveway are visible beside ego, without a visible emerging actor."}, {"camera": "rear_left", "t_s": 0, "detail": "A red sedan remains curbside beside a fenced residential building."}, {"camera": "rear", "t_s": 0, "detail": "The wet street extends behind ego with vehicles along both curbs and no visible immediate rear conflict."}, {"camera": "rear_right", "t_s": 0, "detail": "Green and black bins stand near the sidewalk beside fencing, outside the visible travel path."}], "uncertainties": ["Water droplets and mosaic resolution limit detection of small or distant actors.", "Independent motion of the dark SUV and white pickup cannot be established confidently.", "Cross-street traffic and right-of-way conditions must be checked at the stop; no future clearance is assumed.", "Only current speed is supplied, so recorded braking behavior is unknown."]}, "discovery_label": {"title": "Routine Stop Approach on Wet Residential Road", "category": "routine", "tags": ["stop-controlled intersection", "wet pavement", "water-blurred views"], "current_situation": "Ego is traveling at 6.85 m/s with a straight-ahead route toward a residential intersection. A stop sign on the right, STOP pavement lettering, and a transverse white line are visible ahead. Pavement is wet, and water droplets blur portions of the camera views. A dark SUV is aligned along the opposite-side curb; its independent motion is not established by the history. Other vehicles are visible along the street and beyond the right corner, but none visibly enters ego's path. Side and rear views show curbside vehicles, buildings, fencing, and bins without a visible immediate conflict.", "baseline_decision": "Begin controlled deceleration now, stop before the intersection at the visible transverse line, check cross traffic and right-of-way, and then continue straight when clear.", "decision_changing_cue": "No supported nonroutine decision-changing cue. The stop control already requires stopping; wet pavement and water-blurred views warrant care but do not establish an additional conflict.", "causal_mechanism": "The stop sign governs the straight-ahead route regardless of the nearby vehicles. Water droplets obscure portions of the views, supporting a careful traffic check from the stop rather than an unsupported evasive maneuver or emergency brake.", "expected_action": "stop", "decision_deviation": false, "annotation": "Ego approaches a residential intersection with a stop sign and STOP pavement marking on wet pavement, while water droplets blur portions of the forward views. The straight-ahead plan already requires controlled braking to stop before the intersection and check cross traffic; no visible conflict warrants an additional evasive maneuver.", "interest_score": 44, "confidence": 0.93, "selection_reason": "Reject as a long-tail candidate: this is a necessary routine stop, with no visibly supported unusual interaction, obstruction, or material deviation from the control-respecting baseline.", "camera_evidence": [{"camera": "front", "t_s": 0, "detail": "Right-side stop sign, STOP pavement lettering, and transverse white line are visible at the approaching intersection; water droplets blur portions of the view."}, {"camera": "front", "t_s": -1, "detail": "The same straight residential approach and right-side stop sign are visible, with vehicles farther along the street and wet reflective pavement."}, {"camera": "front_left", "t_s": 0, "detail": "A dark SUV is aligned along the opposite-side curb beside a tall hedge; it does not visibly extend across ego's forward path."}, {"camera": "front_left", "t_s": -1, "detail": "The dark SUV is visible beside the same hedge; the history does not independently establish its motion."}, {"camera": "front_right", "t_s": 0, "detail": "A wooden fence and shrubs border the right corner, with a white pickup visible beyond them; no crossing motion is established."}, {"camera": "side_left", "t_s": 0, "detail": "A hedge, sidewalk, grass strip, and curb occupy the side view, with no visible road user entering the roadway."}, {"camera": "side_right", "t_s": 0, "detail": "A garage and wet driveway are visible beside ego, without a visible emerging actor."}, {"camera": "rear_left", "t_s": 0, "detail": "A red sedan remains curbside beside a fenced residential building."}, {"camera": "rear", "t_s": 0, "detail": "The wet street extends behind ego with vehicles along both curbs and no visible immediate rear conflict."}, {"camera": "rear_right", "t_s": 0, "detail": "Green and black bins stand near the sidewalk beside fencing, outside the visible travel path."}], "uncertainties": ["Water droplets and mosaic resolution limit detection of small or distant actors.", "Independent motion of the dark SUV and white pickup cannot be established confidently.", "Cross-street traffic and right-of-way conditions must be checked at the stop; no future clearance is assumed.", "Only current speed is supplied, so recorded braking behavior is unknown."], "_binding_sha256": "5f656910e2db844c761c3890a72941697974272b4641075fb6fd6862831808cb", "_request": "requests/eb0b7e82148c232bb2813bb714a10459-100/discovery-001"}, "review": null, "status": "dismissed", "annotation": "Ego approaches a residential intersection with a stop sign and STOP pavement marking on wet pavement, while water droplets blur portions of the forward views. The straight-ahead plan already requires controlled braking to stop before the intersection and check cross traffic; no visible conflict warrants an additional evasive maneuver.", "selected": false}
{"id": "7d9554c1aaf6fc56fc754fc8ddf76ea5-124", "scenario_id": "7d9554c1aaf6fc56fc754fc8ddf76ea5", "split": "train", "batch_index": 47, "source_manifest_line": 48, "intent": "GO_STRAIGHT", "anchor_frame": 124, "motion": {"current_speed_mps": 9.286, "future_xy_m": [[2.2863473892211914, -0.00127410888671875], [4.489267826080322, -0.0015106201171875], [6.581271171569824, 0.0004425048828125], [8.563164710998535, 0.0030517578125], [10.445352554321289, 0.00652313232421875], [12.226834297180176, 0.009433746337890625], [13.922613143920898, 0.012664794921875], [15.529943466186523, 0.0160369873046875], [17.039779663085938, 0.019718170166015625], [18.441438674926758, 0.02367401123046875], [19.73672103881836, 0.02789306640625], [20.923749923706055, 0.03173065185546875], [22.00170135498047, 0.035518646240234375], [22.9726619720459, 0.038532257080078125], [23.83707046508789, 0.041797637939453125], [24.642623901367188, 0.044696807861328125], [25.45374298095703, 0.04852294921875], [26.333837509155273, 0.053600311279296875], [27.312307357788086, 0.059543609619140625], [28.40341567993164, 0.06601715087890625]], "future_hz": 4, "speed_windows": [{"t_s": 0.5, "speed_mps": 8.563}, {"t_s": 1.5, "speed_mps": 6.967}, {"t_s": 2.5, "speed_mps": 5.394}, {"t_s": 3.5, "speed_mps": 3.719}, {"t_s": 4.5, "speed_mps": 3.761}], "minimum_1s_acceleration_mps2": -1.675, "maximum_speed_drop_mps": 5.568, "recorded_response": "slow_down", "method": "4 Hz trajectory path length; 1 s mean speeds; differences of adjacent 1 s means. Recorded response is descriptive, not a causal label."}, "frames": [{"t_s": 0.0, "source_frame": 124, "images": {"front_left": "images/7d9554c1aaf6fc56fc754fc8ddf76ea5-124/+000_front_left.webp", "front": "images/7d9554c1aaf6fc56fc754fc8ddf76ea5-124/+000_front.webp", "front_right": "images/7d9554c1aaf6fc56fc754fc8ddf76ea5-124/+000_front_right.webp", "side_left": "images/7d9554c1aaf6fc56fc754fc8ddf76ea5-124/+000_side_left.webp", "side_right": "images/7d9554c1aaf6fc56fc754fc8ddf76ea5-124/+000_side_right.webp", "rear_left": "images/7d9554c1aaf6fc56fc754fc8ddf76ea5-124/+000_rear_left.webp", "rear": "images/7d9554c1aaf6fc56fc754fc8ddf76ea5-124/+000_rear.webp", "rear_right": "images/7d9554c1aaf6fc56fc754fc8ddf76ea5-124/+000_rear_right.webp"}}], "camera_count": 8, "available_source_times_s": [-2.0, -1.0, 0.0, 1.0, 2.0, 3.0, 4.0, 5.0], "camera_scope": "current_only", "label": {"title": "Routine Following Near a Green Intersection", "category": "routine", "tags": ["green signal", "angled lead sedan", "curbside loading"], "current_situation": "Ego is traveling at 9.286 m/s on a straight, multi-lane urban street toward a green signal. A dark sedan ahead is angled left and still overlaps ego's through lane; the history shows it progressively farther left relative to the lane markings. Another sedan is alongside on the left. A curbside SUV has its hatch open, with boxes beside it, and a pedestrian remains on the sidewalk near a loading entrance. The side and rear views show no visible actor entering ego's path. Daylight provides clear forward visibility.", "baseline_decision": "Continue along the straight route under the green signal, maintaining normal clearance from traffic ahead.", "decision_changing_cue": "The left-angled lead sedan has not fully cleared ego's lane. This warrants ordinary following-speed adjustment, but no clearly nonroutine decision-changing cue is established.", "causal_mechanism": "The sedan's remaining lane occupancy limits unobstructed forward travel until it clears. This supports gentle speed adjustment while staying in lane, not emergency braking or an evasive lane change; the curbside loading activity shows no roadway intrusion.", "expected_action": "slow_down", "decision_deviation": false, "annotation": "A left-angled sedan ahead still partly occupies ego's through lane near a green-signal intersection. Although the signal permits continued straight travel, the sedan's remaining lane occupancy calls for gentle slowing as needed over the next few seconds while maintaining normal following clearance and staying in lane.", "interest_score": 48, "confidence": 0.84, "selection_reason": "Reject as a long-tail candidate: the strongest supported interaction is routine following behind a sedan moving left. Neither the sidewalk pedestrian nor the open-hatch parked SUV visibly creates an unusual conflict.", "camera_evidence": [{"camera": "front", "t_s": -2, "detail": "A sedan ahead is already angled left near the approaching intersection; ego's nearer lane is unobstructed."}, {"camera": "front", "t_s": -1, "detail": "The same sedan remains ahead and appears farther left relative to the through-lane markings."}, {"camera": "front", "t_s": 0, "detail": "The overhead signal is green. The sedan's nose points left while its rear remains within ego's through lane."}, {"camera": "front_left", "t_s": 0, "detail": "A gray sedan occupies the adjacent left lane without a visible crossing into ego's lane."}, {"camera": "front_right", "t_s": -1, "detail": "A silver SUV is parked at the curb with its rear hatch raised and boxes beside it."}, {"camera": "side_left", "t_s": 0, "detail": "The left-side roadway, curb and building frontage show no visible pedestrian entering the road."}, {"camera": "side_right", "t_s": -1, "detail": "A pedestrian is on the sidewalk outside the open loading entrance, beside equipment and cones."}, {"camera": "rear_left", "t_s": 0, "detail": "A gray sedan is behind-left, with a white SUV parked along the curb."}, {"camera": "rear", "t_s": 0, "detail": "The roadway behind contains distant traffic and curbside vehicles without a visible immediate conflict."}, {"camera": "rear_right", "t_s": 0, "detail": "The open-hatch SUV and sidewalk pedestrian are now behind-right; neither is visibly in the travel lane."}], "uncertainties": ["The lead sedan's intended maneuver and precise speed cannot be established from these photographs.", "The images do not establish whether the following gap is shrinking or how much slowing is necessary.", "No future observations or recorded braking behavior are available."]}, "discovery_label": {"title": "Routine Following Near a Green Intersection", "category": "routine", "tags": ["green signal", "angled lead sedan", "curbside loading"], "current_situation": "Ego is traveling at 9.286 m/s on a straight, multi-lane urban street toward a green signal. A dark sedan ahead is angled left and still overlaps ego's through lane; the history shows it progressively farther left relative to the lane markings. Another sedan is alongside on the left. A curbside SUV has its hatch open, with boxes beside it, and a pedestrian remains on the sidewalk near a loading entrance. The side and rear views show no visible actor entering ego's path. Daylight provides clear forward visibility.", "baseline_decision": "Continue along the straight route under the green signal, maintaining normal clearance from traffic ahead.", "decision_changing_cue": "The left-angled lead sedan has not fully cleared ego's lane. This warrants ordinary following-speed adjustment, but no clearly nonroutine decision-changing cue is established.", "causal_mechanism": "The sedan's remaining lane occupancy limits unobstructed forward travel until it clears. This supports gentle speed adjustment while staying in lane, not emergency braking or an evasive lane change; the curbside loading activity shows no roadway intrusion.", "expected_action": "slow_down", "decision_deviation": false, "annotation": "A left-angled sedan ahead still partly occupies ego's through lane near a green-signal intersection. Although the signal permits continued straight travel, the sedan's remaining lane occupancy calls for gentle slowing as needed over the next few seconds while maintaining normal following clearance and staying in lane.", "interest_score": 48, "confidence": 0.84, "selection_reason": "Reject as a long-tail candidate: the strongest supported interaction is routine following behind a sedan moving left. Neither the sidewalk pedestrian nor the open-hatch parked SUV visibly creates an unusual conflict.", "camera_evidence": [{"camera": "front", "t_s": -2, "detail": "A sedan ahead is already angled left near the approaching intersection; ego's nearer lane is unobstructed."}, {"camera": "front", "t_s": -1, "detail": "The same sedan remains ahead and appears farther left relative to the through-lane markings."}, {"camera": "front", "t_s": 0, "detail": "The overhead signal is green. The sedan's nose points left while its rear remains within ego's through lane."}, {"camera": "front_left", "t_s": 0, "detail": "A gray sedan occupies the adjacent left lane without a visible crossing into ego's lane."}, {"camera": "front_right", "t_s": -1, "detail": "A silver SUV is parked at the curb with its rear hatch raised and boxes beside it."}, {"camera": "side_left", "t_s": 0, "detail": "The left-side roadway, curb and building frontage show no visible pedestrian entering the road."}, {"camera": "side_right", "t_s": -1, "detail": "A pedestrian is on the sidewalk outside the open loading entrance, beside equipment and cones."}, {"camera": "rear_left", "t_s": 0, "detail": "A gray sedan is behind-left, with a white SUV parked along the curb."}, {"camera": "rear", "t_s": 0, "detail": "The roadway behind contains distant traffic and curbside vehicles without a visible immediate conflict."}, {"camera": "rear_right", "t_s": 0, "detail": "The open-hatch SUV and sidewalk pedestrian are now behind-right; neither is visibly in the travel lane."}], "uncertainties": ["The lead sedan's intended maneuver and precise speed cannot be established from these photographs.", "The images do not establish whether the following gap is shrinking or how much slowing is necessary.", "No future observations or recorded braking behavior are available."], "_binding_sha256": "da37273d4a0304bd9ab5c653c6602de8232b260e477a52fbb739fbddeb5e67af", "_request": "requests/7d9554c1aaf6fc56fc754fc8ddf76ea5-124/discovery-001"}, "review": null, "status": "dismissed", "annotation": "A left-angled sedan ahead still partly occupies ego's through lane near a green-signal intersection. Although the signal permits continued straight travel, the sedan's remaining lane occupancy calls for gentle slowing as needed over the next few seconds while maintaining normal following clearance and staying in lane.", "selected": false}
{"id": "2fc83038cb02199f1e530808f50e3862-070", "scenario_id": "2fc83038cb02199f1e530808f50e3862", "split": "train", "batch_index": 48, "source_manifest_line": 49, "intent": "GO_STRAIGHT", "anchor_frame": 70, "motion": {"current_speed_mps": 8.638, "future_xy_m": [[2.150390625, -0.005859375], [4.28125, -0.0146484375], [6.392578125, -0.02685546875], [8.486328125, -0.0419921875], [10.56640625, -0.05712890625], [12.6328125, -0.07421875], [14.697265625, -0.09423828125], [16.76953125, -0.11474609375], [18.8515625, -0.13623046875], [20.939453125, -0.15869140625], [23.037109375, -0.18115234375], [25.140625, -0.2021484375], [27.248046875, -0.2197265625], [29.359375, -0.23388671875], [31.46875, -0.240234375], [33.580078125, -0.23583984375], [35.689453125, -0.21826171875], [37.7890625, -0.18310546875], [39.876953125, -0.13330078125], [41.939453125, -0.0693359375]], "future_hz": 4, "speed_windows": [{"t_s": 0.5, "speed_mps": 8.486}, {"t_s": 1.5, "speed_mps": 8.284}, {"t_s": 2.5, "speed_mps": 8.372}, {"t_s": 3.5, "speed_mps": 8.44}, {"t_s": 4.5, "speed_mps": 8.361}], "minimum_1s_acceleration_mps2": -0.203, "maximum_speed_drop_mps": 0.355, "recorded_response": "roughly_maintain_speed", "method": "4 Hz trajectory path length; 1 s mean speeds; differences of adjacent 1 s means. Recorded response is descriptive, not a causal label."}, "frames": [{"t_s": 0.0, "source_frame": 70, "images": {"front_left": "images/2fc83038cb02199f1e530808f50e3862-070/+000_front_left.webp", "front": "images/2fc83038cb02199f1e530808f50e3862-070/+000_front.webp", "front_right": "images/2fc83038cb02199f1e530808f50e3862-070/+000_front_right.webp", "side_left": "images/2fc83038cb02199f1e530808f50e3862-070/+000_side_left.webp", "side_right": "images/2fc83038cb02199f1e530808f50e3862-070/+000_side_right.webp", "rear_left": "images/2fc83038cb02199f1e530808f50e3862-070/+000_rear_left.webp", "rear": "images/2fc83038cb02199f1e530808f50e3862-070/+000_rear.webp", "rear_right": "images/2fc83038cb02199f1e530808f50e3862-070/+000_rear_right.webp"}}], "camera_count": 8, "available_source_times_s": [-2.0, -1.0, 0.0, 1.0, 2.0, 3.0, 4.0, 5.0], "camera_scope": "current_only", "label": {"title": "Routine Following on a Wet Urban Street", "category": "routine", "tags": ["lead vehicle", "sidewalk pedestrians", "wet pavement", "street lighting"], "current_situation": "Ego is traveling at 8.638 m/s on a straight urban road with double-yellow centerlines and a white right-edge line. A sedan remains ahead throughout the available history, an opposing sedan passes on ego's left, and pedestrians are visible on both sidewalks without a demonstrated entry into ego's lane. Pavement reflections and circular blurred patches in the front view reduce visual clarity. The signalized intersection visible behind ego recedes through the history.", "baseline_decision": "Continue straight in the current lane at a controlled following speed, preserving a safe gap to the sedan and respecting upcoming traffic controls.", "decision_changing_cue": "No material decision-changing cue is established: the visible pedestrians remain on sidewalks, and no obstruction or cut-in occupies ego's path.", "causal_mechanism": "The lead vehicle requires ordinary following-gap management. Sidewalk activity and reduced visual clarity warrant monitoring, but the available history does not show a conflict requiring an additional stop, yield, or lateral maneuver within the next 0–5 seconds.", "expected_action": "maintain_speed", "decision_deviation": false, "annotation": "A sedan leads ego along a straight, wet, street-lit road while pedestrians remain on the sidewalks. Over the next few seconds, ego should continue straight at a controlled following speed, preserving the lead-vehicle gap and monitoring the right curb; no visible conflict requires an additional maneuver.", "interest_score": 42, "confidence": 0.88, "selection_reason": "Reject as a long-tail candidate: all eight cameras show ordinary following, passing opposing traffic, and sidewalk activity without a supported material change to the straight-ahead plan. Wet reflections and blurred patches do not establish an unusual visibility-driven conflict.", "camera_evidence": [{"camera": "front", "t_s": -2, "detail": "A sedan is ahead in ego's lane; double-yellow centerlines, a white right-edge line, reflective pavement, and circular blurred patches are visible."}, {"camera": "front", "t_s": 0, "detail": "The sedan remains ahead, with pedestrians on the right sidewalk outside the white road-edge line; no pedestrian is visibly crossing ego's lane."}, {"camera": "front_left", "t_s": -1, "detail": "An opposing sedan with illuminated headlights is left of ego, alongside vehicles lining the opposite curb."}, {"camera": "front_right", "t_s": 0, "detail": "A brick storefront, rope-bordered frontage, sidewalk, and curb are visible without an actor entering the roadway."}, {"camera": "side_left", "t_s": 0, "detail": "The opposing sedan is alongside ego; several pedestrians are on the sidewalk by the illuminated building entrance."}, {"camera": "side_right", "t_s": 0, "detail": "A small pedestrian group is on the sidewalk beside the building entrance, separated from the roadway by the curb."}, {"camera": "rear_left", "t_s": 0, "detail": "Pedestrians and a landscaped sidewalk area are visible behind and left of ego, with no actor occupying the immediate roadway."}, {"camera": "rear", "t_s": 0, "detail": "A signalized intersection is behind ego, with illuminated red signal faces and reflections on the pavement."}, {"camera": "rear_right", "t_s": 0, "detail": "Trees, storefront windows, and a curbside sidewalk are visible behind and right of ego; no roadway conflict is apparent."}], "uncertainties": ["The lead vehicle's speed and braking state cannot be reliably determined from these images.", "Pedestrian poses and small movements are difficult to resolve; no crossing intention is established.", "The state and applicability of distant forward traffic controls are not reliably readable.", "Circular blurred patches obscure some forward detail, but their cause is not established."]}, "discovery_label": {"title": "Routine Following on a Wet Urban Street", "category": "routine", "tags": ["lead vehicle", "sidewalk pedestrians", "wet pavement", "street lighting"], "current_situation": "Ego is traveling at 8.638 m/s on a straight urban road with double-yellow centerlines and a white right-edge line. A sedan remains ahead throughout the available history, an opposing sedan passes on ego's left, and pedestrians are visible on both sidewalks without a demonstrated entry into ego's lane. Pavement reflections and circular blurred patches in the front view reduce visual clarity. The signalized intersection visible behind ego recedes through the history.", "baseline_decision": "Continue straight in the current lane at a controlled following speed, preserving a safe gap to the sedan and respecting upcoming traffic controls.", "decision_changing_cue": "No material decision-changing cue is established: the visible pedestrians remain on sidewalks, and no obstruction or cut-in occupies ego's path.", "causal_mechanism": "The lead vehicle requires ordinary following-gap management. Sidewalk activity and reduced visual clarity warrant monitoring, but the available history does not show a conflict requiring an additional stop, yield, or lateral maneuver within the next 0–5 seconds.", "expected_action": "maintain_speed", "decision_deviation": false, "annotation": "A sedan leads ego along a straight, wet, street-lit road while pedestrians remain on the sidewalks. Over the next few seconds, ego should continue straight at a controlled following speed, preserving the lead-vehicle gap and monitoring the right curb; no visible conflict requires an additional maneuver.", "interest_score": 42, "confidence": 0.88, "selection_reason": "Reject as a long-tail candidate: all eight cameras show ordinary following, passing opposing traffic, and sidewalk activity without a supported material change to the straight-ahead plan. Wet reflections and blurred patches do not establish an unusual visibility-driven conflict.", "camera_evidence": [{"camera": "front", "t_s": -2, "detail": "A sedan is ahead in ego's lane; double-yellow centerlines, a white right-edge line, reflective pavement, and circular blurred patches are visible."}, {"camera": "front", "t_s": 0, "detail": "The sedan remains ahead, with pedestrians on the right sidewalk outside the white road-edge line; no pedestrian is visibly crossing ego's lane."}, {"camera": "front_left", "t_s": -1, "detail": "An opposing sedan with illuminated headlights is left of ego, alongside vehicles lining the opposite curb."}, {"camera": "front_right", "t_s": 0, "detail": "A brick storefront, rope-bordered frontage, sidewalk, and curb are visible without an actor entering the roadway."}, {"camera": "side_left", "t_s": 0, "detail": "The opposing sedan is alongside ego; several pedestrians are on the sidewalk by the illuminated building entrance."}, {"camera": "side_right", "t_s": 0, "detail": "A small pedestrian group is on the sidewalk beside the building entrance, separated from the roadway by the curb."}, {"camera": "rear_left", "t_s": 0, "detail": "Pedestrians and a landscaped sidewalk area are visible behind and left of ego, with no actor occupying the immediate roadway."}, {"camera": "rear", "t_s": 0, "detail": "A signalized intersection is behind ego, with illuminated red signal faces and reflections on the pavement."}, {"camera": "rear_right", "t_s": 0, "detail": "Trees, storefront windows, and a curbside sidewalk are visible behind and right of ego; no roadway conflict is apparent."}], "uncertainties": ["The lead vehicle's speed and braking state cannot be reliably determined from these images.", "Pedestrian poses and small movements are difficult to resolve; no crossing intention is established.", "The state and applicability of distant forward traffic controls are not reliably readable.", "Circular blurred patches obscure some forward detail, but their cause is not established."], "_binding_sha256": "e1b852aeceeb534d5939e2e88076d3611b11fc02b2be3181922de1d15335dfd2", "_request": "requests/2fc83038cb02199f1e530808f50e3862-070/discovery-001"}, "review": null, "status": "dismissed", "annotation": "A sedan leads ego along a straight, wet, street-lit road while pedestrians remain on the sidewalks. Over the next few seconds, ego should continue straight at a controlled following speed, preserving the lead-vehicle gap and monitoring the right curb; no visible conflict requires an additional maneuver.", "selected": false}
{"id": "12fa8358106a226910cc181bbdd6527e-042", "scenario_id": "12fa8358106a226910cc181bbdd6527e", "split": "train", "batch_index": 49, "source_manifest_line": 50, "intent": "GO_RIGHT", "anchor_frame": 42, "motion": {"current_speed_mps": 3.312, "future_xy_m": [[0.86181640625, -0.078125], [1.7734375, -0.2265625], [2.720703125, -0.455078125], [3.68994140625, -0.7890625], [4.66162109375, -1.23828125], [5.61376953125, -1.8203125], [6.53271484375, -2.53515625], [7.40234375, -3.390625], [8.19677734375, -4.404296875], [8.8876953125, -5.560546875], [9.4638671875, -6.857421875], [9.916015625, -8.279296875], [10.25244140625, -9.8203125], [10.51318359375, -11.462890625], [10.728515625, -13.208984375], [10.92138671875, -15.04296875], [11.10009765625, -16.9609375], [11.271484375, -18.96875], [11.4453125, -21.072265625], [11.626953125, -23.2578125]], "future_hz": 4, "speed_windows": [{"t_s": 0.5, "speed_mps": 3.789}, {"t_s": 1.5, "speed_mps": 4.571}, {"t_s": 2.5, "speed_mps": 5.546}, {"t_s": 3.5, "speed_mps": 6.844}, {"t_s": 4.5, "speed_mps": 8.245}], "minimum_1s_acceleration_mps2": 0.782, "maximum_speed_drop_mps": 0.0, "recorded_response": "accelerate", "method": "4 Hz trajectory path length; 1 s mean speeds; differences of adjacent 1 s means. Recorded response is descriptive, not a causal label."}, "frames": [{"t_s": 0.0, "source_frame": 42, "images": {"front_left": "images/12fa8358106a226910cc181bbdd6527e-042/+000_front_left.webp", "front": "images/12fa8358106a226910cc181bbdd6527e-042/+000_front.webp", "front_right": "images/12fa8358106a226910cc181bbdd6527e-042/+000_front_right.webp", "side_left": "images/12fa8358106a226910cc181bbdd6527e-042/+000_side_left.webp", "side_right": "images/12fa8358106a226910cc181bbdd6527e-042/+000_side_right.webp", "rear_left": "images/12fa8358106a226910cc181bbdd6527e-042/+000_rear_left.webp", "rear": "images/12fa8358106a226910cc181bbdd6527e-042/+000_rear.webp", "rear_right": "images/12fa8358106a226910cc181bbdd6527e-042/+000_rear_right.webp"}}], "camera_count": 8, "available_source_times_s": [-1.0, 0.0, 1.0, 2.0, 3.0, 4.0, 5.0], "camera_scope": "current_only", "label": {"title": "Routine Right Turn on Wet Pavement", "category": "routine", "tags": ["signalized right turn", "wet pavement", "nighttime", "forward-view glare"], "current_situation": "Ego has a right-turn route and a supplied speed of 3.312 m/s at a signalized intersection. Pavement is wet and reflective, and translucent spots and light halos degrade the forward view. Green signals are visible ahead and red signals in other intersection directions. A white sedan changes position leftward relative to roadside features between observations; another vehicle is visible nearby to the left. The right-hand corner and visible receiving roadway have no clearly identifiable actor intrusion or obstruction. Side and rear views show sidewalks, buildings, and roadway without a clear nearby conflict.", "baseline_decision": "Continue at a controlled low speed and execute the intended right turn only when the applicable signal and conflicting traffic permit.", "decision_changing_cue": "No material decision-changing cue is established. Wet-road reflections and forward-image blur support ordinary cautious turn execution.", "causal_mechanism": "Reflections and image blur reduce visual contrast, warranting continued low-speed observation before turning. No visible actor or obstruction establishes a need to depart materially from the normal signal-compliant right-turn plan.", "expected_action": "maintain_speed", "decision_deviation": false, "annotation": "Ego approaches a signalized right turn on wet, reflective pavement at night, with light halos and blur in the forward view and vehicles visible to the left. Over the next few seconds, ego should retain a controlled low turn speed and turn right only when the applicable signal and traffic permit; no visible conflict warrants an additional evasive maneuver.", "interest_score": 42, "confidence": 0.81, "selection_reason": "Reject as a long-tail candidate: this is a routine signalized turn with wet-weather visibility limitations, not a visually established unusual interaction or substantial decision change.", "camera_evidence": [{"camera": "front_left", "t_s": -1, "detail": "A white sedan is visible near the right edge of this view, across the intersection; the roadway reflects signal and street lighting."}, {"camera": "front_left", "t_s": 0, "detail": "The white sedan is farther left relative to roadside poles than at -1 second, with another headlight-facing vehicle to its right."}, {"camera": "front", "t_s": 0, "detail": "Green signal lamps are visible ahead above wet pavement; broad translucent spots and halos obscure portions of the image."}, {"camera": "front_right", "t_s": 0, "detail": "A rounded curb corner and receiving roadway are visible beneath the 10th St. sign, with red signal lamps and no clearly identifiable actor in the visible turn area."}, {"camera": "side_left", "t_s": 0, "detail": "A low building, corner sidewalk, signal poles, and wet intersection pavement are visible without a clear nearby pedestrian."}, {"camera": "side_right", "t_s": 0, "detail": "An illuminated pedestrian stop-hand display stands beside a sidewalk and roadside signs; no pedestrian is clearly identifiable."}, {"camera": "rear_left", "t_s": 0, "detail": "Wet roadway borders a low building with an access ramp; no close vehicle or pedestrian is clearly identifiable."}, {"camera": "rear", "t_s": 0, "detail": "Lane markings extend along the dark, reflective roadway behind ego, with no clearly identifiable close following vehicle."}, {"camera": "rear_right", "t_s": 0, "detail": "A building frontage, landscaping, sidewalk, and wet pavement are visible without a clear nearby actor."}], "uncertainties": ["Exact signal-to-lane applicability for the intended right turn is not fully established from the images.", "The left-side vehicles' precise trajectories and relationship to the intended turn cannot be resolved confidently.", "Low illumination and forward-image blur limit detection of small or distant actors.", "No future frames or recorded ego control actions are supplied."]}, "discovery_label": {"title": "Routine Right Turn on Wet Pavement", "category": "routine", "tags": ["signalized right turn", "wet pavement", "nighttime", "forward-view glare"], "current_situation": "Ego has a right-turn route and a supplied speed of 3.312 m/s at a signalized intersection. Pavement is wet and reflective, and translucent spots and light halos degrade the forward view. Green signals are visible ahead and red signals in other intersection directions. A white sedan changes position leftward relative to roadside features between observations; another vehicle is visible nearby to the left. The right-hand corner and visible receiving roadway have no clearly identifiable actor intrusion or obstruction. Side and rear views show sidewalks, buildings, and roadway without a clear nearby conflict.", "baseline_decision": "Continue at a controlled low speed and execute the intended right turn only when the applicable signal and conflicting traffic permit.", "decision_changing_cue": "No material decision-changing cue is established. Wet-road reflections and forward-image blur support ordinary cautious turn execution.", "causal_mechanism": "Reflections and image blur reduce visual contrast, warranting continued low-speed observation before turning. No visible actor or obstruction establishes a need to depart materially from the normal signal-compliant right-turn plan.", "expected_action": "maintain_speed", "decision_deviation": false, "annotation": "Ego approaches a signalized right turn on wet, reflective pavement at night, with light halos and blur in the forward view and vehicles visible to the left. Over the next few seconds, ego should retain a controlled low turn speed and turn right only when the applicable signal and traffic permit; no visible conflict warrants an additional evasive maneuver.", "interest_score": 42, "confidence": 0.81, "selection_reason": "Reject as a long-tail candidate: this is a routine signalized turn with wet-weather visibility limitations, not a visually established unusual interaction or substantial decision change.", "camera_evidence": [{"camera": "front_left", "t_s": -1, "detail": "A white sedan is visible near the right edge of this view, across the intersection; the roadway reflects signal and street lighting."}, {"camera": "front_left", "t_s": 0, "detail": "The white sedan is farther left relative to roadside poles than at -1 second, with another headlight-facing vehicle to its right."}, {"camera": "front", "t_s": 0, "detail": "Green signal lamps are visible ahead above wet pavement; broad translucent spots and halos obscure portions of the image."}, {"camera": "front_right", "t_s": 0, "detail": "A rounded curb corner and receiving roadway are visible beneath the 10th St. sign, with red signal lamps and no clearly identifiable actor in the visible turn area."}, {"camera": "side_left", "t_s": 0, "detail": "A low building, corner sidewalk, signal poles, and wet intersection pavement are visible without a clear nearby pedestrian."}, {"camera": "side_right", "t_s": 0, "detail": "An illuminated pedestrian stop-hand display stands beside a sidewalk and roadside signs; no pedestrian is clearly identifiable."}, {"camera": "rear_left", "t_s": 0, "detail": "Wet roadway borders a low building with an access ramp; no close vehicle or pedestrian is clearly identifiable."}, {"camera": "rear", "t_s": 0, "detail": "Lane markings extend along the dark, reflective roadway behind ego, with no clearly identifiable close following vehicle."}, {"camera": "rear_right", "t_s": 0, "detail": "A building frontage, landscaping, sidewalk, and wet pavement are visible without a clear nearby actor."}], "uncertainties": ["Exact signal-to-lane applicability for the intended right turn is not fully established from the images.", "The left-side vehicles' precise trajectories and relationship to the intended turn cannot be resolved confidently.", "Low illumination and forward-image blur limit detection of small or distant actors.", "No future frames or recorded ego control actions are supplied."], "_binding_sha256": "f5edb56a6dcf64c3604efac5687fd782ad2b78606e4b9f4bf67ffba070541801", "_request": "requests/12fa8358106a226910cc181bbdd6527e-042/discovery-001"}, "review": null, "status": "dismissed", "annotation": "Ego approaches a signalized right turn on wet, reflective pavement at night, with light halos and blur in the forward view and vehicles visible to the left. Over the next few seconds, ego should retain a controlled low turn speed and turn right only when the applicable signal and traffic permit; no visible conflict warrants an additional evasive maneuver.", "selected": false}
{"id": "39e7eb643751b378b7efd606453d2a0e-215", "scenario_id": "39e7eb643751b378b7efd606453d2a0e", "split": "train", "batch_index": 50, "source_manifest_line": 51, "intent": "GO_STRAIGHT", "anchor_frame": 215, "motion": {"current_speed_mps": 10.611, "future_xy_m": [[2.64892578125, 0.01171875], [5.29248046875, 0.037109375], [7.9296875, 0.087890625], [10.5625, 0.15625], [13.1875, 0.23828125], [15.80224609375, 0.322265625], [18.40673828125, 0.40234375], [21.00830078125, 0.482421875], [23.60205078125, 0.556640625], [26.18603515625, 0.62109375], [28.76416015625, 0.669921875], [31.33349609375, 0.70703125], [33.8896484375, 0.72265625], [36.44970703125, 0.728515625], [39.01611328125, 0.724609375], [41.5810546875, 0.7109375], [44.154296875, 0.6875], [46.73583984375, 0.658203125], [49.32958984375, 0.62109375], [51.9296875, 0.580078125]], "future_hz": 4, "speed_windows": [{"t_s": 0.5, "speed_mps": 10.564}, {"t_s": 1.5, "speed_mps": 10.451}, {"t_s": 2.5, "speed_mps": 10.328}, {"t_s": 3.5, "speed_mps": 10.248}, {"t_s": 4.5, "speed_mps": 10.349}], "minimum_1s_acceleration_mps2": -0.123, "maximum_speed_drop_mps": 0.363, "recorded_response": "roughly_maintain_speed", "method": "4 Hz trajectory path length; 1 s mean speeds; differences of adjacent 1 s means. Recorded response is descriptive, not a causal label."}, "frames": [{"t_s": 0.0, "source_frame": 215, "images": {"front_left": "images/39e7eb643751b378b7efd606453d2a0e-215/+000_front_left.webp", "front": "images/39e7eb643751b378b7efd606453d2a0e-215/+000_front.webp", "front_right": "images/39e7eb643751b378b7efd606453d2a0e-215/+000_front_right.webp", "side_left": "images/39e7eb643751b378b7efd606453d2a0e-215/+000_side_left.webp", "side_right": "images/39e7eb643751b378b7efd606453d2a0e-215/+000_side_right.webp", "rear_left": "images/39e7eb643751b378b7efd606453d2a0e-215/+000_rear_left.webp", "rear": "images/39e7eb643751b378b7efd606453d2a0e-215/+000_rear.webp", "rear_right": "images/39e7eb643751b378b7efd606453d2a0e-215/+000_rear_right.webp"}}], "camera_count": 8, "available_source_times_s": [-2.0, -1.0, 0.0, 1.0], "camera_scope": "current_only", "label": {"title": "Open Through Lane Beside Construction Closure", "category": "work_zone", "tags": ["construction barriers", "green signal", "open through lane"], "current_situation": "Ego is approaching a signalized intersection on a straight route at 10.611 m/s. Through-facing signals are green, and the lane ahead is visibly open. Orange barriers close the left-side roadway beside rail tracks; reflective delineators border the approach on ego's left. A car remains behind across the available history. Streetlights illuminate the road, but darker peripheral areas have limited detail.", "baseline_decision": "Continue straight through the green signal in the current through lane, maintaining speed if the path remains clear.", "decision_changing_cue": "The construction closure and delineators are visible to the left, but they do not visibly obstruct ego's straight route.", "causal_mechanism": "The closure restricts left-side access rather than the intended through movement. It warrants maintaining lateral clearance from the delineators, but no visible intrusion or conflict supports a material change in the next 0–5 seconds.", "expected_action": "maintain_speed", "decision_deviation": false, "annotation": "Orange barriers close the left-side roadway beside rail tracks, while ego's through lane remains open under green signals. The closure does not obstruct the straight route, so ego should continue in its lane while maintaining clearance from the left-side delineators, without a construction-induced stop or lane change.", "interest_score": 43, "confidence": 0.89, "selection_reason": "Reject as a long-tail candidate: construction is clearly visible, but there is no supported unusual interaction, blocked through path, or substantial decision change for the straight route.", "camera_evidence": [{"camera": "front", "t_s": -2, "detail": "Reflective delineators run along the left edge of the approach; green through-facing signals and an open lane are visible ahead."}, {"camera": "front", "t_s": 0, "detail": "Green through-facing signals remain visible above the intersection, with no clearly visible vehicle or pedestrian occupying ego's immediate through path."}, {"camera": "front_left", "t_s": 0, "detail": "Orange barriers span the left-side roadway beside rail tracks; a ROAD CLOSED board and a temporary no-left-turn sign are visible."}, {"camera": "front_right", "t_s": 0, "detail": "The right-side intersection corner has orange barriers and red cross-street-facing signals; a light-colored vehicle is partly hidden behind the far-right barrier."}, {"camera": "side_left", "t_s": 0, "detail": "Rail tracks, a roadside fence, and building frontage are visible alongside ego; no clear actor is entering the roadway."}, {"camera": "side_right", "t_s": 0, "detail": "A sidewalk, poles, and low building frontage are visible, with no clearly discernible actor entering ego's lane."}, {"camera": "rear_left", "t_s": 0, "detail": "Rail tracks and fenced building frontage continue behind ego's left side."}, {"camera": "rear", "t_s": -2, "detail": "A car is visible behind ego, with additional headlights farther back and reflective delineators along the roadway."}, {"camera": "rear", "t_s": 0, "detail": "The car remains behind ego; no lateral incursion is apparent in the available rear-view history."}, {"camera": "rear_right", "t_s": 0, "detail": "The curb, sidewalk, and low building remain visible behind ego's right side, without a clearly visible merging actor."}], "uncertainties": ["Low illumination limits identification of small or distant actors in peripheral views.", "The right-side vehicle's motion cannot be established from these observations.", "Temporary markings and exact construction boundaries beyond the intersection are not fully legible.", "The images do not establish any recorded future braking or steering response."]}, "discovery_label": {"title": "Open Through Lane Beside Construction Closure", "category": "work_zone", "tags": ["construction barriers", "green signal", "open through lane"], "current_situation": "Ego is approaching a signalized intersection on a straight route at 10.611 m/s. Through-facing signals are green, and the lane ahead is visibly open. Orange barriers close the left-side roadway beside rail tracks; reflective delineators border the approach on ego's left. A car remains behind across the available history. Streetlights illuminate the road, but darker peripheral areas have limited detail.", "baseline_decision": "Continue straight through the green signal in the current through lane, maintaining speed if the path remains clear.", "decision_changing_cue": "The construction closure and delineators are visible to the left, but they do not visibly obstruct ego's straight route.", "causal_mechanism": "The closure restricts left-side access rather than the intended through movement. It warrants maintaining lateral clearance from the delineators, but no visible intrusion or conflict supports a material change in the next 0–5 seconds.", "expected_action": "maintain_speed", "decision_deviation": false, "annotation": "Orange barriers close the left-side roadway beside rail tracks, while ego's through lane remains open under green signals. The closure does not obstruct the straight route, so ego should continue in its lane while maintaining clearance from the left-side delineators, without a construction-induced stop or lane change.", "interest_score": 43, "confidence": 0.89, "selection_reason": "Reject as a long-tail candidate: construction is clearly visible, but there is no supported unusual interaction, blocked through path, or substantial decision change for the straight route.", "camera_evidence": [{"camera": "front", "t_s": -2, "detail": "Reflective delineators run along the left edge of the approach; green through-facing signals and an open lane are visible ahead."}, {"camera": "front", "t_s": 0, "detail": "Green through-facing signals remain visible above the intersection, with no clearly visible vehicle or pedestrian occupying ego's immediate through path."}, {"camera": "front_left", "t_s": 0, "detail": "Orange barriers span the left-side roadway beside rail tracks; a ROAD CLOSED board and a temporary no-left-turn sign are visible."}, {"camera": "front_right", "t_s": 0, "detail": "The right-side intersection corner has orange barriers and red cross-street-facing signals; a light-colored vehicle is partly hidden behind the far-right barrier."}, {"camera": "side_left", "t_s": 0, "detail": "Rail tracks, a roadside fence, and building frontage are visible alongside ego; no clear actor is entering the roadway."}, {"camera": "side_right", "t_s": 0, "detail": "A sidewalk, poles, and low building frontage are visible, with no clearly discernible actor entering ego's lane."}, {"camera": "rear_left", "t_s": 0, "detail": "Rail tracks and fenced building frontage continue behind ego's left side."}, {"camera": "rear", "t_s": -2, "detail": "A car is visible behind ego, with additional headlights farther back and reflective delineators along the roadway."}, {"camera": "rear", "t_s": 0, "detail": "The car remains behind ego; no lateral incursion is apparent in the available rear-view history."}, {"camera": "rear_right", "t_s": 0, "detail": "The curb, sidewalk, and low building remain visible behind ego's right side, without a clearly visible merging actor."}], "uncertainties": ["Low illumination limits identification of small or distant actors in peripheral views.", "The right-side vehicle's motion cannot be established from these observations.", "Temporary markings and exact construction boundaries beyond the intersection are not fully legible.", "The images do not establish any recorded future braking or steering response."], "_binding_sha256": "3d84ca4146d5732100129aee17eb9f30ea565b7efb3b75b83ac5ff129ff03f91", "_request": "requests/39e7eb643751b378b7efd606453d2a0e-215/discovery-001"}, "review": null, "status": "dismissed", "annotation": "Orange barriers close the left-side roadway beside rail tracks, while ego's through lane remains open under green signals. The closure does not obstruct the straight route, so ego should continue in its lane while maintaining clearance from the left-side delineators, without a construction-induced stop or lane change.", "selected": false}
{"id": "c9d412392a6e9a091e76388d97f19e2b-167", "scenario_id": "c9d412392a6e9a091e76388d97f19e2b", "split": "train", "batch_index": 51, "source_manifest_line": 52, "intent": "GO_STRAIGHT", "anchor_frame": 167, "motion": {"current_speed_mps": 23.877, "future_xy_m": [[5.976104736328125, -0.00762939453125], [11.961090087890625, -0.01544189453125], [17.946044921875, -0.025390625], [23.9261474609375, -0.0360107421875], [29.899993896484375, -0.04644775390625], [35.868743896484375, -0.056396484375], [41.829986572265625, -0.060791015625], [47.78009033203125, -0.0599365234375], [53.714996337890625, -0.0565185546875], [59.63201904296875, -0.0550537109375], [65.52862548828125, -0.05670166015625], [71.41360473632812, -0.06048583984375], [77.29446411132812, -0.07135009765625], [83.17367553710938, -0.07568359375], [89.0516357421875, -0.07275390625], [94.92938232421875, -0.06500244140625], [100.808349609375, -0.055908203125], [106.6939697265625, -0.0457763671875], [112.58309936523438, -0.03411865234375], [118.48043823242188, -0.0228271484375]], "future_hz": 4, "speed_windows": [{"t_s": 0.5, "speed_mps": 23.926}, {"t_s": 1.5, "speed_mps": 23.854}, {"t_s": 2.5, "speed_mps": 23.634}, {"t_s": 3.5, "speed_mps": 23.516}, {"t_s": 4.5, "speed_mps": 23.551}], "minimum_1s_acceleration_mps2": -0.22, "maximum_speed_drop_mps": 0.361, "recorded_response": "roughly_maintain_speed", "method": "4 Hz trajectory path length; 1 s mean speeds; differences of adjacent 1 s means. Recorded response is descriptive, not a causal label."}, "frames": [{"t_s": 0.0, "source_frame": 167, "images": {"front_left": "images/c9d412392a6e9a091e76388d97f19e2b-167/+000_front_left.webp", "front": "images/c9d412392a6e9a091e76388d97f19e2b-167/+000_front.webp", "front_right": "images/c9d412392a6e9a091e76388d97f19e2b-167/+000_front_right.webp", "side_left": "images/c9d412392a6e9a091e76388d97f19e2b-167/+000_side_left.webp", "side_right": "images/c9d412392a6e9a091e76388d97f19e2b-167/+000_side_right.webp", "rear_left": "images/c9d412392a6e9a091e76388d97f19e2b-167/+000_rear_left.webp", "rear": "images/c9d412392a6e9a091e76388d97f19e2b-167/+000_rear.webp", "rear_right": "images/c9d412392a6e9a091e76388d97f19e2b-167/+000_rear_right.webp"}}], "camera_count": 8, "available_source_times_s": [-2.0, -1.0, 0.0, 1.0, 2.0, 3.0, 4.0, 5.0], "camera_scope": "current_only", "label": {"title": "Routine straight travel past commercial driveways", "category": "routine", "tags": ["lane keeping", "vehicles ahead", "roadside warnings", "rear vehicle"], "current_situation": "Ego is traveling straight at the supplied 23.877 m/s on a marked multilane road. Vehicles are ahead, a grassy strip separates the roadway on the left, and commercial driveways line the right. Orange warning signs are visible farther ahead, but no active lane closure or obstruction is apparent. A white SUV appears rear-right at -2 s and more centrally behind ego at 0 s. No pedestrian, cyclist, or vehicle entering ego's path is visible across the eight cameras.", "baseline_decision": "Continue straight in the current lane, maintaining a traffic-appropriate speed and safe following distance.", "decision_changing_cue": "No supported material cue: the warning signs do not show a visible lane blockage, the driveway vehicle remains inside the property, and the white SUV is behind ego.", "causal_mechanism": "The visible actors and roadside features do not create a crossing or obstructing conflict requiring a departure from ordinary lane keeping and headway management.", "expected_action": "maintain_speed", "decision_deviation": false, "annotation": "Ego approaches vehicles traveling ahead on a marked multilane road, with orange warning signs farther ahead and a white SUV behind. Over the next few seconds, continue straight in the current lane at a traffic-appropriate speed while preserving following distance; no visible obstruction or crossing conflict requires a material plan change.", "interest_score": 24, "confidence": 0.88, "selection_reason": "Reject as a long-tail candidate: ordinary traffic and distant warning signs are visible, but no specific nonroutine interaction materially changes the straight-ahead plan.", "camera_evidence": [{"camera": "front", "t_s": 0, "detail": "Vehicles remain ahead along the marked roadway; orange signs are visible farther ahead without an apparent lane blockage."}, {"camera": "front_left", "t_s": 0, "detail": "A white pickup and other vehicles occupy the parallel roadway beyond the grassy separation."}, {"camera": "front_right", "t_s": 0, "detail": "The commercial driveway entrance is clear; a dark vehicle is inside the property behind and beside the address monument."}, {"camera": "side_left", "t_s": 0, "detail": "Grass and a separate parallel roadway lie to ego's left, with no visible actor crossing the separation."}, {"camera": "side_right", "t_s": 0, "detail": "A broad driveway, red-painted property curb, lawn, and commercial building are visible beside ego."}, {"camera": "rear_left", "t_s": 0, "detail": "The grassy separation and traffic on the parallel roadway remain visible behind-left."}, {"camera": "rear_right", "t_s": -2, "detail": "A white SUV is visible at the lower-right edge, behind and to ego's right."}, {"camera": "rear_right", "t_s": 0, "detail": "The property frontage and curb are visible; the white SUV is no longer in this camera's view."}, {"camera": "rear", "t_s": -1, "detail": "The white SUV is behind ego, offset toward the left side of the rear image."}, {"camera": "rear", "t_s": 0, "detail": "The white SUV appears more centrally behind ego, with additional vehicles farther back."}], "uncertainties": ["The orange signs' wording and any farther-ahead work-zone restrictions are not reliably readable.", "The white SUV's exact lane-boundary crossing and speed cannot be established from these views.", "The posted speed limit and precise following distances are unavailable."]}, "discovery_label": {"title": "Routine straight travel past commercial driveways", "category": "routine", "tags": ["lane keeping", "vehicles ahead", "roadside warnings", "rear vehicle"], "current_situation": "Ego is traveling straight at the supplied 23.877 m/s on a marked multilane road. Vehicles are ahead, a grassy strip separates the roadway on the left, and commercial driveways line the right. Orange warning signs are visible farther ahead, but no active lane closure or obstruction is apparent. A white SUV appears rear-right at -2 s and more centrally behind ego at 0 s. No pedestrian, cyclist, or vehicle entering ego's path is visible across the eight cameras.", "baseline_decision": "Continue straight in the current lane, maintaining a traffic-appropriate speed and safe following distance.", "decision_changing_cue": "No supported material cue: the warning signs do not show a visible lane blockage, the driveway vehicle remains inside the property, and the white SUV is behind ego.", "causal_mechanism": "The visible actors and roadside features do not create a crossing or obstructing conflict requiring a departure from ordinary lane keeping and headway management.", "expected_action": "maintain_speed", "decision_deviation": false, "annotation": "Ego approaches vehicles traveling ahead on a marked multilane road, with orange warning signs farther ahead and a white SUV behind. Over the next few seconds, continue straight in the current lane at a traffic-appropriate speed while preserving following distance; no visible obstruction or crossing conflict requires a material plan change.", "interest_score": 24, "confidence": 0.88, "selection_reason": "Reject as a long-tail candidate: ordinary traffic and distant warning signs are visible, but no specific nonroutine interaction materially changes the straight-ahead plan.", "camera_evidence": [{"camera": "front", "t_s": 0, "detail": "Vehicles remain ahead along the marked roadway; orange signs are visible farther ahead without an apparent lane blockage."}, {"camera": "front_left", "t_s": 0, "detail": "A white pickup and other vehicles occupy the parallel roadway beyond the grassy separation."}, {"camera": "front_right", "t_s": 0, "detail": "The commercial driveway entrance is clear; a dark vehicle is inside the property behind and beside the address monument."}, {"camera": "side_left", "t_s": 0, "detail": "Grass and a separate parallel roadway lie to ego's left, with no visible actor crossing the separation."}, {"camera": "side_right", "t_s": 0, "detail": "A broad driveway, red-painted property curb, lawn, and commercial building are visible beside ego."}, {"camera": "rear_left", "t_s": 0, "detail": "The grassy separation and traffic on the parallel roadway remain visible behind-left."}, {"camera": "rear_right", "t_s": -2, "detail": "A white SUV is visible at the lower-right edge, behind and to ego's right."}, {"camera": "rear_right", "t_s": 0, "detail": "The property frontage and curb are visible; the white SUV is no longer in this camera's view."}, {"camera": "rear", "t_s": -1, "detail": "The white SUV is behind ego, offset toward the left side of the rear image."}, {"camera": "rear", "t_s": 0, "detail": "The white SUV appears more centrally behind ego, with additional vehicles farther back."}], "uncertainties": ["The orange signs' wording and any farther-ahead work-zone restrictions are not reliably readable.", "The white SUV's exact lane-boundary crossing and speed cannot be established from these views.", "The posted speed limit and precise following distances are unavailable."], "_binding_sha256": "ed5e81ae7b382a6d5a12b917d2a67b3c89878a9f97ac0a564e6de0d27720c843", "_request": "requests/c9d412392a6e9a091e76388d97f19e2b-167/discovery-001"}, "review": null, "status": "dismissed", "annotation": "Ego approaches vehicles traveling ahead on a marked multilane road, with orange warning signs farther ahead and a white SUV behind. Over the next few seconds, continue straight in the current lane at a traffic-appropriate speed while preserving following distance; no visible obstruction or crossing conflict requires a material plan change.", "selected": false}
{"id": "1f9b7592919fd6f3c8c420c713b063c8-210", "scenario_id": "1f9b7592919fd6f3c8c420c713b063c8", "split": "train", "batch_index": 52, "source_manifest_line": 53, "intent": "GO_STRAIGHT", "anchor_frame": 210, "motion": {"current_speed_mps": 1.113, "future_xy_m": [[0.193359375, -0.00048828125], [0.2265625, 0.0], [0.2109375, 0.00048828125], [0.212890625, 0.00048828125], [0.2109375, 0.00048828125], [0.208984375, 0.0009765625], [0.208984375, 0.0009765625], [0.20703125, 0.00146484375], [0.20703125, 0.00146484375], [0.205078125, 0.001953125], [0.205078125, 0.00244140625], [0.205078125, 0.001953125], [0.20703125, 0.00244140625], [0.205078125, 0.00244140625], [0.20703125, 0.0029296875], [0.20703125, 0.0029296875], [0.205078125, 0.0029296875], [0.20703125, 0.0029296875], [0.20703125, 0.0029296875], [0.20703125, 0.0029296875]], "future_hz": 4, "speed_windows": [{"t_s": 0.5, "speed_mps": 0.244}, {"t_s": 1.5, "speed_mps": 0.006}, {"t_s": 2.5, "speed_mps": 0.003}, {"t_s": 3.5, "speed_mps": 0.006}, {"t_s": 4.5, "speed_mps": 0.004}], "minimum_1s_acceleration_mps2": -0.238, "maximum_speed_drop_mps": 1.11, "recorded_response": "slow_to_stop", "method": "4 Hz trajectory path length; 1 s mean speeds; differences of adjacent 1 s means. Recorded response is descriptive, not a causal label."}, "frames": [{"t_s": 0.0, "source_frame": 210, "images": {"front_left": "images/1f9b7592919fd6f3c8c420c713b063c8-210/+000_front_left.webp", "front": "images/1f9b7592919fd6f3c8c420c713b063c8-210/+000_front.webp", "front_right": "images/1f9b7592919fd6f3c8c420c713b063c8-210/+000_front_right.webp", "side_left": "images/1f9b7592919fd6f3c8c420c713b063c8-210/+000_side_left.webp", "side_right": "images/1f9b7592919fd6f3c8c420c713b063c8-210/+000_side_right.webp", "rear_left": "images/1f9b7592919fd6f3c8c420c713b063c8-210/+000_rear_left.webp", "rear": "images/1f9b7592919fd6f3c8c420c713b063c8-210/+000_rear.webp", "rear_right": "images/1f9b7592919fd6f3c8c420c713b063c8-210/+000_rear_right.webp"}}], "camera_count": 8, "available_source_times_s": [-2.0, -1.0, 0.0, 1.0], "camera_scope": "current_only", "label": {"title": "Routine signal queue beside construction", "category": "routine", "tags": ["signal queue", "roadside construction", "opposing cyclist"], "current_situation": "Ego is moving at 1.113 m/s on a straight road behind a brake-lit sedan and a pickup approaching a red signal. Double yellow lines separate approaching traffic, including a red Jeep. A cyclist approaches along the opposite curb across the observed history, without entering ego's lane. Construction fencing and barriers border the right roadside and obscure the worksite interior. Left-side views show storefronts and a parking lot; rear views show a passed blue sedan receding. Daylight roadway visibility is adequate.", "baseline_decision": "For the straight-ahead route, finish stopping behind the sedan for the red signal, maintaining the lane and a safe following gap.", "decision_changing_cue": "No material nonroutine cue is visible. The sedan's illuminated brake lights reinforce the existing stopping requirement; neither the opposing cyclist nor the roadside barriers visibly conflicts with ego's path.", "causal_mechanism": "The red signal and occupied lane ahead require a routine stop. Construction remains along the roadside, while the cyclist and approaching Jeep remain across the centerlines, so these features do not establish a need for an additional evasive maneuver.", "expected_action": "stop", "decision_deviation": false, "annotation": "A brake-lit sedan and pickup are ahead at a red signal, with construction barriers on the right and an approaching cyclist across the double yellow lines. Ego would ordinarily stop for the signal, and the occupied lane requires completing that stop behind the sedan while holding its lane over the next few seconds.", "interest_score": 43, "confidence": 0.91, "selection_reason": "Reject as a long-tail candidate: the supported decision is ordinary signal-queue stopping, with no visible construction intrusion, cyclist crossing, or unusual negotiation that materially changes the plan.", "camera_evidence": [{"camera": "front", "t_s": 0, "detail": "A sedan with illuminated brake lights occupies ego's lane behind a pickup; red signal indications are visible ahead. An approaching red Jeep remains across the double yellow lines."}, {"camera": "front", "t_s": -2, "detail": "The sedan and pickup are already ahead in ego's lane, with roadside construction barriers on the right."}, {"camera": "front_left", "t_s": -1, "detail": "A cyclist is visible near the opposite curb beside the storefront and parked white sedan."}, {"camera": "front_left", "t_s": 0, "detail": "The cyclist is now farther along the opposite curb toward ego, remaining outside ego's lane."}, {"camera": "front_right", "t_s": 0, "detail": "Screened construction fencing, a worksite entrance, and a white roadside barrier line the right edge; no actor is visible entering the roadway."}, {"camera": "side_left", "t_s": 0, "detail": "A driveway opens into a parking lot containing several vehicles, with no visible vehicle entering ego's roadway."}, {"camera": "side_right", "t_s": 0, "detail": "Screened fencing and white barriers separate the road from the construction site; a crane is visible above the fence."}, {"camera": "rear_left", "t_s": 0, "detail": "Buildings, sidewalk, and parked vehicles are visible on the left, with no visible roadway intrusion."}, {"camera": "rear", "t_s": -1, "detail": "The blue sedan previously seen approaching on the left is now behind ego on the opposing side."}, {"camera": "rear", "t_s": 0, "detail": "The blue sedan appears farther back along the opposing side; construction barriers continue beside the road."}, {"camera": "rear_right", "t_s": 0, "detail": "Scaffolding, fencing, and equipment remain within the roadside construction area."}], "uncertainties": ["The photographs do not establish whether the lead vehicles are fully stationary or creeping.", "Construction fencing obscures the site interior; no hidden actor or imminent emergence can be established.", "Only observations through t=0 are available; no subsequent ego braking or actor maneuver is recorded here."]}, "discovery_label": {"title": "Routine signal queue beside construction", "category": "routine", "tags": ["signal queue", "roadside construction", "opposing cyclist"], "current_situation": "Ego is moving at 1.113 m/s on a straight road behind a brake-lit sedan and a pickup approaching a red signal. Double yellow lines separate approaching traffic, including a red Jeep. A cyclist approaches along the opposite curb across the observed history, without entering ego's lane. Construction fencing and barriers border the right roadside and obscure the worksite interior. Left-side views show storefronts and a parking lot; rear views show a passed blue sedan receding. Daylight roadway visibility is adequate.", "baseline_decision": "For the straight-ahead route, finish stopping behind the sedan for the red signal, maintaining the lane and a safe following gap.", "decision_changing_cue": "No material nonroutine cue is visible. The sedan's illuminated brake lights reinforce the existing stopping requirement; neither the opposing cyclist nor the roadside barriers visibly conflicts with ego's path.", "causal_mechanism": "The red signal and occupied lane ahead require a routine stop. Construction remains along the roadside, while the cyclist and approaching Jeep remain across the centerlines, so these features do not establish a need for an additional evasive maneuver.", "expected_action": "stop", "decision_deviation": false, "annotation": "A brake-lit sedan and pickup are ahead at a red signal, with construction barriers on the right and an approaching cyclist across the double yellow lines. Ego would ordinarily stop for the signal, and the occupied lane requires completing that stop behind the sedan while holding its lane over the next few seconds.", "interest_score": 43, "confidence": 0.91, "selection_reason": "Reject as a long-tail candidate: the supported decision is ordinary signal-queue stopping, with no visible construction intrusion, cyclist crossing, or unusual negotiation that materially changes the plan.", "camera_evidence": [{"camera": "front", "t_s": 0, "detail": "A sedan with illuminated brake lights occupies ego's lane behind a pickup; red signal indications are visible ahead. An approaching red Jeep remains across the double yellow lines."}, {"camera": "front", "t_s": -2, "detail": "The sedan and pickup are already ahead in ego's lane, with roadside construction barriers on the right."}, {"camera": "front_left", "t_s": -1, "detail": "A cyclist is visible near the opposite curb beside the storefront and parked white sedan."}, {"camera": "front_left", "t_s": 0, "detail": "The cyclist is now farther along the opposite curb toward ego, remaining outside ego's lane."}, {"camera": "front_right", "t_s": 0, "detail": "Screened construction fencing, a worksite entrance, and a white roadside barrier line the right edge; no actor is visible entering the roadway."}, {"camera": "side_left", "t_s": 0, "detail": "A driveway opens into a parking lot containing several vehicles, with no visible vehicle entering ego's roadway."}, {"camera": "side_right", "t_s": 0, "detail": "Screened fencing and white barriers separate the road from the construction site; a crane is visible above the fence."}, {"camera": "rear_left", "t_s": 0, "detail": "Buildings, sidewalk, and parked vehicles are visible on the left, with no visible roadway intrusion."}, {"camera": "rear", "t_s": -1, "detail": "The blue sedan previously seen approaching on the left is now behind ego on the opposing side."}, {"camera": "rear", "t_s": 0, "detail": "The blue sedan appears farther back along the opposing side; construction barriers continue beside the road."}, {"camera": "rear_right", "t_s": 0, "detail": "Scaffolding, fencing, and equipment remain within the roadside construction area."}], "uncertainties": ["The photographs do not establish whether the lead vehicles are fully stationary or creeping.", "Construction fencing obscures the site interior; no hidden actor or imminent emergence can be established.", "Only observations through t=0 are available; no subsequent ego braking or actor maneuver is recorded here."], "_binding_sha256": "bb4565ef3a2d704b7814c1164c32a69736500d5ccc2ffb86c2dd9b30ef70e1c8", "_request": "requests/1f9b7592919fd6f3c8c420c713b063c8-210/discovery-001"}, "review": null, "status": "dismissed", "annotation": "A brake-lit sedan and pickup are ahead at a red signal, with construction barriers on the right and an approaching cyclist across the double yellow lines. Ego would ordinarily stop for the signal, and the occupied lane requires completing that stop behind the sedan while holding its lane over the next few seconds.", "selected": false}
{"id": "c08001357bedf98645df3bf290deb125-220", "scenario_id": "c08001357bedf98645df3bf290deb125", "split": "train", "batch_index": 53, "source_manifest_line": 54, "intent": "GO_STRAIGHT", "anchor_frame": 220, "motion": {"current_speed_mps": 0.0, "future_xy_m": [[0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, -0.000244140625], [0.01171875, -0.00048828125], [0.04296875, -0.00146484375], [0.095703125, -0.00390625], [0.1796875, -0.008056640625], [0.291015625, -0.01513671875], [0.4296875, -0.02392578125], [0.572265625, -0.03515625], [0.73046875, -0.048828125], [0.89453125, -0.06689453125], [1.072265625, -0.0908203125], [1.2890625, -0.1259765625]], "future_hz": 4, "speed_windows": [{"t_s": 0.5, "speed_mps": 0.0}, {"t_s": 1.5, "speed_mps": 0.0}, {"t_s": 2.5, "speed_mps": 0.096}, {"t_s": 3.5, "speed_mps": 0.478}, {"t_s": 4.5, "speed_mps": 0.723}], "minimum_1s_acceleration_mps2": 0.0, "maximum_speed_drop_mps": 0.0, "recorded_response": "start_moving", "method": "4 Hz trajectory path length; 1 s mean speeds; differences of adjacent 1 s means. Recorded response is descriptive, not a causal label."}, "frames": [{"t_s": 0.0, "source_frame": 220, "images": {"front_left": "images/c08001357bedf98645df3bf290deb125-220/+000_front_left.webp", "front": "images/c08001357bedf98645df3bf290deb125-220/+000_front.webp", "front_right": "images/c08001357bedf98645df3bf290deb125-220/+000_front_right.webp", "side_left": "images/c08001357bedf98645df3bf290deb125-220/+000_side_left.webp", "side_right": "images/c08001357bedf98645df3bf290deb125-220/+000_side_right.webp", "rear_left": "images/c08001357bedf98645df3bf290deb125-220/+000_rear_left.webp", "rear": "images/c08001357bedf98645df3bf290deb125-220/+000_rear.webp", "rear_right": "images/c08001357bedf98645df3bf290deb125-220/+000_rear_right.webp"}}], "camera_count": 8, "available_source_times_s": [-2.0, -1.0, 0.0], "camera_scope": "current_only", "label": {"title": "Routine gap waiting at a wet junction", "category": "routine", "tags": ["cross traffic", "stopped ego", "wet pavement", "curbside pedestrians"], "current_situation": "Ego is stationary with a straight-ahead route facing a transverse roadway. A car advances from the left into the front-left foreground across the observation history. Two pedestrians move rightward along the far-side road edge, while a larger group remains outside storefronts farther right. Pavement reflects streetlights and headlights, and much of the surroundings is dimly lit. No applicable ego-facing traffic control is clearly readable.", "baseline_decision": "Remain stopped while establishing right-of-way and checking for a safe traffic gap, then proceed straight when permitted.", "decision_changing_cue": "The car advancing from the left prevents treating the immediate roadway entry as clear. No unusual pedestrian incursion, obstruction, or negotiation is established.", "causal_mechanism": "Starting into the transverse roadway before the approaching car passes could create a crossing conflict. This supports continued routine gap waiting, not a material departure from the normal junction decision.", "expected_action": "remain_stopped", "decision_deviation": false, "annotation": "Ego is stopped at a wet, dimly lit junction as a car advances from the left and two pedestrians walk rightward along the far-side road edge. The normal straight-ahead plan already requires a safe gap, so ego should remain stopped for the approaching car and proceed only after traffic clears and applicable controls permit.", "interest_score": 43, "confidence": 0.84, "selection_reason": "Reject as a long-tail candidate: the visible interaction supports ordinary junction gap waiting. The storefront crowd and curbside pedestrians do not establish an unusual conflict or materially different ego plan.", "camera_evidence": [{"camera": "front_left", "t_s": -1, "detail": "A vehicle headlight begins appearing at the lower-left edge."}, {"camera": "front_left", "t_s": 0, "detail": "The vehicle's front corner and headlight occupy more of the lower-left foreground; the opposite sidewalk and road markings remain visible."}, {"camera": "front", "t_s": -2, "detail": "Two pedestrians are together near the far-side road edge, left of the illuminated storefront."}, {"camera": "front", "t_s": 0, "detail": "The same pair is farther right along the far-side edge, supporting rightward walking rather than movement toward ego."}, {"camera": "front_right", "t_s": 0, "detail": "A group stands along the storefront sidewalk beyond the transverse roadway; the near-right curb curves around the junction."}, {"camera": "side_left", "t_s": -2, "detail": "A car with headlights faces toward the junction beside the curved corner."}, {"camera": "side_left", "t_s": 0, "detail": "The approaching car has advanced toward the right edge of this view, with another vehicle visible farther along the roadway."}, {"camera": "side_right", "t_s": 0, "detail": "A dim sidewalk, vegetation, and roadside signs are visible, without a clearly visible actor entering the roadway."}, {"camera": "rear_left", "t_s": 0, "detail": "Trees, a parking area, and parked vehicles flank the roadside."}, {"camera": "rear", "t_s": 0, "detail": "A car is immediately behind ego, with another headlight-lit vehicle farther back and parked vehicles along the street."}, {"camera": "rear_right", "t_s": 0, "detail": "The sidewalk contains a pole, tree, and freestanding sign; no moving conflict is evident."}], "uncertainties": ["The applicable traffic control and right-of-way cannot be established from readable signs or signals.", "The pedestrians' exact walking surface and its relationship to ego's straight-ahead continuation are unclear.", "Dim lighting and headlight glare limit actor and lane-boundary detail.", "The approaching vehicle's subsequent path is unavailable; only its movement through the supplied history is observed."]}, "discovery_label": {"title": "Routine gap waiting at a wet junction", "category": "routine", "tags": ["cross traffic", "stopped ego", "wet pavement", "curbside pedestrians"], "current_situation": "Ego is stationary with a straight-ahead route facing a transverse roadway. A car advances from the left into the front-left foreground across the observation history. Two pedestrians move rightward along the far-side road edge, while a larger group remains outside storefronts farther right. Pavement reflects streetlights and headlights, and much of the surroundings is dimly lit. No applicable ego-facing traffic control is clearly readable.", "baseline_decision": "Remain stopped while establishing right-of-way and checking for a safe traffic gap, then proceed straight when permitted.", "decision_changing_cue": "The car advancing from the left prevents treating the immediate roadway entry as clear. No unusual pedestrian incursion, obstruction, or negotiation is established.", "causal_mechanism": "Starting into the transverse roadway before the approaching car passes could create a crossing conflict. This supports continued routine gap waiting, not a material departure from the normal junction decision.", "expected_action": "remain_stopped", "decision_deviation": false, "annotation": "Ego is stopped at a wet, dimly lit junction as a car advances from the left and two pedestrians walk rightward along the far-side road edge. The normal straight-ahead plan already requires a safe gap, so ego should remain stopped for the approaching car and proceed only after traffic clears and applicable controls permit.", "interest_score": 43, "confidence": 0.84, "selection_reason": "Reject as a long-tail candidate: the visible interaction supports ordinary junction gap waiting. The storefront crowd and curbside pedestrians do not establish an unusual conflict or materially different ego plan.", "camera_evidence": [{"camera": "front_left", "t_s": -1, "detail": "A vehicle headlight begins appearing at the lower-left edge."}, {"camera": "front_left", "t_s": 0, "detail": "The vehicle's front corner and headlight occupy more of the lower-left foreground; the opposite sidewalk and road markings remain visible."}, {"camera": "front", "t_s": -2, "detail": "Two pedestrians are together near the far-side road edge, left of the illuminated storefront."}, {"camera": "front", "t_s": 0, "detail": "The same pair is farther right along the far-side edge, supporting rightward walking rather than movement toward ego."}, {"camera": "front_right", "t_s": 0, "detail": "A group stands along the storefront sidewalk beyond the transverse roadway; the near-right curb curves around the junction."}, {"camera": "side_left", "t_s": -2, "detail": "A car with headlights faces toward the junction beside the curved corner."}, {"camera": "side_left", "t_s": 0, "detail": "The approaching car has advanced toward the right edge of this view, with another vehicle visible farther along the roadway."}, {"camera": "side_right", "t_s": 0, "detail": "A dim sidewalk, vegetation, and roadside signs are visible, without a clearly visible actor entering the roadway."}, {"camera": "rear_left", "t_s": 0, "detail": "Trees, a parking area, and parked vehicles flank the roadside."}, {"camera": "rear", "t_s": 0, "detail": "A car is immediately behind ego, with another headlight-lit vehicle farther back and parked vehicles along the street."}, {"camera": "rear_right", "t_s": 0, "detail": "The sidewalk contains a pole, tree, and freestanding sign; no moving conflict is evident."}], "uncertainties": ["The applicable traffic control and right-of-way cannot be established from readable signs or signals.", "The pedestrians' exact walking surface and its relationship to ego's straight-ahead continuation are unclear.", "Dim lighting and headlight glare limit actor and lane-boundary detail.", "The approaching vehicle's subsequent path is unavailable; only its movement through the supplied history is observed."], "_binding_sha256": "83f47258772c59a6b714f1ac2bee2e897efb1988d3cc19dca4ce3be218658c67", "_request": "requests/c08001357bedf98645df3bf290deb125-220/discovery-001"}, "review": null, "status": "dismissed", "annotation": "Ego is stopped at a wet, dimly lit junction as a car advances from the left and two pedestrians walk rightward along the far-side road edge. The normal straight-ahead plan already requires a safe gap, so ego should remain stopped for the approaching car and proceed only after traffic clears and applicable controls permit.", "selected": false}
{"id": "3e14f2dfc6c268c2755dfc48722b0e0d-042", "scenario_id": "3e14f2dfc6c268c2755dfc48722b0e0d", "split": "train", "batch_index": 54, "source_manifest_line": 55, "intent": "GO_STRAIGHT", "anchor_frame": 42, "motion": {"current_speed_mps": 2.908, "future_xy_m": [[0.71240234375, -0.077392578125], [1.41455078125, -0.185302734375], [2.12548828125, -0.324462890625], [2.8388671875, -0.49267578125], [3.55322265625, -0.68115234375], [4.26513671875, -0.875244140625], [4.97998046875, -1.074951171875], [5.70068359375, -1.275146484375], [6.44091796875, -1.4775390625], [7.20556640625, -1.671630859375], [7.998046875, -1.856689453125], [8.8193359375, -2.0263671875], [9.66796875, -2.183349609375], [10.53857421875, -2.31640625], [11.435546875, -2.419677734375], [12.35693359375, -2.489990234375], [13.3076171875, -2.527587890625], [14.2900390625, -2.537109375], [15.30224609375, -2.51904296875], [16.34619140625, -2.47119140625]], "future_hz": 4, "speed_windows": [{"t_s": 0.5, "speed_mps": 2.884}, {"t_s": 1.5, "speed_mps": 2.967}, {"t_s": 2.5, "speed_mps": 3.209}, {"t_s": 3.5, "speed_mps": 3.571}, {"t_s": 4.5, "speed_mps": 3.991}], "minimum_1s_acceleration_mps2": 0.083, "maximum_speed_drop_mps": 0.024, "recorded_response": "roughly_maintain_speed", "method": "4 Hz trajectory path length; 1 s mean speeds; differences of adjacent 1 s means. Recorded response is descriptive, not a causal label."}, "frames": [{"t_s": 0.0, "source_frame": 42, "images": {"front_left": "images/3e14f2dfc6c268c2755dfc48722b0e0d-042/+000_front_left.webp", "front": "images/3e14f2dfc6c268c2755dfc48722b0e0d-042/+000_front.webp", "front_right": "images/3e14f2dfc6c268c2755dfc48722b0e0d-042/+000_front_right.webp", "side_left": "images/3e14f2dfc6c268c2755dfc48722b0e0d-042/+000_side_left.webp", "side_right": "images/3e14f2dfc6c268c2755dfc48722b0e0d-042/+000_side_right.webp", "rear_left": "images/3e14f2dfc6c268c2755dfc48722b0e0d-042/+000_rear_left.webp", "rear": "images/3e14f2dfc6c268c2755dfc48722b0e0d-042/+000_rear.webp", "rear_right": "images/3e14f2dfc6c268c2755dfc48722b0e0d-042/+000_rear_right.webp"}}], "camera_count": 8, "available_source_times_s": [-2.0, -1.0, 0.0, 1.0, 2.0, 3.0, 4.0, 5.0], "camera_scope": "current_only", "label": {"title": "Routine Stop Approach With Keep-Right Island", "category": "routine", "tags": ["stop approach", "keep-right island", "curbside vehicles"], "current_situation": "Ego is traveling at 2.908 m/s on a straight residential route toward a junction with a visible STOP sign and a small island carrying a KEEP RIGHT sign. Vehicles occupy roadside and driveway positions on both sides, with a white crossover farther ahead near the junction. Trees, walls, and parked vehicles limit portions of the lateral view, but no pedestrian or immediate path conflict is visible. Rear views show curbside vehicles and a blue dumpster behind ego, not obstructing the forward route.", "baseline_decision": "Approach under control, keep right of the island, and stop before entering the stop-controlled junction; continue straight only after checking for conflicting traffic.", "decision_changing_cue": "No visually supported nonroutine cue changes the plan beyond the ordinary STOP and KEEP RIGHT controls.", "causal_mechanism": "The visible controls require routine longitudinal deceleration and lane positioning. Neither the curbside vehicles nor the dumpster behind ego establishes an additional obstruction or conflict requiring a material deviation.", "expected_action": "stop", "decision_deviation": false, "annotation": "A STOP sign and a small KEEP RIGHT island are ahead on ego's straight residential route, with vehicles along the curbs. Ego should slow to a complete stop before entering the junction and keep right of the island; no visible nonroutine conflict warrants a different plan.", "interest_score": 44, "confidence": 0.86, "selection_reason": "Reject as a long-tail candidate: the supported decision is an ordinary controlled stop with signed island guidance, not an unusual hazardous interaction.", "camera_evidence": [{"camera": "front", "t_s": 0, "detail": "A small island carries a readable KEEP RIGHT sign; a STOP sign stands on the right side ahead, and a white crossover is visible farther ahead near the junction."}, {"camera": "front_left", "t_s": 0, "detail": "A dark SUV is aligned with the left curb, with sidewalk, lawn, and residential frontage beyond it."}, {"camera": "front_right", "t_s": 0, "detail": "A STOP sign is visible near the junction, and a white SUV occupies a curbside position across the roadway."}, {"camera": "side_left", "t_s": 0, "detail": "A vehicle sits in a residential driveway; another dark SUV is partly cut off at the image's right edge."}, {"camera": "side_right", "t_s": 0, "detail": "Two SUVs occupy curbside positions beyond the corner; a foreground pole and vegetation obscure portions of the lateral view."}, {"camera": "rear_left", "t_s": 0, "detail": "Residential driveways contain vehicles, with no visible actor entering the roadway."}, {"camera": "rear", "t_s": 0, "detail": "A blue dumpster and several curbside vehicles are behind ego, alongside the double-yellow roadway."}, {"camera": "rear_right", "t_s": 0, "detail": "A utility pole, wall, and vegetation occupy the roadside view, with a vehicle partly visible behind vegetation."}, {"camera": "front", "t_s": -2, "detail": "The same junction, island, and roadside vehicles are already visible ahead; the history supports ego's approach but does not establish an immediate conflict."}], "uncertainties": ["The white crossover's precise motion and intended path cannot be reliably established from the available views.", "The supplementary plate beneath the STOP sign is not confidently readable.", "Only observations through t=0 are available; subsequent ego braking or intersection entry is not recorded here."]}, "discovery_label": {"title": "Routine Stop Approach With Keep-Right Island", "category": "routine", "tags": ["stop approach", "keep-right island", "curbside vehicles"], "current_situation": "Ego is traveling at 2.908 m/s on a straight residential route toward a junction with a visible STOP sign and a small island carrying a KEEP RIGHT sign. Vehicles occupy roadside and driveway positions on both sides, with a white crossover farther ahead near the junction. Trees, walls, and parked vehicles limit portions of the lateral view, but no pedestrian or immediate path conflict is visible. Rear views show curbside vehicles and a blue dumpster behind ego, not obstructing the forward route.", "baseline_decision": "Approach under control, keep right of the island, and stop before entering the stop-controlled junction; continue straight only after checking for conflicting traffic.", "decision_changing_cue": "No visually supported nonroutine cue changes the plan beyond the ordinary STOP and KEEP RIGHT controls.", "causal_mechanism": "The visible controls require routine longitudinal deceleration and lane positioning. Neither the curbside vehicles nor the dumpster behind ego establishes an additional obstruction or conflict requiring a material deviation.", "expected_action": "stop", "decision_deviation": false, "annotation": "A STOP sign and a small KEEP RIGHT island are ahead on ego's straight residential route, with vehicles along the curbs. Ego should slow to a complete stop before entering the junction and keep right of the island; no visible nonroutine conflict warrants a different plan.", "interest_score": 44, "confidence": 0.86, "selection_reason": "Reject as a long-tail candidate: the supported decision is an ordinary controlled stop with signed island guidance, not an unusual hazardous interaction.", "camera_evidence": [{"camera": "front", "t_s": 0, "detail": "A small island carries a readable KEEP RIGHT sign; a STOP sign stands on the right side ahead, and a white crossover is visible farther ahead near the junction."}, {"camera": "front_left", "t_s": 0, "detail": "A dark SUV is aligned with the left curb, with sidewalk, lawn, and residential frontage beyond it."}, {"camera": "front_right", "t_s": 0, "detail": "A STOP sign is visible near the junction, and a white SUV occupies a curbside position across the roadway."}, {"camera": "side_left", "t_s": 0, "detail": "A vehicle sits in a residential driveway; another dark SUV is partly cut off at the image's right edge."}, {"camera": "side_right", "t_s": 0, "detail": "Two SUVs occupy curbside positions beyond the corner; a foreground pole and vegetation obscure portions of the lateral view."}, {"camera": "rear_left", "t_s": 0, "detail": "Residential driveways contain vehicles, with no visible actor entering the roadway."}, {"camera": "rear", "t_s": 0, "detail": "A blue dumpster and several curbside vehicles are behind ego, alongside the double-yellow roadway."}, {"camera": "rear_right", "t_s": 0, "detail": "A utility pole, wall, and vegetation occupy the roadside view, with a vehicle partly visible behind vegetation."}, {"camera": "front", "t_s": -2, "detail": "The same junction, island, and roadside vehicles are already visible ahead; the history supports ego's approach but does not establish an immediate conflict."}], "uncertainties": ["The white crossover's precise motion and intended path cannot be reliably established from the available views.", "The supplementary plate beneath the STOP sign is not confidently readable.", "Only observations through t=0 are available; subsequent ego braking or intersection entry is not recorded here."], "_binding_sha256": "67917f94b545c0fd2681b77df9a916c7aea0e95fd8be98d3d33253a88fdd866c", "_request": "requests/3e14f2dfc6c268c2755dfc48722b0e0d-042/discovery-001"}, "review": null, "status": "dismissed", "annotation": "A STOP sign and a small KEEP RIGHT island are ahead on ego's straight residential route, with vehicles along the curbs. Ego should slow to a complete stop before entering the junction and keep right of the island; no visible nonroutine conflict warrants a different plan.", "selected": false}
{"id": "7b8156ca7461a6a47ce795f742c675ff-116", "scenario_id": "7b8156ca7461a6a47ce795f742c675ff", "split": "train", "batch_index": 55, "source_manifest_line": 56, "intent": "GO_STRAIGHT", "anchor_frame": 116, "motion": {"current_speed_mps": 2.003, "future_xy_m": [[0.5184898376464844, -0.00048828125], [1.0924568176269531, -0.00244140625], [1.7375373840332031, -0.001953125], [2.455047607421875, -0.00244140625], [3.2421646118164062, -0.00048828125], [4.097236633300781, 0.0029296875], [5.018245697021484, 0.0078125], [6.0045166015625, 0.01416015625], [7.049602508544922, 0.02490234375], [8.157012939453125, 0.037109375], [9.336212158203125, 0.05126953125], [10.592281341552734, 0.06982421875], [11.925006866455078, 0.0859375], [13.336837768554688, 0.10595703125], [14.813613891601562, 0.1240234375], [16.34039306640625, 0.1455078125], [17.909095764160156, 0.16162109375], [19.498329162597656, 0.17919921875], [21.101951599121094, 0.197265625], [22.713821411132812, 0.216796875]], "future_hz": 4, "speed_windows": [{"t_s": 0.5, "speed_mps": 2.455}, {"t_s": 1.5, "speed_mps": 3.55}, {"t_s": 2.5, "speed_mps": 4.588}, {"t_s": 3.5, "speed_mps": 5.749}, {"t_s": 4.5, "speed_mps": 6.374}], "minimum_1s_acceleration_mps2": 0.625, "maximum_speed_drop_mps": 0.0, "recorded_response": "accelerate", "method": "4 Hz trajectory path length; 1 s mean speeds; differences of adjacent 1 s means. Recorded response is descriptive, not a causal label."}, "frames": [{"t_s": 0.0, "source_frame": 116, "images": {"front_left": "images/7b8156ca7461a6a47ce795f742c675ff-116/+000_front_left.webp", "front": "images/7b8156ca7461a6a47ce795f742c675ff-116/+000_front.webp", "front_right": "images/7b8156ca7461a6a47ce795f742c675ff-116/+000_front_right.webp", "side_left": "images/7b8156ca7461a6a47ce795f742c675ff-116/+000_side_left.webp", "side_right": "images/7b8156ca7461a6a47ce795f742c675ff-116/+000_side_right.webp", "rear_left": "images/7b8156ca7461a6a47ce795f742c675ff-116/+000_rear_left.webp", "rear": "images/7b8156ca7461a6a47ce795f742c675ff-116/+000_rear.webp", "rear_right": "images/7b8156ca7461a6a47ce795f742c675ff-116/+000_rear_right.webp"}}], "camera_count": 8, "available_source_times_s": [-2.0, -1.0, 0.0, 1.0, 2.0, 3.0, 4.0, 5.0], "camera_scope": "current_only", "label": {"title": "Pedestrian at Green-Signal Crossing", "category": "vulnerable_road_user_interaction", "tags": ["crosswalk edge", "green signal", "low-speed approach"], "current_situation": "Ego is traveling at 2.003 m/s toward a marked crossing with green signals facing its straight route. A pedestrian stands at the crossing's right-hand curb edge, without clear progression across ego's lane in the available history. Parked vehicles line the street ahead; other pedestrians occupy sidewalks and corners. Bright glare affects the front-left view.", "baseline_decision": "Continue straight through the green signal at the existing cautious speed, holding the travel lane.", "decision_changing_cue": "The pedestrian at the right-hand crossing entrance warrants attention, but the images do not establish an active crossing or another immediate conflict.", "causal_mechanism": "A pedestrian entering from this position would intersect ego's straight path. Retaining the already-low speed preserves an opportunity to yield, but the visible evidence does not justify an unconditional stop or evasive lateral maneuver.", "expected_action": "maintain_speed", "decision_deviation": false, "annotation": "Ego approaches a marked crossing under a green signal, with a pedestrian at its right-hand curb edge and parked cars lining the street ahead. Continue straight at the existing low speed while monitoring the pedestrian, yielding before entering the crossing if they move into the travel path.", "interest_score": 46, "confidence": 0.85, "selection_reason": "Reject as a strong long-tail candidate: this is an ordinary pedestrian-monitoring situation at a signalized crossing, without a demonstrated unusual interaction or material change to the cautious baseline.", "camera_evidence": [{"camera": "front", "t_s": -2, "detail": "A pedestrian is visible at the right-hand end of the marked crossing; the street ahead has parked vehicles along both curbs."}, {"camera": "front", "t_s": -1, "detail": "The pedestrian remains near the right-hand crossing entrance, rather than visibly progressing across the central travel path."}, {"camera": "front", "t_s": 0, "detail": "The enlarged view shows a green signal, an unobstructed central travel path, and the pedestrian at the crossing's right curb edge."}, {"camera": "front_left", "t_s": 0, "detail": "A green signal is visible across the intersection; nearby pedestrians remain on the corner sidewalk, with glare washing out part of the upper view."}, {"camera": "front_right", "t_s": -2, "detail": "A pedestrian is walking near the near-side crosswalk and corner; shoppers and merchandise occupy the opposite sidewalk."}, {"camera": "front_right", "t_s": 0, "detail": "The near-corner pedestrian has progressed onto the right sidewalk. A side-facing signal shows red, and a white van is parked beside the market with its rear door open."}, {"camera": "side_left", "t_s": 0, "detail": "A pedestrian stands beside a sidewalk trash bin against the brick building; no roadway entry is visible."}, {"camera": "side_right", "t_s": 0, "detail": "A pedestrian stands beside a sidewalk cabinet at the corner, beneath a visible one-way sign."}, {"camera": "rear_left", "t_s": 0, "detail": "A blue car is parked beside the curb, with a pedestrian on the sidewalk against the brick wall."}, {"camera": "rear", "t_s": 0, "detail": "Parked vehicles line the street behind; a pedestrian carrying a bag is near the left curb behind ego."}, {"camera": "rear_right", "t_s": 0, "detail": "Several pedestrians and a seated person occupy the market sidewalk beside stacked merchandise."}], "uncertainties": ["The pedestrian's exact position relative to the curb and their next movement are uncertain.", "Ego motion and limited image resolution prevent a reliable pedestrian velocity estimate.", "Front-left glare reduces visibility; no hidden actor is inferred."]}, "discovery_label": {"title": "Pedestrian at Green-Signal Crossing", "category": "vulnerable_road_user_interaction", "tags": ["crosswalk edge", "green signal", "low-speed approach"], "current_situation": "Ego is traveling at 2.003 m/s toward a marked crossing with green signals facing its straight route. A pedestrian stands at the crossing's right-hand curb edge, without clear progression across ego's lane in the available history. Parked vehicles line the street ahead; other pedestrians occupy sidewalks and corners. Bright glare affects the front-left view.", "baseline_decision": "Continue straight through the green signal at the existing cautious speed, holding the travel lane.", "decision_changing_cue": "The pedestrian at the right-hand crossing entrance warrants attention, but the images do not establish an active crossing or another immediate conflict.", "causal_mechanism": "A pedestrian entering from this position would intersect ego's straight path. Retaining the already-low speed preserves an opportunity to yield, but the visible evidence does not justify an unconditional stop or evasive lateral maneuver.", "expected_action": "maintain_speed", "decision_deviation": false, "annotation": "Ego approaches a marked crossing under a green signal, with a pedestrian at its right-hand curb edge and parked cars lining the street ahead. Continue straight at the existing low speed while monitoring the pedestrian, yielding before entering the crossing if they move into the travel path.", "interest_score": 46, "confidence": 0.85, "selection_reason": "Reject as a strong long-tail candidate: this is an ordinary pedestrian-monitoring situation at a signalized crossing, without a demonstrated unusual interaction or material change to the cautious baseline.", "camera_evidence": [{"camera": "front", "t_s": -2, "detail": "A pedestrian is visible at the right-hand end of the marked crossing; the street ahead has parked vehicles along both curbs."}, {"camera": "front", "t_s": -1, "detail": "The pedestrian remains near the right-hand crossing entrance, rather than visibly progressing across the central travel path."}, {"camera": "front", "t_s": 0, "detail": "The enlarged view shows a green signal, an unobstructed central travel path, and the pedestrian at the crossing's right curb edge."}, {"camera": "front_left", "t_s": 0, "detail": "A green signal is visible across the intersection; nearby pedestrians remain on the corner sidewalk, with glare washing out part of the upper view."}, {"camera": "front_right", "t_s": -2, "detail": "A pedestrian is walking near the near-side crosswalk and corner; shoppers and merchandise occupy the opposite sidewalk."}, {"camera": "front_right", "t_s": 0, "detail": "The near-corner pedestrian has progressed onto the right sidewalk. A side-facing signal shows red, and a white van is parked beside the market with its rear door open."}, {"camera": "side_left", "t_s": 0, "detail": "A pedestrian stands beside a sidewalk trash bin against the brick building; no roadway entry is visible."}, {"camera": "side_right", "t_s": 0, "detail": "A pedestrian stands beside a sidewalk cabinet at the corner, beneath a visible one-way sign."}, {"camera": "rear_left", "t_s": 0, "detail": "A blue car is parked beside the curb, with a pedestrian on the sidewalk against the brick wall."}, {"camera": "rear", "t_s": 0, "detail": "Parked vehicles line the street behind; a pedestrian carrying a bag is near the left curb behind ego."}, {"camera": "rear_right", "t_s": 0, "detail": "Several pedestrians and a seated person occupy the market sidewalk beside stacked merchandise."}], "uncertainties": ["The pedestrian's exact position relative to the curb and their next movement are uncertain.", "Ego motion and limited image resolution prevent a reliable pedestrian velocity estimate.", "Front-left glare reduces visibility; no hidden actor is inferred."], "_binding_sha256": "f556151887c3440934ac832dc6d8a33babfc5feccc1a6ac750869478ee10b106", "_request": "requests/7b8156ca7461a6a47ce795f742c675ff-116/discovery-001"}, "review": null, "status": "dismissed", "annotation": "Ego approaches a marked crossing under a green signal, with a pedestrian at its right-hand curb edge and parked cars lining the street ahead. Continue straight at the existing low speed while monitoring the pedestrian, yielding before entering the crossing if they move into the travel path.", "selected": false}
{"id": "0eaf6f08eb7b83df35994a057433b60f-076", "scenario_id": "0eaf6f08eb7b83df35994a057433b60f", "split": "train", "batch_index": 56, "source_manifest_line": 57, "intent": "GO_STRAIGHT", "anchor_frame": 76, "motion": {"current_speed_mps": 1.244, "future_xy_m": [[0.337158203125, 0.0015869140625], [0.734619140625, 0.0042724609375], [1.20166015625, 0.0074462890625], [1.7432861328125, 0.0123291015625], [2.361328125, 0.0194091796875], [3.0572509765625, 0.02978515625], [3.8302001953125, 0.043212890625], [4.678955078125, 0.06103515625], [5.6082763671875, 0.083251953125], [6.6142578125, 0.109375], [7.6923828125, 0.1422119140625], [8.8414306640625, 0.1815185546875], [10.061279296875, 0.2281494140625], [11.353271484375, 0.2838134765625], [12.71240234375, 0.34912109375], [14.1295166015625, 0.42236328125], [15.5975341796875, 0.5025634765625], [17.12451171875, 0.59130859375], [18.7015380859375, 0.6876220703125], [20.3291015625, 0.7939453125]], "future_hz": 4, "speed_windows": [{"t_s": 0.5, "speed_mps": 1.743}, {"t_s": 1.5, "speed_mps": 2.936}, {"t_s": 2.5, "speed_mps": 4.164}, {"t_s": 3.5, "speed_mps": 5.294}, {"t_s": 4.5, "speed_mps": 6.211}], "minimum_1s_acceleration_mps2": 0.917, "maximum_speed_drop_mps": 0.0, "recorded_response": "accelerate", "method": "4 Hz trajectory path length; 1 s mean speeds; differences of adjacent 1 s means. Recorded response is descriptive, not a causal label."}, "frames": [{"t_s": 0.0, "source_frame": 76, "images": {"front_left": "images/0eaf6f08eb7b83df35994a057433b60f-076/+000_front_left.webp", "front": "images/0eaf6f08eb7b83df35994a057433b60f-076/+000_front.webp", "front_right": "images/0eaf6f08eb7b83df35994a057433b60f-076/+000_front_right.webp", "side_left": "images/0eaf6f08eb7b83df35994a057433b60f-076/+000_side_left.webp", "side_right": "images/0eaf6f08eb7b83df35994a057433b60f-076/+000_side_right.webp", "rear_left": "images/0eaf6f08eb7b83df35994a057433b60f-076/+000_rear_left.webp", "rear": "images/0eaf6f08eb7b83df35994a057433b60f-076/+000_rear.webp", "rear_right": "images/0eaf6f08eb7b83df35994a057433b60f-076/+000_rear_right.webp"}}], "camera_count": 8, "available_source_times_s": [-2.0, -1.0, 0.0, 1.0, 2.0, 3.0, 4.0, 5.0], "camera_scope": "current_only", "label": {"title": "Open Corridor Beside Roadwork Barricades", "category": "work_zone", "tags": ["channelized roadway", "striped barricades", "sidewalk pedestrian"], "current_situation": "Ego has a straight route and a supplied speed of 1.244 m/s on a streetlit urban road. Reflective delineators form a corridor ahead beneath an overhead building connection, with striped barricades on the right-hand roadway and vehicles along both curbs. A pedestrian is visible on the sidewalk behind ego's right side throughout the history; no roadway entry is visible.", "baseline_decision": "Continue straight at the current low speed in the open lane, respecting applicable downstream traffic controls.", "decision_changing_cue": "Delineators and striped barricades restrict the roadway ahead, but the corridor aligned with ego remains visibly open.", "causal_mechanism": "The channelization warrants careful lateral tracking and checking the passage before accelerating. It does not visibly require an immediate stop, evasive maneuver, or departure from ego's existing straight path.", "expected_action": "maintain_speed", "decision_deviation": false, "annotation": "Reflective delineators channel the street ahead, with striped barricades on the right-hand roadway and an open corridor aligned with ego. Ego should continue straight at its current low speed over the next several seconds, staying within that corridor and checking downstream controls before accelerating; no immediate conflict requires braking or a lane change.", "interest_score": 56, "confidence": 0.85, "selection_reason": "Useful work-zone context, but rejected as a strong long-tail candidate: the visible channel remains open along ego's existing route, and no specific interaction establishes a substantial next-step decision change.", "camera_evidence": [{"camera": "front", "t_s": -2, "detail": "Rows of reflective delineators and right-side striped barricades are already visible ahead; the central passage is open."}, {"camera": "front", "t_s": 0, "detail": "The enlarged view shows delineators channeling the roadway beneath an overhead building connection, with striped barricades beside right-side vehicles."}, {"camera": "front_left", "t_s": 0, "detail": "Construction fencing lines the far side of the side street; no actor is visible entering ego's path from the left."}, {"camera": "front_right", "t_s": 0, "detail": "The sidewalk has illuminated planters, yellow bollards and a cone near the curb, without a visible roadway entrant."}, {"camera": "side_left", "t_s": 0, "detail": "The adjacent building frontage, sidewalk and side-street mouth show no visible moving actor."}, {"camera": "side_right", "t_s": 0, "detail": "The right corner contains landscaping, sidewalk steps and a cone beside the building, with no visible actor entering the street."}, {"camera": "rear_left", "t_s": 0, "detail": "The left sidewalk and roadway edge behind ego have no visible nearby conflict."}, {"camera": "rear", "t_s": 0, "detail": "The roadway behind is open nearby, with small distant vehicle lights."}, {"camera": "rear_right", "t_s": -2, "detail": "A pedestrian is visible on the right sidewalk behind ego, separated from the roadway by the curb."}, {"camera": "rear_right", "t_s": 0, "detail": "The pedestrian remains on the sidewalk; the supplied history shows no curb crossing."}], "uncertainties": ["The downstream channel's full layout and sign text are not readable.", "Distant signal indications cannot be confidently assigned to ego's lane.", "Pedestrian walking direction cannot be separated confidently from ego-induced image motion.", "No future observations establish how soon ego reaches the barricades."]}, "discovery_label": {"title": "Open Corridor Beside Roadwork Barricades", "category": "work_zone", "tags": ["channelized roadway", "striped barricades", "sidewalk pedestrian"], "current_situation": "Ego has a straight route and a supplied speed of 1.244 m/s on a streetlit urban road. Reflective delineators form a corridor ahead beneath an overhead building connection, with striped barricades on the right-hand roadway and vehicles along both curbs. A pedestrian is visible on the sidewalk behind ego's right side throughout the history; no roadway entry is visible.", "baseline_decision": "Continue straight at the current low speed in the open lane, respecting applicable downstream traffic controls.", "decision_changing_cue": "Delineators and striped barricades restrict the roadway ahead, but the corridor aligned with ego remains visibly open.", "causal_mechanism": "The channelization warrants careful lateral tracking and checking the passage before accelerating. It does not visibly require an immediate stop, evasive maneuver, or departure from ego's existing straight path.", "expected_action": "maintain_speed", "decision_deviation": false, "annotation": "Reflective delineators channel the street ahead, with striped barricades on the right-hand roadway and an open corridor aligned with ego. Ego should continue straight at its current low speed over the next several seconds, staying within that corridor and checking downstream controls before accelerating; no immediate conflict requires braking or a lane change.", "interest_score": 56, "confidence": 0.85, "selection_reason": "Useful work-zone context, but rejected as a strong long-tail candidate: the visible channel remains open along ego's existing route, and no specific interaction establishes a substantial next-step decision change.", "camera_evidence": [{"camera": "front", "t_s": -2, "detail": "Rows of reflective delineators and right-side striped barricades are already visible ahead; the central passage is open."}, {"camera": "front", "t_s": 0, "detail": "The enlarged view shows delineators channeling the roadway beneath an overhead building connection, with striped barricades beside right-side vehicles."}, {"camera": "front_left", "t_s": 0, "detail": "Construction fencing lines the far side of the side street; no actor is visible entering ego's path from the left."}, {"camera": "front_right", "t_s": 0, "detail": "The sidewalk has illuminated planters, yellow bollards and a cone near the curb, without a visible roadway entrant."}, {"camera": "side_left", "t_s": 0, "detail": "The adjacent building frontage, sidewalk and side-street mouth show no visible moving actor."}, {"camera": "side_right", "t_s": 0, "detail": "The right corner contains landscaping, sidewalk steps and a cone beside the building, with no visible actor entering the street."}, {"camera": "rear_left", "t_s": 0, "detail": "The left sidewalk and roadway edge behind ego have no visible nearby conflict."}, {"camera": "rear", "t_s": 0, "detail": "The roadway behind is open nearby, with small distant vehicle lights."}, {"camera": "rear_right", "t_s": -2, "detail": "A pedestrian is visible on the right sidewalk behind ego, separated from the roadway by the curb."}, {"camera": "rear_right", "t_s": 0, "detail": "The pedestrian remains on the sidewalk; the supplied history shows no curb crossing."}], "uncertainties": ["The downstream channel's full layout and sign text are not readable.", "Distant signal indications cannot be confidently assigned to ego's lane.", "Pedestrian walking direction cannot be separated confidently from ego-induced image motion.", "No future observations establish how soon ego reaches the barricades."], "_binding_sha256": "fee191247f52899bc4e54091d30a22cec194b6df9b53c9d12b4c030ecfbcfc62", "_request": "requests/0eaf6f08eb7b83df35994a057433b60f-076/discovery-001"}, "review": null, "status": "dismissed", "annotation": "Reflective delineators channel the street ahead, with striped barricades on the right-hand roadway and an open corridor aligned with ego. Ego should continue straight at its current low speed over the next several seconds, staying within that corridor and checking downstream controls before accelerating; no immediate conflict requires braking or a lane change.", "selected": false}
{"id": "7d76efb2c9ebecd842e252c59c35fcc4-044", "scenario_id": "7d76efb2c9ebecd842e252c59c35fcc4", "split": "train", "batch_index": 57, "source_manifest_line": 58, "intent": "GO_LEFT", "anchor_frame": 44, "motion": {"current_speed_mps": 0.002, "future_xy_m": [[0.0, 0.000244140625], [0.0, 0.000244140625], [0.0, 0.000244140625], [0.0, 0.000244140625], [0.0, 0.000244140625], [0.0, 0.000244140625], [0.0, 0.000244140625], [0.0, 0.000244140625], [0.0, 0.000244140625], [0.0, 0.000244140625], [0.0, 0.000244140625], [0.0, 0.000244140625], [0.0, 0.000244140625], [0.0, 0.000244140625], [0.0, 0.000244140625], [0.0, 0.000244140625], [0.0, 0.000244140625], [0.0, 0.000244140625], [0.0, 0.000244140625], [0.0, 0.000244140625]], "future_hz": 4, "speed_windows": [{"t_s": 0.5, "speed_mps": 0.0}, {"t_s": 1.5, "speed_mps": 0.0}, {"t_s": 2.5, "speed_mps": 0.0}, {"t_s": 3.5, "speed_mps": 0.0}, {"t_s": 4.5, "speed_mps": 0.0}], "minimum_1s_acceleration_mps2": -0.0, "maximum_speed_drop_mps": 0.002, "recorded_response": "remain_stopped", "method": "4 Hz trajectory path length; 1 s mean speeds; differences of adjacent 1 s means. Recorded response is descriptive, not a causal label."}, "frames": [{"t_s": 0.0, "source_frame": 44, "images": {"front_left": "images/7d76efb2c9ebecd842e252c59c35fcc4-044/+000_front_left.webp", "front": "images/7d76efb2c9ebecd842e252c59c35fcc4-044/+000_front.webp", "front_right": "images/7d76efb2c9ebecd842e252c59c35fcc4-044/+000_front_right.webp", "side_left": "images/7d76efb2c9ebecd842e252c59c35fcc4-044/+000_side_left.webp", "side_right": "images/7d76efb2c9ebecd842e252c59c35fcc4-044/+000_side_right.webp", "rear_left": "images/7d76efb2c9ebecd842e252c59c35fcc4-044/+000_rear_left.webp", "rear": "images/7d76efb2c9ebecd842e252c59c35fcc4-044/+000_rear.webp", "rear_right": "images/7d76efb2c9ebecd842e252c59c35fcc4-044/+000_rear_right.webp"}}], "camera_count": 8, "available_source_times_s": [-1.0, 0.0, 1.0, 2.0, 3.0, 4.0, 5.0], "camera_scope": "current_only", "label": {"title": "Routine Left-Turn Gap Wait", "category": "routine", "tags": ["left turn", "cross traffic", "stationary ego"], "current_situation": "Ego is nearly stationary at a junction with a two-way cross street, intending to turn left. A silver SUV moves right-to-left in the front-right history, other vehicles occupy the street to ego's left, and a dark pickup faces the junction from the opposite park entrance. People are visible inside the park, not in the roadway. Daylight visibility is generally clear; roadside vegetation limits the side-right view. The back of an octagonal sign is visible at ego's right rear, but its face cannot be read.", "baseline_decision": "Without the silver SUV, ego should still check left-side traffic and satisfy applicable junction controls, proceeding with the intended left turn only when a safe gap exists in both directions.", "decision_changing_cue": "The silver SUV visibly advances right-to-left along the cross street. This supports continued routine gap waiting, not a distinct nonroutine maneuver.", "causal_mechanism": "The left turn must cross or enter active through-traffic lanes. Entering before a suitable gap opens could conflict with through vehicles, but this is ordinary junction yielding rather than an unusual interaction.", "expected_action": "remain_stopped", "decision_deviation": false, "annotation": "Ego is nearly stationary for a left turn while a silver SUV travels right-to-left along the cross street and other traffic is visible to the left. Even without that SUV, ego would need to check for a safe gap; remain stopped now and begin the left turn only after applicable controls are satisfied and both directions offer sufficient clearance.", "interest_score": 45, "confidence": 0.9, "selection_reason": "Reject as a long-tail candidate: the visible decision is routine gap acceptance, with no supported unusual conflict, roadway obstruction, or pedestrian incursion.", "camera_evidence": [{"camera": "front_left", "t_s": 0, "detail": "A dark pickup faces the junction at the opposite park entrance; a pedestrian-warning sign stands farther left."}, {"camera": "front", "t_s": 0, "detail": "The cross street lies ahead, with people inside the park beyond the opposite curb; no person is visible entering the roadway."}, {"camera": "front_right", "t_s": -1, "detail": "A silver SUV is visible toward the right side of the cross street, oriented toward image-left."}, {"camera": "front_right", "t_s": 0, "detail": "The silver SUV has advanced toward image-left relative to the previous frame, supporting right-to-left through motion."}, {"camera": "side_left", "t_s": 0, "detail": "Several vehicles are visible along the cross street to ego's left, including a dark crossover."}, {"camera": "side_right", "t_s": 0, "detail": "The near sidewalk and corner ramp are empty; dense vegetation obscures much of the view beyond the corner."}, {"camera": "rear_left", "t_s": 0, "detail": "A sidewalk, hedge, hydrant, and roadside signpost are visible without a nearby actor."}, {"camera": "rear", "t_s": 0, "detail": "The residential approach extends behind ego without a nearby following vehicle."}, {"camera": "rear_right", "t_s": 0, "detail": "The back of an octagonal roadside sign stands beside the corner wall; its displayed control is not visible."}], "uncertainties": ["The ego-facing junction control cannot be directly read.", "The pickup's next maneuver is not established by the available history.", "A safe turning gap and subsequent ego behavior cannot be determined from these two observation times."]}, "discovery_label": {"title": "Routine Left-Turn Gap Wait", "category": "routine", "tags": ["left turn", "cross traffic", "stationary ego"], "current_situation": "Ego is nearly stationary at a junction with a two-way cross street, intending to turn left. A silver SUV moves right-to-left in the front-right history, other vehicles occupy the street to ego's left, and a dark pickup faces the junction from the opposite park entrance. People are visible inside the park, not in the roadway. Daylight visibility is generally clear; roadside vegetation limits the side-right view. The back of an octagonal sign is visible at ego's right rear, but its face cannot be read.", "baseline_decision": "Without the silver SUV, ego should still check left-side traffic and satisfy applicable junction controls, proceeding with the intended left turn only when a safe gap exists in both directions.", "decision_changing_cue": "The silver SUV visibly advances right-to-left along the cross street. This supports continued routine gap waiting, not a distinct nonroutine maneuver.", "causal_mechanism": "The left turn must cross or enter active through-traffic lanes. Entering before a suitable gap opens could conflict with through vehicles, but this is ordinary junction yielding rather than an unusual interaction.", "expected_action": "remain_stopped", "decision_deviation": false, "annotation": "Ego is nearly stationary for a left turn while a silver SUV travels right-to-left along the cross street and other traffic is visible to the left. Even without that SUV, ego would need to check for a safe gap; remain stopped now and begin the left turn only after applicable controls are satisfied and both directions offer sufficient clearance.", "interest_score": 45, "confidence": 0.9, "selection_reason": "Reject as a long-tail candidate: the visible decision is routine gap acceptance, with no supported unusual conflict, roadway obstruction, or pedestrian incursion.", "camera_evidence": [{"camera": "front_left", "t_s": 0, "detail": "A dark pickup faces the junction at the opposite park entrance; a pedestrian-warning sign stands farther left."}, {"camera": "front", "t_s": 0, "detail": "The cross street lies ahead, with people inside the park beyond the opposite curb; no person is visible entering the roadway."}, {"camera": "front_right", "t_s": -1, "detail": "A silver SUV is visible toward the right side of the cross street, oriented toward image-left."}, {"camera": "front_right", "t_s": 0, "detail": "The silver SUV has advanced toward image-left relative to the previous frame, supporting right-to-left through motion."}, {"camera": "side_left", "t_s": 0, "detail": "Several vehicles are visible along the cross street to ego's left, including a dark crossover."}, {"camera": "side_right", "t_s": 0, "detail": "The near sidewalk and corner ramp are empty; dense vegetation obscures much of the view beyond the corner."}, {"camera": "rear_left", "t_s": 0, "detail": "A sidewalk, hedge, hydrant, and roadside signpost are visible without a nearby actor."}, {"camera": "rear", "t_s": 0, "detail": "The residential approach extends behind ego without a nearby following vehicle."}, {"camera": "rear_right", "t_s": 0, "detail": "The back of an octagonal roadside sign stands beside the corner wall; its displayed control is not visible."}], "uncertainties": ["The ego-facing junction control cannot be directly read.", "The pickup's next maneuver is not established by the available history.", "A safe turning gap and subsequent ego behavior cannot be determined from these two observation times."], "_binding_sha256": "2619e9700b16a0f08295da8eb8cfb364a1f9c379131079664c172f0d30620540", "_request": "requests/7d76efb2c9ebecd842e252c59c35fcc4-044/discovery-001"}, "review": null, "status": "dismissed", "annotation": "Ego is nearly stationary for a left turn while a silver SUV travels right-to-left along the cross street and other traffic is visible to the left. Even without that SUV, ego would need to check for a safe gap; remain stopped now and begin the left turn only after applicable controls are satisfied and both directions offer sufficient clearance.", "selected": false}
{"id": "50583c556d9028c66fa8766b795f9489-049", "scenario_id": "50583c556d9028c66fa8766b795f9489", "split": "train", "batch_index": 58, "source_manifest_line": 59, "intent": "GO_RIGHT", "anchor_frame": 49, "motion": {"current_speed_mps": 0.0, "future_xy_m": [[0.0, 3.0517578125e-05], [0.0, 6.103515625e-05], [0.0, 6.103515625e-05], [0.0, 6.103515625e-05], [0.0, 3.0517578125e-05], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, -3.0517578125e-05], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 3.0517578125e-05], [0.0, 0.0], [0.0, 0.0], [0.0, -3.0517578125e-05]], "future_hz": 4, "speed_windows": [{"t_s": 0.5, "speed_mps": 0.0}, {"t_s": 1.5, "speed_mps": 0.0}, {"t_s": 2.5, "speed_mps": 0.0}, {"t_s": 3.5, "speed_mps": 0.0}, {"t_s": 4.5, "speed_mps": 0.0}], "minimum_1s_acceleration_mps2": -0.0, "maximum_speed_drop_mps": 0.0, "recorded_response": "remain_stopped", "method": "4 Hz trajectory path length; 1 s mean speeds; differences of adjacent 1 s means. Recorded response is descriptive, not a causal label."}, "frames": [{"t_s": 0.0, "source_frame": 49, "images": {"front_left": "images/50583c556d9028c66fa8766b795f9489-049/+000_front_left.webp", "front": "images/50583c556d9028c66fa8766b795f9489-049/+000_front.webp", "front_right": "images/50583c556d9028c66fa8766b795f9489-049/+000_front_right.webp", "side_left": "images/50583c556d9028c66fa8766b795f9489-049/+000_side_left.webp", "side_right": "images/50583c556d9028c66fa8766b795f9489-049/+000_side_right.webp", "rear_left": "images/50583c556d9028c66fa8766b795f9489-049/+000_rear_left.webp", "rear": "images/50583c556d9028c66fa8766b795f9489-049/+000_rear.webp", "rear_right": "images/50583c556d9028c66fa8766b795f9489-049/+000_rear_right.webp"}}], "camera_count": 8, "available_source_times_s": [-2.0, -1.0, 0.0, 1.0, 2.0, 3.0, 4.0, 5.0], "camera_scope": "current_only", "label": {"title": "Routine Red-Signal Wait Before Right Turn", "category": "routine", "tags": ["red signal", "right turn", "cross traffic"], "current_situation": "Ego is stationary before marked crosswalks at a signalized intersection with a planned right turn. The forward-facing signal is red throughout the available history. A sedan moves left-to-right across the intersection between -2 and 0 seconds. Two pedestrians are visible on the left-side sidewalk/driveway area, without visible entry into a crosswalk. A sedan is immediately behind ego. Daylight visibility is generally clear, although trees, poles, and a utility cabinet obstruct portions of the right-side view.", "baseline_decision": "Remain stopped at the red signal while checking right-turn permission, cross traffic, and the crosswalk; begin the planned right turn only when lawful and clear.", "decision_changing_cue": "No additional nonroutine cue is visible. The red signal and passing cross traffic impose ordinary intersection constraints.", "causal_mechanism": "The signal and cross-traffic path require checking permission and clearance before entering the right turn, but no visible interaction materially changes that baseline.", "expected_action": "remain_stopped", "decision_deviation": false, "annotation": "Ego is stationary before marked crosswalks at a red signal with a planned right turn, while a sedan has moved left-to-right across the intersection. Remain stopped now and begin the right turn only when permitted and both the crosswalk and cross-traffic path are clear.", "interest_score": 43, "confidence": 0.93, "selection_reason": "Reject as a long-tail candidate: this is a routine signal-controlled right-turn wait, with no visible unusual conflict, pedestrian encroachment, or obstruction requiring a different plan.", "camera_evidence": [{"camera": "front_left", "t_s": 0, "detail": "Marked crosswalks and the left corner are visible; several vehicles are along the opposite curb, with no pedestrian occupying the visible crossing."}, {"camera": "front", "t_s": 0, "detail": "A red forward-facing signal is visible above the intersection, with a marked crosswalk immediately ahead and a bus beyond the intersection."}, {"camera": "front_right", "t_s": -2, "detail": "A sedan occupies the cross street beside the right-side crosswalk; a red signal is visible above the corner."}, {"camera": "front_right", "t_s": -1, "detail": "The sedan has shifted rightward across the view, supporting left-to-right cross-traffic motion."}, {"camera": "front_right", "t_s": 0, "detail": "The red signal remains illuminated; poles, a tree trunk, and a utility cabinet obstruct portions of the corner and cross-street view."}, {"camera": "side_left", "t_s": 0, "detail": "One person remains near the yellow-striped driveway area and another has advanced along the sidewalk relative to earlier frames; neither visibly occupies a crosswalk."}, {"camera": "side_right", "t_s": 0, "detail": "A large foreground tree trunk blocks part of the view beside the building; the visible sidewalk contains no pedestrian."}, {"camera": "rear_left", "t_s": 0, "detail": "A wall, sidewalk, and streetlight are visible without an actor encroaching into the roadway."}, {"camera": "rear", "t_s": 0, "detail": "A sedan is directly behind ego, with another vehicle farther along the street; no lateral intrusion is visible."}, {"camera": "rear_right", "t_s": 0, "detail": "The building frontage, hedge, and sidewalk show no visible moving actor or roadway obstruction."}], "uncertainties": ["Right-turn-on-red permission or restrictions cannot be established from the readable signage.", "The pedestrians' future paths are unknown; no crossing intention is inferred.", "Objects outside the tree-, pole-, and cabinet-obstructed views cannot be assessed."]}, "discovery_label": {"title": "Routine Red-Signal Wait Before Right Turn", "category": "routine", "tags": ["red signal", "right turn", "cross traffic"], "current_situation": "Ego is stationary before marked crosswalks at a signalized intersection with a planned right turn. The forward-facing signal is red throughout the available history. A sedan moves left-to-right across the intersection between -2 and 0 seconds. Two pedestrians are visible on the left-side sidewalk/driveway area, without visible entry into a crosswalk. A sedan is immediately behind ego. Daylight visibility is generally clear, although trees, poles, and a utility cabinet obstruct portions of the right-side view.", "baseline_decision": "Remain stopped at the red signal while checking right-turn permission, cross traffic, and the crosswalk; begin the planned right turn only when lawful and clear.", "decision_changing_cue": "No additional nonroutine cue is visible. The red signal and passing cross traffic impose ordinary intersection constraints.", "causal_mechanism": "The signal and cross-traffic path require checking permission and clearance before entering the right turn, but no visible interaction materially changes that baseline.", "expected_action": "remain_stopped", "decision_deviation": false, "annotation": "Ego is stationary before marked crosswalks at a red signal with a planned right turn, while a sedan has moved left-to-right across the intersection. Remain stopped now and begin the right turn only when permitted and both the crosswalk and cross-traffic path are clear.", "interest_score": 43, "confidence": 0.93, "selection_reason": "Reject as a long-tail candidate: this is a routine signal-controlled right-turn wait, with no visible unusual conflict, pedestrian encroachment, or obstruction requiring a different plan.", "camera_evidence": [{"camera": "front_left", "t_s": 0, "detail": "Marked crosswalks and the left corner are visible; several vehicles are along the opposite curb, with no pedestrian occupying the visible crossing."}, {"camera": "front", "t_s": 0, "detail": "A red forward-facing signal is visible above the intersection, with a marked crosswalk immediately ahead and a bus beyond the intersection."}, {"camera": "front_right", "t_s": -2, "detail": "A sedan occupies the cross street beside the right-side crosswalk; a red signal is visible above the corner."}, {"camera": "front_right", "t_s": -1, "detail": "The sedan has shifted rightward across the view, supporting left-to-right cross-traffic motion."}, {"camera": "front_right", "t_s": 0, "detail": "The red signal remains illuminated; poles, a tree trunk, and a utility cabinet obstruct portions of the corner and cross-street view."}, {"camera": "side_left", "t_s": 0, "detail": "One person remains near the yellow-striped driveway area and another has advanced along the sidewalk relative to earlier frames; neither visibly occupies a crosswalk."}, {"camera": "side_right", "t_s": 0, "detail": "A large foreground tree trunk blocks part of the view beside the building; the visible sidewalk contains no pedestrian."}, {"camera": "rear_left", "t_s": 0, "detail": "A wall, sidewalk, and streetlight are visible without an actor encroaching into the roadway."}, {"camera": "rear", "t_s": 0, "detail": "A sedan is directly behind ego, with another vehicle farther along the street; no lateral intrusion is visible."}, {"camera": "rear_right", "t_s": 0, "detail": "The building frontage, hedge, and sidewalk show no visible moving actor or roadway obstruction."}], "uncertainties": ["Right-turn-on-red permission or restrictions cannot be established from the readable signage.", "The pedestrians' future paths are unknown; no crossing intention is inferred.", "Objects outside the tree-, pole-, and cabinet-obstructed views cannot be assessed."], "_binding_sha256": "a8c99fea3e0cb3526d7574e4d5315af37e56611ff99b3b44852e0f7d91bec340", "_request": "requests/50583c556d9028c66fa8766b795f9489-049/discovery-001"}, "review": null, "status": "dismissed", "annotation": "Ego is stationary before marked crosswalks at a red signal with a planned right turn, while a sedan has moved left-to-right across the intersection. Remain stopped now and begin the right turn only when permitted and both the crosswalk and cross-traffic path are clear.", "selected": false}
{"id": "23f709721e947abbce80b1f972ae2e34-123", "scenario_id": "23f709721e947abbce80b1f972ae2e34", "split": "train", "batch_index": 59, "source_manifest_line": 60, "intent": "GO_STRAIGHT", "anchor_frame": 123, "motion": {"current_speed_mps": 5.298, "future_xy_m": [[1.2902374267578125, -0.008087158203125], [2.5248260498046875, -0.02130126953125], [3.7064666748046875, -0.0401763916015625], [4.8383941650390625, -0.0633087158203125], [5.917236328125, -0.089569091796875], [6.9479827880859375, -0.1197509765625], [7.9212188720703125, -0.1512603759765625], [8.828216552734375, -0.1842498779296875], [9.669845581054688, -0.21783447265625], [10.451217651367188, -0.2515869140625], [11.183380126953125, -0.286590576171875], [11.876174926757812, -0.3300018310546875], [12.545913696289062, -0.38812255859375], [13.208908081054688, -0.4608001708984375], [13.869186401367188, -0.5471954345703125], [14.524765014648438, -0.64630126953125], [15.178558349609375, -0.7575531005859375], [15.829971313476562, -0.8815765380859375], [16.480484008789062, -1.019805908203125], [17.130844116210938, -1.1701507568359375]], "future_hz": 4, "speed_windows": [{"t_s": 0.5, "speed_mps": 4.839}, {"t_s": 1.5, "speed_mps": 3.992}, {"t_s": 2.5, "speed_mps": 3.052}, {"t_s": 3.5, "speed_mps": 2.668}, {"t_s": 4.5, "speed_mps": 2.659}], "minimum_1s_acceleration_mps2": -0.94, "maximum_speed_drop_mps": 2.639, "recorded_response": "slow_down", "method": "4 Hz trajectory path length; 1 s mean speeds; differences of adjacent 1 s means. Recorded response is descriptive, not a causal label."}, "frames": [{"t_s": -2.0, "source_frame": 103, "images": {"front_left": "images/23f709721e947abbce80b1f972ae2e34-123/-020_front_left.webp", "front": "images/23f709721e947abbce80b1f972ae2e34-123/-020_front.webp", "front_right": "images/23f709721e947abbce80b1f972ae2e34-123/-020_front_right.webp", "side_left": "images/23f709721e947abbce80b1f972ae2e34-123/-020_side_left.webp", "side_right": "images/23f709721e947abbce80b1f972ae2e34-123/-020_side_right.webp", "rear_left": "images/23f709721e947abbce80b1f972ae2e34-123/-020_rear_left.webp", "rear": "images/23f709721e947abbce80b1f972ae2e34-123/-020_rear.webp", "rear_right": "images/23f709721e947abbce80b1f972ae2e34-123/-020_rear_right.webp"}}, {"t_s": -1.0, "source_frame": 113, "images": {"front_left": "images/23f709721e947abbce80b1f972ae2e34-123/-010_front_left.webp", "front": "images/23f709721e947abbce80b1f972ae2e34-123/-010_front.webp", "front_right": "images/23f709721e947abbce80b1f972ae2e34-123/-010_front_right.webp", "side_left": "images/23f709721e947abbce80b1f972ae2e34-123/-010_side_left.webp", "side_right": "images/23f709721e947abbce80b1f972ae2e34-123/-010_side_right.webp", "rear_left": "images/23f709721e947abbce80b1f972ae2e34-123/-010_rear_left.webp", "rear": "images/23f709721e947abbce80b1f972ae2e34-123/-010_rear.webp", "rear_right": "images/23f709721e947abbce80b1f972ae2e34-123/-010_rear_right.webp"}}, {"t_s": 0.0, "source_frame": 123, "images": {"front_left": "images/23f709721e947abbce80b1f972ae2e34-123/+000_front_left.webp", "front": "images/23f709721e947abbce80b1f972ae2e34-123/+000_front.webp", "front_right": "images/23f709721e947abbce80b1f972ae2e34-123/+000_front_right.webp", "side_left": "images/23f709721e947abbce80b1f972ae2e34-123/+000_side_left.webp", "side_right": "images/23f709721e947abbce80b1f972ae2e34-123/+000_side_right.webp", "rear_left": "images/23f709721e947abbce80b1f972ae2e34-123/+000_rear_left.webp", "rear": "images/23f709721e947abbce80b1f972ae2e34-123/+000_rear.webp", "rear_right": "images/23f709721e947abbce80b1f972ae2e34-123/+000_rear_right.webp"}}, {"t_s": 1.0, "source_frame": 133, "images": {"front_left": "images/23f709721e947abbce80b1f972ae2e34-123/+010_front_left.webp", "front": "images/23f709721e947abbce80b1f972ae2e34-123/+010_front.webp", "front_right": "images/23f709721e947abbce80b1f972ae2e34-123/+010_front_right.webp", "side_left": "images/23f709721e947abbce80b1f972ae2e34-123/+010_side_left.webp", "side_right": "images/23f709721e947abbce80b1f972ae2e34-123/+010_side_right.webp", "rear_left": "images/23f709721e947abbce80b1f972ae2e34-123/+010_rear_left.webp", "rear": "images/23f709721e947abbce80b1f972ae2e34-123/+010_rear.webp", "rear_right": "images/23f709721e947abbce80b1f972ae2e34-123/+010_rear_right.webp"}}, {"t_s": 2.0, "source_frame": 143, "images": {"front_left": "images/23f709721e947abbce80b1f972ae2e34-123/+020_front_left.webp", "front": "images/23f709721e947abbce80b1f972ae2e34-123/+020_front.webp", "front_right": "images/23f709721e947abbce80b1f972ae2e34-123/+020_front_right.webp", "side_left": "images/23f709721e947abbce80b1f972ae2e34-123/+020_side_left.webp", "side_right": "images/23f709721e947abbce80b1f972ae2e34-123/+020_side_right.webp", "rear_left": "images/23f709721e947abbce80b1f972ae2e34-123/+020_rear_left.webp", "rear": "images/23f709721e947abbce80b1f972ae2e34-123/+020_rear.webp", "rear_right": "images/23f709721e947abbce80b1f972ae2e34-123/+020_rear_right.webp"}}, {"t_s": 3.0, "source_frame": 153, "images": {"front_left": "images/23f709721e947abbce80b1f972ae2e34-123/+030_front_left.webp", "front": "images/23f709721e947abbce80b1f972ae2e34-123/+030_front.webp", "front_right": "images/23f709721e947abbce80b1f972ae2e34-123/+030_front_right.webp", "side_left": "images/23f709721e947abbce80b1f972ae2e34-123/+030_side_left.webp", "side_right": "images/23f709721e947abbce80b1f972ae2e34-123/+030_side_right.webp", "rear_left": "images/23f709721e947abbce80b1f972ae2e34-123/+030_rear_left.webp", "rear": "images/23f709721e947abbce80b1f972ae2e34-123/+030_rear.webp", "rear_right": "images/23f709721e947abbce80b1f972ae2e34-123/+030_rear_right.webp"}}, {"t_s": 4.0, "source_frame": 163, "images": {"front_left": "images/23f709721e947abbce80b1f972ae2e34-123/+040_front_left.webp", "front": "images/23f709721e947abbce80b1f972ae2e34-123/+040_front.webp", "front_right": "images/23f709721e947abbce80b1f972ae2e34-123/+040_front_right.webp", "side_left": "images/23f709721e947abbce80b1f972ae2e34-123/+040_side_left.webp", "side_right": "images/23f709721e947abbce80b1f972ae2e34-123/+040_side_right.webp", "rear_left": "images/23f709721e947abbce80b1f972ae2e34-123/+040_rear_left.webp", "rear": "images/23f709721e947abbce80b1f972ae2e34-123/+040_rear.webp", "rear_right": "images/23f709721e947abbce80b1f972ae2e34-123/+040_rear_right.webp"}}, {"t_s": 5.0, "source_frame": 173, "images": {"front_left": "images/23f709721e947abbce80b1f972ae2e34-123/+050_front_left.webp", "front": "images/23f709721e947abbce80b1f972ae2e34-123/+050_front.webp", "front_right": "images/23f709721e947abbce80b1f972ae2e34-123/+050_front_right.webp", "side_left": "images/23f709721e947abbce80b1f972ae2e34-123/+050_side_left.webp", "side_right": "images/23f709721e947abbce80b1f972ae2e34-123/+050_side_right.webp", "rear_left": "images/23f709721e947abbce80b1f972ae2e34-123/+050_rear_left.webp", "rear": "images/23f709721e947abbce80b1f972ae2e34-123/+050_rear.webp", "rear_right": "images/23f709721e947abbce80b1f972ae2e34-123/+050_rear_right.webp"}}], "camera_count": 8, "available_source_times_s": [-2.0, -1.0, 0.0, 1.0, 2.0, 3.0, 4.0, 5.0], "camera_scope": "full_timeline", "label": {"title": "Forward-image degradation on a wet nighttime street", "category": "visibility_hazard", "tags": ["water droplets", "lamp glare", "wet roadway", "limited forward visibility"], "current_situation": "At t=0, ego is moving at approximately 5.30 m/s along a wet street bordered by buildings and roadside posts. Droplet-like patches and glare reduce forward-image clarity, while nearby roadway remains partly readable. A car and red signals are visible behind ego, without a demonstrated interaction affecting its forward path.", "baseline_decision": "With clearer forward visibility on the same wet, dark street, continue straight at a cautious speed only while adequate stopping distance and applicable controls can be verified; retain clearance from roadside structures.", "decision_changing_cue": "Persistent droplet-like image patches and light flare overlap portions of the forward scene, including distant roadway detail.", "causal_mechanism": "Reduced image clarity could shorten reliable roadway preview and justify a lower approach speed to preserve stopping margin. The photographs do not establish the usable detection distance or whether this camera degradation limits the driver's or driving system's overall perception.", "expected_action": "slow_down", "decision_deviation": true, "annotation": "Ego is moving at approximately 5.30 m/s along a dark, wet street, with persistent droplet-like blur and lamp glare degrading parts of the forward image; no immediate crossing actor or in-path obstruction is clearly identifiable. Cautious slowing while maintaining the travel corridor is recommended over the next few seconds if the degraded view prevents verifying adequate stopping distance, rather than assuming continued speed is safe.", "interest_score": 71, "confidence": 0.78, "selection_reason": "A visibility-based qualitative candidate: substantial optical degradation is directly visible and supports a near-term speed adjustment. Selection does not depend on an invented hidden actor, measured rarity, or an immediate collision conflict.", "camera_evidence": [{"camera": "front", "t_s": -2, "detail": "Numerous translucent patches and lamp flare overlay the view; the street surface reflects lights."}, {"camera": "front", "t_s": -1, "detail": "Image patches and glare persist while the wet roadway remains partly visible below them."}, {"camera": "front", "t_s": 0, "detail": "The larger supplied image shows translucent patches across the forward scene and poorly resolved distant detail; no immediate obstruction is clearly identifiable."}, {"camera": "front_left", "t_s": 0, "detail": "Wet pavement, roadside posts, a building frontage and partial pavement lettering are visible; no crossing actor is clearly discernible."}, {"camera": "front_right", "t_s": 0, "detail": "A dark building facade and frame-like structures along its base are visible, without a clearly identifiable actor entering the roadway."}, {"camera": "side_left", "t_s": 0, "detail": "Illuminated windows, trees, a low wall and posts border reflective pavement."}, {"camera": "side_right", "t_s": 0, "detail": "A dark facade and recessed opening are visible; low illumination limits detail."}, {"camera": "rear_left", "t_s": 0, "detail": "Wall lights illuminate a building, trees and wet pavement; no nearby interaction is clearly discernible."}, {"camera": "rear", "t_s": 0, "detail": "A car with red rear lamps and red traffic signals appears toward the intersection behind ego."}, {"camera": "rear_right", "t_s": 0, "detail": "A long wall borders the reflective roadway behind and to the right; no nearby conflict is clearly discernible."}], "uncertainties": ["Whether image degradation affects the driver's view or other perception sensors.", "Actual readable roadway distance and safe stopping margin at the current speed.", "Whether this represents unusual impairment rather than routine wet-night camera artifacts.", "Applicability of partially visible pavement lettering and distant controls.", "Road friction, water depth and the cause of recorded slowing."]}, "discovery_label": {"title": "Droplet-obscured view along wet street", "category": "visibility_hazard", "tags": ["water droplets", "lamp glare", "wet roadway", "limited forward visibility"], "current_situation": "Ego is traveling straight at 5.298 m/s along a dark, wet street bordered by buildings and roadside posts. Large translucent droplets and streetlamp glare degrade the forward view throughout the available history, particularly distant roadway detail. A car and red traffic signals are visible behind ego; no immediate crossing actor or in-path obstruction is clearly identifiable.", "baseline_decision": "Continue along the straight route at the current cautious speed, maintaining the travel corridor and respecting any applicable traffic controls.", "decision_changing_cue": "Persistent, extensive droplet blur and glare obscure portions of the forward roadway even in the larger current front image.", "causal_mechanism": "The degraded forward view reduces the roadway preview available for detecting conflicts and reading controls. This supports reducing speed now to allow more time to resolve the path ahead, rather than emergency braking or an unsupported lateral maneuver.", "expected_action": "slow_down", "decision_deviation": true, "annotation": "Large water droplets and streetlamp glare obscure portions of the forward view along a dark, wet street bordered by buildings and roadside posts. Although ego would otherwise continue straight at its current cautious speed, the reduced readable roadway ahead requires it to slow now while maintaining its travel corridor over the next few seconds.", "interest_score": 71, "confidence": 0.78, "selection_reason": "A visibility-based qualitative candidate: substantial optical degradation is directly visible and supports a near-term speed adjustment. Selection does not depend on an invented hidden actor, measured rarity, or an immediate collision conflict.", "camera_evidence": [{"camera": "front", "t_s": -2, "detail": "Numerous translucent droplets and lamp flare overlay the dark street; road lights reflect on the wet surface."}, {"camera": "front", "t_s": 0, "detail": "Large droplet patches overlap the forward scene, leaving distant roadway and vehicle details poorly resolved; the street continues ahead."}, {"camera": "front_left", "t_s": 0, "detail": "Roadside posts, a building frontage, wet pavement, and partial pavement lettering are visible; no crossing actor is clearly discernible."}, {"camera": "front_right", "t_s": 0, "detail": "A dark building wall and frames along its base border the right side; no identifiable actor projects into the travel path."}, {"camera": "side_left", "t_s": 0, "detail": "Illuminated building windows, a low wall, trees, and roadside posts occupy the left-side view."}, {"camera": "side_right", "t_s": 0, "detail": "A dark building facade with a recessed opening occupies the right-side view; detail is limited by low illumination."}, {"camera": "rear_left", "t_s": 0, "detail": "Building lights illuminate a wall and trees beside reflective wet pavement."}, {"camera": "rear", "t_s": 0, "detail": "A car with illuminated rear lamps and red traffic signals are visible toward the intersection behind ego."}, {"camera": "rear_right", "t_s": 0, "detail": "A long wall borders the wet roadway behind and to the right; no nearby interaction is discernible."}], "uncertainties": ["Camera-image degradation does not establish the condition or effectiveness of other ego sensors.", "Distant actors and their motion cannot be resolved reliably from these images.", "Partial pavement lettering on the left is visible, but its applicability to ego's route is unclear.", "The photographs do not establish standing-water depth or tire-road traction.", "No future ego braking or other recorded response is supplied."], "_binding_sha256": "92e779b380d42fc591c5c1deadc085895384f64a6b0d1b3d8baf51eb4be69204", "_request": "requests/23f709721e947abbce80b1f972ae2e34-123/discovery-001"}, "review": {"verdict": "needs_review", "grounding_score": 0.76, "reason": "Substantial forward-image blur and glare are visible, but no nonroutine actor interaction or measurable loss of stopping-distance visibility is established. This is a plausible visibility concern, not a confirmed long-tail decision-changing event; subsequent slowing does not establish its cause.", "corrected_annotation": "Ego is moving at approximately 5.30 m/s along a dark, wet street, with persistent droplet-like blur and lamp glare degrading parts of the forward image; no immediate crossing actor or in-path obstruction is clearly identifiable. Cautious slowing while maintaining the travel corridor is recommended over the next few seconds if the degraded view prevents verifying adequate stopping distance, rather than assuming continued speed is safe.", "corrected_title": "Forward-image degradation on a wet nighttime street", "corrected_current_situation": "At t=0, ego is moving at approximately 5.30 m/s along a wet street bordered by buildings and roadside posts. Droplet-like patches and glare reduce forward-image clarity, while nearby roadway remains partly readable. A car and red signals are visible behind ego, without a demonstrated interaction affecting its forward path.", "corrected_baseline_decision": "With clearer forward visibility on the same wet, dark street, continue straight at a cautious speed only while adequate stopping distance and applicable controls can be verified; retain clearance from roadside structures.", "corrected_decision_changing_cue": "Persistent droplet-like image patches and light flare overlap portions of the forward scene, including distant roadway detail.", "corrected_causal_mechanism": "Reduced image clarity could shorten reliable roadway preview and justify a lower approach speed to preserve stopping margin. The photographs do not establish the usable detection distance or whether this camera degradation limits the driver's or driving system's overall perception.", "corrected_expected_action": "slow_down", "corrected_camera_evidence": [{"camera": "front", "t_s": -2, "detail": "Numerous translucent patches and lamp flare overlay the view; the street surface reflects lights."}, {"camera": "front", "t_s": -1, "detail": "Image patches and glare persist while the wet roadway remains partly visible below them."}, {"camera": "front", "t_s": 0, "detail": "The larger supplied image shows translucent patches across the forward scene and poorly resolved distant detail; no immediate obstruction is clearly identifiable."}, {"camera": "front_left", "t_s": 0, "detail": "Wet pavement, roadside posts, a building frontage and partial pavement lettering are visible; no crossing actor is clearly discernible."}, {"camera": "front_right", "t_s": 0, "detail": "A dark building facade and frame-like structures along its base are visible, without a clearly identifiable actor entering the roadway."}, {"camera": "side_left", "t_s": 0, "detail": "Illuminated windows, trees, a low wall and posts border reflective pavement."}, {"camera": "side_right", "t_s": 0, "detail": "A dark facade and recessed opening are visible; low illumination limits detail."}, {"camera": "rear_left", "t_s": 0, "detail": "Wall lights illuminate a building, trees and wet pavement; no nearby interaction is clearly discernible."}, {"camera": "rear", "t_s": 0, "detail": "A car with red rear lamps and red traffic signals appears toward the intersection behind ego."}, {"camera": "rear_right", "t_s": 0, "detail": "A long wall borders the reflective roadway behind and to the right; no nearby conflict is clearly discernible."}], "remaining_uncertainties": ["Whether image degradation affects the driver's view or other perception sensors.", "Actual readable roadway distance and safe stopping margin at the current speed.", "Whether this represents unusual impairment rather than routine wet-night camera artifacts.", "Applicability of partially visible pavement lettering and distant controls.", "Road friction, water depth and the cause of recorded slowing."], "motion_consistency": "consistent", "recorded_motion_explanation": "Recorded motion slows from approximately 5.30 m/s to a final 1 s average of 2.66 m/s, consistent with the recommended action but not proof of visibility-related causality. Minimum 1 s acceleration is -0.94 m/s², so the response does not qualify as strong braking despite the 2.64 m/s speed drop. The trajectory advances 17.13 m with 1.17 m rightward displacement; this does not establish obstacle avoidance or a lane change. Later mosaics show changing glare and continued travel without revealing a clear new conflict.", "unsupported_details": ["The categorical claim that degraded visibility requires slowing at this particular speed; usable detection distance is not measured.", "Treating the current speed as demonstrably safe or sufficiently cautious.", "Treating recorded deceleration as evidence that image degradation caused it.", "The candidate's statement that no future recorded response was supplied; offline motion evidence is provided."], "_binding_sha256": "792aebc6955641b6755b3be32aa44ce077cd1e1f480172a3c97d60aafb6df33a", "_request": "requests/23f709721e947abbce80b1f972ae2e34-123/review-001"}, "status": "needs_review", "annotation": "Ego is moving at approximately 5.30 m/s along a dark, wet street, with persistent droplet-like blur and lamp glare degrading parts of the forward image; no immediate crossing actor or in-path obstruction is clearly identifiable. Cautious slowing while maintaining the travel corridor is recommended over the next few seconds if the degraded view prevents verifying adequate stopping distance, rather than assuming continued speed is safe.", "selected": false}
{"id": "32499a10e22784d89031d1dc387ef86e-039", "scenario_id": "32499a10e22784d89031d1dc387ef86e", "split": "train", "batch_index": 60, "source_manifest_line": 61, "intent": "GO_STRAIGHT", "anchor_frame": 39, "motion": {"current_speed_mps": 8.705, "future_xy_m": [[2.1640625, -0.00146484375], [4.294921875, -0.04296875], [6.384765625, -0.15673828125], [8.4609375, -0.35107421875], [10.525390625, -0.62060546875], [12.583984375, -0.96533203125], [14.64453125, -1.35791015625], [16.720703125, -1.75439453125], [18.8125, -2.12548828125], [20.9453125, -2.46875], [23.115234375, -2.77978515625], [25.330078125, -3.05810546875], [27.572265625, -3.30126953125], [29.8515625, -3.51416015625], [32.171875, -3.7041015625], [34.5234375, -3.8740234375], [36.91015625, -4.0302734375], [39.330078125, -4.1826171875], [41.779296875, -4.337890625], [44.25390625, -4.4951171875]], "future_hz": 4, "speed_windows": [{"t_s": 0.5, "speed_mps": 8.474}, {"t_s": 1.5, "speed_mps": 8.381}, {"t_s": 2.5, "speed_mps": 8.709}, {"t_s": 3.5, "speed_mps": 9.23}, {"t_s": 4.5, "speed_mps": 9.75}], "minimum_1s_acceleration_mps2": -0.093, "maximum_speed_drop_mps": 0.325, "recorded_response": "roughly_maintain_speed", "method": "4 Hz trajectory path length; 1 s mean speeds; differences of adjacent 1 s means. Recorded response is descriptive, not a causal label."}, "frames": [{"t_s": -1.0, "source_frame": 29, "images": {"front_left": "images/32499a10e22784d89031d1dc387ef86e-039/-010_front_left.webp", "front": "images/32499a10e22784d89031d1dc387ef86e-039/-010_front.webp", "front_right": "images/32499a10e22784d89031d1dc387ef86e-039/-010_front_right.webp", "side_left": "images/32499a10e22784d89031d1dc387ef86e-039/-010_side_left.webp", "side_right": "images/32499a10e22784d89031d1dc387ef86e-039/-010_side_right.webp", "rear_left": "images/32499a10e22784d89031d1dc387ef86e-039/-010_rear_left.webp", "rear": "images/32499a10e22784d89031d1dc387ef86e-039/-010_rear.webp", "rear_right": "images/32499a10e22784d89031d1dc387ef86e-039/-010_rear_right.webp"}}, {"t_s": 0.0, "source_frame": 39, "images": {"front_left": "images/32499a10e22784d89031d1dc387ef86e-039/+000_front_left.webp", "front": "images/32499a10e22784d89031d1dc387ef86e-039/+000_front.webp", "front_right": "images/32499a10e22784d89031d1dc387ef86e-039/+000_front_right.webp", "side_left": "images/32499a10e22784d89031d1dc387ef86e-039/+000_side_left.webp", "side_right": "images/32499a10e22784d89031d1dc387ef86e-039/+000_side_right.webp", "rear_left": "images/32499a10e22784d89031d1dc387ef86e-039/+000_rear_left.webp", "rear": "images/32499a10e22784d89031d1dc387ef86e-039/+000_rear.webp", "rear_right": "images/32499a10e22784d89031d1dc387ef86e-039/+000_rear_right.webp"}}, {"t_s": 1.0, "source_frame": 49, "images": {"front_left": "images/32499a10e22784d89031d1dc387ef86e-039/+010_front_left.webp", "front": "images/32499a10e22784d89031d1dc387ef86e-039/+010_front.webp", "front_right": "images/32499a10e22784d89031d1dc387ef86e-039/+010_front_right.webp", "side_left": "images/32499a10e22784d89031d1dc387ef86e-039/+010_side_left.webp", "side_right": "images/32499a10e22784d89031d1dc387ef86e-039/+010_side_right.webp", "rear_left": "images/32499a10e22784d89031d1dc387ef86e-039/+010_rear_left.webp", "rear": "images/32499a10e22784d89031d1dc387ef86e-039/+010_rear.webp", "rear_right": "images/32499a10e22784d89031d1dc387ef86e-039/+010_rear_right.webp"}}, {"t_s": 2.0, "source_frame": 59, "images": {"front_left": "images/32499a10e22784d89031d1dc387ef86e-039/+020_front_left.webp", "front": "images/32499a10e22784d89031d1dc387ef86e-039/+020_front.webp", "front_right": "images/32499a10e22784d89031d1dc387ef86e-039/+020_front_right.webp", "side_left": "images/32499a10e22784d89031d1dc387ef86e-039/+020_side_left.webp", "side_right": "images/32499a10e22784d89031d1dc387ef86e-039/+020_side_right.webp", "rear_left": "images/32499a10e22784d89031d1dc387ef86e-039/+020_rear_left.webp", "rear": "images/32499a10e22784d89031d1dc387ef86e-039/+020_rear.webp", "rear_right": "images/32499a10e22784d89031d1dc387ef86e-039/+020_rear_right.webp"}}, {"t_s": 3.0, "source_frame": 69, "images": {"front_left": "images/32499a10e22784d89031d1dc387ef86e-039/+030_front_left.webp", "front": "images/32499a10e22784d89031d1dc387ef86e-039/+030_front.webp", "front_right": "images/32499a10e22784d89031d1dc387ef86e-039/+030_front_right.webp", "side_left": "images/32499a10e22784d89031d1dc387ef86e-039/+030_side_left.webp", "side_right": "images/32499a10e22784d89031d1dc387ef86e-039/+030_side_right.webp", "rear_left": "images/32499a10e22784d89031d1dc387ef86e-039/+030_rear_left.webp", "rear": "images/32499a10e22784d89031d1dc387ef86e-039/+030_rear.webp", "rear_right": "images/32499a10e22784d89031d1dc387ef86e-039/+030_rear_right.webp"}}, {"t_s": 4.0, "source_frame": 79, "images": {"front_left": "images/32499a10e22784d89031d1dc387ef86e-039/+040_front_left.webp", "front": "images/32499a10e22784d89031d1dc387ef86e-039/+040_front.webp", "front_right": "images/32499a10e22784d89031d1dc387ef86e-039/+040_front_right.webp", "side_left": "images/32499a10e22784d89031d1dc387ef86e-039/+040_side_left.webp", "side_right": "images/32499a10e22784d89031d1dc387ef86e-039/+040_side_right.webp", "rear_left": "images/32499a10e22784d89031d1dc387ef86e-039/+040_rear_left.webp", "rear": "images/32499a10e22784d89031d1dc387ef86e-039/+040_rear.webp", "rear_right": "images/32499a10e22784d89031d1dc387ef86e-039/+040_rear_right.webp"}}, {"t_s": 5.0, "source_frame": 89, "images": {"front_left": "images/32499a10e22784d89031d1dc387ef86e-039/+050_front_left.webp", "front": "images/32499a10e22784d89031d1dc387ef86e-039/+050_front.webp", "front_right": "images/32499a10e22784d89031d1dc387ef86e-039/+050_front_right.webp", "side_left": "images/32499a10e22784d89031d1dc387ef86e-039/+050_side_left.webp", "side_right": "images/32499a10e22784d89031d1dc387ef86e-039/+050_side_right.webp", "rear_left": "images/32499a10e22784d89031d1dc387ef86e-039/+050_rear_left.webp", "rear": "images/32499a10e22784d89031d1dc387ef86e-039/+050_rear.webp", "rear_right": "images/32499a10e22784d89031d1dc387ef86e-039/+050_rear_right.webp"}}], "camera_count": 8, "available_source_times_s": [-1.0, 0.0, 1.0, 2.0, 3.0, 4.0, 5.0], "camera_scope": "full_timeline", "label": {"title": "Roadway-side red vehicle creates potential clearance restriction", "category": "road_obstruction", "tags": ["lane encroachment", "oncoming traffic", "restricted clearance"], "current_situation": "Ego travels at approximately 8.705 m/s behind a gray vehicle. A brake-lit red vehicle is alongside a dark curbside SUV on the right, while a white SUV passes in the opposing direction and a pickup approaches; visible people remain on sidewalks or within the fenced patio.", "baseline_decision": "Without the red vehicle's roadway-side occupation, continue behind the gray vehicle at a safe following gap only through verified clear lane space, still respecting opposing traffic and curbside vehicles.", "decision_changing_cue": "The red vehicle is visibly farther roadway-side than the adjacent dark SUV, reducing available right-side space while opposing traffic constrains leftward clearance.", "causal_mechanism": "The side-by-side arrangement potentially compresses the passing corridor. A precautionary speed reduction provides more time to verify clearance without moving toward opposing traffic, but the images do not establish that the remaining corridor is impassable.", "expected_action": "slow_down", "decision_deviation": true, "annotation": "A red vehicle with illuminated brake lamps is roadway-side of a curbside dark SUV while opposing vehicles pass or approach on the left, creating a potential clearance restriction. Relative to following the gray lead vehicle through verified clear space, cautiously reduce speed until clearance past the red vehicle is established, maintaining the following gap and avoiding encroachment toward opposing traffic.", "interest_score": 76, "confidence": 0.8, "selection_reason": "The specific side-by-side vehicle arrangement restricts the straight-ahead path and interacts with oncoming traffic, supporting a qualitative long-tail candidate rather than merely ordinary traffic density.", "camera_evidence": [{"camera": "front", "t_s": -1, "detail": "A gray vehicle leads ego; the red vehicle is roadway-side of a dark curbside SUV, with a white opposing SUV approaching on the left."}, {"camera": "front", "t_s": 0, "detail": "The gray lead vehicle remains ahead, the white opposing SUV is passing, a pickup approaches farther ahead, and part of the red vehicle appears at the right edge."}, {"camera": "front_right", "t_s": 0, "detail": "The red vehicle's rear brake lamps and high-mounted lamp are illuminated; it is alongside and roadway-side of the dark SUV near the curb."}, {"camera": "front_left", "t_s": 0, "detail": "A white opposing SUV passes on the left; a person is visible on the apartment-side sidewalk, partly obscured by the SUV."}, {"camera": "side_left", "t_s": 0, "detail": "Apartment frontage, sidewalk, curb and adjacent roadway are visible, with no visible roadway entry."}, {"camera": "side_right", "t_s": 0, "detail": "People and seating are visible within the fenced patio, separated from the roadway by the sidewalk and curb."}, {"camera": "rear_left", "t_s": 0, "detail": "A person is visible on the apartment-side sidewalk; no crossing into the roadway is visible."}, {"camera": "rear", "t_s": 0, "detail": "A white car follows ego, while another vehicle is farther back on the opposing side."}, {"camera": "rear_right", "t_s": 0, "detail": "Brewery and neighboring frontage, sidewalk and curb are visible without a visible actor entering the roadway."}], "uncertainties": ["Whether the red vehicle is stopped or creeping is unresolved.", "Usable corridor width and actual ego-to-vehicle clearance cannot be measured reliably.", "No intended maneuver or subsequent cut-in by the red vehicle is established.", "The arrangement is unusual, but whether it requires a nonroutine decision rather than ordinary clearance management remains ambiguous."]}, "discovery_label": {"title": "Brake-lit crossover narrows passing corridor", "category": "road_obstruction", "tags": ["lane encroachment", "oncoming traffic", "restricted clearance"], "current_situation": "Ego is traveling straight at 8.705 m/s behind a gray crossover on a daylight urban street. A brake-lit red crossover is offset into the roadway beside a curbside dark SUV, remaining alongside that vehicle across both observations. Oncoming vehicles occupy the left side of the road; visible pedestrians remain on sidewalks or behind the patio fence.", "baseline_decision": "Continue straight behind the gray crossover with a normal following gap, using the unobstructed through lane and respecting opposing traffic.", "decision_changing_cue": "The red crossover occupies the roadway beside another vehicle rather than fitting into the curbside row, restricting the available passing width.", "causal_mechanism": "The red crossover reduces right-side clearance while approaching traffic limits a leftward avoidance maneuver. Ego should reduce speed now while passing alongside it, rather than maintain ordinary progress or move farther toward opposing traffic.", "expected_action": "slow_down", "decision_deviation": true, "annotation": "A brake-lit red crossover sits roadway-side of a curbside dark SUV, narrowing ego's corridor while oncoming vehicles pass on the left. Although ego would otherwise follow the gray crossover straight ahead, the restricted clearance requires slowing now through the pass and avoiding further leftward movement toward opposing traffic.", "interest_score": 76, "confidence": 0.8, "selection_reason": "The specific side-by-side vehicle arrangement restricts the straight-ahead path and interacts with oncoming traffic, supporting a qualitative long-tail candidate rather than merely ordinary traffic density.", "camera_evidence": [{"camera": "front", "t_s": -1, "detail": "The gray crossover is ahead, with the red crossover to its right and roadway-side of a dark curbside SUV; opposing vehicles approach on the left."}, {"camera": "front", "t_s": 0, "detail": "The gray crossover remains ahead; an oncoming white SUV and pickup occupy the left side, while the red crossover is close at the right edge."}, {"camera": "front_right", "t_s": 0, "detail": "The red crossover's rear lamps and high-mounted brake lamp are illuminated. It is laterally offset into the roadway beside the dark SUV near the curb."}, {"camera": "front_left", "t_s": 0, "detail": "An oncoming white SUV is passing on the left; a person is visible on the apartment-side sidewalk."}, {"camera": "side_left", "t_s": 0, "detail": "The apartment frontage, sidewalk and curb are visible without an actor entering the roadway."}, {"camera": "side_right", "t_s": 0, "detail": "People and seating are visible within the fenced brewery patio, separated from the roadway by the sidewalk and curb."}, {"camera": "rear_left", "t_s": 0, "detail": "A person is visible on the apartment-side sidewalk; no roadway crossing is visible."}, {"camera": "rear", "t_s": 0, "detail": "A white car follows behind ego, with another vehicle farther away on the opposing side."}, {"camera": "rear_right", "t_s": 0, "detail": "The brewery and adjacent building frontage have a visible sidewalk and curb, with no actor entering the road."}], "uncertainties": ["The short history supports little movement relative to the adjacent SUV, but does not establish whether the red crossover is stopped or creeping.", "Exact usable lane width and vehicle clearance cannot be measured from these images.", "No turn signal or future maneuver by the red crossover is established."], "_binding_sha256": "22d7381180e9fde9c38b44114683392c04dbc638d9b8109c4214591bd92155f0", "_request": "requests/32499a10e22784d89031d1dc387ef86e-039/discovery-001"}, "review": {"verdict": "needs_review", "grounding_score": 0.85, "reason": "The roadway-side red vehicle and simultaneous opposing traffic are visible, making restricted clearance a worthwhile candidate. However, the photographs do not establish insufficient passing width or a necessary departure from ordinary cautious driving. Later mosaics show ego progressing beyond the vehicle without an evident cut-in; recorded motion does not support the proposed slowdown.", "corrected_annotation": "A red vehicle with illuminated brake lamps is roadway-side of a curbside dark SUV while opposing vehicles pass or approach on the left, creating a potential clearance restriction. Relative to following the gray lead vehicle through verified clear space, cautiously reduce speed until clearance past the red vehicle is established, maintaining the following gap and avoiding encroachment toward opposing traffic.", "corrected_title": "Roadway-side red vehicle creates potential clearance restriction", "corrected_current_situation": "Ego travels at approximately 8.705 m/s behind a gray vehicle. A brake-lit red vehicle is alongside a dark curbside SUV on the right, while a white SUV passes in the opposing direction and a pickup approaches; visible people remain on sidewalks or within the fenced patio.", "corrected_baseline_decision": "Without the red vehicle's roadway-side occupation, continue behind the gray vehicle at a safe following gap only through verified clear lane space, still respecting opposing traffic and curbside vehicles.", "corrected_decision_changing_cue": "The red vehicle is visibly farther roadway-side than the adjacent dark SUV, reducing available right-side space while opposing traffic constrains leftward clearance.", "corrected_causal_mechanism": "The side-by-side arrangement potentially compresses the passing corridor. A precautionary speed reduction provides more time to verify clearance without moving toward opposing traffic, but the images do not establish that the remaining corridor is impassable.", "corrected_expected_action": "slow_down", "corrected_camera_evidence": [{"camera": "front", "t_s": -1, "detail": "A gray vehicle leads ego; the red vehicle is roadway-side of a dark curbside SUV, with a white opposing SUV approaching on the left."}, {"camera": "front", "t_s": 0, "detail": "The gray lead vehicle remains ahead, the white opposing SUV is passing, a pickup approaches farther ahead, and part of the red vehicle appears at the right edge."}, {"camera": "front_right", "t_s": 0, "detail": "The red vehicle's rear brake lamps and high-mounted lamp are illuminated; it is alongside and roadway-side of the dark SUV near the curb."}, {"camera": "front_left", "t_s": 0, "detail": "A white opposing SUV passes on the left; a person is visible on the apartment-side sidewalk, partly obscured by the SUV."}, {"camera": "side_left", "t_s": 0, "detail": "Apartment frontage, sidewalk, curb and adjacent roadway are visible, with no visible roadway entry."}, {"camera": "side_right", "t_s": 0, "detail": "People and seating are visible within the fenced patio, separated from the roadway by the sidewalk and curb."}, {"camera": "rear_left", "t_s": 0, "detail": "A person is visible on the apartment-side sidewalk; no crossing into the roadway is visible."}, {"camera": "rear", "t_s": 0, "detail": "A white car follows ego, while another vehicle is farther back on the opposing side."}, {"camera": "rear_right", "t_s": 0, "detail": "Brewery and neighboring frontage, sidewalk and curb are visible without a visible actor entering the roadway."}], "remaining_uncertainties": ["Whether the red vehicle is stopped or creeping is unresolved.", "Usable corridor width and actual ego-to-vehicle clearance cannot be measured reliably.", "No intended maneuver or subsequent cut-in by the red vehicle is established.", "The arrangement is unusual, but whether it requires a nonroutine decision rather than ordinary clearance management remains ambiguous."], "motion_consistency": "inconsistent", "recorded_motion_explanation": "The precautionary slowdown recommendation differs from recorded behavior: one-second mean speeds dip only to 8.381 m/s before rising to 9.750 m/s. Maximum speed drop is 0.325 m/s and minimum one-second acceleration is -0.093 m/s², supporting roughly maintained speed followed by acceleration, not strong braking. The trajectory ends at approximately x=44.25 m, y=-4.50 m; its rightward component does not establish obstacle-avoidance causality.", "unsupported_details": ["A mandatory slowdown caused by demonstrably insufficient clearance is not established.", "An entirely unobstructed counterfactual through lane is not established.", "A recorded braking response attributable to the red vehicle is not supported."], "_binding_sha256": "44bd163c06964cd9dd9d0bee74adbc2f2c681d21317f3c7588d41a2415ade561", "_request": "requests/32499a10e22784d89031d1dc387ef86e-039/review-001"}, "status": "needs_review", "annotation": "A red vehicle with illuminated brake lamps is roadway-side of a curbside dark SUV while opposing vehicles pass or approach on the left, creating a potential clearance restriction. Relative to following the gray lead vehicle through verified clear space, cautiously reduce speed until clearance past the red vehicle is established, maintaining the following gap and avoiding encroachment toward opposing traffic.", "selected": false}
{"id": "f542b2d1e307ce19cba534ee690250c7-214", "scenario_id": "f542b2d1e307ce19cba534ee690250c7", "split": "train", "batch_index": 61, "source_manifest_line": 62, "intent": "GO_STRAIGHT", "anchor_frame": 214, "motion": {"current_speed_mps": 0.271, "future_xy_m": [[0.076171875, -0.00048828125], [0.154296875, -0.000732421875], [0.201171875, -0.000732421875], [0.21484375, -0.0006103515625], [0.212890625, -0.0001220703125], [0.212890625, -0.0001220703125], [0.212890625, 0.0003662109375], [0.212890625, 0.0008544921875], [0.212890625, 0.0013427734375], [0.212890625, 0.0013427734375], [0.212890625, 0.0013427734375], [0.212890625, 0.0013427734375], [0.21875, 0.0015869140625], [0.236328125, 0.001708984375], [0.265625, 0.001220703125], [0.306640625, 0.00146484375], [0.373046875, 0.00048828125], [0.47265625, 0.000244140625], [0.607421875, -0.0025634765625], [0.787109375, -0.00732421875]], "future_hz": 4, "speed_windows": [{"t_s": 0.5, "speed_mps": 0.215}, {"t_s": 1.5, "speed_mps": 0.003}, {"t_s": 2.5, "speed_mps": 0.0}, {"t_s": 3.5, "speed_mps": 0.094}, {"t_s": 4.5, "speed_mps": 0.481}], "minimum_1s_acceleration_mps2": -0.212, "maximum_speed_drop_mps": 0.271, "recorded_response": "remain_stopped", "method": "4 Hz trajectory path length; 1 s mean speeds; differences of adjacent 1 s means. Recorded response is descriptive, not a causal label."}, "frames": [{"t_s": 0.0, "source_frame": 214, "images": {"front_left": "images/f542b2d1e307ce19cba534ee690250c7-214/+000_front_left.webp", "front": "images/f542b2d1e307ce19cba534ee690250c7-214/+000_front.webp", "front_right": "images/f542b2d1e307ce19cba534ee690250c7-214/+000_front_right.webp", "side_left": "images/f542b2d1e307ce19cba534ee690250c7-214/+000_side_left.webp", "side_right": "images/f542b2d1e307ce19cba534ee690250c7-214/+000_side_right.webp", "rear_left": "images/f542b2d1e307ce19cba534ee690250c7-214/+000_rear_left.webp", "rear": "images/f542b2d1e307ce19cba534ee690250c7-214/+000_rear.webp", "rear_right": "images/f542b2d1e307ce19cba534ee690250c7-214/+000_rear_right.webp"}}], "camera_count": 8, "available_source_times_s": [-2.0, -1.0, 0.0, 1.0, 2.0], "camera_scope": "current_only", "label": {"title": "Routine Cross-Traffic Wait at Wet Junction", "category": "routine", "tags": ["cross traffic", "wet pavement", "low illumination", "junction wait"], "current_situation": "Ego is nearly stationary at a junction, with a supplied speed of 0.271 m/s and a GO_STRAIGHT route. A white SUV moves left to right across the forward views over the two-second history. A dark SUV moves from side-left into rear-left. Streetlights and headlights reflect on wet pavement; buildings frame the corners, and the applicable ego traffic control is not identifiable.", "baseline_decision": "Follow the straight-ahead route only after confirming applicable controls and a clear crossing gap; ordinary junction assessment already calls for cautious waiting rather than uninterrupted cruising.", "decision_changing_cue": "The white SUV is still crossing toward front-right at t=0, while additional vehicles are visible along the cross street. This supports continued routine waiting, not an exceptional maneuver.", "causal_mechanism": "Advancing into the crossing roadway before moving traffic clears could create a conflict. The visible traffic warrants holding at the junction now and reassessing the gap over the next 0–5 seconds, without lateral evasion.", "expected_action": "wait_for_gap", "decision_deviation": false, "annotation": "Ego is nearly stationary at a wet, streetlit junction as a white SUV crosses left to right and a dark SUV passes along its left side into the street behind. Although ego could otherwise continue straight once controls permit, crossing traffic requires it to hold at the junction until a legal, clear gap is confirmed.", "interest_score": 46, "confidence": 0.84, "selection_reason": "Reject as a long-tail candidate: the supported interaction is ordinary junction gap acceptance. Wet reflections and passing vehicles do not establish an unusual conflict, obstruction, or substantial departure from normal yielding.", "camera_evidence": [{"camera": "front_left", "t_s": -2, "detail": "A white SUV enters the left edge of the crossing roadway."}, {"camera": "front", "t_s": -1, "detail": "The white SUV crosses the forward view toward the right, supporting left-to-right motion."}, {"camera": "front", "t_s": 0, "detail": "The white SUV's rear is at the right edge; dashed roadway markings and storefronts are visible across the junction."}, {"camera": "front_left", "t_s": 0, "detail": "The previously occupied crossing area is clear in this view, with illuminated storefronts and wet pavement."}, {"camera": "front_right", "t_s": 0, "detail": "The white SUV continues rightward along the cross street. Bright pavement reflections and a distant red signal are visible, but that signal's applicability to ego is unclear."}, {"camera": "side_left", "t_s": -1, "detail": "A dark SUV passes across the near foreground; other vehicle headlights are visible farther along the cross street."}, {"camera": "side_right", "t_s": 0, "detail": "A corner building occupies much of the view, with a narrow sidewalk and a limited view along the adjoining street."}, {"camera": "rear_left", "t_s": 0, "detail": "A dark SUV is visible across the near foreground after appearing in side-left; parked vehicles remain beside the building."}, {"camera": "rear", "t_s": 0, "detail": "The street behind contains curbside parked vehicles and a headlight-facing car on the left side of the view."}, {"camera": "rear_right", "t_s": 0, "detail": "A parked dark sedan sits beside a low building and sidewalk; no moving obstruction is evident here."}], "uncertainties": ["The applicable ego signal or stop control cannot be identified; the distant red signal cannot be assigned to ego.", "The precise straight-ahead continuation is not established by the images.", "Low illumination limits identification of small or distant actors; no hidden pedestrian or other concealed hazard is asserted.", "Only observations through t=0 are available; no subsequent ego braking or departure is recorded."]}, "discovery_label": {"title": "Routine Cross-Traffic Wait at Wet Junction", "category": "routine", "tags": ["cross traffic", "wet pavement", "low illumination", "junction wait"], "current_situation": "Ego is nearly stationary at a junction, with a supplied speed of 0.271 m/s and a GO_STRAIGHT route. A white SUV moves left to right across the forward views over the two-second history. A dark SUV moves from side-left into rear-left. Streetlights and headlights reflect on wet pavement; buildings frame the corners, and the applicable ego traffic control is not identifiable.", "baseline_decision": "Follow the straight-ahead route only after confirming applicable controls and a clear crossing gap; ordinary junction assessment already calls for cautious waiting rather than uninterrupted cruising.", "decision_changing_cue": "The white SUV is still crossing toward front-right at t=0, while additional vehicles are visible along the cross street. This supports continued routine waiting, not an exceptional maneuver.", "causal_mechanism": "Advancing into the crossing roadway before moving traffic clears could create a conflict. The visible traffic warrants holding at the junction now and reassessing the gap over the next 0–5 seconds, without lateral evasion.", "expected_action": "wait_for_gap", "decision_deviation": false, "annotation": "Ego is nearly stationary at a wet, streetlit junction as a white SUV crosses left to right and a dark SUV passes along its left side into the street behind. Although ego could otherwise continue straight once controls permit, crossing traffic requires it to hold at the junction until a legal, clear gap is confirmed.", "interest_score": 46, "confidence": 0.84, "selection_reason": "Reject as a long-tail candidate: the supported interaction is ordinary junction gap acceptance. Wet reflections and passing vehicles do not establish an unusual conflict, obstruction, or substantial departure from normal yielding.", "camera_evidence": [{"camera": "front_left", "t_s": -2, "detail": "A white SUV enters the left edge of the crossing roadway."}, {"camera": "front", "t_s": -1, "detail": "The white SUV crosses the forward view toward the right, supporting left-to-right motion."}, {"camera": "front", "t_s": 0, "detail": "The white SUV's rear is at the right edge; dashed roadway markings and storefronts are visible across the junction."}, {"camera": "front_left", "t_s": 0, "detail": "The previously occupied crossing area is clear in this view, with illuminated storefronts and wet pavement."}, {"camera": "front_right", "t_s": 0, "detail": "The white SUV continues rightward along the cross street. Bright pavement reflections and a distant red signal are visible, but that signal's applicability to ego is unclear."}, {"camera": "side_left", "t_s": -1, "detail": "A dark SUV passes across the near foreground; other vehicle headlights are visible farther along the cross street."}, {"camera": "side_right", "t_s": 0, "detail": "A corner building occupies much of the view, with a narrow sidewalk and a limited view along the adjoining street."}, {"camera": "rear_left", "t_s": 0, "detail": "A dark SUV is visible across the near foreground after appearing in side-left; parked vehicles remain beside the building."}, {"camera": "rear", "t_s": 0, "detail": "The street behind contains curbside parked vehicles and a headlight-facing car on the left side of the view."}, {"camera": "rear_right", "t_s": 0, "detail": "A parked dark sedan sits beside a low building and sidewalk; no moving obstruction is evident here."}], "uncertainties": ["The applicable ego signal or stop control cannot be identified; the distant red signal cannot be assigned to ego.", "The precise straight-ahead continuation is not established by the images.", "Low illumination limits identification of small or distant actors; no hidden pedestrian or other concealed hazard is asserted.", "Only observations through t=0 are available; no subsequent ego braking or departure is recorded."], "_binding_sha256": "041c2124551e9025fb243e878b4391f50fff0fa666f10bc9dc1d1cf09a45c8ce", "_request": "requests/f542b2d1e307ce19cba534ee690250c7-214/discovery-001"}, "review": null, "status": "dismissed", "annotation": "Ego is nearly stationary at a wet, streetlit junction as a white SUV crosses left to right and a dark SUV passes along its left side into the street behind. Although ego could otherwise continue straight once controls permit, crossing traffic requires it to hold at the junction until a legal, clear gap is confirmed.", "selected": false}
{"id": "f85ca14e9d35d6264e07a316ab634fe1-140", "scenario_id": "f85ca14e9d35d6264e07a316ab634fe1", "split": "train", "batch_index": 62, "source_manifest_line": 63, "intent": "GO_STRAIGHT", "anchor_frame": 140, "motion": {"current_speed_mps": 4.169, "future_xy_m": [[0.97119140625, -0.0040283203125], [1.791015625, -0.007080078125], [2.4404296875, -0.00830078125], [2.92529296875, -0.0087890625], [3.25634765625, -0.0098876953125], [3.44873046875, -0.009765625], [3.51611328125, -0.0096435546875], [3.49072265625, -0.0087890625], [3.45361328125, -0.0084228515625], [3.45654296875, -0.0079345703125], [3.453125, -0.0076904296875], [3.44873046875, -0.00732421875], [3.42626953125, -0.0072021484375], [3.36962890625, -0.0068359375], [3.333984375, -0.0064697265625], [3.4287109375, -0.007080078125], [3.65234375, -0.0078125], [4.00634765625, -0.010009765625], [4.49072265625, -0.013671875], [5.10546875, -0.0186767578125]], "future_hz": 4, "speed_windows": [{"t_s": 0.5, "speed_mps": 2.925}, {"t_s": 1.5, "speed_mps": 0.616}, {"t_s": 2.5, "speed_mps": 0.048}, {"t_s": 3.5, "speed_mps": 0.209}, {"t_s": 4.5, "speed_mps": 1.677}], "minimum_1s_acceleration_mps2": -2.309, "maximum_speed_drop_mps": 4.121, "recorded_response": "slow_to_stop", "method": "4 Hz trajectory path length; 1 s mean speeds; differences of adjacent 1 s means. Recorded response is descriptive, not a causal label."}, "frames": [{"t_s": 0.0, "source_frame": 140, "images": {"front_left": "images/f85ca14e9d35d6264e07a316ab634fe1-140/+000_front_left.webp", "front": "images/f85ca14e9d35d6264e07a316ab634fe1-140/+000_front.webp", "front_right": "images/f85ca14e9d35d6264e07a316ab634fe1-140/+000_front_right.webp", "side_left": "images/f85ca14e9d35d6264e07a316ab634fe1-140/+000_side_left.webp", "side_right": "images/f85ca14e9d35d6264e07a316ab634fe1-140/+000_side_right.webp", "rear_left": "images/f85ca14e9d35d6264e07a316ab634fe1-140/+000_rear_left.webp", "rear": "images/f85ca14e9d35d6264e07a316ab634fe1-140/+000_rear.webp", "rear_right": "images/f85ca14e9d35d6264e07a316ab634fe1-140/+000_rear_right.webp"}}], "camera_count": 8, "available_source_times_s": [-2.0, -1.0, 0.0, 1.0, 2.0, 3.0, 4.0, 5.0], "camera_scope": "current_only", "label": {"title": "Routine Stop With Opposing Traffic", "category": "routine", "tags": ["all-way stop", "opposing traffic", "curbside parking"], "current_situation": "Ego is traveling at 4.169 m/s toward a visible stop line and all-way stop sign on a sloped residential street. Vehicles parked along both curbs constrain lateral space. A dark crossover approaches across the available history and is now passing to ego's left, with additional opposing vehicles farther ahead. A white pickup occupies the right curb near the intersection. Buildings and curbside vehicles limit corner sightlines; no pedestrian or immediate path conflict is visible in the eight cameras.", "baseline_decision": "Decelerate to a full stop at the stop line, check intersection priority and cross traffic, then continue straight when clear while maintaining clearance from curbside vehicles.", "decision_changing_cue": "No supported nonroutine cue. The approaching crossover remains to ego's left, and the curbside pickup does not visibly enter ego's path.", "causal_mechanism": "The stop control already requires stopping within the next few seconds. Opposing traffic and curbside parking warrant ordinary lateral clearance but do not establish a material change from that baseline.", "expected_action": "stop", "decision_deviation": false, "annotation": "Ego approaches an all-way stop on a sloped residential street while an oncoming crossover passes on the left beside curbside parking. Ego should stop at the visible line and maintain clearance from the crossover and right-side pickup, then continue straight after checking intersection priority; no additional evasive maneuver is supported.", "interest_score": 46, "confidence": 0.93, "selection_reason": "Reject as a long-tail candidate: the visible interaction is ordinary opposing traffic during a required stop, without demonstrated encroachment, unusual negotiation, or an immediate conflict.", "camera_evidence": [{"camera": "front", "t_s": -2, "detail": "STOP lettering is visible on the approach, with an opposing dark crossover ahead and vehicles along both curbs."}, {"camera": "front", "t_s": -1, "detail": "The opposing crossover is closer and remains left of the straight-ahead approach."}, {"camera": "front", "t_s": 0, "detail": "A transverse stop line is visible immediately ahead; the crossover is passing at the left edge, with another opposing sedan beyond the intersection."}, {"camera": "front_left", "t_s": 0, "detail": "A curbside dark SUV and the front of the passing crossover occupy the left-side view."}, {"camera": "front_right", "t_s": 0, "detail": "The STOP sign has an ALL-WAY plaque; a white pickup with a rack occupies the nearby right curb and blocks part of the corner view."}, {"camera": "side_left", "t_s": 0, "detail": "Residential garages and the front portion of the curbside dark SUV are visible; no pedestrian is visible."}, {"camera": "side_right", "t_s": 0, "detail": "The pickup's rack and body fill the lower view beside a house and tree."}, {"camera": "rear_left", "t_s": 0, "detail": "A white minivan and white SUV are parked alongside residential buildings."}, {"camera": "rear", "t_s": 0, "detail": "The street behind slopes downhill between parked vehicles, with a gray vehicle visible in the roadway."}, {"camera": "rear_right", "t_s": 0, "detail": "A curbside sedan is partly visible beneath a tree beside a wall and fence."}], "uncertainties": ["Cross-street traffic and intersection arrival priority cannot be established from these views.", "Exact lateral clearances are not calibrated.", "No future ego braking or other recorded response is supplied."]}, "discovery_label": {"title": "Routine Stop With Opposing Traffic", "category": "routine", "tags": ["all-way stop", "opposing traffic", "curbside parking"], "current_situation": "Ego is traveling at 4.169 m/s toward a visible stop line and all-way stop sign on a sloped residential street. Vehicles parked along both curbs constrain lateral space. A dark crossover approaches across the available history and is now passing to ego's left, with additional opposing vehicles farther ahead. A white pickup occupies the right curb near the intersection. Buildings and curbside vehicles limit corner sightlines; no pedestrian or immediate path conflict is visible in the eight cameras.", "baseline_decision": "Decelerate to a full stop at the stop line, check intersection priority and cross traffic, then continue straight when clear while maintaining clearance from curbside vehicles.", "decision_changing_cue": "No supported nonroutine cue. The approaching crossover remains to ego's left, and the curbside pickup does not visibly enter ego's path.", "causal_mechanism": "The stop control already requires stopping within the next few seconds. Opposing traffic and curbside parking warrant ordinary lateral clearance but do not establish a material change from that baseline.", "expected_action": "stop", "decision_deviation": false, "annotation": "Ego approaches an all-way stop on a sloped residential street while an oncoming crossover passes on the left beside curbside parking. Ego should stop at the visible line and maintain clearance from the crossover and right-side pickup, then continue straight after checking intersection priority; no additional evasive maneuver is supported.", "interest_score": 46, "confidence": 0.93, "selection_reason": "Reject as a long-tail candidate: the visible interaction is ordinary opposing traffic during a required stop, without demonstrated encroachment, unusual negotiation, or an immediate conflict.", "camera_evidence": [{"camera": "front", "t_s": -2, "detail": "STOP lettering is visible on the approach, with an opposing dark crossover ahead and vehicles along both curbs."}, {"camera": "front", "t_s": -1, "detail": "The opposing crossover is closer and remains left of the straight-ahead approach."}, {"camera": "front", "t_s": 0, "detail": "A transverse stop line is visible immediately ahead; the crossover is passing at the left edge, with another opposing sedan beyond the intersection."}, {"camera": "front_left", "t_s": 0, "detail": "A curbside dark SUV and the front of the passing crossover occupy the left-side view."}, {"camera": "front_right", "t_s": 0, "detail": "The STOP sign has an ALL-WAY plaque; a white pickup with a rack occupies the nearby right curb and blocks part of the corner view."}, {"camera": "side_left", "t_s": 0, "detail": "Residential garages and the front portion of the curbside dark SUV are visible; no pedestrian is visible."}, {"camera": "side_right", "t_s": 0, "detail": "The pickup's rack and body fill the lower view beside a house and tree."}, {"camera": "rear_left", "t_s": 0, "detail": "A white minivan and white SUV are parked alongside residential buildings."}, {"camera": "rear", "t_s": 0, "detail": "The street behind slopes downhill between parked vehicles, with a gray vehicle visible in the roadway."}, {"camera": "rear_right", "t_s": 0, "detail": "A curbside sedan is partly visible beneath a tree beside a wall and fence."}], "uncertainties": ["Cross-street traffic and intersection arrival priority cannot be established from these views.", "Exact lateral clearances are not calibrated.", "No future ego braking or other recorded response is supplied."], "_binding_sha256": "21e99650c0f643af8ac7ffc8862821e67e9e4c8fc476d3ecdd7179335d2f9eb4", "_request": "requests/f85ca14e9d35d6264e07a316ab634fe1-140/discovery-001"}, "review": null, "status": "dismissed", "annotation": "Ego approaches an all-way stop on a sloped residential street while an oncoming crossover passes on the left beside curbside parking. Ego should stop at the visible line and maintain clearance from the crossover and right-side pickup, then continue straight after checking intersection priority; no additional evasive maneuver is supported.", "selected": false}
{"id": "ce64e64a50f5e190ee8af0a128b01111-180", "scenario_id": "ce64e64a50f5e190ee8af0a128b01111", "split": "train", "batch_index": 63, "source_manifest_line": 64, "intent": "GO_STRAIGHT", "anchor_frame": 180, "motion": {"current_speed_mps": 2.872, "future_xy_m": [[0.76806640625, 0.0562744140625], [1.62646484375, 0.1082763671875], [2.572265625, 0.1524658203125], [3.60498046875, 0.17529296875], [4.7236328125, 0.17236328125], [5.92333984375, 0.139404296875], [7.19970703125, 0.0703125], [8.54541015625, -0.03759765625], [9.94189453125, -0.1815185546875], [11.384765625, -0.35498046875], [12.8681640625, -0.5616455078125], [14.3798828125, -0.7900390625], [15.92626953125, -1.0350341796875], [17.509765625, -1.2894287109375], [19.12451171875, -1.5501708984375], [20.7705078125, -1.81982421875], [22.447265625, -2.0968017578125], [24.14990234375, -2.380615234375], [25.87451171875, -2.669189453125], [27.615234375, -2.96142578125]], "future_hz": 4, "speed_windows": [{"t_s": 0.5, "speed_mps": 3.61}, {"t_s": 1.5, "speed_mps": 4.947}, {"t_s": 2.5, "speed_mps": 5.884}, {"t_s": 3.5, "speed_mps": 6.473}, {"t_s": 4.5, "speed_mps": 6.939}], "minimum_1s_acceleration_mps2": 0.466, "maximum_speed_drop_mps": 0.0, "recorded_response": "accelerate", "method": "4 Hz trajectory path length; 1 s mean speeds; differences of adjacent 1 s means. Recorded response is descriptive, not a causal label."}, "frames": [{"t_s": 0.0, "source_frame": 180, "images": {"front_left": "images/ce64e64a50f5e190ee8af0a128b01111-180/+000_front_left.webp", "front": "images/ce64e64a50f5e190ee8af0a128b01111-180/+000_front.webp", "front_right": "images/ce64e64a50f5e190ee8af0a128b01111-180/+000_front_right.webp", "side_left": "images/ce64e64a50f5e190ee8af0a128b01111-180/+000_side_left.webp", "side_right": "images/ce64e64a50f5e190ee8af0a128b01111-180/+000_side_right.webp", "rear_left": "images/ce64e64a50f5e190ee8af0a128b01111-180/+000_rear_left.webp", "rear": "images/ce64e64a50f5e190ee8af0a128b01111-180/+000_rear.webp", "rear_right": "images/ce64e64a50f5e190ee8af0a128b01111-180/+000_rear_right.webp"}}], "camera_count": 8, "available_source_times_s": [-2.0, -1.0, 0.0, 1.0, 2.0, 3.0, 4.0], "camera_scope": "current_only", "label": {"title": "Routine clearance past angled driveway SUV", "category": "routine", "tags": ["driveway vehicle", "parked-car clearance", "truck now behind"], "current_situation": "Ego is traveling straight at 2.872 m/s on an unmarked residential street lined with parked vehicles. A dark SUV is angled nose-in toward a right-side driveway, with its rear projecting into the roadway beside a parked blue car. Its movement relative to the driveway is not established. The delivery truck visible alongside ego at -2 s is behind at 0 s. The forward corridor remains open; no forward-facing stop control or signal is visible.", "baseline_decision": "Continue straight at low speed with ordinary clearance from parked vehicles.", "decision_changing_cue": "The angled SUV's rear projects beyond the neighboring parallel-parked car, creating a localized clearance requirement, but no visible pull-out or immediate conflict is established.", "causal_mechanism": "The projecting rear limits the usable right edge while ego completes the pass. Maintaining modest leftward clearance is appropriate immediately, but the truck has cleared behind and the evidence does not justify a substantial speed change or stop.", "expected_action": "increase_clearance", "decision_deviation": false, "annotation": "A dark SUV is angled nose-in toward a right-side driveway with its rear projecting into the roadway, while the delivery truck previously alongside ego is now behind. Ego would otherwise continue straight at low speed; the projecting rear warrants modest leftward clearance while completing the pass over the next few seconds, without braking for an unconfirmed pull-out.", "interest_score": 48, "confidence": 0.86, "selection_reason": "Reject as a strong long-tail candidate: the unusual parking angle warrants routine clearance, but no ongoing squeeze, confirmed vehicle movement, or substantial change to the current straight-ahead plan is visible.", "camera_evidence": [{"camera": "front_left", "t_s": -2, "detail": "A delivery truck occupies much of the immediate left view."}, {"camera": "front_left", "t_s": 0, "detail": "The truck has cleared this view; parked sedans line the left curb."}, {"camera": "front", "t_s": -2, "detail": "The dark SUV is angled toward the right driveway, with its rear extending into the street beside a blue parked car."}, {"camera": "front", "t_s": 0, "detail": "An open forward corridor runs between rows of curbside vehicles, without visible lane markings or a nearby forward stop control."}, {"camera": "front_right", "t_s": 0, "detail": "The SUV remains angled toward the building and driveway, occupying the immediate right foreground beside the blue car."}, {"camera": "side_left", "t_s": -2, "detail": "The delivery truck's broad side is directly alongside ego and obscures much of the streetside view."}, {"camera": "side_right", "t_s": 0, "detail": "A tree, sidewalk, and garage frontage are visible; the SUV's front corner appears at the lower-left edge."}, {"camera": "rear_left", "t_s": 0, "detail": "The delivery truck is behind ego, beyond an orange curbside vehicle."}, {"camera": "rear", "t_s": 0, "detail": "The delivery truck is visible down the street behind ego, with parked vehicles along the curb."}, {"camera": "rear", "t_s": -2, "detail": "A STOP road marking and stop sign are visible at the intersection behind ego, not ahead on the current route."}, {"camera": "rear_right", "t_s": 0, "detail": "The right-side sidewalk, tree, and garage frontage are visible without an apparent entering road user."}], "uncertainties": ["The images do not establish whether the angled SUV is stationary or moving slowly relative to the driveway.", "Camera perspective does not provide calibrated lateral clearance.", "Bright exposure reduces detail on building facades, and the mosaics limit distant-actor assessment."]}, "discovery_label": {"title": "Routine clearance past angled driveway SUV", "category": "routine", "tags": ["driveway vehicle", "parked-car clearance", "truck now behind"], "current_situation": "Ego is traveling straight at 2.872 m/s on an unmarked residential street lined with parked vehicles. A dark SUV is angled nose-in toward a right-side driveway, with its rear projecting into the roadway beside a parked blue car. Its movement relative to the driveway is not established. The delivery truck visible alongside ego at -2 s is behind at 0 s. The forward corridor remains open; no forward-facing stop control or signal is visible.", "baseline_decision": "Continue straight at low speed with ordinary clearance from parked vehicles.", "decision_changing_cue": "The angled SUV's rear projects beyond the neighboring parallel-parked car, creating a localized clearance requirement, but no visible pull-out or immediate conflict is established.", "causal_mechanism": "The projecting rear limits the usable right edge while ego completes the pass. Maintaining modest leftward clearance is appropriate immediately, but the truck has cleared behind and the evidence does not justify a substantial speed change or stop.", "expected_action": "increase_clearance", "decision_deviation": false, "annotation": "A dark SUV is angled nose-in toward a right-side driveway with its rear projecting into the roadway, while the delivery truck previously alongside ego is now behind. Ego would otherwise continue straight at low speed; the projecting rear warrants modest leftward clearance while completing the pass over the next few seconds, without braking for an unconfirmed pull-out.", "interest_score": 48, "confidence": 0.86, "selection_reason": "Reject as a strong long-tail candidate: the unusual parking angle warrants routine clearance, but no ongoing squeeze, confirmed vehicle movement, or substantial change to the current straight-ahead plan is visible.", "camera_evidence": [{"camera": "front_left", "t_s": -2, "detail": "A delivery truck occupies much of the immediate left view."}, {"camera": "front_left", "t_s": 0, "detail": "The truck has cleared this view; parked sedans line the left curb."}, {"camera": "front", "t_s": -2, "detail": "The dark SUV is angled toward the right driveway, with its rear extending into the street beside a blue parked car."}, {"camera": "front", "t_s": 0, "detail": "An open forward corridor runs between rows of curbside vehicles, without visible lane markings or a nearby forward stop control."}, {"camera": "front_right", "t_s": 0, "detail": "The SUV remains angled toward the building and driveway, occupying the immediate right foreground beside the blue car."}, {"camera": "side_left", "t_s": -2, "detail": "The delivery truck's broad side is directly alongside ego and obscures much of the streetside view."}, {"camera": "side_right", "t_s": 0, "detail": "A tree, sidewalk, and garage frontage are visible; the SUV's front corner appears at the lower-left edge."}, {"camera": "rear_left", "t_s": 0, "detail": "The delivery truck is behind ego, beyond an orange curbside vehicle."}, {"camera": "rear", "t_s": 0, "detail": "The delivery truck is visible down the street behind ego, with parked vehicles along the curb."}, {"camera": "rear", "t_s": -2, "detail": "A STOP road marking and stop sign are visible at the intersection behind ego, not ahead on the current route."}, {"camera": "rear_right", "t_s": 0, "detail": "The right-side sidewalk, tree, and garage frontage are visible without an apparent entering road user."}], "uncertainties": ["The images do not establish whether the angled SUV is stationary or moving slowly relative to the driveway.", "Camera perspective does not provide calibrated lateral clearance.", "Bright exposure reduces detail on building facades, and the mosaics limit distant-actor assessment."], "_binding_sha256": "055bbe78f5ac288f8a9f41ad91bed75a3e1dd4c49fca4ba8b5e0cd4d9b04579a", "_request": "requests/ce64e64a50f5e190ee8af0a128b01111-180/discovery-001"}, "review": null, "status": "dismissed", "annotation": "A dark SUV is angled nose-in toward a right-side driveway with its rear projecting into the roadway, while the delivery truck previously alongside ego is now behind. Ego would otherwise continue straight at low speed; the projecting rear warrants modest leftward clearance while completing the pass over the next few seconds, without braking for an unconfirmed pull-out.", "selected": false}
{"id": "3975f1a050ffed03c03d91278e2d4841-197", "scenario_id": "3975f1a050ffed03c03d91278e2d4841", "split": "train", "batch_index": 64, "source_manifest_line": 65, "intent": "GO_STRAIGHT", "anchor_frame": 197, "motion": {"current_speed_mps": 0.205, "future_xy_m": [[0.05078125, 0.0009765625], [0.09765625, 0.00048828125], [0.14453125, 0.00146484375], [0.1875, 0.001953125], [0.22265625, 0.001953125], [0.24609375, 0.00244140625], [0.2578125, 0.0029296875], [0.259765625, 0.00341796875], [0.2578125, 0.00390625], [0.255859375, 0.00439453125], [0.255859375, 0.00537109375], [0.255859375, 0.00537109375], [0.255859375, 0.005859375], [0.2578125, 0.00634765625], [0.26171875, 0.00634765625], [0.265625, 0.00634765625], [0.271484375, 0.0068359375], [0.27734375, 0.0068359375], [0.28515625, 0.00732421875], [0.294921875, 0.00732421875]], "future_hz": 4, "speed_windows": [{"t_s": 0.5, "speed_mps": 0.188}, {"t_s": 1.5, "speed_mps": 0.072}, {"t_s": 2.5, "speed_mps": 0.005}, {"t_s": 3.5, "speed_mps": 0.01}, {"t_s": 4.5, "speed_mps": 0.029}], "minimum_1s_acceleration_mps2": -0.115, "maximum_speed_drop_mps": 0.2, "recorded_response": "remain_stopped", "method": "4 Hz trajectory path length; 1 s mean speeds; differences of adjacent 1 s means. Recorded response is descriptive, not a causal label."}, "frames": [{"t_s": 0.0, "source_frame": 197, "images": {"front_left": "images/3975f1a050ffed03c03d91278e2d4841-197/+000_front_left.webp", "front": "images/3975f1a050ffed03c03d91278e2d4841-197/+000_front.webp", "front_right": "images/3975f1a050ffed03c03d91278e2d4841-197/+000_front_right.webp", "side_left": "images/3975f1a050ffed03c03d91278e2d4841-197/+000_side_left.webp", "side_right": "images/3975f1a050ffed03c03d91278e2d4841-197/+000_side_right.webp", "rear_left": "images/3975f1a050ffed03c03d91278e2d4841-197/+000_rear_left.webp", "rear": "images/3975f1a050ffed03c03d91278e2d4841-197/+000_rear.webp", "rear_right": "images/3975f1a050ffed03c03d91278e2d4841-197/+000_rear_right.webp"}}], "camera_count": 8, "available_source_times_s": [-2.0, -1.0, 0.0, 1.0, 2.0, 3.0], "camera_scope": "current_only", "label": {"title": "Green-light intersection with opposing traffic", "category": "routine", "tags": ["green signal", "opposing traffic", "straight route"], "current_situation": "Ego is nearly stationary at 0.205 m/s at a daylight urban intersection, with a straight route and green forward-facing signals. A dark SUV has approached through the front view and is now passing on ego's left; a silver sedan followed a similar progression into the left-side and rear views. A white roof-equipped SUV is moving away along the road to ego's right. Cross-street signals show red, and no visible actor blocks the straight-ahead corridor.", "baseline_decision": "Gently accelerate straight through the green-controlled intersection, following the roadway alignment and checking that the corridor remains clear.", "decision_changing_cue": "None established. The nearby dark SUV is passing to the left, with no visible intrusion into ego's straight-ahead corridor.", "causal_mechanism": "The temporal views support ordinary opposing-vehicle passage rather than a crossing conflict. Nearby traffic therefore does not establish a reason to hold, brake, or make a lateral avoidance maneuver beyond normal intersection monitoring.", "expected_action": "accelerate", "decision_deviation": false, "annotation": "Ego is nearly stationary at a green-controlled intersection while an approaching dark SUV passes on its left and a white SUV moves away to the right. With no visible obstruction in the straight-ahead corridor, ego should gently accelerate along its straight route while maintaining its lane.", "interest_score": 23, "confidence": 0.88, "selection_reason": "Reject as a long-tail candidate: all eight cameras support ordinary intersection traffic, without a visible unusual conflict, obstruction, or material departure from the green-light straight-through plan.", "camera_evidence": [{"camera": "front", "t_s": -2, "detail": "Forward-facing signals are green; a silver sedan and a dark SUV are approaching on the left side of the forward roadway."}, {"camera": "front", "t_s": -1, "detail": "The dark SUV is larger and farther toward the left edge than at t=-2, supporting its approach and passage to ego's left."}, {"camera": "front", "t_s": 0, "detail": "Forward-facing signals remain green, and the visible straight-ahead corridor is open; only a sliver of the passing SUV remains at the left edge."}, {"camera": "front_left", "t_s": 0, "detail": "The dark SUV occupies the near foreground to ego's left, with other vehicles visible farther left at the intersection."}, {"camera": "front_right", "t_s": 0, "detail": "The white roof-equipped SUV has moved toward the right edge compared with earlier observations; a cross-street signal shows red."}, {"camera": "side_left", "t_s": -1, "detail": "The silver sedan previously visible ahead is now alongside ego on the left; vehicles farther along the cross street face a red signal."}, {"camera": "side_right", "t_s": 0, "detail": "The white roof-equipped SUV is visible traveling away along the right-hand cross street; the near curb ramp is unoccupied and a signal shows red."}, {"camera": "rear_left", "t_s": 0, "detail": "A silver sedan is now visible behind and to the left, consistent with the preceding sedan passing ego."}, {"camera": "rear", "t_s": 0, "detail": "Several vehicles occupy the right side of the rear-facing roadway view, with no visible rear obstruction requiring a maneuver."}, {"camera": "rear_right", "t_s": 0, "detail": "The corner sidewalk and building frontage are visible, with a red pedestrian hand and no nearby pedestrian entering the roadway."}], "uncertainties": ["Exact lane alignment through the intersection is not fully resolved by the camera views.", "The white SUV's complete preceding maneuver is not established.", "No observations after t=0 are available, so subsequent traffic movements and signal changes are unknown."]}, "discovery_label": {"title": "Green-light intersection with opposing traffic", "category": "routine", "tags": ["green signal", "opposing traffic", "straight route"], "current_situation": "Ego is nearly stationary at 0.205 m/s at a daylight urban intersection, with a straight route and green forward-facing signals. A dark SUV has approached through the front view and is now passing on ego's left; a silver sedan followed a similar progression into the left-side and rear views. A white roof-equipped SUV is moving away along the road to ego's right. Cross-street signals show red, and no visible actor blocks the straight-ahead corridor.", "baseline_decision": "Gently accelerate straight through the green-controlled intersection, following the roadway alignment and checking that the corridor remains clear.", "decision_changing_cue": "None established. The nearby dark SUV is passing to the left, with no visible intrusion into ego's straight-ahead corridor.", "causal_mechanism": "The temporal views support ordinary opposing-vehicle passage rather than a crossing conflict. Nearby traffic therefore does not establish a reason to hold, brake, or make a lateral avoidance maneuver beyond normal intersection monitoring.", "expected_action": "accelerate", "decision_deviation": false, "annotation": "Ego is nearly stationary at a green-controlled intersection while an approaching dark SUV passes on its left and a white SUV moves away to the right. With no visible obstruction in the straight-ahead corridor, ego should gently accelerate along its straight route while maintaining its lane.", "interest_score": 23, "confidence": 0.88, "selection_reason": "Reject as a long-tail candidate: all eight cameras support ordinary intersection traffic, without a visible unusual conflict, obstruction, or material departure from the green-light straight-through plan.", "camera_evidence": [{"camera": "front", "t_s": -2, "detail": "Forward-facing signals are green; a silver sedan and a dark SUV are approaching on the left side of the forward roadway."}, {"camera": "front", "t_s": -1, "detail": "The dark SUV is larger and farther toward the left edge than at t=-2, supporting its approach and passage to ego's left."}, {"camera": "front", "t_s": 0, "detail": "Forward-facing signals remain green, and the visible straight-ahead corridor is open; only a sliver of the passing SUV remains at the left edge."}, {"camera": "front_left", "t_s": 0, "detail": "The dark SUV occupies the near foreground to ego's left, with other vehicles visible farther left at the intersection."}, {"camera": "front_right", "t_s": 0, "detail": "The white roof-equipped SUV has moved toward the right edge compared with earlier observations; a cross-street signal shows red."}, {"camera": "side_left", "t_s": -1, "detail": "The silver sedan previously visible ahead is now alongside ego on the left; vehicles farther along the cross street face a red signal."}, {"camera": "side_right", "t_s": 0, "detail": "The white roof-equipped SUV is visible traveling away along the right-hand cross street; the near curb ramp is unoccupied and a signal shows red."}, {"camera": "rear_left", "t_s": 0, "detail": "A silver sedan is now visible behind and to the left, consistent with the preceding sedan passing ego."}, {"camera": "rear", "t_s": 0, "detail": "Several vehicles occupy the right side of the rear-facing roadway view, with no visible rear obstruction requiring a maneuver."}, {"camera": "rear_right", "t_s": 0, "detail": "The corner sidewalk and building frontage are visible, with a red pedestrian hand and no nearby pedestrian entering the roadway."}], "uncertainties": ["Exact lane alignment through the intersection is not fully resolved by the camera views.", "The white SUV's complete preceding maneuver is not established.", "No observations after t=0 are available, so subsequent traffic movements and signal changes are unknown."], "_binding_sha256": "8f17956448d8cae28c34e5b18751a959f7241be254d765b588d215859a32ba3f", "_request": "requests/3975f1a050ffed03c03d91278e2d4841-197/discovery-001"}, "review": null, "status": "dismissed", "annotation": "Ego is nearly stationary at a green-controlled intersection while an approaching dark SUV passes on its left and a white SUV moves away to the right. With no visible obstruction in the straight-ahead corridor, ego should gently accelerate along its straight route while maintaining its lane.", "selected": false}
{"id": "3e6dcebc46783f981ec87cbd2c2fda8e-212", "scenario_id": "3e6dcebc46783f981ec87cbd2c2fda8e", "split": "train", "batch_index": 65, "source_manifest_line": 66, "intent": "GO_STRAIGHT", "anchor_frame": 212, "motion": {"current_speed_mps": 9.626, "future_xy_m": [[2.3984375, -0.009765625], [4.7626953125, -0.025390625], [7.0576171875, -0.048828125], [9.258056640625, -0.078125], [11.358154296875, -0.109375], [13.3681640625, -0.142578125], [15.297119140625, -0.17578125], [17.151123046875, -0.220703125], [18.938232421875, -0.26953125], [20.656982421875, -0.326171875], [22.31201171875, -0.396484375], [23.8896484375, -0.478515625], [25.376708984375, -0.56640625], [26.75927734375, -0.6640625], [28.032470703125, -0.76171875], [29.1953125, -0.861328125], [30.247314453125, -0.95703125], [31.18701171875, -1.048828125], [32.01611328125, -1.13671875], [32.74169921875, -1.216796875]], "future_hz": 4, "speed_windows": [{"t_s": 0.5, "speed_mps": 9.258}, {"t_s": 1.5, "speed_mps": 7.894}, {"t_s": 2.5, "speed_mps": 6.744}, {"t_s": 3.5, "speed_mps": 5.32}, {"t_s": 4.5, "speed_mps": 3.564}], "minimum_1s_acceleration_mps2": -1.755, "maximum_speed_drop_mps": 6.062, "recorded_response": "slow_down", "method": "4 Hz trajectory path length; 1 s mean speeds; differences of adjacent 1 s means. Recorded response is descriptive, not a causal label."}, "frames": [{"t_s": 0.0, "source_frame": 212, "images": {"front_left": "images/3e6dcebc46783f981ec87cbd2c2fda8e-212/+000_front_left.webp", "front": "images/3e6dcebc46783f981ec87cbd2c2fda8e-212/+000_front.webp", "front_right": "images/3e6dcebc46783f981ec87cbd2c2fda8e-212/+000_front_right.webp", "side_left": "images/3e6dcebc46783f981ec87cbd2c2fda8e-212/+000_side_left.webp", "side_right": "images/3e6dcebc46783f981ec87cbd2c2fda8e-212/+000_side_right.webp", "rear_left": "images/3e6dcebc46783f981ec87cbd2c2fda8e-212/+000_rear_left.webp", "rear": "images/3e6dcebc46783f981ec87cbd2c2fda8e-212/+000_rear.webp", "rear_right": "images/3e6dcebc46783f981ec87cbd2c2fda8e-212/+000_rear_right.webp"}}], "camera_count": 8, "available_source_times_s": [-2.0, -1.0, 0.0, 1.0], "camera_scope": "current_only", "label": {"title": "Routine signal approach beside fenced construction", "category": "routine", "tags": ["signal approach", "fenced construction", "sidewalk pedestrian"], "current_situation": "Ego is traveling at 9.626 m/s toward a signalized intersection on a straight road, to the right of a marked left-turn lane. Red signals are visible ahead. Vehicles line the right curb, and a pedestrian is visible on the left sidewalk without demonstrated movement into the road. Fenced construction equipment shifts from alongside-left to behind-left as ego advances. Daylight visibility is clear, with no visible intrusion into the through lane.", "baseline_decision": "For the GO_STRAIGHT route, smoothly decelerate and stop before entering the intersection for the red signal, remaining in the through lane.", "decision_changing_cue": "No supported nonroutine cue changes that baseline: the pedestrian remains on the sidewalk, and the construction equipment is outside the travel lane.", "causal_mechanism": "The traffic signal requires a routine longitudinal stop. Neither the nearby worksite nor the visible pedestrian establishes an additional conflict requiring evasive braking or lateral displacement.", "expected_action": "stop", "decision_deviation": false, "annotation": "Red signals control the intersection ahead of ego's through lane, with parked vehicles along the right curb, a pedestrian on the left sidewalk, and fenced construction behind-left. Ego should decelerate smoothly now and stop before entering the intersection while retaining the through lane; no visible intrusion requires a departure from this routine plan.", "interest_score": 44, "confidence": 0.88, "selection_reason": "Reject as a long-tail candidate: this is an ordinary signal approach, with no demonstrated pedestrian crossing, equipment intrusion, or unusual traffic negotiation.", "camera_evidence": [{"camera": "front_left", "t_s": -2, "detail": "A worker and construction equipment are visible behind chain-link fencing, with a KEEP RIGHT sign attached near the worksite edge."}, {"camera": "front_left", "t_s": -1, "detail": "Construction equipment is alongside-left; a pedestrian is visible on the sidewalk beside the brick building."}, {"camera": "front_left", "t_s": 0, "detail": "The pedestrian remains on the sidewalk beside the storefront, separated from the roadway by the curb; a LEFT LANE MUST TURN LEFT sign is visible."}, {"camera": "front", "t_s": 0, "detail": "The straight approach is open ahead, with red signals at the intersection, a marked lane separation on the left, and curb-aligned vehicles on the right."}, {"camera": "front_right", "t_s": 0, "detail": "A sedan and SUV are aligned along the right curb beside a building access ramp; neither visibly projects across the through lane."}, {"camera": "side_left", "t_s": 0, "detail": "Chain-link fencing borders the construction area beside a narrow passage between buildings; no actor is visible entering the road."}, {"camera": "side_right", "t_s": 0, "detail": "A white van is alongside the right curb and building frontage."}, {"camera": "rear_left", "t_s": 0, "detail": "A blue telehandler and dirt piles are now behind-left in the construction area."}, {"camera": "rear", "t_s": 0, "detail": "The road behind has curbside vehicles on the image-left and construction fencing with striped markers on the image-right."}, {"camera": "rear_right", "t_s": 0, "detail": "The white van and another curb-aligned vehicle are visible behind-right; no merging movement is established."}], "uncertainties": ["Independent motion of the construction equipment cannot be separated reliably from ego's changing viewpoint.", "The pedestrian's precise walking direction is unclear, but no roadway entry is shown.", "Only observations through t=0 are available; subsequent signal changes and recorded ego actions are unknown."]}, "discovery_label": {"title": "Routine signal approach beside fenced construction", "category": "routine", "tags": ["signal approach", "fenced construction", "sidewalk pedestrian"], "current_situation": "Ego is traveling at 9.626 m/s toward a signalized intersection on a straight road, to the right of a marked left-turn lane. Red signals are visible ahead. Vehicles line the right curb, and a pedestrian is visible on the left sidewalk without demonstrated movement into the road. Fenced construction equipment shifts from alongside-left to behind-left as ego advances. Daylight visibility is clear, with no visible intrusion into the through lane.", "baseline_decision": "For the GO_STRAIGHT route, smoothly decelerate and stop before entering the intersection for the red signal, remaining in the through lane.", "decision_changing_cue": "No supported nonroutine cue changes that baseline: the pedestrian remains on the sidewalk, and the construction equipment is outside the travel lane.", "causal_mechanism": "The traffic signal requires a routine longitudinal stop. Neither the nearby worksite nor the visible pedestrian establishes an additional conflict requiring evasive braking or lateral displacement.", "expected_action": "stop", "decision_deviation": false, "annotation": "Red signals control the intersection ahead of ego's through lane, with parked vehicles along the right curb, a pedestrian on the left sidewalk, and fenced construction behind-left. Ego should decelerate smoothly now and stop before entering the intersection while retaining the through lane; no visible intrusion requires a departure from this routine plan.", "interest_score": 44, "confidence": 0.88, "selection_reason": "Reject as a long-tail candidate: this is an ordinary signal approach, with no demonstrated pedestrian crossing, equipment intrusion, or unusual traffic negotiation.", "camera_evidence": [{"camera": "front_left", "t_s": -2, "detail": "A worker and construction equipment are visible behind chain-link fencing, with a KEEP RIGHT sign attached near the worksite edge."}, {"camera": "front_left", "t_s": -1, "detail": "Construction equipment is alongside-left; a pedestrian is visible on the sidewalk beside the brick building."}, {"camera": "front_left", "t_s": 0, "detail": "The pedestrian remains on the sidewalk beside the storefront, separated from the roadway by the curb; a LEFT LANE MUST TURN LEFT sign is visible."}, {"camera": "front", "t_s": 0, "detail": "The straight approach is open ahead, with red signals at the intersection, a marked lane separation on the left, and curb-aligned vehicles on the right."}, {"camera": "front_right", "t_s": 0, "detail": "A sedan and SUV are aligned along the right curb beside a building access ramp; neither visibly projects across the through lane."}, {"camera": "side_left", "t_s": 0, "detail": "Chain-link fencing borders the construction area beside a narrow passage between buildings; no actor is visible entering the road."}, {"camera": "side_right", "t_s": 0, "detail": "A white van is alongside the right curb and building frontage."}, {"camera": "rear_left", "t_s": 0, "detail": "A blue telehandler and dirt piles are now behind-left in the construction area."}, {"camera": "rear", "t_s": 0, "detail": "The road behind has curbside vehicles on the image-left and construction fencing with striped markers on the image-right."}, {"camera": "rear_right", "t_s": 0, "detail": "The white van and another curb-aligned vehicle are visible behind-right; no merging movement is established."}], "uncertainties": ["Independent motion of the construction equipment cannot be separated reliably from ego's changing viewpoint.", "The pedestrian's precise walking direction is unclear, but no roadway entry is shown.", "Only observations through t=0 are available; subsequent signal changes and recorded ego actions are unknown."], "_binding_sha256": "d410a81323fd6fdcc4dd25cf1a221636d807e3d07f30ef7a530393ef571d04a8", "_request": "requests/3e6dcebc46783f981ec87cbd2c2fda8e-212/discovery-001"}, "review": null, "status": "dismissed", "annotation": "Red signals control the intersection ahead of ego's through lane, with parked vehicles along the right curb, a pedestrian on the left sidewalk, and fenced construction behind-left. Ego should decelerate smoothly now and stop before entering the intersection while retaining the through lane; no visible intrusion requires a departure from this routine plan.", "selected": false}
{"id": "cccd6b5049ee1a657cd5935a198f124f-180", "scenario_id": "cccd6b5049ee1a657cd5935a198f124f", "split": "train", "batch_index": 66, "source_manifest_line": 67, "intent": "GO_RIGHT", "anchor_frame": 180, "motion": {"current_speed_mps": 3.779, "future_xy_m": [[0.951171875, -0.165679931640625], [1.90625, -0.427520751953125], [2.8515625, -0.808319091796875], [3.783203125, -1.296295166015625], [4.69140625, -1.883941650390625], [5.580078125, -2.57562255859375], [6.44140625, -3.37615966796875], [7.263671875, -4.2818450927734375], [8.0546875, -5.295074462890625], [8.826171875, -6.4013671875], [9.58984375, -7.5931854248046875], [10.35546875, -8.874786376953125], [11.123046875, -10.234756469726562], [11.888671875, -11.687850952148438], [12.6484375, -13.226837158203125], [13.400390625, -14.857772827148438], [14.1328125, -16.562530517578125], [14.865234375, -18.346588134765625], [15.603515625, -20.2088623046875], [16.3515625, -22.125152587890625]], "future_hz": 4, "speed_windows": [{"t_s": 0.5, "speed_mps": 4.027}, {"t_s": 1.5, "speed_mps": 4.607}, {"t_s": 2.5, "speed_mps": 5.543}, {"t_s": 3.5, "speed_mps": 6.716}, {"t_s": 4.5, "speed_mps": 7.844}], "minimum_1s_acceleration_mps2": 0.58, "maximum_speed_drop_mps": 0.0, "recorded_response": "accelerate", "method": "4 Hz trajectory path length; 1 s mean speeds; differences of adjacent 1 s means. Recorded response is descriptive, not a causal label."}, "frames": [{"t_s": 0.0, "source_frame": 180, "images": {"front_left": "images/cccd6b5049ee1a657cd5935a198f124f-180/+000_front_left.webp", "front": "images/cccd6b5049ee1a657cd5935a198f124f-180/+000_front.webp", "front_right": "images/cccd6b5049ee1a657cd5935a198f124f-180/+000_front_right.webp", "side_left": "images/cccd6b5049ee1a657cd5935a198f124f-180/+000_side_left.webp", "side_right": "images/cccd6b5049ee1a657cd5935a198f124f-180/+000_side_right.webp", "rear_left": "images/cccd6b5049ee1a657cd5935a198f124f-180/+000_rear_left.webp", "rear": "images/cccd6b5049ee1a657cd5935a198f124f-180/+000_rear.webp", "rear_right": "images/cccd6b5049ee1a657cd5935a198f124f-180/+000_rear_right.webp"}}], "camera_count": 8, "available_source_times_s": [-2.0, -1.0, 0.0, 1.0, 2.0, 3.0, 4.0], "camera_scope": "current_only", "label": {"title": "Routine Right Turn Beside Fenced Property", "category": "routine", "tags": ["right turn", "clear receiving lane", "roadside construction fence"], "current_situation": "Ego is moving at 3.779 m/s and beginning the planned right turn onto a two-way street. The changing views from -2 to 0 seconds support rightward ego rotation. A yield sign is visible beside the parking garage at -2 seconds; the receiving lane and visible left approach are clear. Construction fencing remains beyond the opposite curb, and vehicles in the adjacent parking areas show no supported interaction with ego.", "baseline_decision": "Check cross traffic, comply with any applicable yield control, and complete the planned right turn at low speed within the right-hand lane.", "decision_changing_cue": "None visible: the fenced property does not obstruct the receiving lane, and no actor visibly conflicts with the turn.", "causal_mechanism": "The curb and double-yellow centerline require ordinary turn-path control, but the visible roadside features do not justify an additional stop, evasive maneuver, or substantial speed reduction.", "expected_action": "maintain_speed", "decision_deviation": false, "annotation": "Ego is beginning a right turn onto a two-way street with a clear visible receiving lane and construction fencing beyond the opposite curb. No visible conflict changes the normal turn plan; ego should complete the turn at low speed over the next few seconds, checking cross traffic and staying right of the double-yellow centerline.", "interest_score": 18, "confidence": 0.9, "selection_reason": "Reject as a long-tail candidate: this is an ordinary low-speed turn without a specific hazardous interaction, lane obstruction, or unusual negotiation. Roadside construction alone does not materially change the plan.", "camera_evidence": [{"camera": "front_left", "t_s": 0, "detail": "A closed gate and boundary wall stand across the intersection; vehicles are visible behind the gate, not in ego's turn path."}, {"camera": "front", "t_s": 0, "detail": "Double-yellow centerlines bend across the foreground; construction fencing and exposed soil remain beyond the opposite curb."}, {"camera": "front_right", "t_s": 0, "detail": "The street extending to ego's right has a clear visible receiving lane beside a curved curb and sidewalk."}, {"camera": "side_left", "t_s": 0, "detail": "The visible left approach has no nearby vehicle or pedestrian occupying the roadway."}, {"camera": "side_right", "t_s": 0, "detail": "Parking-garage stairs, palm trunks, and gravel occupy the roadside; no actor is visible at the near corner."}, {"camera": "rear_left", "t_s": 0, "detail": "Several vehicles and a white recreational vehicle are visible in an adjacent parking area, with no visible roadway conflict."}, {"camera": "rear", "t_s": 0, "detail": "The roadway behind ego is visibly clear of nearby following traffic."}, {"camera": "rear_right", "t_s": 0, "detail": "The back of a triangular roadside sign is visible beside the parking garage and sidewalk."}, {"camera": "side_right", "t_s": -2, "detail": "A red-bordered triangular yield sign is visible beside the parking garage near the intersection."}, {"camera": "front", "t_s": -2, "detail": "The gate is more centrally ahead than at 0 seconds, supporting ego's subsequent rightward rotation rather than motion by a conflicting actor."}], "uncertainties": ["The yield sign's exact orientation and applicability are not fully resolved from the oblique views.", "Motion of vehicles within the parking areas cannot be reliably established.", "No future observations are available; the recommended turn completion is not a claim about recorded subsequent behavior."]}, "discovery_label": {"title": "Routine Right Turn Beside Fenced Property", "category": "routine", "tags": ["right turn", "clear receiving lane", "roadside construction fence"], "current_situation": "Ego is moving at 3.779 m/s and beginning the planned right turn onto a two-way street. The changing views from -2 to 0 seconds support rightward ego rotation. A yield sign is visible beside the parking garage at -2 seconds; the receiving lane and visible left approach are clear. Construction fencing remains beyond the opposite curb, and vehicles in the adjacent parking areas show no supported interaction with ego.", "baseline_decision": "Check cross traffic, comply with any applicable yield control, and complete the planned right turn at low speed within the right-hand lane.", "decision_changing_cue": "None visible: the fenced property does not obstruct the receiving lane, and no actor visibly conflicts with the turn.", "causal_mechanism": "The curb and double-yellow centerline require ordinary turn-path control, but the visible roadside features do not justify an additional stop, evasive maneuver, or substantial speed reduction.", "expected_action": "maintain_speed", "decision_deviation": false, "annotation": "Ego is beginning a right turn onto a two-way street with a clear visible receiving lane and construction fencing beyond the opposite curb. No visible conflict changes the normal turn plan; ego should complete the turn at low speed over the next few seconds, checking cross traffic and staying right of the double-yellow centerline.", "interest_score": 18, "confidence": 0.9, "selection_reason": "Reject as a long-tail candidate: this is an ordinary low-speed turn without a specific hazardous interaction, lane obstruction, or unusual negotiation. Roadside construction alone does not materially change the plan.", "camera_evidence": [{"camera": "front_left", "t_s": 0, "detail": "A closed gate and boundary wall stand across the intersection; vehicles are visible behind the gate, not in ego's turn path."}, {"camera": "front", "t_s": 0, "detail": "Double-yellow centerlines bend across the foreground; construction fencing and exposed soil remain beyond the opposite curb."}, {"camera": "front_right", "t_s": 0, "detail": "The street extending to ego's right has a clear visible receiving lane beside a curved curb and sidewalk."}, {"camera": "side_left", "t_s": 0, "detail": "The visible left approach has no nearby vehicle or pedestrian occupying the roadway."}, {"camera": "side_right", "t_s": 0, "detail": "Parking-garage stairs, palm trunks, and gravel occupy the roadside; no actor is visible at the near corner."}, {"camera": "rear_left", "t_s": 0, "detail": "Several vehicles and a white recreational vehicle are visible in an adjacent parking area, with no visible roadway conflict."}, {"camera": "rear", "t_s": 0, "detail": "The roadway behind ego is visibly clear of nearby following traffic."}, {"camera": "rear_right", "t_s": 0, "detail": "The back of a triangular roadside sign is visible beside the parking garage and sidewalk."}, {"camera": "side_right", "t_s": -2, "detail": "A red-bordered triangular yield sign is visible beside the parking garage near the intersection."}, {"camera": "front", "t_s": -2, "detail": "The gate is more centrally ahead than at 0 seconds, supporting ego's subsequent rightward rotation rather than motion by a conflicting actor."}], "uncertainties": ["The yield sign's exact orientation and applicability are not fully resolved from the oblique views.", "Motion of vehicles within the parking areas cannot be reliably established.", "No future observations are available; the recommended turn completion is not a claim about recorded subsequent behavior."], "_binding_sha256": "ff7396375756f649b88efd5a7482f4273bd2dae14d843263f8c4d2da3b0533ca", "_request": "requests/cccd6b5049ee1a657cd5935a198f124f-180/discovery-001"}, "review": null, "status": "dismissed", "annotation": "Ego is beginning a right turn onto a two-way street with a clear visible receiving lane and construction fencing beyond the opposite curb. No visible conflict changes the normal turn plan; ego should complete the turn at low speed over the next few seconds, checking cross traffic and staying right of the double-yellow centerline.", "selected": false}
{"id": "e60a31d12b71e88329f5596545818027-186", "scenario_id": "e60a31d12b71e88329f5596545818027", "split": "train", "batch_index": 67, "source_manifest_line": 68, "intent": "GO_STRAIGHT", "anchor_frame": 186, "motion": {"current_speed_mps": 2.822, "future_xy_m": [[0.74267578125, -0.001953125], [1.56103515625, 0.0], [2.451171875, 0.0], [3.3984375, 0.001953125], [4.380859375, 0.001953125], [5.3935546875, 0.00390625], [6.44921875, 0.00390625], [7.5576171875, 0.005859375], [8.72607421875, 0.00390625], [9.962890625, 0.001953125], [11.26806640625, 0.0], [12.64111328125, -0.00390625], [14.080078125, -0.0078125], [15.58349609375, -0.009765625], [17.14501953125, -0.01171875], [18.763671875, -0.005859375], [20.43896484375, 0.00390625], [22.16845703125, 0.017578125], [23.9521484375, 0.03515625], [25.79248046875, 0.05859375]], "future_hz": 4, "speed_windows": [{"t_s": 0.5, "speed_mps": 3.398}, {"t_s": 1.5, "speed_mps": 4.159}, {"t_s": 2.5, "speed_mps": 5.084}, {"t_s": 3.5, "speed_mps": 6.123}, {"t_s": 4.5, "speed_mps": 7.029}], "minimum_1s_acceleration_mps2": 0.761, "maximum_speed_drop_mps": 0.0, "recorded_response": "accelerate", "method": "4 Hz trajectory path length; 1 s mean speeds; differences of adjacent 1 s means. Recorded response is descriptive, not a causal label."}, "frames": [{"t_s": 0.0, "source_frame": 186, "images": {"front_left": "images/e60a31d12b71e88329f5596545818027-186/+000_front_left.webp", "front": "images/e60a31d12b71e88329f5596545818027-186/+000_front.webp", "front_right": "images/e60a31d12b71e88329f5596545818027-186/+000_front_right.webp", "side_left": "images/e60a31d12b71e88329f5596545818027-186/+000_side_left.webp", "side_right": "images/e60a31d12b71e88329f5596545818027-186/+000_side_right.webp", "rear_left": "images/e60a31d12b71e88329f5596545818027-186/+000_rear_left.webp", "rear": "images/e60a31d12b71e88329f5596545818027-186/+000_rear.webp", "rear_right": "images/e60a31d12b71e88329f5596545818027-186/+000_rear_right.webp"}}], "camera_count": 8, "available_source_times_s": [-2.0, -1.0, 0.0, 1.0, 2.0, 3.0, 4.0], "camera_scope": "current_only", "label": {"title": "Routine Low-Speed Following Toward Green Signals", "category": "routine", "tags": ["normal following", "green signals", "nighttime"], "current_situation": "Ego is traveling straight at 2.822 m/s in a curbside lane behind a silver sedan, with additional vehicles farther ahead and green signals visible at the upcoming intersection. Across the available history, the sedan remains aligned with the lane and appears slightly smaller rather than closing toward ego. A vehicle is visible behind; the side views show sidewalks, storefronts, trees and furniture without a visible roadway intrusion. Street lighting illuminates the road, while peripheral detail is limited.", "baseline_decision": "Continue straight at low speed toward the intersection, subject to the applicable signals and ordinary following-gap control.", "decision_changing_cue": "No nonroutine decision-changing cue is visible. The sedan ahead presents a normal following constraint, without a supported abrupt stop, cut-in or obstruction.", "causal_mechanism": "The lead sedan requires maintaining a safe following gap, but the available history does not establish a conflict requiring an exceptional longitudinal or lateral response.", "expected_action": "maintain_speed", "decision_deviation": false, "annotation": "A silver sedan remains ahead in ego's curbside lane, with additional traffic and green signals farther forward. Ego should continue straight at low speed over the next few seconds while preserving the following gap; no visible conflict requires exceptional braking or a lane change.", "interest_score": 44, "confidence": 0.91, "selection_reason": "Reject as a long-tail candidate: all eight camera views support ordinary low-speed following, without a specific unusual interaction or material departure from the normal straight-ahead plan.", "camera_evidence": [{"camera": "front", "t_s": -2, "detail": "A silver sedan is centered ahead in the curbside lane, with several vehicles farther forward."}, {"camera": "front", "t_s": -1, "detail": "The sedan remains aligned ahead and appears slightly smaller than at -2 seconds."}, {"camera": "front", "t_s": 0, "detail": "The sedan remains in the same lane; green signals are visible ahead, and no obstacle occupies the intervening lane."}, {"camera": "front_left", "t_s": 0, "detail": "Adjacent lanes, a painted turn arrow and the opposite-side storefront are visible without an actor cutting across ego's path."}, {"camera": "front_right", "t_s": 0, "detail": "A tree, building entrance, bicycle racks and outdoor seating occupy the sidewalk; a small figure is visible near the building at the far left."}, {"camera": "side_left", "t_s": 0, "detail": "The road alongside ego and the opposite sidewalk are visible, with no nearby lateral intrusion."}, {"camera": "side_right", "t_s": 0, "detail": "Storefront windows, chairs and a sidewalk sign remain outside the roadway."}, {"camera": "rear_left", "t_s": 0, "detail": "Road lanes and the opposite-side building are visible without a nearby merging vehicle."}, {"camera": "rear", "t_s": 0, "detail": "A vehicle with illuminated headlights remains behind ego; no lateral maneuver is evident."}, {"camera": "rear_right", "t_s": 0, "detail": "A sidewalk, bench, trees and storefront are visible without an actor entering the road."}], "uncertainties": ["Exact lead-vehicle speed and brake application cannot be established from these images.", "Small sidewalk figures and peripheral details are difficult to resolve in the nighttime views.", "The images do not establish which individual signal head governs ego's lane, although green signals are visible ahead."]}, "discovery_label": {"title": "Routine Low-Speed Following Toward Green Signals", "category": "routine", "tags": ["normal following", "green signals", "nighttime"], "current_situation": "Ego is traveling straight at 2.822 m/s in a curbside lane behind a silver sedan, with additional vehicles farther ahead and green signals visible at the upcoming intersection. Across the available history, the sedan remains aligned with the lane and appears slightly smaller rather than closing toward ego. A vehicle is visible behind; the side views show sidewalks, storefronts, trees and furniture without a visible roadway intrusion. Street lighting illuminates the road, while peripheral detail is limited.", "baseline_decision": "Continue straight at low speed toward the intersection, subject to the applicable signals and ordinary following-gap control.", "decision_changing_cue": "No nonroutine decision-changing cue is visible. The sedan ahead presents a normal following constraint, without a supported abrupt stop, cut-in or obstruction.", "causal_mechanism": "The lead sedan requires maintaining a safe following gap, but the available history does not establish a conflict requiring an exceptional longitudinal or lateral response.", "expected_action": "maintain_speed", "decision_deviation": false, "annotation": "A silver sedan remains ahead in ego's curbside lane, with additional traffic and green signals farther forward. Ego should continue straight at low speed over the next few seconds while preserving the following gap; no visible conflict requires exceptional braking or a lane change.", "interest_score": 44, "confidence": 0.91, "selection_reason": "Reject as a long-tail candidate: all eight camera views support ordinary low-speed following, without a specific unusual interaction or material departure from the normal straight-ahead plan.", "camera_evidence": [{"camera": "front", "t_s": -2, "detail": "A silver sedan is centered ahead in the curbside lane, with several vehicles farther forward."}, {"camera": "front", "t_s": -1, "detail": "The sedan remains aligned ahead and appears slightly smaller than at -2 seconds."}, {"camera": "front", "t_s": 0, "detail": "The sedan remains in the same lane; green signals are visible ahead, and no obstacle occupies the intervening lane."}, {"camera": "front_left", "t_s": 0, "detail": "Adjacent lanes, a painted turn arrow and the opposite-side storefront are visible without an actor cutting across ego's path."}, {"camera": "front_right", "t_s": 0, "detail": "A tree, building entrance, bicycle racks and outdoor seating occupy the sidewalk; a small figure is visible near the building at the far left."}, {"camera": "side_left", "t_s": 0, "detail": "The road alongside ego and the opposite sidewalk are visible, with no nearby lateral intrusion."}, {"camera": "side_right", "t_s": 0, "detail": "Storefront windows, chairs and a sidewalk sign remain outside the roadway."}, {"camera": "rear_left", "t_s": 0, "detail": "Road lanes and the opposite-side building are visible without a nearby merging vehicle."}, {"camera": "rear", "t_s": 0, "detail": "A vehicle with illuminated headlights remains behind ego; no lateral maneuver is evident."}, {"camera": "rear_right", "t_s": 0, "detail": "A sidewalk, bench, trees and storefront are visible without an actor entering the road."}], "uncertainties": ["Exact lead-vehicle speed and brake application cannot be established from these images.", "Small sidewalk figures and peripheral details are difficult to resolve in the nighttime views.", "The images do not establish which individual signal head governs ego's lane, although green signals are visible ahead."], "_binding_sha256": "e9a926f2302f6ab49b5a3aed0e54bdf4be6f6cb6c047cef832811f7ce2b068d2", "_request": "requests/e60a31d12b71e88329f5596545818027-186/discovery-001"}, "review": null, "status": "dismissed", "annotation": "A silver sedan remains ahead in ego's curbside lane, with additional traffic and green signals farther forward. Ego should continue straight at low speed over the next few seconds while preserving the following gap; no visible conflict requires exceptional braking or a lane change.", "selected": false}
{"id": "c1f2ca3bb8d683bd203bd3199e0d162e-137", "scenario_id": "c1f2ca3bb8d683bd203bd3199e0d162e", "split": "train", "batch_index": 68, "source_manifest_line": 69, "intent": "GO_STRAIGHT", "anchor_frame": 137, "motion": {"current_speed_mps": 8.396, "future_xy_m": [[2.108154296875, -0.0068359375], [4.2320556640625, -0.0205078125], [6.374267578125, -0.04296875], [8.5335693359375, -0.072265625], [10.708740234375, -0.1103515625], [12.896484375, -0.1533203125], [15.1038818359375, -0.19921875], [17.320068359375, -0.248046875], [19.5322265625, -0.2978515625], [21.7393798828125, -0.3427734375], [23.937744140625, -0.3818359375], [26.1309814453125, -0.416015625], [28.31982421875, -0.4453125], [30.50244140625, -0.470703125], [32.679443359375, -0.4912109375], [34.85009765625, -0.5107421875], [37.0093994140625, -0.5263671875], [39.188232421875, -0.54296875], [41.35693359375, -0.5498046875], [43.5257568359375, -0.5517578125]], "future_hz": 4, "speed_windows": [{"t_s": 0.5, "speed_mps": 8.534}, {"t_s": 1.5, "speed_mps": 8.788}, {"t_s": 2.5, "speed_mps": 8.813}, {"t_s": 3.5, "speed_mps": 8.72}, {"t_s": 4.5, "speed_mps": 8.676}], "minimum_1s_acceleration_mps2": -0.093, "maximum_speed_drop_mps": 0.0, "recorded_response": "roughly_maintain_speed", "method": "4 Hz trajectory path length; 1 s mean speeds; differences of adjacent 1 s means. Recorded response is descriptive, not a causal label."}, "frames": [{"t_s": 0.0, "source_frame": 137, "images": {"front_left": "images/c1f2ca3bb8d683bd203bd3199e0d162e-137/+000_front_left.webp", "front": "images/c1f2ca3bb8d683bd203bd3199e0d162e-137/+000_front.webp", "front_right": "images/c1f2ca3bb8d683bd203bd3199e0d162e-137/+000_front_right.webp", "side_left": "images/c1f2ca3bb8d683bd203bd3199e0d162e-137/+000_side_left.webp", "side_right": "images/c1f2ca3bb8d683bd203bd3199e0d162e-137/+000_side_right.webp", "rear_left": "images/c1f2ca3bb8d683bd203bd3199e0d162e-137/+000_rear_left.webp", "rear": "images/c1f2ca3bb8d683bd203bd3199e0d162e-137/+000_rear.webp", "rear_right": "images/c1f2ca3bb8d683bd203bd3199e0d162e-137/+000_rear_right.webp"}}], "camera_count": 8, "available_source_times_s": [-2.0, -1.0, 0.0, 1.0, 2.0, 3.0, 4.0, 5.0], "camera_scope": "current_only", "label": {"title": "Right-side temporary controls beside an open forward passage", "category": "work_zone", "tags": ["temporary delineators", "keep left", "roadway object", "sun glare"], "current_situation": "Ego is traveling forward at approximately 8.396 m/s toward green signals. Temporary striped devices and a small low red-and-dark item are ahead on the right, with a curbside KEEP LEFT sign. Glare limits distant detail, a vehicle is visible farther ahead, and a raised rail corridor borders the left side.", "baseline_decision": "Without the temporary controls and low item, continue forward within the established lane at a visibility-appropriate speed, preserving the gap to traffic ahead and respecting the rail corridor and intersection.", "decision_changing_cue": "The KEEP LEFT sign and right-side devices define a passage to their left; the low item's exact footprint relative to that passage is unresolved.", "causal_mechanism": "These controls require checking the approaching right-side clearance and remaining outside the marked area. They do not visibly establish that ego's existing path is obstructed or that a new lateral maneuver is necessary; absence of nearby traffic does not authorize a blind move toward the rail corridor.", "expected_action": "maintain_speed", "decision_deviation": true, "annotation": "Temporary striped controls, a KEEP LEFT sign, and a small low red-and-dark item mark the right side of the roadway ahead under green signals and substantial frontal glare. Continue through the visibly open passage to their left while checking approaching clearance; the current views do not establish a need for an additional leftward maneuver or braking.", "interest_score": 72, "confidence": 0.82, "selection_reason": "Qualitative candidate because visible temporary traffic controls and pavement occupancy change the near-term lateral path, rather than merely marking roadside construction. The supported response is modest clearance adjustment, not emergency braking.", "camera_evidence": [{"camera": "front", "t_s": -2, "detail": "Temporary devices are visible ahead on the right side of the roadway; the forward passage appears open."}, {"camera": "front", "t_s": -1, "detail": "Right-side striped devices grow larger during approach; green signals and railroad warning pavement markings are visible through glare."}, {"camera": "front", "t_s": 0, "detail": "Striped devices and a low red-and-dark item lie to the right of the central forward passage. Green signals and a distant vehicle are visible."}, {"camera": "front_right", "t_s": -1, "detail": "A yellow circular railroad-crossing warning sign stands beside the sidewalk."}, {"camera": "front_right", "t_s": 0, "detail": "A portable KEEP LEFT sign with a left-pointing arrow is visible at the curb beside trees and benches."}, {"camera": "front_left", "t_s": 0, "detail": "A raised rail corridor borders the roadway; a red car is visible near the farther curb, with no close vehicle in the foreground."}, {"camera": "side_left", "t_s": 0, "detail": "The raised rail corridor and building frontage are visible, with no vehicle immediately alongside."}, {"camera": "side_right", "t_s": 0, "detail": "A wall, trees, and sidewalk furnishings occupy the view; no roadway entry by an actor is visible."}, {"camera": "rear_left", "t_s": 0, "detail": "Roadway and rail-side frontage are visible without a close vehicle."}, {"camera": "rear", "t_s": 0, "detail": "The visible lanes behind ego contain no close following vehicle."}, {"camera": "rear_right", "t_s": 0, "detail": "The curb, benches, wall, and landscaping are visible without a nearby vehicle."}], "uncertainties": ["The low item's identity, dimensions, and exact clearance from ego's swept path cannot be established at t<=0.", "The complete temporary-control layout and available passage width are unresolved.", "Glare limits distant actor assessment; apparently empty side views do not prove a leftward maneuver would be safe."]}, "discovery_label": {"title": "Keep-left work zone with roadway object", "category": "work_zone", "tags": ["temporary delineators", "keep left", "roadway object", "sun glare"], "current_situation": "Ego is traveling straight on a downtown street at 8.396 m/s. Green signals are visible ahead. Temporary striped delineators occupy the right-hand travel area, and a low red-and-dark object lies on the pavement just left of their line. A roadside KEEP LEFT sign directs traffic around the devices. Rail-crossing warning markings are visible, and strong frontal sunlight reduces distant detail. The side and rear views show no nearby vehicle constraining an immediate leftward clearance adjustment.", "baseline_decision": "Without the temporary devices, continue straight within the current lane at an appropriate steady speed, observing the green signals and rail-crossing approach.", "decision_changing_cue": "The KEEP LEFT instruction and roadway delineators narrow the usable right-hand travel area; a low object also occupies pavement beside the delineators.", "causal_mechanism": "Continuing along an unchanged path would reduce clearance to the temporary devices. Ego should establish a path to their left before reaching the narrowed section rather than treating the green signal as evidence of an unobstructed lane.", "expected_action": "increase_clearance", "decision_deviation": true, "annotation": "Striped temporary delineators occupy the right-hand travel area, with a low red-and-dark object beside them and a roadside KEEP LEFT sign; the signals ahead are green. Although ego would otherwise continue straight within its lane, the narrowed passage requires a modest speed reduction and a leftward clearance adjustment before reaching the devices over the next few seconds.", "interest_score": 72, "confidence": 0.82, "selection_reason": "Qualitative candidate because visible temporary traffic controls and pavement occupancy change the near-term lateral path, rather than merely marking roadside construction. The supported response is modest clearance adjustment, not emergency braking.", "camera_evidence": [{"camera": "front", "t_s": -2, "detail": "Temporary delineators are already visible along the right-hand travel area ahead."}, {"camera": "front", "t_s": -1, "detail": "The right-side devices become larger as ego approaches; green overhead signals remain visible."}, {"camera": "front", "t_s": 0, "detail": "Upright striped delineators and a low red-and-dark pavement object occupy the right-hand travel area. Green signals and rail-crossing pavement markings are visible through glare."}, {"camera": "front_right", "t_s": -1, "detail": "A yellow circular railroad-crossing warning sign stands beside the right sidewalk."}, {"camera": "front_right", "t_s": 0, "detail": "A temporary KEEP LEFT sign with a left-pointing arrow stands at the right curb beside trees and benches."}, {"camera": "front_left", "t_s": 0, "detail": "The adjacent left roadway and raised rail strip are visible without a nearby moving vehicle; a red car is visible by the farther curb."}, {"camera": "side_left", "t_s": 0, "detail": "The rail strip and building frontage are visible, with no vehicle alongside ego."}, {"camera": "side_right", "t_s": 0, "detail": "Trees, a wall, and sidewalk furnishings border the right side; no actor is visibly entering the roadway."}, {"camera": "rear_left", "t_s": 0, "detail": "The roadway beside the parking-garage frontage is clear of nearby vehicles."}, {"camera": "rear", "t_s": 0, "detail": "The lanes behind ego show no close following vehicle."}, {"camera": "rear_right", "t_s": 0, "detail": "Right-side benches, trees, and frontage are visible, with no nearby vehicle."}], "uncertainties": ["The low pavement object's identity and exact relationship to ego's swept path are unclear.", "The full taper layout is not resolved; a complete lane change may not be necessary.", "Glare and distant image detail limit reliable assessment of actor motion ahead."], "_binding_sha256": "40691f05b4b34da5c61bdf2f40debc57de6c9763987bf5819b046f0f3dc97bef", "_request": "requests/c1f2ca3bb8d683bd203bd3199e0d162e-137/discovery-001"}, "review": {"verdict": "reject", "grounding_score": 0.65, "reason": "The temporary controls and low red-and-dark item are visible, but the evidence supports ordinary channelization rather than a demonstrated nonroutine conflict. Chronological later views show ego passing the controls on their left without a substantial maneuver; neither the images nor recorded motion establish the candidate's required leftward adjustment or slowdown.", "corrected_annotation": "Temporary striped controls, a KEEP LEFT sign, and a small low red-and-dark item mark the right side of the roadway ahead under green signals and substantial frontal glare. Continue through the visibly open passage to their left while checking approaching clearance; the current views do not establish a need for an additional leftward maneuver or braking.", "corrected_title": "Right-side temporary controls beside an open forward passage", "corrected_current_situation": "Ego is traveling forward at approximately 8.396 m/s toward green signals. Temporary striped devices and a small low red-and-dark item are ahead on the right, with a curbside KEEP LEFT sign. Glare limits distant detail, a vehicle is visible farther ahead, and a raised rail corridor borders the left side.", "corrected_baseline_decision": "Without the temporary controls and low item, continue forward within the established lane at a visibility-appropriate speed, preserving the gap to traffic ahead and respecting the rail corridor and intersection.", "corrected_decision_changing_cue": "The KEEP LEFT sign and right-side devices define a passage to their left; the low item's exact footprint relative to that passage is unresolved.", "corrected_causal_mechanism": "These controls require checking the approaching right-side clearance and remaining outside the marked area. They do not visibly establish that ego's existing path is obstructed or that a new lateral maneuver is necessary; absence of nearby traffic does not authorize a blind move toward the rail corridor.", "corrected_expected_action": "maintain_speed", "corrected_camera_evidence": [{"camera": "front", "t_s": -2, "detail": "Temporary devices are visible ahead on the right side of the roadway; the forward passage appears open."}, {"camera": "front", "t_s": -1, "detail": "Right-side striped devices grow larger during approach; green signals and railroad warning pavement markings are visible through glare."}, {"camera": "front", "t_s": 0, "detail": "Striped devices and a low red-and-dark item lie to the right of the central forward passage. Green signals and a distant vehicle are visible."}, {"camera": "front_right", "t_s": -1, "detail": "A yellow circular railroad-crossing warning sign stands beside the sidewalk."}, {"camera": "front_right", "t_s": 0, "detail": "A portable KEEP LEFT sign with a left-pointing arrow is visible at the curb beside trees and benches."}, {"camera": "front_left", "t_s": 0, "detail": "A raised rail corridor borders the roadway; a red car is visible near the farther curb, with no close vehicle in the foreground."}, {"camera": "side_left", "t_s": 0, "detail": "The raised rail corridor and building frontage are visible, with no vehicle immediately alongside."}, {"camera": "side_right", "t_s": 0, "detail": "A wall, trees, and sidewalk furnishings occupy the view; no roadway entry by an actor is visible."}, {"camera": "rear_left", "t_s": 0, "detail": "Roadway and rail-side frontage are visible without a close vehicle."}, {"camera": "rear", "t_s": 0, "detail": "The visible lanes behind ego contain no close following vehicle."}, {"camera": "rear_right", "t_s": 0, "detail": "The curb, benches, wall, and landscaping are visible without a nearby vehicle."}], "remaining_uncertainties": ["The low item's identity, dimensions, and exact clearance from ego's swept path cannot be established at t<=0.", "The complete temporary-control layout and available passage width are unresolved.", "Glare limits distant actor assessment; apparently empty side views do not prove a leftward maneuver would be safe."], "motion_consistency": "consistent", "recorded_motion_explanation": "Recorded motion approximately maintains speed: the 1 s averages range from 8.534 to 8.813 m/s, minimum acceleration is -0.093 m/s^2, and reported speed drop is 0.0 m/s. Over five seconds ego travels approximately 43.53 m forward and 0.55 m right, not left. Later mosaics show controls passing on the right. This agrees with the corrected forward-continuation recommendation, but not the candidate's prescribed slowdown and additional leftward adjustment; no recorded strong braking occurred.", "unsupported_details": ["A necessary additional leftward adjustment from ego's existing path.", "A required modest speed reduction attributable to these controls.", "A verified obstruction of ego's swept path by the low item.", "Treating absence of nearby vehicles as proof that an immediate leftward clearance adjustment is safe."], "_binding_sha256": "accad46ce52de8ede9bf90b492c3ac5f2aa1d018f6bdc1551237cda50e4e0b46", "_request": "requests/c1f2ca3bb8d683bd203bd3199e0d162e-137/review-001"}, "status": "dismissed", "annotation": "Temporary striped controls, a KEEP LEFT sign, and a small low red-and-dark item mark the right side of the roadway ahead under green signals and substantial frontal glare. Continue through the visibly open passage to their left while checking approaching clearance; the current views do not establish a need for an additional leftward maneuver or braking.", "selected": false}
{"id": "2154e6dd04c45ea04ecf9e166860c704-026", "scenario_id": "2154e6dd04c45ea04ecf9e166860c704", "split": "train", "batch_index": 69, "source_manifest_line": 70, "intent": "GO_STRAIGHT", "anchor_frame": 26, "motion": {"current_speed_mps": 5.101, "future_xy_m": [[1.299560546875, -0.07568359375], [2.65625, -0.177001953125], [4.0634765625, -0.297607421875], [5.521484375, -0.438720703125], [7.024658203125, -0.598388671875], [8.584228515625, -0.78173828125], [10.178955078125, -0.975830078125], [11.788330078125, -1.179443359375], [13.408935546875, -1.385498046875], [15.0205078125, -1.591552734375], [16.62841796875, -1.793212890625], [18.217041015625, -1.993408203125], [19.78076171875, -2.18798828125], [21.31591796875, -2.37744140625], [22.822265625, -2.559326171875], [24.30078125, -2.733642578125], [25.74853515625, -2.90087890625], [27.165283203125, -3.062744140625], [28.551025390625, -3.216796875], [29.90576171875, -3.36376953125]], "future_hz": 4, "speed_windows": [{"t_s": 0.5, "speed_mps": 5.539}, {"t_s": 1.5, "speed_mps": 6.311}, {"t_s": 2.5, "speed_mps": 6.48}, {"t_s": 3.5, "speed_mps": 6.129}, {"t_s": 4.5, "speed_mps": 5.64}], "minimum_1s_acceleration_mps2": -0.488, "maximum_speed_drop_mps": 0.0, "recorded_response": "roughly_maintain_speed", "method": "4 Hz trajectory path length; 1 s mean speeds; differences of adjacent 1 s means. Recorded response is descriptive, not a causal label."}, "frames": [{"t_s": 0.0, "source_frame": 26, "images": {"front_left": "images/2154e6dd04c45ea04ecf9e166860c704-026/+000_front_left.webp", "front": "images/2154e6dd04c45ea04ecf9e166860c704-026/+000_front.webp", "front_right": "images/2154e6dd04c45ea04ecf9e166860c704-026/+000_front_right.webp", "side_left": "images/2154e6dd04c45ea04ecf9e166860c704-026/+000_side_left.webp", "side_right": "images/2154e6dd04c45ea04ecf9e166860c704-026/+000_side_right.webp", "rear_left": "images/2154e6dd04c45ea04ecf9e166860c704-026/+000_rear_left.webp", "rear": "images/2154e6dd04c45ea04ecf9e166860c704-026/+000_rear.webp", "rear_right": "images/2154e6dd04c45ea04ecf9e166860c704-026/+000_rear_right.webp"}}], "camera_count": 8, "available_source_times_s": [-1.0, 0.0, 1.0, 2.0, 3.0, 4.0, 5.0], "camera_scope": "current_only", "label": {"title": "Wet Street With Parked Vehicles", "category": "routine", "tags": ["wet roadway", "lens droplets", "curbside parking"], "current_situation": "Ego is traveling at 5.101 m/s with a straight-ahead route on a wet street with yellow center markings and vehicles parked along both curbs. A yellow pickup and silver coupe are beside the right curb. Low illumination, pavement reflections, and visible lens droplets reduce image clarity. Traffic is visible across the intersection behind ego, but no actor visibly occupies the immediate forward path. A right-side speed-limit sign reads 25; no immediate ego-facing stop control is evident.", "baseline_decision": "Continue straight at the existing low speed, remaining on the appropriate side of the center markings and maintaining clearance from parked vehicles.", "decision_changing_cue": "No specific cue establishes a material departure from that conservative plan. Wet-road reflections and lens droplets support continued caution, not an immediate stop or evasive maneuver.", "causal_mechanism": "Reduced visual clarity limits detection of distant details, but the visible forward corridor remains open. The evidence does not establish a conflict requiring additional braking within the next 0–5 seconds.", "expected_action": "maintain_speed", "decision_deviation": false, "annotation": "A wet, reflective street extends straight ahead between curbside vehicles, with lens droplets reducing visual clarity. Ego should continue straight at its current low speed and maintain clearance from parked vehicles; no visible interaction warrants additional braking or a lateral maneuver.", "interest_score": 33, "confidence": 0.86, "selection_reason": "Reject as a long-tail candidate: all eight cameras show weather-related visibility limitations and ordinary curbside parking, without a specific nonroutine conflict or substantial decision change.", "camera_evidence": [{"camera": "front_left", "t_s": 0, "detail": "A dark sedan and white SUV are aligned along the left curb beside a building; neither visibly intrudes into the forward travel corridor."}, {"camera": "front", "t_s": -1, "detail": "The wet roadway extends ahead between curbside vehicles, with yellow center markings and reflected street lighting."}, {"camera": "front", "t_s": 0, "detail": "The immediate forward corridor remains open; large translucent droplets obscure portions of the upper view and distant details have low contrast."}, {"camera": "front_right", "t_s": -1, "detail": "A yellow pickup sits beside the right curb beneath a speed-limit sign reading 25."}, {"camera": "front_right", "t_s": 0, "detail": "The yellow pickup is now nearer the image edge, with a silver coupe ahead along the curb; their changing image positions are consistent with ego passing them."}, {"camera": "side_left", "t_s": 0, "detail": "A building frontage, curb, and stop sign near a side access are visible; the sign is not shown controlling ego's forward route."}, {"camera": "side_right", "t_s": 0, "detail": "The yellow pickup appears alongside the wall and curb, with no visible lateral movement toward ego."}, {"camera": "rear_left", "t_s": 0, "detail": "Vehicles are visible on the cross street behind ego, across reflective pavement."}, {"camera": "rear", "t_s": 0, "detail": "Several vehicles occupy the intersection behind ego; none is shown creating a forward-path conflict."}, {"camera": "rear_right", "t_s": 0, "detail": "The sidewalk corner and cross-street traffic remain behind ego, with strong light reflections on the wet roadway."}], "uncertainties": ["Droplets and low contrast limit identification of distant actors and signal details.", "The one-second history does not establish independent motion for every curbside vehicle.", "The applicability of the side-left stop sign cannot be fully determined from these images."]}, "discovery_label": {"title": "Wet Street With Parked Vehicles", "category": "routine", "tags": ["wet roadway", "lens droplets", "curbside parking"], "current_situation": "Ego is traveling at 5.101 m/s with a straight-ahead route on a wet street with yellow center markings and vehicles parked along both curbs. A yellow pickup and silver coupe are beside the right curb. Low illumination, pavement reflections, and visible lens droplets reduce image clarity. Traffic is visible across the intersection behind ego, but no actor visibly occupies the immediate forward path. A right-side speed-limit sign reads 25; no immediate ego-facing stop control is evident.", "baseline_decision": "Continue straight at the existing low speed, remaining on the appropriate side of the center markings and maintaining clearance from parked vehicles.", "decision_changing_cue": "No specific cue establishes a material departure from that conservative plan. Wet-road reflections and lens droplets support continued caution, not an immediate stop or evasive maneuver.", "causal_mechanism": "Reduced visual clarity limits detection of distant details, but the visible forward corridor remains open. The evidence does not establish a conflict requiring additional braking within the next 0–5 seconds.", "expected_action": "maintain_speed", "decision_deviation": false, "annotation": "A wet, reflective street extends straight ahead between curbside vehicles, with lens droplets reducing visual clarity. Ego should continue straight at its current low speed and maintain clearance from parked vehicles; no visible interaction warrants additional braking or a lateral maneuver.", "interest_score": 33, "confidence": 0.86, "selection_reason": "Reject as a long-tail candidate: all eight cameras show weather-related visibility limitations and ordinary curbside parking, without a specific nonroutine conflict or substantial decision change.", "camera_evidence": [{"camera": "front_left", "t_s": 0, "detail": "A dark sedan and white SUV are aligned along the left curb beside a building; neither visibly intrudes into the forward travel corridor."}, {"camera": "front", "t_s": -1, "detail": "The wet roadway extends ahead between curbside vehicles, with yellow center markings and reflected street lighting."}, {"camera": "front", "t_s": 0, "detail": "The immediate forward corridor remains open; large translucent droplets obscure portions of the upper view and distant details have low contrast."}, {"camera": "front_right", "t_s": -1, "detail": "A yellow pickup sits beside the right curb beneath a speed-limit sign reading 25."}, {"camera": "front_right", "t_s": 0, "detail": "The yellow pickup is now nearer the image edge, with a silver coupe ahead along the curb; their changing image positions are consistent with ego passing them."}, {"camera": "side_left", "t_s": 0, "detail": "A building frontage, curb, and stop sign near a side access are visible; the sign is not shown controlling ego's forward route."}, {"camera": "side_right", "t_s": 0, "detail": "The yellow pickup appears alongside the wall and curb, with no visible lateral movement toward ego."}, {"camera": "rear_left", "t_s": 0, "detail": "Vehicles are visible on the cross street behind ego, across reflective pavement."}, {"camera": "rear", "t_s": 0, "detail": "Several vehicles occupy the intersection behind ego; none is shown creating a forward-path conflict."}, {"camera": "rear_right", "t_s": 0, "detail": "The sidewalk corner and cross-street traffic remain behind ego, with strong light reflections on the wet roadway."}], "uncertainties": ["Droplets and low contrast limit identification of distant actors and signal details.", "The one-second history does not establish independent motion for every curbside vehicle.", "The applicability of the side-left stop sign cannot be fully determined from these images."], "_binding_sha256": "f3d8714d1265556329e7485ead24f8a0ac4a82f6eda801d49f950a52e07bb245", "_request": "requests/2154e6dd04c45ea04ecf9e166860c704-026/discovery-001"}, "review": null, "status": "dismissed", "annotation": "A wet, reflective street extends straight ahead between curbside vehicles, with lens droplets reducing visual clarity. Ego should continue straight at its current low speed and maintain clearance from parked vehicles; no visible interaction warrants additional braking or a lateral maneuver.", "selected": false}
{"id": "31f7b999608bfbe741b736a6bd8f0a66-168", "scenario_id": "31f7b999608bfbe741b736a6bd8f0a66", "split": "train", "batch_index": 70, "source_manifest_line": 71, "intent": "GO_STRAIGHT", "anchor_frame": 168, "motion": {"current_speed_mps": 0.294, "future_xy_m": [[0.091796875, 0.0], [0.2353515625, 0.0], [0.4638671875, 0.00048828125], [0.826171875, 0.00146484375], [1.3603515625, 0.00244140625], [2.0849609375, 0.00244140625], [3.00439453125, 0.0029296875], [4.10693359375, 0.00439453125], [5.3779296875, 0.00732421875], [6.7978515625, 0.01171875], [8.35107421875, 0.017578125], [10.0263671875, 0.0234375], [11.818359375, 0.0283203125], [13.7119140625, 0.033203125], [15.70654296875, 0.03515625], [17.79345703125, 0.03759765625], [19.9658203125, 0.03955078125], [22.216796875, 0.04052734375], [24.5380859375, 0.04150390625], [26.9267578125, 0.04150390625]], "future_hz": 4, "speed_windows": [{"t_s": 0.5, "speed_mps": 0.826}, {"t_s": 1.5, "speed_mps": 3.281}, {"t_s": 2.5, "speed_mps": 5.919}, {"t_s": 3.5, "speed_mps": 7.767}, {"t_s": 4.5, "speed_mps": 9.133}], "minimum_1s_acceleration_mps2": 1.366, "maximum_speed_drop_mps": 0.0, "recorded_response": "start_moving", "method": "4 Hz trajectory path length; 1 s mean speeds; differences of adjacent 1 s means. Recorded response is descriptive, not a causal label."}, "frames": [{"t_s": 0.0, "source_frame": 168, "images": {"front_left": "images/31f7b999608bfbe741b736a6bd8f0a66-168/+000_front_left.webp", "front": "images/31f7b999608bfbe741b736a6bd8f0a66-168/+000_front.webp", "front_right": "images/31f7b999608bfbe741b736a6bd8f0a66-168/+000_front_right.webp", "side_left": "images/31f7b999608bfbe741b736a6bd8f0a66-168/+000_side_left.webp", "side_right": "images/31f7b999608bfbe741b736a6bd8f0a66-168/+000_side_right.webp", "rear_left": "images/31f7b999608bfbe741b736a6bd8f0a66-168/+000_rear_left.webp", "rear": "images/31f7b999608bfbe741b736a6bd8f0a66-168/+000_rear.webp", "rear_right": "images/31f7b999608bfbe741b736a6bd8f0a66-168/+000_rear_right.webp"}}], "camera_count": 8, "available_source_times_s": [-2.0, -1.0, 0.0, 1.0, 2.0, 3.0, 4.0, 5.0], "camera_scope": "current_only", "label": {"title": "Green-light departure beside advancing vehicles", "category": "routine", "tags": ["green signal", "adjacent vehicles", "straight departure"], "current_situation": "Ego is nearly stationary at a signalized intersection with marked crosswalks and a green forward signal. A light-colored minivan advances from alongside ego's left toward the front-left, while a white sedan advances from the right side to ahead-right. Roadside cones and barriers are visible around the right corner, outside the visible straight-ahead path. No pedestrian or immediate obstruction is visible in that path.", "baseline_decision": "Accelerate smoothly straight through the green signal after confirming the forward path is clear, retaining the current lane and clearance from adjacent vehicles.", "decision_changing_cue": "No supported material cue changes this baseline; neither adjacent vehicle is visibly established as cutting into ego's path.", "causal_mechanism": "The vehicles advancing beside ego warrant ordinary clearance monitoring, but their visible movement does not establish a conflict requiring an additional stop or lateral maneuver. The roadside work markers do not visibly block the intended through path.", "expected_action": "accelerate", "decision_deviation": false, "annotation": "Ego is nearly stationary at a green signal as a minivan advances beside its left and a white sedan moves ahead-right. With no visible intrusion into the straight-ahead path, ego should accelerate smoothly through the intersection in its current lane while maintaining clearance from both vehicles.", "interest_score": 29, "confidence": 0.85, "selection_reason": "Reject as a long-tail candidate: adjacent vehicles advancing at a green signal are routine, and no definite cut-in, obstructed through lane, or unusual negotiation is visible.", "camera_evidence": [{"camera": "front", "t_s": 0, "detail": "The forward signal is green, marked crosswalks span the intersection, and the white sedan is ahead-right."}, {"camera": "front_left", "t_s": -1, "detail": "The minivan's front enters the lower-left foreground as it advances from beside ego."}, {"camera": "front_left", "t_s": 0, "detail": "The minivan occupies the near front-left foreground, obscuring part of the near-left intersection view."}, {"camera": "front_right", "t_s": -1, "detail": "The white sedan is close beside the right-front corner, with its side and rear visible."}, {"camera": "front_right", "t_s": 0, "detail": "Cones, a small excavator, and corner barriers are visible beside the cross street rather than across ego's through path."}, {"camera": "side_left", "t_s": -2, "detail": "The minivan is alongside ego, with its front toward the forward end of the view."}, {"camera": "side_left", "t_s": 0, "detail": "Only the minivan's rear portion remains at the forward edge, supporting its advancement relative to ego."}, {"camera": "side_right", "t_s": -2, "detail": "Part of a nearby car is visible along the bottom edge beside the building."}, {"camera": "side_right", "t_s": 0, "detail": "The nearby car has cleared this side view; the sidewalk and bicycle racks are visible without a pedestrian."}, {"camera": "rear_left", "t_s": -2, "detail": "The minivan's rear-side portion is visible close to ego."}, {"camera": "rear_left", "t_s": 0, "detail": "The minivan has cleared the rear-left view, revealing the roadway and vehicles beyond."}, {"camera": "rear", "t_s": 0, "detail": "A white vehicle remains directly behind ego; no forward-path conflict is established by this view."}, {"camera": "rear_right", "t_s": 0, "detail": "A white SUV and a red vehicle are beside the curb behind-right, with no visible encroachment toward ego."}], "uncertainties": ["Near-intersection lane boundaries are not sufficiently clear to establish either adjacent vehicle's exact lane or future maneuver.", "The available history supports relative advancement, but does not establish a subsequent merge or crossing conflict."]}, "discovery_label": {"title": "Green-light departure beside advancing vehicles", "category": "routine", "tags": ["green signal", "adjacent vehicles", "straight departure"], "current_situation": "Ego is nearly stationary at a signalized intersection with marked crosswalks and a green forward signal. A light-colored minivan advances from alongside ego's left toward the front-left, while a white sedan advances from the right side to ahead-right. Roadside cones and barriers are visible around the right corner, outside the visible straight-ahead path. No pedestrian or immediate obstruction is visible in that path.", "baseline_decision": "Accelerate smoothly straight through the green signal after confirming the forward path is clear, retaining the current lane and clearance from adjacent vehicles.", "decision_changing_cue": "No supported material cue changes this baseline; neither adjacent vehicle is visibly established as cutting into ego's path.", "causal_mechanism": "The vehicles advancing beside ego warrant ordinary clearance monitoring, but their visible movement does not establish a conflict requiring an additional stop or lateral maneuver. The roadside work markers do not visibly block the intended through path.", "expected_action": "accelerate", "decision_deviation": false, "annotation": "Ego is nearly stationary at a green signal as a minivan advances beside its left and a white sedan moves ahead-right. With no visible intrusion into the straight-ahead path, ego should accelerate smoothly through the intersection in its current lane while maintaining clearance from both vehicles.", "interest_score": 29, "confidence": 0.85, "selection_reason": "Reject as a long-tail candidate: adjacent vehicles advancing at a green signal are routine, and no definite cut-in, obstructed through lane, or unusual negotiation is visible.", "camera_evidence": [{"camera": "front", "t_s": 0, "detail": "The forward signal is green, marked crosswalks span the intersection, and the white sedan is ahead-right."}, {"camera": "front_left", "t_s": -1, "detail": "The minivan's front enters the lower-left foreground as it advances from beside ego."}, {"camera": "front_left", "t_s": 0, "detail": "The minivan occupies the near front-left foreground, obscuring part of the near-left intersection view."}, {"camera": "front_right", "t_s": -1, "detail": "The white sedan is close beside the right-front corner, with its side and rear visible."}, {"camera": "front_right", "t_s": 0, "detail": "Cones, a small excavator, and corner barriers are visible beside the cross street rather than across ego's through path."}, {"camera": "side_left", "t_s": -2, "detail": "The minivan is alongside ego, with its front toward the forward end of the view."}, {"camera": "side_left", "t_s": 0, "detail": "Only the minivan's rear portion remains at the forward edge, supporting its advancement relative to ego."}, {"camera": "side_right", "t_s": -2, "detail": "Part of a nearby car is visible along the bottom edge beside the building."}, {"camera": "side_right", "t_s": 0, "detail": "The nearby car has cleared this side view; the sidewalk and bicycle racks are visible without a pedestrian."}, {"camera": "rear_left", "t_s": -2, "detail": "The minivan's rear-side portion is visible close to ego."}, {"camera": "rear_left", "t_s": 0, "detail": "The minivan has cleared the rear-left view, revealing the roadway and vehicles beyond."}, {"camera": "rear", "t_s": 0, "detail": "A white vehicle remains directly behind ego; no forward-path conflict is established by this view."}, {"camera": "rear_right", "t_s": 0, "detail": "A white SUV and a red vehicle are beside the curb behind-right, with no visible encroachment toward ego."}], "uncertainties": ["Near-intersection lane boundaries are not sufficiently clear to establish either adjacent vehicle's exact lane or future maneuver.", "The available history supports relative advancement, but does not establish a subsequent merge or crossing conflict."], "_binding_sha256": "f4aadc2c8673e9ce59d81d48569f7937cf06a7d5304e382dc728829d3bec23ef", "_request": "requests/31f7b999608bfbe741b736a6bd8f0a66-168/discovery-001"}, "review": null, "status": "dismissed", "annotation": "Ego is nearly stationary at a green signal as a minivan advances beside its left and a white sedan moves ahead-right. With no visible intrusion into the straight-ahead path, ego should accelerate smoothly through the intersection in its current lane while maintaining clearance from both vehicles.", "selected": false}
{"id": "ae887e31260d3313dad2814cab15cdf8-201", "scenario_id": "ae887e31260d3313dad2814cab15cdf8", "split": "train", "batch_index": 71, "source_manifest_line": 72, "intent": "GO_STRAIGHT", "anchor_frame": 201, "motion": {"current_speed_mps": 5.52, "future_xy_m": [[1.39697265625, 0.002685546875], [2.823486328125, 0.008544921875], [4.26806640625, 0.01434326171875], [5.726318359375, 0.02618408203125], [7.1900634765625, 0.0377197265625], [8.6485595703125, 0.05419921875], [10.085205078125, 0.07220458984375], [11.502197265625, 0.09368896484375], [12.9459228515625, 0.1199951171875], [14.403076171875, 0.14569091796875], [15.8865966796875, 0.17413330078125], [17.3890380859375, 0.2021484375], [18.9112548828125, 0.2305908203125], [20.4722900390625, 0.25640869140625], [22.0845947265625, 0.2890625], [23.7547607421875, 0.3248291015625], [25.4920654296875, 0.37060546875], [27.3056640625, 0.4249267578125], [29.19775390625, 0.48382568359375], [31.1605224609375, 0.54840087890625]], "future_hz": 4, "speed_windows": [{"t_s": 0.5, "speed_mps": 5.726}, {"t_s": 1.5, "speed_mps": 5.776}, {"t_s": 2.5, "speed_mps": 5.888}, {"t_s": 3.5, "speed_mps": 6.367}, {"t_s": 4.5, "speed_mps": 7.409}], "minimum_1s_acceleration_mps2": 0.05, "maximum_speed_drop_mps": 0.0, "recorded_response": "accelerate", "method": "4 Hz trajectory path length; 1 s mean speeds; differences of adjacent 1 s means. Recorded response is descriptive, not a causal label."}, "frames": [{"t_s": 0.0, "source_frame": 201, "images": {"front_left": "images/ae887e31260d3313dad2814cab15cdf8-201/+000_front_left.webp", "front": "images/ae887e31260d3313dad2814cab15cdf8-201/+000_front.webp", "front_right": "images/ae887e31260d3313dad2814cab15cdf8-201/+000_front_right.webp", "side_left": "images/ae887e31260d3313dad2814cab15cdf8-201/+000_side_left.webp", "side_right": "images/ae887e31260d3313dad2814cab15cdf8-201/+000_side_right.webp", "rear_left": "images/ae887e31260d3313dad2814cab15cdf8-201/+000_rear_left.webp", "rear": "images/ae887e31260d3313dad2814cab15cdf8-201/+000_rear.webp", "rear_right": "images/ae887e31260d3313dad2814cab15cdf8-201/+000_rear_right.webp"}}], "camera_count": 8, "available_source_times_s": [-2.0, -1.0, 0.0, 1.0, 2.0], "camera_scope": "current_only", "label": {"title": "Green-light passage with pedestrians beside ego", "category": "routine", "tags": ["signalized intersection", "nearby pedestrians", "oncoming sedan"], "current_situation": "Ego is traveling straight at 5.52 m/s through a daylight intersection with green signals facing its route. A silver sedan has approached along the left side of the road ahead over the three observations. Pedestrians occupy crosswalk portions beside ego and sidewalks at the far corners, but none visibly occupies the straight-ahead lane at t=0. Parked vehicles line the onward street; the rear view shows a following sedan.", "baseline_decision": "Continue straight at a cautious steady speed under the green signal, maintaining the current lane and separation from the oncoming sedan.", "decision_changing_cue": "No material decision-changing cue is established. Nearby pedestrians are visible beside the route rather than blocking the forward lane.", "causal_mechanism": "The pedestrian positions warrant continued crosswalk monitoring, but the available history does not establish a crossing conflict requiring an additional stop, evasive maneuver, or substantial slowdown.", "expected_action": "maintain_speed", "decision_deviation": false, "annotation": "Green signals face ego's straight route, an oncoming silver sedan approaches on the left, and pedestrians occupy crosswalk portions beside ego and the far sidewalks. Continue straight at a cautious steady speed in the current lane while monitoring the forward crosswalk; no visible actor currently blocks the straight-ahead path.", "interest_score": 32, "confidence": 0.84, "selection_reason": "Reject as a long-tail candidate: this is ordinary signalized intersection passage with nearby pedestrians and opposing traffic, without a visually established nonroutine conflict or material plan change.", "camera_evidence": [{"camera": "front_left", "t_s": 0, "detail": "The signal beside the bank facing the onward street is green; pedestrians remain at the bank-side corner sidewalk."}, {"camera": "front", "t_s": -2, "detail": "A silver sedan is visible approaching from the road ahead on ego's left."}, {"camera": "front", "t_s": 0, "detail": "The silver sedan is now closer on the left; the straight-ahead lane beyond the marked crosswalk is visibly open, with parked vehicles along both curbs."}, {"camera": "front_right", "t_s": 0, "detail": "A pedestrian wearing a numbered jersey occupies the crosswalk area to ego's right, outside the visible straight-ahead lane."}, {"camera": "side_left", "t_s": -1, "detail": "Several pedestrians are walking in the marked crosswalk beside ego's left side."}, {"camera": "side_left", "t_s": 0, "detail": "The pedestrian group remains visible in the lateral crosswalk rather than the road ahead."}, {"camera": "side_right", "t_s": 0, "detail": "A pedestrian previously visible front-right is now beside ego in the crosswalk; the cross-street vehicle signal is red."}, {"camera": "rear_left", "t_s": 0, "detail": "The corner sidewalk and a parked pickup are visible, with sunlight glare reducing detail."}, {"camera": "rear", "t_s": 0, "detail": "A dark sedan follows behind ego; parked vehicles line the street."}, {"camera": "rear_right", "t_s": 0, "detail": "A person with a shopping cart is on the grocery-store sidewalk, not visibly entering the roadway."}], "uncertainties": ["Pedestrians' future paths cannot be established from these images; entry into the forward crosswalk would require reassessment.", "Exact lateral clearances are not recoverable from the uncalibrated photographs.", "Rear-left glare and mosaic resolution limit fine detail."]}, "discovery_label": {"title": "Green-light passage with pedestrians beside ego", "category": "routine", "tags": ["signalized intersection", "nearby pedestrians", "oncoming sedan"], "current_situation": "Ego is traveling straight at 5.52 m/s through a daylight intersection with green signals facing its route. A silver sedan has approached along the left side of the road ahead over the three observations. Pedestrians occupy crosswalk portions beside ego and sidewalks at the far corners, but none visibly occupies the straight-ahead lane at t=0. Parked vehicles line the onward street; the rear view shows a following sedan.", "baseline_decision": "Continue straight at a cautious steady speed under the green signal, maintaining the current lane and separation from the oncoming sedan.", "decision_changing_cue": "No material decision-changing cue is established. Nearby pedestrians are visible beside the route rather than blocking the forward lane.", "causal_mechanism": "The pedestrian positions warrant continued crosswalk monitoring, but the available history does not establish a crossing conflict requiring an additional stop, evasive maneuver, or substantial slowdown.", "expected_action": "maintain_speed", "decision_deviation": false, "annotation": "Green signals face ego's straight route, an oncoming silver sedan approaches on the left, and pedestrians occupy crosswalk portions beside ego and the far sidewalks. Continue straight at a cautious steady speed in the current lane while monitoring the forward crosswalk; no visible actor currently blocks the straight-ahead path.", "interest_score": 32, "confidence": 0.84, "selection_reason": "Reject as a long-tail candidate: this is ordinary signalized intersection passage with nearby pedestrians and opposing traffic, without a visually established nonroutine conflict or material plan change.", "camera_evidence": [{"camera": "front_left", "t_s": 0, "detail": "The signal beside the bank facing the onward street is green; pedestrians remain at the bank-side corner sidewalk."}, {"camera": "front", "t_s": -2, "detail": "A silver sedan is visible approaching from the road ahead on ego's left."}, {"camera": "front", "t_s": 0, "detail": "The silver sedan is now closer on the left; the straight-ahead lane beyond the marked crosswalk is visibly open, with parked vehicles along both curbs."}, {"camera": "front_right", "t_s": 0, "detail": "A pedestrian wearing a numbered jersey occupies the crosswalk area to ego's right, outside the visible straight-ahead lane."}, {"camera": "side_left", "t_s": -1, "detail": "Several pedestrians are walking in the marked crosswalk beside ego's left side."}, {"camera": "side_left", "t_s": 0, "detail": "The pedestrian group remains visible in the lateral crosswalk rather than the road ahead."}, {"camera": "side_right", "t_s": 0, "detail": "A pedestrian previously visible front-right is now beside ego in the crosswalk; the cross-street vehicle signal is red."}, {"camera": "rear_left", "t_s": 0, "detail": "The corner sidewalk and a parked pickup are visible, with sunlight glare reducing detail."}, {"camera": "rear", "t_s": 0, "detail": "A dark sedan follows behind ego; parked vehicles line the street."}, {"camera": "rear_right", "t_s": 0, "detail": "A person with a shopping cart is on the grocery-store sidewalk, not visibly entering the roadway."}], "uncertainties": ["Pedestrians' future paths cannot be established from these images; entry into the forward crosswalk would require reassessment.", "Exact lateral clearances are not recoverable from the uncalibrated photographs.", "Rear-left glare and mosaic resolution limit fine detail."], "_binding_sha256": "3cb7a2ba232fd25dee615abd7913c09b531b0263666412ca5eba610744ff497d", "_request": "requests/ae887e31260d3313dad2814cab15cdf8-201/discovery-001"}, "review": null, "status": "dismissed", "annotation": "Green signals face ego's straight route, an oncoming silver sedan approaches on the left, and pedestrians occupy crosswalk portions beside ego and the far sidewalks. Continue straight at a cautious steady speed in the current lane while monitoring the forward crosswalk; no visible actor currently blocks the straight-ahead path.", "selected": false}
{"id": "5c20d39301b65963151038c28ca26742-221", "scenario_id": "5c20d39301b65963151038c28ca26742", "split": "train", "batch_index": 72, "source_manifest_line": 73, "intent": "GO_STRAIGHT", "anchor_frame": 221, "motion": {"current_speed_mps": 13.976, "future_xy_m": [[3.509033203125, -0.003173828125], [7.043701171875, -0.010498046875], [10.580078125, -0.017578125], [14.126708984375, -0.029296875], [17.672607421875, -0.0400390625], [21.224365234375, -0.0458984375], [24.7724609375, -0.0498046875], [28.310791015625, -0.049072265625], [31.869873046875, -0.047607421875], [35.420166015625, -0.04833984375], [38.985107421875, -0.05078125], [42.539794921875, -0.05029296875], [46.099609375, -0.046142578125], [49.65673828125, -0.03662109375], [53.1982421875, -0.0224609375], [56.708984375, -0.008056640625], [60.13671875, 0.008056640625], [63.471435546875, 0.024169921875], [66.687255859375, 0.041015625], [69.78662109375, 0.058837890625]], "future_hz": 4, "speed_windows": [{"t_s": 0.5, "speed_mps": 14.127}, {"t_s": 1.5, "speed_mps": 14.184}, {"t_s": 2.5, "speed_mps": 14.229}, {"t_s": 3.5, "speed_mps": 14.169}, {"t_s": 4.5, "speed_mps": 13.078}], "minimum_1s_acceleration_mps2": -1.091, "maximum_speed_drop_mps": 0.898, "recorded_response": "roughly_maintain_speed", "method": "4 Hz trajectory path length; 1 s mean speeds; differences of adjacent 1 s means. Recorded response is descriptive, not a causal label."}, "frames": [{"t_s": 0.0, "source_frame": 221, "images": {"front_left": "images/5c20d39301b65963151038c28ca26742-221/+000_front_left.webp", "front": "images/5c20d39301b65963151038c28ca26742-221/+000_front.webp", "front_right": "images/5c20d39301b65963151038c28ca26742-221/+000_front_right.webp", "side_left": "images/5c20d39301b65963151038c28ca26742-221/+000_side_left.webp", "side_right": "images/5c20d39301b65963151038c28ca26742-221/+000_side_right.webp", "rear_left": "images/5c20d39301b65963151038c28ca26742-221/+000_rear_left.webp", "rear": "images/5c20d39301b65963151038c28ca26742-221/+000_rear.webp", "rear_right": "images/5c20d39301b65963151038c28ca26742-221/+000_rear_right.webp"}}], "camera_count": 8, "available_source_times_s": [-2.0, -1.0, 0.0, 1.0], "camera_scope": "current_only", "label": {"title": "Open Straight Route Past Roadside Construction", "category": "routine", "tags": ["green signal", "roadside construction", "lead vehicle", "nighttime"], "current_situation": "Ego has a straight route through a broad, streetlit intersection at 13.976 m/s. Forward signals are green, and a car remains ahead across the observation history. Striped channelizers and construction barriers occupy road edges and portions of the side streets; no obstruction or crossing actor is clearly visible in ego's straight path.", "baseline_decision": "Continue straight in the current lane at a steady, visibility-appropriate speed, maintaining a safe gap behind the lead car.", "decision_changing_cue": "No material decision-changing cue is established. The visible construction devices do not block the straight route.", "causal_mechanism": "Peripheral construction warrants monitoring but does not visibly require braking, yielding, or a lateral maneuver beyond ordinary lane keeping and following.", "expected_action": "maintain_speed", "decision_deviation": false, "annotation": "Green signals face ego at a nighttime intersection, with a car ahead and construction barriers along the road edges. The barriers do not visibly obstruct the straight route, so ego should continue in its lane at a steady, visibility-appropriate speed while maintaining a safe following gap.", "interest_score": 24, "confidence": 0.87, "selection_reason": "Reject as a long-tail candidate: all eight cameras show no specific unusual interaction or obstruction that materially changes the straight-through plan. Nighttime illumination and peripheral construction alone are insufficient.", "camera_evidence": [{"camera": "front", "t_s": -2, "detail": "Forward signals are green, with a car ahead and an open approach through the intersection."}, {"camera": "front", "t_s": -1, "detail": "The lead car remains ahead on the straight roadway; forward signals remain green."}, {"camera": "front", "t_s": 0, "detail": "Green overhead signals, the lead car, and unobstructed lane markings are visible along the straight route."}, {"camera": "front_left", "t_s": 0, "detail": "The left portion of the intersection is open, with a striped barricade and dark base weights near its far edge."}, {"camera": "front_right", "t_s": 0, "detail": "Red construction barriers line the parking-garage frontage; red signals face the side-street approach."}, {"camera": "side_left", "t_s": 0, "detail": "Construction cones occupy portions of the left-side street; no nearby vehicle entering ego's path is clearly visible."}, {"camera": "side_right", "t_s": 0, "detail": "Rails, construction barrels, and barriers extend along the right-side street rather than across ego's straight lane."}, {"camera": "rear_left", "t_s": 0, "detail": "The intersection corner and cross-street roadway are visible without a close adjacent vehicle."}, {"camera": "rear", "t_s": 0, "detail": "Striped channelizers line the left portion of the roadway behind ego; no close following vehicle is visible."}, {"camera": "rear_right", "t_s": 0, "detail": "The side-street rail crossing, sidewalk, and illuminated ramp are visible without a close interacting actor."}], "uncertainties": ["Low-light images limit identification of small or distant actors.", "The lead car's exact speed and following distance cannot be determined from these images.", "The posted speed limit and full construction layout are not established."]}, "discovery_label": {"title": "Open Straight Route Past Roadside Construction", "category": "routine", "tags": ["green signal", "roadside construction", "lead vehicle", "nighttime"], "current_situation": "Ego has a straight route through a broad, streetlit intersection at 13.976 m/s. Forward signals are green, and a car remains ahead across the observation history. Striped channelizers and construction barriers occupy road edges and portions of the side streets; no obstruction or crossing actor is clearly visible in ego's straight path.", "baseline_decision": "Continue straight in the current lane at a steady, visibility-appropriate speed, maintaining a safe gap behind the lead car.", "decision_changing_cue": "No material decision-changing cue is established. The visible construction devices do not block the straight route.", "causal_mechanism": "Peripheral construction warrants monitoring but does not visibly require braking, yielding, or a lateral maneuver beyond ordinary lane keeping and following.", "expected_action": "maintain_speed", "decision_deviation": false, "annotation": "Green signals face ego at a nighttime intersection, with a car ahead and construction barriers along the road edges. The barriers do not visibly obstruct the straight route, so ego should continue in its lane at a steady, visibility-appropriate speed while maintaining a safe following gap.", "interest_score": 24, "confidence": 0.87, "selection_reason": "Reject as a long-tail candidate: all eight cameras show no specific unusual interaction or obstruction that materially changes the straight-through plan. Nighttime illumination and peripheral construction alone are insufficient.", "camera_evidence": [{"camera": "front", "t_s": -2, "detail": "Forward signals are green, with a car ahead and an open approach through the intersection."}, {"camera": "front", "t_s": -1, "detail": "The lead car remains ahead on the straight roadway; forward signals remain green."}, {"camera": "front", "t_s": 0, "detail": "Green overhead signals, the lead car, and unobstructed lane markings are visible along the straight route."}, {"camera": "front_left", "t_s": 0, "detail": "The left portion of the intersection is open, with a striped barricade and dark base weights near its far edge."}, {"camera": "front_right", "t_s": 0, "detail": "Red construction barriers line the parking-garage frontage; red signals face the side-street approach."}, {"camera": "side_left", "t_s": 0, "detail": "Construction cones occupy portions of the left-side street; no nearby vehicle entering ego's path is clearly visible."}, {"camera": "side_right", "t_s": 0, "detail": "Rails, construction barrels, and barriers extend along the right-side street rather than across ego's straight lane."}, {"camera": "rear_left", "t_s": 0, "detail": "The intersection corner and cross-street roadway are visible without a close adjacent vehicle."}, {"camera": "rear", "t_s": 0, "detail": "Striped channelizers line the left portion of the roadway behind ego; no close following vehicle is visible."}, {"camera": "rear_right", "t_s": 0, "detail": "The side-street rail crossing, sidewalk, and illuminated ramp are visible without a close interacting actor."}], "uncertainties": ["Low-light images limit identification of small or distant actors.", "The lead car's exact speed and following distance cannot be determined from these images.", "The posted speed limit and full construction layout are not established."], "_binding_sha256": "b100cc3e7301556423586cc10d801f6fa3ac02e9cb2e13e855c1703e97443a6f", "_request": "requests/5c20d39301b65963151038c28ca26742-221/discovery-001"}, "review": null, "status": "dismissed", "annotation": "Green signals face ego at a nighttime intersection, with a car ahead and construction barriers along the road edges. The barriers do not visibly obstruct the straight route, so ego should continue in its lane at a steady, visibility-appropriate speed while maintaining a safe following gap.", "selected": false}
{"id": "bd1ca437823f8aec03dba95a2dc731f8-181", "scenario_id": "bd1ca437823f8aec03dba95a2dc731f8", "split": "train", "batch_index": 73, "source_manifest_line": 74, "intent": "GO_STRAIGHT", "anchor_frame": 181, "motion": {"current_speed_mps": 4.245, "future_xy_m": [[1.028839111328125, -0.001953125], [1.996551513671875, -0.0048828125], [2.904388427734375, -0.005859375], [3.753173828125, -0.00537109375], [4.550537109375, -0.00537109375], [5.295013427734375, -0.00390625], [5.994873046875, -0.00244140625], [6.651092529296875, 0.0009765625], [7.260498046875, 0.00244140625], [7.83599853515625, 0.00537109375], [8.385467529296875, 0.00732421875], [8.925933837890625, 0.01025390625], [9.454559326171875, 0.01220703125], [9.96795654296875, 0.01513671875], [10.4571533203125, 0.0166015625], [10.91571044921875, 0.01953125], [11.346923828125, 0.02099609375], [11.751312255859375, 0.02392578125], [12.13153076171875, 0.02392578125], [12.482208251953125, 0.02587890625]], "future_hz": 4, "speed_windows": [{"t_s": 0.5, "speed_mps": 3.753}, {"t_s": 1.5, "speed_mps": 2.898}, {"t_s": 2.5, "speed_mps": 2.275}, {"t_s": 3.5, "speed_mps": 1.99}, {"t_s": 4.5, "speed_mps": 1.567}], "minimum_1s_acceleration_mps2": -0.855, "maximum_speed_drop_mps": 2.679, "recorded_response": "slow_down", "method": "4 Hz trajectory path length; 1 s mean speeds; differences of adjacent 1 s means. Recorded response is descriptive, not a causal label."}, "frames": [{"t_s": 0.0, "source_frame": 181, "images": {"front_left": "images/bd1ca437823f8aec03dba95a2dc731f8-181/+000_front_left.webp", "front": "images/bd1ca437823f8aec03dba95a2dc731f8-181/+000_front.webp", "front_right": "images/bd1ca437823f8aec03dba95a2dc731f8-181/+000_front_right.webp", "side_left": "images/bd1ca437823f8aec03dba95a2dc731f8-181/+000_side_left.webp", "side_right": "images/bd1ca437823f8aec03dba95a2dc731f8-181/+000_side_right.webp", "rear_left": "images/bd1ca437823f8aec03dba95a2dc731f8-181/+000_rear_left.webp", "rear": "images/bd1ca437823f8aec03dba95a2dc731f8-181/+000_rear.webp", "rear_right": "images/bd1ca437823f8aec03dba95a2dc731f8-181/+000_rear_right.webp"}}], "camera_count": 8, "available_source_times_s": [-2.0, -1.0, 0.0, 1.0, 2.0, 3.0, 4.0, 5.0], "camera_scope": "current_only", "label": {"title": "Intersection approach with lane-use ambiguity", "category": "routine", "tags": ["marked crossing", "curbside pedestrians", "lane-use ambiguity", "wet pavement"], "current_situation": "Ego is approaching a marked urban intersection at 4.245 m/s with a supplied straight-ahead route. Forward-facing signals show green. A right-turn arrow is painted in the approach lane beside a red bus-only lane. A pedestrian stands at the near-right curb, other pedestrians are around the far corners, and a small bicycle-associated figure is visible near the far-right crossing edge. The pavement appears wet; no clear entry into ego's immediate path is established.", "baseline_decision": "Continue a cautious approach under the green signal, first verifying a permitted straight-through lane alignment and yielding to anyone occupying the crossing. The supplied route does not justify disregarding the visible lane markings.", "decision_changing_cue": "No clearly supported nonroutine cue is present. The turn arrow and adjacent bus-only marking require ordinary lane-use verification, while the curbside road users require routine crossing checks.", "causal_mechanism": "The visible lane marking creates uncertainty about straight-through permission, so unrestricted continuation is not a defensible baseline. The pedestrians' visible positions do not establish an additional conflict requiring exceptional braking or evasive movement.", "expected_action": "slow_down", "decision_deviation": false, "annotation": "Ego approaches a green-signal intersection on wet pavement, with a right-turn arrow in its approach lane, an adjacent red bus-only lane, and pedestrians at the crossing corners. For the supplied straight-ahead route, ego should keep the approach slow and verify a permitted through-lane alignment before entering, yielding to any crossing road user. No unusual path intrusion or immediate conflict is established by the available history.", "interest_score": 48, "confidence": 0.78, "selection_reason": "Reject as a long-tail interaction candidate: this is a useful routine intersection and lane-permission check, but no clearly unusual negotiation, obstruction, or material hazard-driven deviation is visible.", "camera_evidence": [{"camera": "front_left", "t_s": 0, "detail": "Vehicles occupy the left side of the approach; marked crossing stripes and the Powell street sign are visible."}, {"camera": "front", "t_s": 0, "detail": "Green signals, marked crossings, a right-turn pavement arrow, and the adjacent red lane are visible; a pedestrian stands at the near-right curb."}, {"camera": "front", "t_s": -1, "detail": "The near-right pedestrian is already at the corner; the frame does not show that pedestrian entering the approach lane."}, {"camera": "front_right", "t_s": 0, "detail": "The right corner has a broad sidewalk and plaza stairs; a no-left-turn sign with commercial/loading exceptions is visible."}, {"camera": "side_left", "t_s": 0, "detail": "A white sedan is alongside on the left, with another vehicle nearer the storefront curb; no lateral intrusion is evident."}, {"camera": "side_right", "t_s": 0, "detail": "Several people remain on the plaza sidewalk beside stairs and a retaining wall."}, {"camera": "rear_left", "t_s": 0, "detail": "Several vehicles line the left curb behind ego beside the red lane."}, {"camera": "rear", "t_s": 0, "detail": "A sedan is visible behind ego, with an SUV offset left and the red bus-marked lane to image right."}, {"camera": "rear_right", "t_s": 0, "detail": "Two people are on the plaza sidewalk behind ego, separated from the roadway by the curb."}], "uncertainties": ["The full lane-use rules and permitted straight-through alignment are not established by the attachments.", "The small bicycle-associated figure's precise position, motion, and direction are unclear.", "The images do not establish future pedestrian entry or any recorded ego braking response."]}, "discovery_label": {"title": "Intersection approach with lane-use ambiguity", "category": "routine", "tags": ["marked crossing", "curbside pedestrians", "lane-use ambiguity", "wet pavement"], "current_situation": "Ego is approaching a marked urban intersection at 4.245 m/s with a supplied straight-ahead route. Forward-facing signals show green. A right-turn arrow is painted in the approach lane beside a red bus-only lane. A pedestrian stands at the near-right curb, other pedestrians are around the far corners, and a small bicycle-associated figure is visible near the far-right crossing edge. The pavement appears wet; no clear entry into ego's immediate path is established.", "baseline_decision": "Continue a cautious approach under the green signal, first verifying a permitted straight-through lane alignment and yielding to anyone occupying the crossing. The supplied route does not justify disregarding the visible lane markings.", "decision_changing_cue": "No clearly supported nonroutine cue is present. The turn arrow and adjacent bus-only marking require ordinary lane-use verification, while the curbside road users require routine crossing checks.", "causal_mechanism": "The visible lane marking creates uncertainty about straight-through permission, so unrestricted continuation is not a defensible baseline. The pedestrians' visible positions do not establish an additional conflict requiring exceptional braking or evasive movement.", "expected_action": "slow_down", "decision_deviation": false, "annotation": "Ego approaches a green-signal intersection on wet pavement, with a right-turn arrow in its approach lane, an adjacent red bus-only lane, and pedestrians at the crossing corners. For the supplied straight-ahead route, ego should keep the approach slow and verify a permitted through-lane alignment before entering, yielding to any crossing road user. No unusual path intrusion or immediate conflict is established by the available history.", "interest_score": 48, "confidence": 0.78, "selection_reason": "Reject as a long-tail interaction candidate: this is a useful routine intersection and lane-permission check, but no clearly unusual negotiation, obstruction, or material hazard-driven deviation is visible.", "camera_evidence": [{"camera": "front_left", "t_s": 0, "detail": "Vehicles occupy the left side of the approach; marked crossing stripes and the Powell street sign are visible."}, {"camera": "front", "t_s": 0, "detail": "Green signals, marked crossings, a right-turn pavement arrow, and the adjacent red lane are visible; a pedestrian stands at the near-right curb."}, {"camera": "front", "t_s": -1, "detail": "The near-right pedestrian is already at the corner; the frame does not show that pedestrian entering the approach lane."}, {"camera": "front_right", "t_s": 0, "detail": "The right corner has a broad sidewalk and plaza stairs; a no-left-turn sign with commercial/loading exceptions is visible."}, {"camera": "side_left", "t_s": 0, "detail": "A white sedan is alongside on the left, with another vehicle nearer the storefront curb; no lateral intrusion is evident."}, {"camera": "side_right", "t_s": 0, "detail": "Several people remain on the plaza sidewalk beside stairs and a retaining wall."}, {"camera": "rear_left", "t_s": 0, "detail": "Several vehicles line the left curb behind ego beside the red lane."}, {"camera": "rear", "t_s": 0, "detail": "A sedan is visible behind ego, with an SUV offset left and the red bus-marked lane to image right."}, {"camera": "rear_right", "t_s": 0, "detail": "Two people are on the plaza sidewalk behind ego, separated from the roadway by the curb."}], "uncertainties": ["The full lane-use rules and permitted straight-through alignment are not established by the attachments.", "The small bicycle-associated figure's precise position, motion, and direction are unclear.", "The images do not establish future pedestrian entry or any recorded ego braking response."], "_binding_sha256": "1f51bd51d92bd415e52da26a3a6128e88af4c7ff3713600cade8e7545adc0472", "_request": "requests/bd1ca437823f8aec03dba95a2dc731f8-181/discovery-002"}, "review": null, "status": "dismissed", "annotation": "Ego approaches a green-signal intersection on wet pavement, with a right-turn arrow in its approach lane, an adjacent red bus-only lane, and pedestrians at the crossing corners. For the supplied straight-ahead route, ego should keep the approach slow and verify a permitted through-lane alignment before entering, yielding to any crossing road user. No unusual path intrusion or immediate conflict is established by the available history.", "selected": false}
{"id": "b6361f01ca2d5724646b7e1814ce37b5-159", "scenario_id": "b6361f01ca2d5724646b7e1814ce37b5", "split": "train", "batch_index": 74, "source_manifest_line": 75, "intent": "GO_LEFT", "anchor_frame": 159, "motion": {"current_speed_mps": 3.215, "future_xy_m": [[0.8149566650390625, 0.0665283203125], [1.649810791015625, 0.1788330078125], [2.5066986083984375, 0.338134765625], [3.375579833984375, 0.5576171875], [4.2555389404296875, 0.84326171875], [5.128814697265625, 1.2071533203125], [5.9858245849609375, 1.6561279296875], [6.8154144287109375, 2.1964111328125], [7.6140899658203125, 2.8216552734375], [8.371597290039062, 3.5404052734375], [9.07843017578125, 4.3477783203125], [9.711273193359375, 5.250732421875], [10.264434814453125, 6.2392578125], [10.721908569335938, 7.297607421875], [11.092391967773438, 8.4185791015625], [11.399002075195312, 9.5802001953125], [11.668243408203125, 10.7830810546875], [11.916229248046875, 12.0169677734375], [12.158721923828125, 13.2939453125], [12.40252685546875, 14.609130859375]], "future_hz": 4, "speed_windows": [{"t_s": 0.5, "speed_mps": 3.428}, {"t_s": 1.5, "speed_mps": 3.829}, {"t_s": 2.5, "speed_mps": 4.234}, {"t_s": 3.5, "speed_mps": 4.668}, {"t_s": 4.5, "speed_mps": 5.129}], "minimum_1s_acceleration_mps2": 0.401, "maximum_speed_drop_mps": 0.0, "recorded_response": "accelerate", "method": "4 Hz trajectory path length; 1 s mean speeds; differences of adjacent 1 s means. Recorded response is descriptive, not a causal label."}, "frames": [{"t_s": 0.0, "source_frame": 159, "images": {"front_left": "images/b6361f01ca2d5724646b7e1814ce37b5-159/+000_front_left.webp", "front": "images/b6361f01ca2d5724646b7e1814ce37b5-159/+000_front.webp", "front_right": "images/b6361f01ca2d5724646b7e1814ce37b5-159/+000_front_right.webp", "side_left": "images/b6361f01ca2d5724646b7e1814ce37b5-159/+000_side_left.webp", "side_right": "images/b6361f01ca2d5724646b7e1814ce37b5-159/+000_side_right.webp", "rear_left": "images/b6361f01ca2d5724646b7e1814ce37b5-159/+000_rear_left.webp", "rear": "images/b6361f01ca2d5724646b7e1814ce37b5-159/+000_rear.webp", "rear_right": "images/b6361f01ca2d5724646b7e1814ce37b5-159/+000_rear_right.webp"}}], "camera_count": 8, "available_source_times_s": [-2.0, -1.0, 0.0, 1.0, 2.0, 3.0, 4.0, 5.0], "camera_scope": "current_only", "label": {"title": "Left Turn Through Construction Channelization", "category": "work_zone", "tags": ["left turn", "temporary channelization", "low-light visibility"], "current_situation": "Ego has a GO_LEFT route and a supplied speed of 3.215 m/s at a streetlit intersection with a visible green forward signal. A sedan moves from the front view toward the left-hand road across the observation history. Temporary delineators and a KEEP RIGHT sign mark that road's entrance, while orange barriers border intersection corners. No pedestrian or immediate vehicle conflict is clearly visible across the eight cameras.", "baseline_decision": "Make the planned left turn at a controlled speed when permitted, allowing the sedan to clear and respecting applicable traffic controls.", "decision_changing_cue": "The temporary KEEP RIGHT sign and delineators constrain placement through the left-hand road entrance, but no substantial blockage of the usable turn path is established.", "causal_mechanism": "The temporary channelization requires careful steering and clearance around the sign stand and delineators rather than cutting across the entrance. This is routine work-zone guidance, not a demonstrated urgent conflict or substantial departure from a cautious left turn.", "expected_action": "increase_clearance", "decision_deviation": false, "annotation": "A sedan moves into the left-hand road, whose entrance is marked by temporary delineators and a KEEP RIGHT sign. Ego should make its planned left turn only when permitted and clear, steering to the right of the temporary sign with clearance rather than cutting the corner.", "interest_score": 59, "confidence": 0.79, "selection_reason": "Reject as a strong long-tail candidate: construction channelization is concrete and relevant to steering, but the visible sedan is moving away and no blocked turn path, unusual negotiation, or immediate conflict establishes a material plan change.", "camera_evidence": [{"camera": "front", "t_s": -2, "detail": "A sedan occupies the left portion of the intersection; a green forward signal is visible overhead."}, {"camera": "front_left", "t_s": -1, "detail": "The sedan is farther into the left-hand road than at -2 seconds, beside temporary road markers."}, {"camera": "front_left", "t_s": 0, "detail": "The sedan's rear is visible beyond a temporary KEEP RIGHT sign; delineators mark the road entrance."}, {"camera": "front", "t_s": 0, "detail": "The roadway directly ahead appears clear, with a green signal and barriers along the left corner."}, {"camera": "front_right", "t_s": 0, "detail": "Temporary delineators stand beside the signal pole and curb; no nearby road user is clearly visible."}, {"camera": "side_left", "t_s": 0, "detail": "An orange barrier borders the corner, and delineators extend along the roadway to ego's left."}, {"camera": "side_right", "t_s": 0, "detail": "Orange barriers and temporary signs channelize the right-hand intersection approach."}, {"camera": "rear_left", "t_s": 0, "detail": "Delineators line the building-side curb behind ego; no nearby moving actor is clearly visible."}, {"camera": "rear", "t_s": 0, "detail": "Lane markings extend behind ego without a clearly visible close following vehicle."}, {"camera": "rear_right", "t_s": 0, "detail": "Orange barriers occupy the corner beside the building, outside the visibly open roadway."}], "uncertainties": ["The upper symbol on the temporary sign is not sufficiently clear to establish its exact restriction or applicability to ego.", "A green forward signal is visible, but a separately protected left-turn indication is not established.", "Low illumination limits detection of small actors and exact construction boundaries.", "Images do not establish the usable lane width or required lateral displacement."]}, "discovery_label": {"title": "Left Turn Through Construction Channelization", "category": "work_zone", "tags": ["left turn", "temporary channelization", "low-light visibility"], "current_situation": "Ego has a GO_LEFT route and a supplied speed of 3.215 m/s at a streetlit intersection with a visible green forward signal. A sedan moves from the front view toward the left-hand road across the observation history. Temporary delineators and a KEEP RIGHT sign mark that road's entrance, while orange barriers border intersection corners. No pedestrian or immediate vehicle conflict is clearly visible across the eight cameras.", "baseline_decision": "Make the planned left turn at a controlled speed when permitted, allowing the sedan to clear and respecting applicable traffic controls.", "decision_changing_cue": "The temporary KEEP RIGHT sign and delineators constrain placement through the left-hand road entrance, but no substantial blockage of the usable turn path is established.", "causal_mechanism": "The temporary channelization requires careful steering and clearance around the sign stand and delineators rather than cutting across the entrance. This is routine work-zone guidance, not a demonstrated urgent conflict or substantial departure from a cautious left turn.", "expected_action": "increase_clearance", "decision_deviation": false, "annotation": "A sedan moves into the left-hand road, whose entrance is marked by temporary delineators and a KEEP RIGHT sign. Ego should make its planned left turn only when permitted and clear, steering to the right of the temporary sign with clearance rather than cutting the corner.", "interest_score": 59, "confidence": 0.79, "selection_reason": "Reject as a strong long-tail candidate: construction channelization is concrete and relevant to steering, but the visible sedan is moving away and no blocked turn path, unusual negotiation, or immediate conflict establishes a material plan change.", "camera_evidence": [{"camera": "front", "t_s": -2, "detail": "A sedan occupies the left portion of the intersection; a green forward signal is visible overhead."}, {"camera": "front_left", "t_s": -1, "detail": "The sedan is farther into the left-hand road than at -2 seconds, beside temporary road markers."}, {"camera": "front_left", "t_s": 0, "detail": "The sedan's rear is visible beyond a temporary KEEP RIGHT sign; delineators mark the road entrance."}, {"camera": "front", "t_s": 0, "detail": "The roadway directly ahead appears clear, with a green signal and barriers along the left corner."}, {"camera": "front_right", "t_s": 0, "detail": "Temporary delineators stand beside the signal pole and curb; no nearby road user is clearly visible."}, {"camera": "side_left", "t_s": 0, "detail": "An orange barrier borders the corner, and delineators extend along the roadway to ego's left."}, {"camera": "side_right", "t_s": 0, "detail": "Orange barriers and temporary signs channelize the right-hand intersection approach."}, {"camera": "rear_left", "t_s": 0, "detail": "Delineators line the building-side curb behind ego; no nearby moving actor is clearly visible."}, {"camera": "rear", "t_s": 0, "detail": "Lane markings extend behind ego without a clearly visible close following vehicle."}, {"camera": "rear_right", "t_s": 0, "detail": "Orange barriers occupy the corner beside the building, outside the visibly open roadway."}], "uncertainties": ["The upper symbol on the temporary sign is not sufficiently clear to establish its exact restriction or applicability to ego.", "A green forward signal is visible, but a separately protected left-turn indication is not established.", "Low illumination limits detection of small actors and exact construction boundaries.", "Images do not establish the usable lane width or required lateral displacement."], "_binding_sha256": "c6ebe33f5b3208f70c97ad313e883ebe5b6caca3452cb4177d5064815677f9f9", "_request": "requests/b6361f01ca2d5724646b7e1814ce37b5-159/discovery-001"}, "review": null, "status": "dismissed", "annotation": "A sedan moves into the left-hand road, whose entrance is marked by temporary delineators and a KEEP RIGHT sign. Ego should make its planned left turn only when permitted and clear, steering to the right of the temporary sign with clearance rather than cutting the corner.", "selected": false}
{"id": "c792603809a544b9d000c236472d028a-125", "scenario_id": "c792603809a544b9d000c236472d028a", "split": "train", "batch_index": 75, "source_manifest_line": 76, "intent": "GO_STRAIGHT", "anchor_frame": 125, "motion": {"current_speed_mps": 7.361, "future_xy_m": [[1.869140625, 0.078125], [3.796875, 0.21337890625], [5.76953125, 0.40869140625], [7.78125, 0.6552734375], [9.83984375, 0.9365234375], [11.92578125, 1.23388671875], [14.04296875, 1.54150390625], [16.193359375, 1.84326171875], [18.390625, 2.1376953125], [20.626953125, 2.41943359375], [22.88671875, 2.68310546875], [25.16796875, 2.9072265625], [27.498046875, 3.08740234375], [29.86328125, 3.21875], [32.240234375, 3.296875], [34.640625, 3.32177734375], [37.0703125, 3.29248046875], [39.5390625, 3.2177734375], [42.048828125, 3.115234375], [44.603515625, 2.984375]], "future_hz": 4, "speed_windows": [{"t_s": 0.5, "speed_mps": 7.812}, {"t_s": 1.5, "speed_mps": 8.496}, {"t_s": 2.5, "speed_mps": 9.038}, {"t_s": 3.5, "speed_mps": 9.485}, {"t_s": 4.5, "speed_mps": 9.97}], "minimum_1s_acceleration_mps2": 0.446, "maximum_speed_drop_mps": 0.0, "recorded_response": "accelerate", "method": "4 Hz trajectory path length; 1 s mean speeds; differences of adjacent 1 s means. Recorded response is descriptive, not a causal label."}, "frames": [{"t_s": -2.0, "source_frame": 105, "images": {"front_left": "images/c792603809a544b9d000c236472d028a-125/-020_front_left.webp", "front": "images/c792603809a544b9d000c236472d028a-125/-020_front.webp", "front_right": "images/c792603809a544b9d000c236472d028a-125/-020_front_right.webp", "side_left": "images/c792603809a544b9d000c236472d028a-125/-020_side_left.webp", "side_right": "images/c792603809a544b9d000c236472d028a-125/-020_side_right.webp", "rear_left": "images/c792603809a544b9d000c236472d028a-125/-020_rear_left.webp", "rear": "images/c792603809a544b9d000c236472d028a-125/-020_rear.webp", "rear_right": "images/c792603809a544b9d000c236472d028a-125/-020_rear_right.webp"}}, {"t_s": -1.0, "source_frame": 115, "images": {"front_left": "images/c792603809a544b9d000c236472d028a-125/-010_front_left.webp", "front": "images/c792603809a544b9d000c236472d028a-125/-010_front.webp", "front_right": "images/c792603809a544b9d000c236472d028a-125/-010_front_right.webp", "side_left": "images/c792603809a544b9d000c236472d028a-125/-010_side_left.webp", "side_right": "images/c792603809a544b9d000c236472d028a-125/-010_side_right.webp", "rear_left": "images/c792603809a544b9d000c236472d028a-125/-010_rear_left.webp", "rear": "images/c792603809a544b9d000c236472d028a-125/-010_rear.webp", "rear_right": "images/c792603809a544b9d000c236472d028a-125/-010_rear_right.webp"}}, {"t_s": 0.0, "source_frame": 125, "images": {"front_left": "images/c792603809a544b9d000c236472d028a-125/+000_front_left.webp", "front": "images/c792603809a544b9d000c236472d028a-125/+000_front.webp", "front_right": "images/c792603809a544b9d000c236472d028a-125/+000_front_right.webp", "side_left": "images/c792603809a544b9d000c236472d028a-125/+000_side_left.webp", "side_right": "images/c792603809a544b9d000c236472d028a-125/+000_side_right.webp", "rear_left": "images/c792603809a544b9d000c236472d028a-125/+000_rear_left.webp", "rear": "images/c792603809a544b9d000c236472d028a-125/+000_rear.webp", "rear_right": "images/c792603809a544b9d000c236472d028a-125/+000_rear_right.webp"}}, {"t_s": 1.0, "source_frame": 135, "images": {"front_left": "images/c792603809a544b9d000c236472d028a-125/+010_front_left.webp", "front": "images/c792603809a544b9d000c236472d028a-125/+010_front.webp", "front_right": "images/c792603809a544b9d000c236472d028a-125/+010_front_right.webp", "side_left": "images/c792603809a544b9d000c236472d028a-125/+010_side_left.webp", "side_right": "images/c792603809a544b9d000c236472d028a-125/+010_side_right.webp", "rear_left": "images/c792603809a544b9d000c236472d028a-125/+010_rear_left.webp", "rear": "images/c792603809a544b9d000c236472d028a-125/+010_rear.webp", "rear_right": "images/c792603809a544b9d000c236472d028a-125/+010_rear_right.webp"}}, {"t_s": 2.0, "source_frame": 145, "images": {"front_left": "images/c792603809a544b9d000c236472d028a-125/+020_front_left.webp", "front": "images/c792603809a544b9d000c236472d028a-125/+020_front.webp", "front_right": "images/c792603809a544b9d000c236472d028a-125/+020_front_right.webp", "side_left": "images/c792603809a544b9d000c236472d028a-125/+020_side_left.webp", "side_right": "images/c792603809a544b9d000c236472d028a-125/+020_side_right.webp", "rear_left": "images/c792603809a544b9d000c236472d028a-125/+020_rear_left.webp", "rear": "images/c792603809a544b9d000c236472d028a-125/+020_rear.webp", "rear_right": "images/c792603809a544b9d000c236472d028a-125/+020_rear_right.webp"}}, {"t_s": 3.0, "source_frame": 155, "images": {"front_left": "images/c792603809a544b9d000c236472d028a-125/+030_front_left.webp", "front": "images/c792603809a544b9d000c236472d028a-125/+030_front.webp", "front_right": "images/c792603809a544b9d000c236472d028a-125/+030_front_right.webp", "side_left": "images/c792603809a544b9d000c236472d028a-125/+030_side_left.webp", "side_right": "images/c792603809a544b9d000c236472d028a-125/+030_side_right.webp", "rear_left": "images/c792603809a544b9d000c236472d028a-125/+030_rear_left.webp", "rear": "images/c792603809a544b9d000c236472d028a-125/+030_rear.webp", "rear_right": "images/c792603809a544b9d000c236472d028a-125/+030_rear_right.webp"}}, {"t_s": 4.0, "source_frame": 165, "images": {"front_left": "images/c792603809a544b9d000c236472d028a-125/+040_front_left.webp", "front": "images/c792603809a544b9d000c236472d028a-125/+040_front.webp", "front_right": "images/c792603809a544b9d000c236472d028a-125/+040_front_right.webp", "side_left": "images/c792603809a544b9d000c236472d028a-125/+040_side_left.webp", "side_right": "images/c792603809a544b9d000c236472d028a-125/+040_side_right.webp", "rear_left": "images/c792603809a544b9d000c236472d028a-125/+040_rear_left.webp", "rear": "images/c792603809a544b9d000c236472d028a-125/+040_rear.webp", "rear_right": "images/c792603809a544b9d000c236472d028a-125/+040_rear_right.webp"}}, {"t_s": 5.0, "source_frame": 175, "images": {"front_left": "images/c792603809a544b9d000c236472d028a-125/+050_front_left.webp", "front": "images/c792603809a544b9d000c236472d028a-125/+050_front.webp", "front_right": "images/c792603809a544b9d000c236472d028a-125/+050_front_right.webp", "side_left": "images/c792603809a544b9d000c236472d028a-125/+050_side_left.webp", "side_right": "images/c792603809a544b9d000c236472d028a-125/+050_side_right.webp", "rear_left": "images/c792603809a544b9d000c236472d028a-125/+050_rear_left.webp", "rear": "images/c792603809a544b9d000c236472d028a-125/+050_rear.webp", "rear_right": "images/c792603809a544b9d000c236472d028a-125/+050_rear_right.webp"}}], "camera_count": 8, "available_source_times_s": [-2.0, -1.0, 0.0, 1.0, 2.0, 3.0, 4.0, 5.0], "camera_scope": "full_timeline", "label": {"title": "Green-Light Exit with Right-Side Work-Zone Barriers", "category": "work_zone", "tags": ["construction channel", "leftward path adjustment", "green signal", "nighttime"], "current_situation": "At night, ego is moving at 7.361 m/s through an intersection with green forward signals. Orange barriers border and occupy the right portion of the exit, with an opening to their left; other barriers, delineators and crossing rail grooves constrain the surroundings. A white sedan is visible behind-left and another car behind, without a visible immediate crossing conflict.", "baseline_decision": "Without the right-side barrier projection, continue through the green intersection along the available lane, retaining a speed and clearance appropriate to the remaining delineators, rail crossing and nighttime visibility; this particular barrier-end clearance adjustment would be unnecessary.", "decision_changing_cue": "Reflective panels mark the end of an orange barrier line occupying the right portion of the exit, with visible roadway to its left.", "causal_mechanism": "The green signal permits progress but does not remove the physical clearance constraint. The visible barrier end limits the usable exit and calls for following the opening to its left; the precise additional lateral adjustment and need for slowing remain uncertain.", "expected_action": "increase_clearance", "decision_deviation": true, "annotation": "Orange work-zone barriers occupy the right side of the exit beneath green signals, leaving a visible passage to their left. Over the next few seconds, ego should follow that passage while preserving clearance from the barrier end rather than blindly extending its current heading; a required speed reduction is not established.", "interest_score": 76, "confidence": 0.86, "selection_reason": "Qualitative long-tail candidate because a specific barricade projection changes the straight-through trajectory despite permissive signals. The decision change is obstacle clearance and channel navigation, not ordinary traffic density or an invented actor conflict.", "camera_evidence": [{"camera": "front", "t_s": -2, "detail": "Green forward signals appear above an exit bordered by orange barriers, with open roadway left of the right-side barrier line."}, {"camera": "front", "t_s": -1, "detail": "The right-side barrier end and reflective panels remain ahead as ego approaches; dashed markings lead toward the visible opening."}, {"camera": "front", "t_s": 0, "detail": "The enlarged supplied view shows orange barriers and reflective panels across the right portion of the exit, with a passage to their left."}, {"camera": "front_left", "t_s": 0, "detail": "Striped delineators, orange barriers and rail grooves are visible across the left portion of the intersection."}, {"camera": "front_right", "t_s": 0, "detail": "A green vehicle signal and illuminated pedestrian walk symbol are visible at the right corner; rail grooves cross the foreground and no crossing person is visible."}, {"camera": "side_left", "t_s": -2, "detail": "Part of a white sedan appears beside ego in the lower frame, with orange barriers beyond it."}, {"camera": "side_left", "t_s": 0, "detail": "The cross-street view contains red signals, barriers and delineators, with no vehicle visibly entering ego's path."}, {"camera": "side_right", "t_s": 0, "detail": "Rail tracks and striped delineators extend along the cross street; no nearby vehicle is visibly entering the intersection."}, {"camera": "rear_left", "t_s": 0, "detail": "The white sedan is visible behind-left against a barrier-lined intersection corner."}, {"camera": "rear", "t_s": 0, "detail": "A car with illuminated headlights is visible behind ego between construction delineators."}, {"camera": "rear_right", "t_s": 0, "detail": "Orange barriers and striped barricades border the sidewalk corner behind ego; no nearby approaching actor is visible."}], "uncertainties": ["Whether the barrier intrudes into ego's usable lane or simply defines an already aligned temporary lane.", "Exact passage width, barrier clearance and required additional lateral offset.", "Whether any speed reduction is necessary at the current speed.", "Nighttime glare and dark areas limit visibility; unseen actors cannot be ruled out.", "The white sedan's absolute motion and intentions are not established.", "Whether the recorded leftward displacement was caused by the barrier geometry."]}, "discovery_label": {"title": "Construction Barricades Narrow Green-Light Exit", "category": "work_zone", "tags": ["construction channel", "leftward path adjustment", "green signal", "nighttime"], "current_situation": "Ego is proceeding straight at 7.361 m/s through a streetlit intersection with green forward signals. Orange barricades project from the right across part of the straight-ahead exit, leaving an opening to their left; additional barriers and delineators bound the passage. A white sedan is now behind-left, and another car is visible behind. No immediate actor conflict is visible.", "baseline_decision": "Without the projecting barricades, continue straight through the green intersection along the existing lane alignment at a steady speed.", "decision_changing_cue": "The barricade line occupies the right portion of the exit ahead, requiring the straight-through path to pass left of its projecting end.", "causal_mechanism": "The green signal permits forward travel but does not provide an unobstructed continuation of the existing alignment. The physical channel requires a leftward path adjustment and controlled speed to preserve clearance from the barricade end and surrounding delineators.", "expected_action": "slow_down", "decision_deviation": true, "annotation": "Orange construction barricades project across the right portion of the straight-ahead exit beneath green signals, leaving a passage to their left. Although ego would otherwise continue straight along its current alignment, the narrowed exit requires ego to reduce speed and guide left through the opening over the next few seconds, maintaining clearance from the barricades.", "interest_score": 76, "confidence": 0.86, "selection_reason": "Qualitative long-tail candidate because a specific barricade projection changes the straight-through trajectory despite permissive signals. The decision change is obstacle clearance and channel navigation, not ordinary traffic density or an invented actor conflict.", "camera_evidence": [{"camera": "front", "t_s": -2, "detail": "Green forward signals and orange barriers are visible ahead, with an open passage left of the barrier line on the right."}, {"camera": "front", "t_s": 0, "detail": "The larger current view shows reflective panels on a barricade projecting across the right portion of the exit; the unobstructed passage lies to its left."}, {"camera": "front_left", "t_s": 0, "detail": "Striped delineators and orange barriers occupy portions of the left intersection approach; rail grooves cross the foreground."}, {"camera": "front_right", "t_s": 0, "detail": "The right corner has a green vehicle signal, a lit pedestrian walk symbol, and rail grooves across the road; no crossing actor is visible."}, {"camera": "side_left", "t_s": -2, "detail": "A white sedan is partly within the lower frame alongside ego's left side, with construction barriers beyond it."}, {"camera": "side_left", "t_s": 0, "detail": "The left cross-street view shows red signals and construction barricades, with no vehicle entering the visible intersection."}, {"camera": "side_right", "t_s": 0, "detail": "Rail tracks, striped delineators, and small barricades extend along the right cross street; no immediate moving conflict is visible."}, {"camera": "rear_left", "t_s": 0, "detail": "The white sedan is now behind-left rather than alongside in the side-left view, supporting relative rearward displacement over the observation history."}, {"camera": "rear", "t_s": 0, "detail": "A car with headlights faces ego from behind within a delineator-lined construction corridor."}, {"camera": "rear_right", "t_s": 0, "detail": "Orange barriers border the right sidewalk corner behind ego; no approaching actor is evident."}], "uncertainties": ["The precise lane boundaries and required lateral offset cannot be established from these uncalibrated images.", "Streetlight and signal glare reduce detail in darker areas.", "The white sedan's absolute motion and intentions are not established by its relative displacement.", "No future ego response is supplied; the slowing and leftward guidance are recommendations."], "_binding_sha256": "136a5646f8cde2716bd5214511ad584c19d71c7f8f4bc081126ac394fd02dddc", "_request": "requests/c792603809a544b9d000c236472d028a-125/discovery-001"}, "review": {"verdict": "needs_review", "grounding_score": 0.82, "reason": "The right-side barriers and opening to their left are clearly visible, supporting clearance-aware navigation. However, the images do not establish whether this is a distinct forced deviation or routine traversal of an already channelized lane, nor a necessary speed reduction. Later views show passage through the channel, while recorded motion accelerates rather than slows.", "corrected_annotation": "Orange work-zone barriers occupy the right side of the exit beneath green signals, leaving a visible passage to their left. Over the next few seconds, ego should follow that passage while preserving clearance from the barrier end rather than blindly extending its current heading; a required speed reduction is not established.", "corrected_title": "Green-Light Exit with Right-Side Work-Zone Barriers", "corrected_current_situation": "At night, ego is moving at 7.361 m/s through an intersection with green forward signals. Orange barriers border and occupy the right portion of the exit, with an opening to their left; other barriers, delineators and crossing rail grooves constrain the surroundings. A white sedan is visible behind-left and another car behind, without a visible immediate crossing conflict.", "corrected_baseline_decision": "Without the right-side barrier projection, continue through the green intersection along the available lane, retaining a speed and clearance appropriate to the remaining delineators, rail crossing and nighttime visibility; this particular barrier-end clearance adjustment would be unnecessary.", "corrected_decision_changing_cue": "Reflective panels mark the end of an orange barrier line occupying the right portion of the exit, with visible roadway to its left.", "corrected_causal_mechanism": "The green signal permits progress but does not remove the physical clearance constraint. The visible barrier end limits the usable exit and calls for following the opening to its left; the precise additional lateral adjustment and need for slowing remain uncertain.", "corrected_expected_action": "increase_clearance", "corrected_camera_evidence": [{"camera": "front", "t_s": -2, "detail": "Green forward signals appear above an exit bordered by orange barriers, with open roadway left of the right-side barrier line."}, {"camera": "front", "t_s": -1, "detail": "The right-side barrier end and reflective panels remain ahead as ego approaches; dashed markings lead toward the visible opening."}, {"camera": "front", "t_s": 0, "detail": "The enlarged supplied view shows orange barriers and reflective panels across the right portion of the exit, with a passage to their left."}, {"camera": "front_left", "t_s": 0, "detail": "Striped delineators, orange barriers and rail grooves are visible across the left portion of the intersection."}, {"camera": "front_right", "t_s": 0, "detail": "A green vehicle signal and illuminated pedestrian walk symbol are visible at the right corner; rail grooves cross the foreground and no crossing person is visible."}, {"camera": "side_left", "t_s": -2, "detail": "Part of a white sedan appears beside ego in the lower frame, with orange barriers beyond it."}, {"camera": "side_left", "t_s": 0, "detail": "The cross-street view contains red signals, barriers and delineators, with no vehicle visibly entering ego's path."}, {"camera": "side_right", "t_s": 0, "detail": "Rail tracks and striped delineators extend along the cross street; no nearby vehicle is visibly entering the intersection."}, {"camera": "rear_left", "t_s": 0, "detail": "The white sedan is visible behind-left against a barrier-lined intersection corner."}, {"camera": "rear", "t_s": 0, "detail": "A car with illuminated headlights is visible behind ego between construction delineators."}, {"camera": "rear_right", "t_s": 0, "detail": "Orange barriers and striped barricades border the sidewalk corner behind ego; no nearby approaching actor is visible."}], "remaining_uncertainties": ["Whether the barrier intrudes into ego's usable lane or simply defines an already aligned temporary lane.", "Exact passage width, barrier clearance and required additional lateral offset.", "Whether any speed reduction is necessary at the current speed.", "Nighttime glare and dark areas limit visibility; unseen actors cannot be ruled out.", "The white sedan's absolute motion and intentions are not established.", "Whether the recorded leftward displacement was caused by the barrier geometry."], "motion_consistency": "partly_consistent", "recorded_motion_explanation": "The recorded trajectory advances 44.60 m in 5 s, reaching a maximum leftward displacement of about 3.32 m and ending at 2.98 m left. This is compatible with passage left of the barriers but does not establish causality. Approximate 1 s speeds rise from 7.812 to 9.970 m/s, with minimum acceleration +0.446 m/s² and zero speed drop: recorded motion accelerates, contradicting the candidate's predicted slowing, while remaining compatible with the corrected clearance recommendation. No recorded strong braking occurred.", "unsupported_details": ["A definite requirement to reduce speed.", "A precisely established obstruction of ego's existing lane alignment or mandatory lateral offset.", "Assuming steady-speed travel along the existing alignment would automatically be safe after removing only the projecting barriers.", "The candidate's statement that no future ego response was supplied."], "_binding_sha256": "9e3b6d5cf0637b74d367eafe5d71b41b46cb45e84f80de876e0b87b1aab560fe", "_request": "requests/c792603809a544b9d000c236472d028a-125/review-001"}, "status": "needs_review", "annotation": "Orange work-zone barriers occupy the right side of the exit beneath green signals, leaving a visible passage to their left. Over the next few seconds, ego should follow that passage while preserving clearance from the barrier end rather than blindly extending its current heading; a required speed reduction is not established.", "selected": false}
{"id": "83203ee5895f0b012395c882be0bdb85-086", "scenario_id": "83203ee5895f0b012395c882be0bdb85", "split": "train", "batch_index": 76, "source_manifest_line": 77, "intent": "GO_STRAIGHT", "anchor_frame": 86, "motion": {"current_speed_mps": 7.567, "future_xy_m": [[1.8829345703125, -0.0008544921875], [3.7476806640625, -0.000732421875], [5.5994873046875, -0.00146484375], [7.4307861328125, -0.001220703125], [9.2447509765625, -0.000244140625], [11.02294921875, -0.003173828125], [12.76220703125, -0.0093994140625], [14.466552734375, -0.020263671875], [16.1317138671875, -0.0294189453125], [17.7423095703125, -0.036865234375], [19.2921142578125, -0.0411376953125], [20.7760009765625, -0.041748046875], [22.1959228515625, -0.038330078125], [23.5533447265625, -0.032958984375], [24.84619140625, -0.0257568359375], [26.0738525390625, -0.0162353515625], [27.2371826171875, -0.005859375], [28.343505859375, 0.0067138671875], [29.3731689453125, 0.020263671875], [30.32568359375, 0.033203125]], "future_hz": 4, "speed_windows": [{"t_s": 0.5, "speed_mps": 7.431}, {"t_s": 1.5, "speed_mps": 7.036}, {"t_s": 2.5, "speed_mps": 6.309}, {"t_s": 3.5, "speed_mps": 5.298}, {"t_s": 4.5, "speed_mps": 4.252}], "minimum_1s_acceleration_mps2": -1.046, "maximum_speed_drop_mps": 3.315, "recorded_response": "slow_down", "method": "4 Hz trajectory path length; 1 s mean speeds; differences of adjacent 1 s means. Recorded response is descriptive, not a causal label."}, "frames": [{"t_s": 0.0, "source_frame": 86, "images": {"front_left": "images/83203ee5895f0b012395c882be0bdb85-086/+000_front_left.webp", "front": "images/83203ee5895f0b012395c882be0bdb85-086/+000_front.webp", "front_right": "images/83203ee5895f0b012395c882be0bdb85-086/+000_front_right.webp", "side_left": "images/83203ee5895f0b012395c882be0bdb85-086/+000_side_left.webp", "side_right": "images/83203ee5895f0b012395c882be0bdb85-086/+000_side_right.webp", "rear_left": "images/83203ee5895f0b012395c882be0bdb85-086/+000_rear_left.webp", "rear": "images/83203ee5895f0b012395c882be0bdb85-086/+000_rear.webp", "rear_right": "images/83203ee5895f0b012395c882be0bdb85-086/+000_rear_right.webp"}}], "camera_count": 8, "available_source_times_s": [-2.0, -1.0, 0.0, 1.0, 2.0, 3.0, 4.0, 5.0], "camera_scope": "current_only", "label": {"title": "Routine Straight Travel Past Curbside Activity", "category": "routine", "tags": ["urban following", "curbside parking", "sidewalk pedestrians"], "current_situation": "Ego's route is straight at a supplied speed of 7.567 m/s. A red car remains ahead across the observations, with a black car ahead-right and an approaching SUV across the double-yellow centerline. A dashed line separates the same-direction lanes. Curbside vehicles include a red shuttle van; pedestrians are on sidewalks, and a mobility-device user is now behind ego at the left corner. Daylight visibility ahead is good, despite glare in the side-left view.", "baseline_decision": "Continue straight at a traffic-compatible speed, preserving the following gap to the red car and respecting lane markings and any upcoming controls.", "decision_changing_cue": "No material decision-changing cue is visible. The curbside shuttle, sidewalk activity, and mobility-device user do not visibly occupy ego's forward path.", "causal_mechanism": "The visible actors remain separated from ego's lane by lane markings or the curb. Neither the temporal observations nor the current enlarged views establish a crossing, cut-in, or obstruction requiring a departure from normal following.", "expected_action": "maintain_speed", "decision_deviation": false, "annotation": "A red car remains ahead on a marked urban street, with another car ahead-right, opposing traffic across the double-yellow line, and pedestrians on sidewalks. Continue straight over the next 0–5 seconds at a traffic-compatible speed while preserving following distance; no visible conflict calls for additional braking or a lane change.", "interest_score": 24, "confidence": 0.91, "selection_reason": "Reject as a long-tail candidate: the scene shows ordinary following and curbside activity without a visually supported unusual interaction or material plan change.", "camera_evidence": [{"camera": "front", "t_s": -2, "detail": "A red car is ahead in ego's lane and a black car is ahead-right; the straight roadway has a double-yellow centerline and dashed same-direction divider."}, {"camera": "front", "t_s": 0, "detail": "The red and black cars remain ahead, and an approaching SUV is on the opposite side of the double-yellow line."}, {"camera": "front_left", "t_s": 0, "detail": "Two pedestrians are on the left sidewalk behind the nearby red coupe, with no visible step into the roadway."}, {"camera": "front_right", "t_s": 0, "detail": "A red shuttle van and red sedan occupy curbside parking spaces; a person is visible at a storefront doorway."}, {"camera": "front_right", "t_s": -2, "detail": "A curbside blue sedan has its trunk raised; it does not visibly block ego's through lane."}, {"camera": "side_left", "t_s": -2, "detail": "A mobility-device user and standing pedestrians are visible at the left corner sidewalk."}, {"camera": "side_left", "t_s": 0, "detail": "The side street and corner curb are visible with parked vehicles; sunlight produces glare near the top of this view."}, {"camera": "side_right", "t_s": 0, "detail": "The storefront sidewalk, parking meter, and part of a curbside red sedan are alongside ego."}, {"camera": "rear_left", "t_s": 0, "detail": "The mobility-device user and standing pedestrians are now at the corner behind ego, outside its forward path."}, {"camera": "rear", "t_s": 0, "detail": "The roadway behind has curbside parked vehicles and no visibly close following vehicle."}, {"camera": "rear_right", "t_s": 0, "detail": "The blue curbside sedan and storefronts are now behind-right."}], "uncertainties": ["Distant traffic-control states are not reliably readable.", "Actor speeds and precise following gaps cannot be measured from these images.", "Future pedestrian crossings or vehicle departures are not established by the available history."]}, "discovery_label": {"title": "Routine Straight Travel Past Curbside Activity", "category": "routine", "tags": ["urban following", "curbside parking", "sidewalk pedestrians"], "current_situation": "Ego's route is straight at a supplied speed of 7.567 m/s. A red car remains ahead across the observations, with a black car ahead-right and an approaching SUV across the double-yellow centerline. A dashed line separates the same-direction lanes. Curbside vehicles include a red shuttle van; pedestrians are on sidewalks, and a mobility-device user is now behind ego at the left corner. Daylight visibility ahead is good, despite glare in the side-left view.", "baseline_decision": "Continue straight at a traffic-compatible speed, preserving the following gap to the red car and respecting lane markings and any upcoming controls.", "decision_changing_cue": "No material decision-changing cue is visible. The curbside shuttle, sidewalk activity, and mobility-device user do not visibly occupy ego's forward path.", "causal_mechanism": "The visible actors remain separated from ego's lane by lane markings or the curb. Neither the temporal observations nor the current enlarged views establish a crossing, cut-in, or obstruction requiring a departure from normal following.", "expected_action": "maintain_speed", "decision_deviation": false, "annotation": "A red car remains ahead on a marked urban street, with another car ahead-right, opposing traffic across the double-yellow line, and pedestrians on sidewalks. Continue straight over the next 0–5 seconds at a traffic-compatible speed while preserving following distance; no visible conflict calls for additional braking or a lane change.", "interest_score": 24, "confidence": 0.91, "selection_reason": "Reject as a long-tail candidate: the scene shows ordinary following and curbside activity without a visually supported unusual interaction or material plan change.", "camera_evidence": [{"camera": "front", "t_s": -2, "detail": "A red car is ahead in ego's lane and a black car is ahead-right; the straight roadway has a double-yellow centerline and dashed same-direction divider."}, {"camera": "front", "t_s": 0, "detail": "The red and black cars remain ahead, and an approaching SUV is on the opposite side of the double-yellow line."}, {"camera": "front_left", "t_s": 0, "detail": "Two pedestrians are on the left sidewalk behind the nearby red coupe, with no visible step into the roadway."}, {"camera": "front_right", "t_s": 0, "detail": "A red shuttle van and red sedan occupy curbside parking spaces; a person is visible at a storefront doorway."}, {"camera": "front_right", "t_s": -2, "detail": "A curbside blue sedan has its trunk raised; it does not visibly block ego's through lane."}, {"camera": "side_left", "t_s": -2, "detail": "A mobility-device user and standing pedestrians are visible at the left corner sidewalk."}, {"camera": "side_left", "t_s": 0, "detail": "The side street and corner curb are visible with parked vehicles; sunlight produces glare near the top of this view."}, {"camera": "side_right", "t_s": 0, "detail": "The storefront sidewalk, parking meter, and part of a curbside red sedan are alongside ego."}, {"camera": "rear_left", "t_s": 0, "detail": "The mobility-device user and standing pedestrians are now at the corner behind ego, outside its forward path."}, {"camera": "rear", "t_s": 0, "detail": "The roadway behind has curbside parked vehicles and no visibly close following vehicle."}, {"camera": "rear_right", "t_s": 0, "detail": "The blue curbside sedan and storefronts are now behind-right."}], "uncertainties": ["Distant traffic-control states are not reliably readable.", "Actor speeds and precise following gaps cannot be measured from these images.", "Future pedestrian crossings or vehicle departures are not established by the available history."], "_binding_sha256": "971de330bf11ea8e555431b122f2682a1e05dc6ca92f1f2e4fac18ed4a97856f", "_request": "requests/83203ee5895f0b012395c882be0bdb85-086/discovery-001"}, "review": null, "status": "dismissed", "annotation": "A red car remains ahead on a marked urban street, with another car ahead-right, opposing traffic across the double-yellow line, and pedestrians on sidewalks. Continue straight over the next 0–5 seconds at a traffic-compatible speed while preserving following distance; no visible conflict calls for additional braking or a lane change.", "selected": false}
{"id": "e5d918360a637f679c9cc6e3b6bd03d5-040", "scenario_id": "e5d918360a637f679c9cc6e3b6bd03d5", "split": "train", "batch_index": 77, "source_manifest_line": 78, "intent": "GO_STRAIGHT", "anchor_frame": 40, "motion": {"current_speed_mps": 0.29, "future_xy_m": [[0.08203125, 0.0009765625], [0.181640625, 0.0009765625], [0.3125, 0.0009765625], [0.482421875, 0.0009765625], [0.662109375, 0.00146484375], [0.853515625, 0.00244140625], [1.0546875, 0.00244140625], [1.275390625, 0.0029296875], [1.509765625, 0.00341796875], [1.771484375, 0.0029296875], [2.0625, 0.00390625], [2.380859375, 0.00390625], [2.728515625, 0.00390625], [3.12109375, 0.00390625], [3.5703125, 0.0048828125], [4.078125, 0.0107421875], [4.65625, 0.03369140625], [5.318359375, 0.091796875], [6.07421875, 0.20166015625], [6.92578125, 0.37939453125]], "future_hz": 4, "speed_windows": [{"t_s": 0.5, "speed_mps": 0.482}, {"t_s": 1.5, "speed_mps": 0.793}, {"t_s": 2.5, "speed_mps": 1.105}, {"t_s": 3.5, "speed_mps": 1.697}, {"t_s": 4.5, "speed_mps": 2.877}], "minimum_1s_acceleration_mps2": 0.311, "maximum_speed_drop_mps": 0.0, "recorded_response": "start_moving", "method": "4 Hz trajectory path length; 1 s mean speeds; differences of adjacent 1 s means. Recorded response is descriptive, not a causal label."}, "frames": [{"t_s": 0.0, "source_frame": 40, "images": {"front_left": "images/e5d918360a637f679c9cc6e3b6bd03d5-040/+000_front_left.webp", "front": "images/e5d918360a637f679c9cc6e3b6bd03d5-040/+000_front.webp", "front_right": "images/e5d918360a637f679c9cc6e3b6bd03d5-040/+000_front_right.webp", "side_left": "images/e5d918360a637f679c9cc6e3b6bd03d5-040/+000_side_left.webp", "side_right": "images/e5d918360a637f679c9cc6e3b6bd03d5-040/+000_side_right.webp", "rear_left": "images/e5d918360a637f679c9cc6e3b6bd03d5-040/+000_rear_left.webp", "rear": "images/e5d918360a637f679c9cc6e3b6bd03d5-040/+000_rear.webp", "rear_right": "images/e5d918360a637f679c9cc6e3b6bd03d5-040/+000_rear_right.webp"}}], "camera_count": 8, "available_source_times_s": [-1.0, 0.0, 1.0, 2.0, 3.0, 4.0, 5.0], "camera_scope": "current_only", "label": {"title": "Routine wait for crossing traffic", "category": "routine", "tags": ["cross traffic", "junction entry", "low light"], "current_situation": "Ego is nearly stationary at 0.29 m/s at a junction entrance, with a GO_STRAIGHT route intent. A silver car moves from the front-right view at -1 s into the front view at 0 s, supporting right-to-left travel across the roadway ahead; additional vehicles are visible to the right. Curved curb corners frame the entrance. Low illumination limits detail, and applicable traffic controls are not clearly readable.", "baseline_decision": "Without the crossing vehicles, verify applicable controls and a clear route, then begin proceeding straight from near standstill.", "decision_changing_cue": "A car is currently crossing ahead from right to left, with additional cross-road vehicles visible to the right.", "causal_mechanism": "Entering the cross roadway now would place ego in the crossing traffic's path. The next straight movement should therefore be delayed until a safe gap and permission to proceed are established; this is ordinary junction yielding rather than a nonroutine deviation.", "expected_action": "wait_for_gap", "decision_deviation": false, "annotation": "Ego is nearly stationary at a dimly lit junction while a car crosses from right to left and additional vehicles are visible to the right. Although ego could otherwise begin proceeding straight once controls permit and the crossing is clear, cross traffic requires waiting at the entrance until a safe gap opens, without changing lateral course.", "interest_score": 47, "confidence": 0.86, "selection_reason": "Reject as a long-tail candidate: the visible decision is routine waiting for cross traffic. Neither the low illumination nor the number of vehicles establishes an unusual interaction, obstruction, or material departure from normal junction behavior.", "camera_evidence": [{"camera": "front_left", "t_s": 0, "detail": "A rounded curb corner borders the junction entrance; the cross roadway extends left with no clearly discernible nearby conflicting actor in this view."}, {"camera": "front", "t_s": 0, "detail": "A silver car is side-on across the roadway ahead, with its front toward image left."}, {"camera": "front_right", "t_s": -1, "detail": "A silver car is visible on the cross roadway to ego's right, consistent with the car subsequently appearing in the front view."}, {"camera": "front_right", "t_s": 0, "detail": "Additional vehicles are visible on the cross roadway to the right; a curved curb and sidewalk ramp frame the near corner."}, {"camera": "side_left", "t_s": 0, "detail": "Dark vegetation and a metal fence border the corner, limiting sidewalk detail; no clear entering actor is discernible."}, {"camera": "side_right", "t_s": 0, "detail": "A McKinley street sign, sidewalk, trees, and roadway lights are visible; small dark roadside shapes cannot be reliably identified as actors."}, {"camera": "rear_left", "t_s": 0, "detail": "The roadside is poorly illuminated, with vegetation and building lights visible but no clearly discernible immediate vehicle interaction."}, {"camera": "rear", "t_s": 0, "detail": "The approach street extends behind ego with distant vehicle lights; no immediate rear conflict is visibly established."}, {"camera": "rear_right", "t_s": 0, "detail": "A dark roadside and scattered building lights are visible, without a clearly identifiable actor affecting junction entry."}], "uncertainties": ["Applicable stop, yield, or signal controls cannot be reliably determined from these images.", "The exact straight-route continuation across the junction is not clearly resolved.", "Low illumination prevents reliable identification of small roadside shapes.", "The one-second history supports the silver car's travel direction but not precise speeds or the timing of a safe gap."]}, "discovery_label": {"title": "Routine wait for crossing traffic", "category": "routine", "tags": ["cross traffic", "junction entry", "low light"], "current_situation": "Ego is nearly stationary at 0.29 m/s at a junction entrance, with a GO_STRAIGHT route intent. A silver car moves from the front-right view at -1 s into the front view at 0 s, supporting right-to-left travel across the roadway ahead; additional vehicles are visible to the right. Curved curb corners frame the entrance. Low illumination limits detail, and applicable traffic controls are not clearly readable.", "baseline_decision": "Without the crossing vehicles, verify applicable controls and a clear route, then begin proceeding straight from near standstill.", "decision_changing_cue": "A car is currently crossing ahead from right to left, with additional cross-road vehicles visible to the right.", "causal_mechanism": "Entering the cross roadway now would place ego in the crossing traffic's path. The next straight movement should therefore be delayed until a safe gap and permission to proceed are established; this is ordinary junction yielding rather than a nonroutine deviation.", "expected_action": "wait_for_gap", "decision_deviation": false, "annotation": "Ego is nearly stationary at a dimly lit junction while a car crosses from right to left and additional vehicles are visible to the right. Although ego could otherwise begin proceeding straight once controls permit and the crossing is clear, cross traffic requires waiting at the entrance until a safe gap opens, without changing lateral course.", "interest_score": 47, "confidence": 0.86, "selection_reason": "Reject as a long-tail candidate: the visible decision is routine waiting for cross traffic. Neither the low illumination nor the number of vehicles establishes an unusual interaction, obstruction, or material departure from normal junction behavior.", "camera_evidence": [{"camera": "front_left", "t_s": 0, "detail": "A rounded curb corner borders the junction entrance; the cross roadway extends left with no clearly discernible nearby conflicting actor in this view."}, {"camera": "front", "t_s": 0, "detail": "A silver car is side-on across the roadway ahead, with its front toward image left."}, {"camera": "front_right", "t_s": -1, "detail": "A silver car is visible on the cross roadway to ego's right, consistent with the car subsequently appearing in the front view."}, {"camera": "front_right", "t_s": 0, "detail": "Additional vehicles are visible on the cross roadway to the right; a curved curb and sidewalk ramp frame the near corner."}, {"camera": "side_left", "t_s": 0, "detail": "Dark vegetation and a metal fence border the corner, limiting sidewalk detail; no clear entering actor is discernible."}, {"camera": "side_right", "t_s": 0, "detail": "A McKinley street sign, sidewalk, trees, and roadway lights are visible; small dark roadside shapes cannot be reliably identified as actors."}, {"camera": "rear_left", "t_s": 0, "detail": "The roadside is poorly illuminated, with vegetation and building lights visible but no clearly discernible immediate vehicle interaction."}, {"camera": "rear", "t_s": 0, "detail": "The approach street extends behind ego with distant vehicle lights; no immediate rear conflict is visibly established."}, {"camera": "rear_right", "t_s": 0, "detail": "A dark roadside and scattered building lights are visible, without a clearly identifiable actor affecting junction entry."}], "uncertainties": ["Applicable stop, yield, or signal controls cannot be reliably determined from these images.", "The exact straight-route continuation across the junction is not clearly resolved.", "Low illumination prevents reliable identification of small roadside shapes.", "The one-second history supports the silver car's travel direction but not precise speeds or the timing of a safe gap."], "_binding_sha256": "91317c388b2841077cfe812e6c174d0e2d6c40b214f47c27b13d5cf2f025fa6c", "_request": "requests/e5d918360a637f679c9cc6e3b6bd03d5-040/discovery-001"}, "review": null, "status": "dismissed", "annotation": "Ego is nearly stationary at a dimly lit junction while a car crosses from right to left and additional vehicles are visible to the right. Although ego could otherwise begin proceeding straight once controls permit and the crossing is clear, cross traffic requires waiting at the entrance until a safe gap opens, without changing lateral course.", "selected": false}
{"id": "d5447440141fbf814c5e9a281585faa6-115", "scenario_id": "d5447440141fbf814c5e9a281585faa6", "split": "train", "batch_index": 78, "source_manifest_line": 79, "intent": "GO_RIGHT", "anchor_frame": 115, "motion": {"current_speed_mps": 4.616, "future_xy_m": [[1.166015625, -0.171875], [2.3544921875, -0.4794921875], [3.5576171875, -0.9404296875], [4.7587890625, -1.5673828125], [5.9365234375, -2.3681640625], [7.0673828125, -3.365234375], [8.115234375, -4.556640625], [9.068359375, -5.94140625], [9.9423828125, -7.4873046875], [10.7578125, -9.1865234375], [11.5263671875, -11.0380859375], [12.244140625, -13.0390625], [12.9453125, -15.1796875], [13.6611328125, -17.44140625], [14.3984375, -19.8271484375], [15.162109375, -22.326171875], [15.955078125, -24.94140625], [16.7685546875, -27.66796875], [17.5771484375, -30.5048828125], [18.3837890625, -33.439453125]], "future_hz": 4, "speed_windows": [{"t_s": 0.5, "speed_mps": 5.05}, {"t_s": 1.5, "speed_mps": 6.2}, {"t_s": 2.5, "speed_mps": 7.791}, {"t_s": 3.5, "speed_mps": 9.735}, {"t_s": 4.5, "speed_mps": 11.571}], "minimum_1s_acceleration_mps2": 1.15, "maximum_speed_drop_mps": 0.0, "recorded_response": "accelerate", "method": "4 Hz trajectory path length; 1 s mean speeds; differences of adjacent 1 s means. Recorded response is descriptive, not a causal label."}, "frames": [{"t_s": 0.0, "source_frame": 115, "images": {"front_left": "images/d5447440141fbf814c5e9a281585faa6-115/+000_front_left.webp", "front": "images/d5447440141fbf814c5e9a281585faa6-115/+000_front.webp", "front_right": "images/d5447440141fbf814c5e9a281585faa6-115/+000_front_right.webp", "side_left": "images/d5447440141fbf814c5e9a281585faa6-115/+000_side_left.webp", "side_right": "images/d5447440141fbf814c5e9a281585faa6-115/+000_side_right.webp", "rear_left": "images/d5447440141fbf814c5e9a281585faa6-115/+000_rear_left.webp", "rear": "images/d5447440141fbf814c5e9a281585faa6-115/+000_rear.webp", "rear_right": "images/d5447440141fbf814c5e9a281585faa6-115/+000_rear_right.webp"}}], "camera_count": 8, "available_source_times_s": [-2.0, -1.0, 0.0, 1.0, 2.0, 3.0, 4.0, 5.0], "camera_scope": "current_only", "label": {"title": "Routine right turn with green approach signal", "category": "routine", "tags": ["right turn", "green approach signal", "vehicle to left"], "current_situation": "Ego approaches a signalized intersection at 4.616 m/s with a GO_RIGHT route. A green signal faces the approach, while signal faces along the intersecting road show red. A silver SUV moves from ahead into the front-left view over the available history, remaining left of the intended right-turn corner. The curved corner and receiving roadway are visible, with no visible actor entering the turn path.", "baseline_decision": "Proceed with the planned right turn under the approach-facing green signal, moderating speed around the curved curb and following the receiving lane.", "decision_changing_cue": "None established. The SUV's visible movement to ego's left does not demonstrate a conflict with the planned right turn.", "causal_mechanism": "The corner geometry warrants ordinary turning-speed control, but no visible obstruction or conflicting actor supports an additional yield, stop, or evasive maneuver.", "expected_action": "slow_down", "decision_deviation": false, "annotation": "A green signal faces ego's approach, and a silver SUV moves through the front-left view beside the signalized intersection. Ego should moderate speed and follow the curved curb into the planned right turn; no visible conflict requires an additional yield or evasive maneuver.", "interest_score": 33, "confidence": 0.88, "selection_reason": "Reject as a long-tail candidate: the visible evidence supports routine signalized turning, not an unusual interaction that materially changes the route-consistent baseline.", "camera_evidence": [{"camera": "front", "t_s": -2, "detail": "A green signal is visible ahead, with the silver SUV approaching from the opposite side of the intersection."}, {"camera": "front_left", "t_s": -1, "detail": "The silver SUV appears at the right edge of this view as it moves out of the central forward view."}, {"camera": "front_left", "t_s": 0, "detail": "The silver SUV is clearly visible left of ego's intended right-turn corner."}, {"camera": "front", "t_s": 0, "detail": "The approach-facing signal remains green; the intersection pavement ahead has no visible blocking vehicle."}, {"camera": "front_right", "t_s": 0, "detail": "The curved curb, receiving roadway, and raised median are visible; signal faces along the intersecting road show red."}, {"camera": "side_left", "t_s": 0, "detail": "A red car is farther along the roadway to ego's left, outside the immediate right-turn corner."}, {"camera": "side_right", "t_s": 0, "detail": "Trees, landscaping, a building, and the corner sidewalk are visible without an actor entering the roadway."}, {"camera": "rear_left", "t_s": 0, "detail": "The adjacent roadway and sidewalk beside the white building have no visible nearby vehicle conflict."}, {"camera": "rear", "t_s": 0, "detail": "The roadway behind ego has no visible close following vehicle."}, {"camera": "rear_right", "t_s": 0, "detail": "Localized sunlight reflects from the building; the adjacent sidewalk and landscaping show no turn-path obstruction."}], "uncertainties": ["The SUV's exact maneuver cannot be determined from the three observations.", "Signal applicability is inferred from visible orientation; a dedicated right-turn indication is not established.", "No post-anchor evidence is available to confirm subsequent actor motion or recorded ego actions."]}, "discovery_label": {"title": "Routine right turn with green approach signal", "category": "routine", "tags": ["right turn", "green approach signal", "vehicle to left"], "current_situation": "Ego approaches a signalized intersection at 4.616 m/s with a GO_RIGHT route. A green signal faces the approach, while signal faces along the intersecting road show red. A silver SUV moves from ahead into the front-left view over the available history, remaining left of the intended right-turn corner. The curved corner and receiving roadway are visible, with no visible actor entering the turn path.", "baseline_decision": "Proceed with the planned right turn under the approach-facing green signal, moderating speed around the curved curb and following the receiving lane.", "decision_changing_cue": "None established. The SUV's visible movement to ego's left does not demonstrate a conflict with the planned right turn.", "causal_mechanism": "The corner geometry warrants ordinary turning-speed control, but no visible obstruction or conflicting actor supports an additional yield, stop, or evasive maneuver.", "expected_action": "slow_down", "decision_deviation": false, "annotation": "A green signal faces ego's approach, and a silver SUV moves through the front-left view beside the signalized intersection. Ego should moderate speed and follow the curved curb into the planned right turn; no visible conflict requires an additional yield or evasive maneuver.", "interest_score": 33, "confidence": 0.88, "selection_reason": "Reject as a long-tail candidate: the visible evidence supports routine signalized turning, not an unusual interaction that materially changes the route-consistent baseline.", "camera_evidence": [{"camera": "front", "t_s": -2, "detail": "A green signal is visible ahead, with the silver SUV approaching from the opposite side of the intersection."}, {"camera": "front_left", "t_s": -1, "detail": "The silver SUV appears at the right edge of this view as it moves out of the central forward view."}, {"camera": "front_left", "t_s": 0, "detail": "The silver SUV is clearly visible left of ego's intended right-turn corner."}, {"camera": "front", "t_s": 0, "detail": "The approach-facing signal remains green; the intersection pavement ahead has no visible blocking vehicle."}, {"camera": "front_right", "t_s": 0, "detail": "The curved curb, receiving roadway, and raised median are visible; signal faces along the intersecting road show red."}, {"camera": "side_left", "t_s": 0, "detail": "A red car is farther along the roadway to ego's left, outside the immediate right-turn corner."}, {"camera": "side_right", "t_s": 0, "detail": "Trees, landscaping, a building, and the corner sidewalk are visible without an actor entering the roadway."}, {"camera": "rear_left", "t_s": 0, "detail": "The adjacent roadway and sidewalk beside the white building have no visible nearby vehicle conflict."}, {"camera": "rear", "t_s": 0, "detail": "The roadway behind ego has no visible close following vehicle."}, {"camera": "rear_right", "t_s": 0, "detail": "Localized sunlight reflects from the building; the adjacent sidewalk and landscaping show no turn-path obstruction."}], "uncertainties": ["The SUV's exact maneuver cannot be determined from the three observations.", "Signal applicability is inferred from visible orientation; a dedicated right-turn indication is not established.", "No post-anchor evidence is available to confirm subsequent actor motion or recorded ego actions."], "_binding_sha256": "bd2cce06e80bcd9c671ec992db660fe493c6c0d39ab77968aa73a5f843352ae5", "_request": "requests/d5447440141fbf814c5e9a281585faa6-115/discovery-001"}, "review": null, "status": "dismissed", "annotation": "A green signal faces ego's approach, and a silver SUV moves through the front-left view beside the signalized intersection. Ego should moderate speed and follow the curved curb into the planned right turn; no visible conflict requires an additional yield or evasive maneuver.", "selected": false}
{"id": "e1486104f7d987d898d48930e3ba27bf-147", "scenario_id": "e1486104f7d987d898d48930e3ba27bf", "split": "train", "batch_index": 79, "source_manifest_line": 80, "intent": "GO_STRAIGHT", "anchor_frame": 147, "motion": {"current_speed_mps": 0.32, "future_xy_m": [[0.0791015625, -0.001953125], [0.1572265625, -0.001953125], [0.2333984375, 0.0], [0.30810546875, -0.001953125], [0.38037109375, 0.0], [0.45166015625, -0.001953125], [0.52197265625, 0.0], [0.5927734375, 0.0], [0.66552734375, 0.0], [0.7431640625, 0.0], [0.8291015625, -0.001953125], [0.9365234375, -0.001953125], [1.07177734375, -0.00390625], [1.23388671875, -0.00390625], [1.42236328125, -0.005859375], [1.640625, -0.0078125], [1.89599609375, -0.009765625], [2.1875, -0.015625], [2.5166015625, -0.0234375], [2.884765625, -0.033203125]], "future_hz": 4, "speed_windows": [{"t_s": 0.5, "speed_mps": 0.308}, {"t_s": 1.5, "speed_mps": 0.285}, {"t_s": 2.5, "speed_mps": 0.344}, {"t_s": 3.5, "speed_mps": 0.704}, {"t_s": 4.5, "speed_mps": 1.244}], "minimum_1s_acceleration_mps2": -0.023, "maximum_speed_drop_mps": 0.035, "recorded_response": "start_moving", "method": "4 Hz trajectory path length; 1 s mean speeds; differences of adjacent 1 s means. Recorded response is descriptive, not a causal label."}, "frames": [{"t_s": 0.0, "source_frame": 147, "images": {"front_left": "images/e1486104f7d987d898d48930e3ba27bf-147/+000_front_left.webp", "front": "images/e1486104f7d987d898d48930e3ba27bf-147/+000_front.webp", "front_right": "images/e1486104f7d987d898d48930e3ba27bf-147/+000_front_right.webp", "side_left": "images/e1486104f7d987d898d48930e3ba27bf-147/+000_side_left.webp", "side_right": "images/e1486104f7d987d898d48930e3ba27bf-147/+000_side_right.webp", "rear_left": "images/e1486104f7d987d898d48930e3ba27bf-147/+000_rear_left.webp", "rear": "images/e1486104f7d987d898d48930e3ba27bf-147/+000_rear.webp", "rear_right": "images/e1486104f7d987d898d48930e3ba27bf-147/+000_rear_right.webp"}}], "camera_count": 8, "available_source_times_s": [-2.0, -1.0, 0.0, 1.0, 2.0, 3.0, 4.0, 5.0], "camera_scope": "current_only", "label": {"title": "Routine Signal Stop With Nearby Pedestrians", "category": "routine", "tags": ["signal stop", "nearby pedestrians", "streetlit intersection"], "current_situation": "Ego intends to go straight and is nearly stationary at 0.32 m/s before an urban intersection. Near overhead signal heads appear red; green lights are visible farther ahead. Two pedestrians ahead-right advance across the roadway toward the near-right corner over the supplied history, while an SUV moves rightward across the farther intersection area. A bus is ahead-left. Curbside cones, barriers, parked vehicles, and sidewalk scooters show no clear obstruction of ego's straight path.", "baseline_decision": "Complete the stop before entering the intersection and wait for the applicable signal to permit straight travel, checking that the intended path is clear before departure.", "decision_changing_cue": "No clearly nonroutine decision-changing cue is visible. The moving pedestrians ahead-right warrant monitoring, but the near red signals already require waiting.", "causal_mechanism": "The existing signal stop governs the immediate decision. Pedestrian movement adds a clearance check before eventual departure, not a demonstrated need for exceptional braking or lateral avoidance.", "expected_action": "stop", "decision_deviation": false, "annotation": "Ego is nearly stationary before an intersection with apparently red near overhead signals, while two pedestrians walk toward the corner ahead-right. Ego should complete its stop and wait for the applicable signal to permit straight travel, checking pedestrian clearance before departure; no exceptional maneuver is supported.", "interest_score": 46, "confidence": 0.82, "selection_reason": "Reject as a long-tail candidate: the supported immediate response is routine signal compliance, and the pedestrians do not establish a material change beyond that stop.", "camera_evidence": [{"camera": "front", "t_s": 0, "detail": "Near overhead signal heads appear red above the intersection; green lights are visible farther along the street. A transverse white line is ahead of ego."}, {"camera": "front", "t_s": -2, "detail": "An SUV is visible across the intersection ahead-right; its subsequent positions shift rightward through t=0."}, {"camera": "front_right", "t_s": -2, "detail": "Two pedestrians are visible in the roadway ahead-right, beyond the rounded near corner."}, {"camera": "front_right", "t_s": 0, "detail": "The pedestrian pair has advanced toward the near-right corner. Red signal heads, a curb ramp, cones, and a red roadside barrier are visible."}, {"camera": "front_left", "t_s": 0, "detail": "Cones and a small barricade line the opposite building frontage; no obstacle clearly spans ego's straight route."}, {"camera": "side_left", "t_s": 0, "detail": "The corner sidewalk and building frontage are visible, with a red pedestrian indication near the corner and no immediate roadway actor alongside ego."}, {"camera": "side_right", "t_s": 0, "detail": "Standing scooters are on the sidewalk beside the building, outside the roadway."}, {"camera": "rear_left", "t_s": 0, "detail": "Vehicles are parked along the curb behind-left; no merging movement is established."}, {"camera": "rear", "t_s": 0, "detail": "Vehicles and headlights are visible behind ego, without a demonstrated immediate rear conflict."}, {"camera": "rear_right", "t_s": 0, "detail": "A white sedan, parking meters, and a cone are visible along the curb behind-right."}], "uncertainties": ["Exact signal-head applicability is not fully resolved; distant green lights should not be assumed to authorize entry at the near intersection.", "The pedestrians' precise crossing alignment relative to ego's straight lane is uncertain.", "No future signal change, pedestrian intention, or recorded ego braking is established by the supplied observations."]}, "discovery_label": {"title": "Routine Signal Stop With Nearby Pedestrians", "category": "routine", "tags": ["signal stop", "nearby pedestrians", "streetlit intersection"], "current_situation": "Ego intends to go straight and is nearly stationary at 0.32 m/s before an urban intersection. Near overhead signal heads appear red; green lights are visible farther ahead. Two pedestrians ahead-right advance across the roadway toward the near-right corner over the supplied history, while an SUV moves rightward across the farther intersection area. A bus is ahead-left. Curbside cones, barriers, parked vehicles, and sidewalk scooters show no clear obstruction of ego's straight path.", "baseline_decision": "Complete the stop before entering the intersection and wait for the applicable signal to permit straight travel, checking that the intended path is clear before departure.", "decision_changing_cue": "No clearly nonroutine decision-changing cue is visible. The moving pedestrians ahead-right warrant monitoring, but the near red signals already require waiting.", "causal_mechanism": "The existing signal stop governs the immediate decision. Pedestrian movement adds a clearance check before eventual departure, not a demonstrated need for exceptional braking or lateral avoidance.", "expected_action": "stop", "decision_deviation": false, "annotation": "Ego is nearly stationary before an intersection with apparently red near overhead signals, while two pedestrians walk toward the corner ahead-right. Ego should complete its stop and wait for the applicable signal to permit straight travel, checking pedestrian clearance before departure; no exceptional maneuver is supported.", "interest_score": 46, "confidence": 0.82, "selection_reason": "Reject as a long-tail candidate: the supported immediate response is routine signal compliance, and the pedestrians do not establish a material change beyond that stop.", "camera_evidence": [{"camera": "front", "t_s": 0, "detail": "Near overhead signal heads appear red above the intersection; green lights are visible farther along the street. A transverse white line is ahead of ego."}, {"camera": "front", "t_s": -2, "detail": "An SUV is visible across the intersection ahead-right; its subsequent positions shift rightward through t=0."}, {"camera": "front_right", "t_s": -2, "detail": "Two pedestrians are visible in the roadway ahead-right, beyond the rounded near corner."}, {"camera": "front_right", "t_s": 0, "detail": "The pedestrian pair has advanced toward the near-right corner. Red signal heads, a curb ramp, cones, and a red roadside barrier are visible."}, {"camera": "front_left", "t_s": 0, "detail": "Cones and a small barricade line the opposite building frontage; no obstacle clearly spans ego's straight route."}, {"camera": "side_left", "t_s": 0, "detail": "The corner sidewalk and building frontage are visible, with a red pedestrian indication near the corner and no immediate roadway actor alongside ego."}, {"camera": "side_right", "t_s": 0, "detail": "Standing scooters are on the sidewalk beside the building, outside the roadway."}, {"camera": "rear_left", "t_s": 0, "detail": "Vehicles are parked along the curb behind-left; no merging movement is established."}, {"camera": "rear", "t_s": 0, "detail": "Vehicles and headlights are visible behind ego, without a demonstrated immediate rear conflict."}, {"camera": "rear_right", "t_s": 0, "detail": "A white sedan, parking meters, and a cone are visible along the curb behind-right."}], "uncertainties": ["Exact signal-head applicability is not fully resolved; distant green lights should not be assumed to authorize entry at the near intersection.", "The pedestrians' precise crossing alignment relative to ego's straight lane is uncertain.", "No future signal change, pedestrian intention, or recorded ego braking is established by the supplied observations."], "_binding_sha256": "b2963a846086c15e8394a247c069b9224ad148024d426ed74eebc08898d35b93", "_request": "requests/e1486104f7d987d898d48930e3ba27bf-147/discovery-001"}, "review": null, "status": "dismissed", "annotation": "Ego is nearly stationary before an intersection with apparently red near overhead signals, while two pedestrians walk toward the corner ahead-right. Ego should complete its stop and wait for the applicable signal to permit straight travel, checking pedestrian clearance before departure; no exceptional maneuver is supported.", "selected": false}
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Recorded response is descriptive, not a causal label."}, "frames": [{"t_s": -2.0, "source_frame": 116, "images": {"front_left": "images/57a6271444a065e7669292e6361fc2a1-136/-020_front_left.webp", "front": "images/57a6271444a065e7669292e6361fc2a1-136/-020_front.webp", "front_right": "images/57a6271444a065e7669292e6361fc2a1-136/-020_front_right.webp", "side_left": "images/57a6271444a065e7669292e6361fc2a1-136/-020_side_left.webp", "side_right": "images/57a6271444a065e7669292e6361fc2a1-136/-020_side_right.webp", "rear_left": "images/57a6271444a065e7669292e6361fc2a1-136/-020_rear_left.webp", "rear": "images/57a6271444a065e7669292e6361fc2a1-136/-020_rear.webp", "rear_right": "images/57a6271444a065e7669292e6361fc2a1-136/-020_rear_right.webp"}}, {"t_s": -1.0, "source_frame": 126, "images": {"front_left": "images/57a6271444a065e7669292e6361fc2a1-136/-010_front_left.webp", "front": "images/57a6271444a065e7669292e6361fc2a1-136/-010_front.webp", "front_right": 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"images/57a6271444a065e7669292e6361fc2a1-136/+020_front.webp", "front_right": "images/57a6271444a065e7669292e6361fc2a1-136/+020_front_right.webp", "side_left": "images/57a6271444a065e7669292e6361fc2a1-136/+020_side_left.webp", "side_right": "images/57a6271444a065e7669292e6361fc2a1-136/+020_side_right.webp", "rear_left": "images/57a6271444a065e7669292e6361fc2a1-136/+020_rear_left.webp", "rear": "images/57a6271444a065e7669292e6361fc2a1-136/+020_rear.webp", "rear_right": "images/57a6271444a065e7669292e6361fc2a1-136/+020_rear_right.webp"}}, {"t_s": 3.0, "source_frame": 166, "images": {"front_left": "images/57a6271444a065e7669292e6361fc2a1-136/+030_front_left.webp", "front": "images/57a6271444a065e7669292e6361fc2a1-136/+030_front.webp", "front_right": "images/57a6271444a065e7669292e6361fc2a1-136/+030_front_right.webp", "side_left": "images/57a6271444a065e7669292e6361fc2a1-136/+030_side_left.webp", "side_right": "images/57a6271444a065e7669292e6361fc2a1-136/+030_side_right.webp", "rear_left": "images/57a6271444a065e7669292e6361fc2a1-136/+030_rear_left.webp", "rear": "images/57a6271444a065e7669292e6361fc2a1-136/+030_rear.webp", "rear_right": "images/57a6271444a065e7669292e6361fc2a1-136/+030_rear_right.webp"}}, {"t_s": 4.0, "source_frame": 176, "images": {"front_left": "images/57a6271444a065e7669292e6361fc2a1-136/+040_front_left.webp", "front": "images/57a6271444a065e7669292e6361fc2a1-136/+040_front.webp", "front_right": "images/57a6271444a065e7669292e6361fc2a1-136/+040_front_right.webp", "side_left": "images/57a6271444a065e7669292e6361fc2a1-136/+040_side_left.webp", "side_right": "images/57a6271444a065e7669292e6361fc2a1-136/+040_side_right.webp", "rear_left": "images/57a6271444a065e7669292e6361fc2a1-136/+040_rear_left.webp", "rear": "images/57a6271444a065e7669292e6361fc2a1-136/+040_rear.webp", "rear_right": "images/57a6271444a065e7669292e6361fc2a1-136/+040_rear_right.webp"}}, {"t_s": 5.0, "source_frame": 186, "images": {"front_left": "images/57a6271444a065e7669292e6361fc2a1-136/+050_front_left.webp", "front": "images/57a6271444a065e7669292e6361fc2a1-136/+050_front.webp", "front_right": "images/57a6271444a065e7669292e6361fc2a1-136/+050_front_right.webp", "side_left": "images/57a6271444a065e7669292e6361fc2a1-136/+050_side_left.webp", "side_right": "images/57a6271444a065e7669292e6361fc2a1-136/+050_side_right.webp", "rear_left": "images/57a6271444a065e7669292e6361fc2a1-136/+050_rear_left.webp", "rear": "images/57a6271444a065e7669292e6361fc2a1-136/+050_rear.webp", "rear_right": "images/57a6271444a065e7669292e6361fc2a1-136/+050_rear_right.webp"}}], "camera_count": 8, "available_source_times_s": [-2.0, -1.0, 0.0, 1.0, 2.0, 3.0, 4.0, 5.0], "camera_scope": "full_timeline", "label": {"title": "Road-edge pedestrian beside parked vehicles", "category": "vulnerable_road_user_interaction", "tags": ["road-edge pedestrian", "parked-car clearance", "unmarked residential street"], "current_situation": "Ego is moving at approximately 3.262 m/s on an unmarked residential street with vehicles parked on both sides. A person is visible on the right asphalt margin between a white SUV and gray pickup, with another on the adjacent grass; the SUV partially obscures the curbside area. No crossing of the central roadway is demonstrated.", "baseline_decision": "Without the person on the asphalt, continue cautiously only while clearance from parked vehicles and available sightlines remain adequate, slowing for obscured curbside gaps as needed.", "decision_changing_cue": "A visible person occupies the asphalt margin in the upcoming right-side passing area.", "causal_mechanism": "The exposed person adds a clearance constraint beyond the parked vehicles and makes their movement relevant before passing. Slow to assess separation, and stop if it is insufficient; any lateral adjustment requires checking the remaining roadway.", "expected_action": "slow_down", "decision_deviation": true, "annotation": "One person is on the asphalt at the right road edge between a parked white SUV and gray pickup, while another is on the grass. Without the roadway pedestrian, ego could proceed cautiously subject to parked-car clearance and limited curbside visibility; the exposed person instead warrants slowing before drawing alongside and verifying additional separation. Stop if safe clearance cannot be established, rather than assuming a leftward bypass is safe.", "interest_score": 72, "confidence": 0.83, "selection_reason": "A qualitative candidate because the visible roadway pedestrian changes the passing-clearance requirement; this is not selected merely for parked-car density. No immediate conflict supports strong braking, and measured rarity is not established.", "camera_evidence": [{"camera": "front", "t_s": -2, "detail": "Vehicles line both curbs; the white SUV ahead on the right obscures part of the curbside area beyond it."}, {"camera": "front", "t_s": -1, "detail": "The white SUV and gray pickup are ahead along the right curb, with the intervening curbside area only partly visible."}, {"camera": "front", "t_s": 0, "detail": "One person is on the asphalt near the right curb between the white SUV and gray pickup; another is on the grass. No person occupies the central roadway."}, {"camera": "front_left", "t_s": 0, "detail": "Houses, sidewalks and driveways are visible, including a pickup in a driveway; no nearby pedestrian is visible."}, {"camera": "front_right", "t_s": 0, "detail": "The parked white SUV fills the foreground and blocks portions of the right curbside view beyond it."}, {"camera": "side_left", "t_s": 0, "detail": "A dark sedan occupies the lower foreground beside the left curb, with lawn and houses beyond."}, {"camera": "side_right", "t_s": 0, "detail": "Mailboxes, bins and a red pickup in a driveway are visible; no person is visibly entering the road."}, {"camera": "rear_left", "t_s": 0, "detail": "Residential driveways and cars are visible, with part of a dark sedan in the foreground; no additional pedestrian interaction is visible."}, {"camera": "rear", "t_s": 0, "detail": "A brown pickup and white utility pickup flank the roadway behind; the visible central rear roadway is unoccupied."}, {"camera": "rear_right", "t_s": 0, "detail": "A dark SUV is in a driveway beside a house, without a visible roadway interaction."}], "uncertainties": ["The pedestrian's direction and subsequent movement cannot be reliably established from t<=0.", "Exact passing clearance and the need for a lateral adjustment are not measurable.", "It remains unclear whether this is nonroutine rather than ordinary roadside pedestrian activity.", "The reason for the recorded stop is not independently established."]}, "discovery_label": {"title": "Pedestrian at Road Edge Between Parked Vehicles", "category": "vulnerable_road_user_interaction", "tags": ["road-edge pedestrian", "parked-car clearance", "unmarked residential street"], "current_situation": "Ego is traveling straight at 3.262 m/s on a residential street without a marked centerline. Vehicles are parked along both curbs. Ahead on the right, one person is on the asphalt beside the curb between a white SUV and a gray pickup; another is on the adjacent grass. Parked vehicles restrict the curbside view, but the central roadway is visibly open. No immediate crossing or relevant traffic control is visible.", "baseline_decision": "Continue straight at the current low speed, maintaining ordinary clearance from the parked vehicles.", "decision_changing_cue": "A person occupies the roadway margin beside the right-side parked vehicles rather than remaining entirely on the grass or sidewalk.", "causal_mechanism": "The pedestrian occupies part of the passing margin, making ordinary vehicle-only clearance insufficient. Ego should establish additional lateral separation before drawing alongside, without assuming the person will cross.", "expected_action": "increase_clearance", "decision_deviation": true, "annotation": "Two people are beside parked vehicles on the right, with one on the asphalt at the curb and the other on the grass. Although ego would otherwise continue straight at low speed with normal parked-car clearance, the roadway pedestrian requires a modest leftward passing offset before drawing alongside, with further slowing if adequate clearance is unavailable.", "interest_score": 72, "confidence": 0.83, "selection_reason": "A qualitative candidate because the visible roadway pedestrian changes the passing-clearance requirement; this is not selected merely for parked-car density. No immediate conflict supports strong braking, and measured rarity is not established.", "camera_evidence": [{"camera": "front", "t_s": -2, "detail": "Parked vehicles line both sides of the straight street; the white SUV restricts the view of the right curbside area beyond it."}, {"camera": "front", "t_s": -1, "detail": "The white SUV and gray pickup remain aligned along the right curb as ego approaches; the curbside space between them is incompletely visible."}, {"camera": "front", "t_s": 0, "detail": "One person is visibly on asphalt beside the right curb between the white SUV and gray pickup, while another stands on the grass. The center of the roadway is open."}, {"camera": "front_left", "t_s": 0, "detail": "Houses, sidewalk, driveways, and a pickup parked off the roadway are visible; no nearby pedestrian conflict appears on this side."}, {"camera": "front_right", "t_s": 0, "detail": "The white SUV occupies the right curbside foreground and blocks portions of the view along that curb."}, {"camera": "side_left", "t_s": 0, "detail": "A dark sedan is alongside at the left curb, with residential lawns and sidewalk beyond."}, {"camera": "side_right", "t_s": 0, "detail": "Mailboxes, bins, and a red pickup in a driveway are visible, with no person entering the road in this view."}, {"camera": "rear_left", "t_s": 0, "detail": "Residential driveways and parked cars are visible behind on the left; no additional interaction is apparent."}, {"camera": "rear", "t_s": 0, "detail": "A brown pickup and white utility pickup flank the roadway behind ego; no vehicle visibly occupies its central rear path."}, {"camera": "rear_right", "t_s": 0, "detail": "A dark SUV is parked in a driveway beside a house, without a visible roadway conflict."}], "uncertainties": ["The pedestrians' direction and motion cannot be established reliably from the available history.", "No crossing intention or movement into ego's central path is demonstrated.", "Exact lateral clearance is not measurable from these images."], "_binding_sha256": "e82a43b4f3dab4a82d4a1e9921d376d730b1057a23b32433f09b45b3b78e582b", "_request": "requests/57a6271444a065e7669292e6361fc2a1-136/discovery-001"}, "review": {"verdict": "needs_review", "grounding_score": 0.8, "reason": "The roadway pedestrian and parked-vehicle occlusion are supported, but a nonroutine conflict or required leftward maneuver is not established at t<=0. Later views show movement around the pickup toward its roadway side, not a demonstrated crossing of ego's central path; the recorded stop alone cannot establish causality.", "corrected_annotation": "One person is on the asphalt at the right road edge between a parked white SUV and gray pickup, while another is on the grass. Without the roadway pedestrian, ego could proceed cautiously subject to parked-car clearance and limited curbside visibility; the exposed person instead warrants slowing before drawing alongside and verifying additional separation. Stop if safe clearance cannot be established, rather than assuming a leftward bypass is safe.", "corrected_title": "Road-edge pedestrian beside parked vehicles", "corrected_current_situation": "Ego is moving at approximately 3.262 m/s on an unmarked residential street with vehicles parked on both sides. A person is visible on the right asphalt margin between a white SUV and gray pickup, with another on the adjacent grass; the SUV partially obscures the curbside area. No crossing of the central roadway is demonstrated.", "corrected_baseline_decision": "Without the person on the asphalt, continue cautiously only while clearance from parked vehicles and available sightlines remain adequate, slowing for obscured curbside gaps as needed.", "corrected_decision_changing_cue": "A visible person occupies the asphalt margin in the upcoming right-side passing area.", "corrected_causal_mechanism": "The exposed person adds a clearance constraint beyond the parked vehicles and makes their movement relevant before passing. Slow to assess separation, and stop if it is insufficient; any lateral adjustment requires checking the remaining roadway.", "corrected_expected_action": "slow_down", "corrected_camera_evidence": [{"camera": "front", "t_s": -2, "detail": "Vehicles line both curbs; the white SUV ahead on the right obscures part of the curbside area beyond it."}, {"camera": "front", "t_s": -1, "detail": "The white SUV and gray pickup are ahead along the right curb, with the intervening curbside area only partly visible."}, {"camera": "front", "t_s": 0, "detail": "One person is on the asphalt near the right curb between the white SUV and gray pickup; another is on the grass. No person occupies the central roadway."}, {"camera": "front_left", "t_s": 0, "detail": "Houses, sidewalks and driveways are visible, including a pickup in a driveway; no nearby pedestrian is visible."}, {"camera": "front_right", "t_s": 0, "detail": "The parked white SUV fills the foreground and blocks portions of the right curbside view beyond it."}, {"camera": "side_left", "t_s": 0, "detail": "A dark sedan occupies the lower foreground beside the left curb, with lawn and houses beyond."}, {"camera": "side_right", "t_s": 0, "detail": "Mailboxes, bins and a red pickup in a driveway are visible; no person is visibly entering the road."}, {"camera": "rear_left", "t_s": 0, "detail": "Residential driveways and cars are visible, with part of a dark sedan in the foreground; no additional pedestrian interaction is visible."}, {"camera": "rear", "t_s": 0, "detail": "A brown pickup and white utility pickup flank the roadway behind; the visible central rear roadway is unoccupied."}, {"camera": "rear_right", "t_s": 0, "detail": "A dark SUV is in a driveway beside a house, without a visible roadway interaction."}], "remaining_uncertainties": ["The pedestrian's direction and subsequent movement cannot be reliably established from t<=0.", "Exact passing clearance and the need for a lateral adjustment are not measurable.", "It remains unclear whether this is nonroutine rather than ordinary roadside pedestrian activity.", "The reason for the recorded stop is not independently established."], "motion_consistency": "consistent", "recorded_motion_explanation": "Ego slows to an effective stop around 2–3 s, then resumes forward motion. Lateral displacement stays within approximately 0.022 m to the right, so no leftward clearance maneuver is recorded. This is compatible with the corrected slowing recommendation but does not prove pedestrian-induced braking. Strong braking is not supported: minimum 1 s acceleration is -1.585 m/s² despite a 3.237 m/s speed drop.", "unsupported_details": ["Ordinary passing clearance is definitively insufficient.", "A leftward offset is necessary and safely available.", "The pedestrian causes the recorded stop.", "The interaction is established as long-tail merely by roadside pedestrian presence."], "_binding_sha256": "845497f763eb912770595a69230d91ca1ebf397a7f1ec300a4969f891edc9dd8", "_request": "requests/57a6271444a065e7669292e6361fc2a1-136/review-001"}, "status": "needs_review", "annotation": "One person is on the asphalt at the right road edge between a parked white SUV and gray pickup, while another is on the grass. Without the roadway pedestrian, ego could proceed cautiously subject to parked-car clearance and limited curbside visibility; the exposed person instead warrants slowing before drawing alongside and verifying additional separation. Stop if safe clearance cannot be established, rather than assuming a leftward bypass is safe.", "selected": false}
{"id": "38abb0d354833b6b4ba4f6078bdb617d-164", "scenario_id": "38abb0d354833b6b4ba4f6078bdb617d", "split": "train", "batch_index": 81, "source_manifest_line": 82, "intent": "GO_STRAIGHT", "anchor_frame": 164, "motion": {"current_speed_mps": 0.0, "future_xy_m": [[0.00286865234375, -0.000244140625], [0.02691650390625, -0.00048828125], [0.109710693359375, -0.0015869140625], [0.30120849609375, -0.0045166015625], [0.609619140625, -0.0098876953125], [1.033050537109375, -0.0191650390625], [1.550628662109375, -0.03271484375], [2.13092041015625, -0.053466796875], [2.788360595703125, -0.0863037109375], [3.5150146484375, -0.1324462890625], [4.28985595703125, -0.1895751953125], [5.094146728515625, -0.2628173828125], [5.919952392578125, -0.353759765625], [6.764556884765625, -0.468017578125], [7.628143310546875, -0.620849609375], [8.52447509765625, -0.8284912109375], [9.450408935546875, -1.1038818359375], [10.38470458984375, -1.45458984375], [11.310028076171875, -1.888671875], [12.204986572265625, -2.4176025390625]], "future_hz": 4, "speed_windows": [{"t_s": 0.5, "speed_mps": 0.301}, {"t_s": 1.5, "speed_mps": 1.83}, {"t_s": 2.5, "speed_mps": 2.971}, {"t_s": 3.5, "speed_mps": 3.48}, {"t_s": 4.5, "speed_mps": 4.026}], "minimum_1s_acceleration_mps2": 0.509, "maximum_speed_drop_mps": 0.0, "recorded_response": "start_moving", "method": "4 Hz trajectory path length; 1 s mean speeds; differences of adjacent 1 s means. Recorded response is descriptive, not a causal label."}, "frames": [{"t_s": 0.0, "source_frame": 164, "images": {"front_left": "images/38abb0d354833b6b4ba4f6078bdb617d-164/+000_front_left.webp", "front": "images/38abb0d354833b6b4ba4f6078bdb617d-164/+000_front.webp", "front_right": "images/38abb0d354833b6b4ba4f6078bdb617d-164/+000_front_right.webp", "side_left": "images/38abb0d354833b6b4ba4f6078bdb617d-164/+000_side_left.webp", "side_right": "images/38abb0d354833b6b4ba4f6078bdb617d-164/+000_side_right.webp", "rear_left": "images/38abb0d354833b6b4ba4f6078bdb617d-164/+000_rear_left.webp", "rear": "images/38abb0d354833b6b4ba4f6078bdb617d-164/+000_rear.webp", "rear_right": "images/38abb0d354833b6b4ba4f6078bdb617d-164/+000_rear_right.webp"}}], "camera_count": 8, "available_source_times_s": [-2.0, -1.0, 0.0, 1.0, 2.0, 3.0, 4.0, 5.0], "camera_scope": "current_only", "label": {"title": "Routine Green-Light Departure", "category": "routine", "tags": ["green signal", "stationary ego", "sidewalk pedestrians"], "current_situation": "Ego is stationary before a marked crosswalk with a GO_STRAIGHT route. The forward signal is green at -1 and 0 seconds, and no actor visibly occupies the straight-ahead crossing path. Pedestrians progress along the left and right sidewalks without visible roadway entry. A dark SUV beside the right-hand crosswalk remains in approximately the same position throughout the history; poles partly obscure it, and sunlight produces glare in that view.", "baseline_decision": "After checking that the crosswalk and intersection are clear, accelerate smoothly from rest and proceed straight on green, maintaining the current lane.", "decision_changing_cue": "No visible nonroutine cue materially changes that departure decision. The sidewalk pedestrians and stationary vehicle to the right do not visibly intersect ego's straight-ahead path.", "causal_mechanism": "The green signal supports departure, while the observed actors remain outside the visible through path. They warrant ordinary clearance checks, not an additional stop or evasive maneuver.", "expected_action": "accelerate", "decision_deviation": false, "annotation": "Ego is stationary before a marked crosswalk under a green signal, with pedestrians walking along the side sidewalks and no visible actor occupying the straight-ahead path. The normal departure remains appropriate: confirm crossing clearance, then accelerate smoothly straight ahead without a lane change.", "interest_score": 28, "confidence": 0.9, "selection_reason": "Reject as a long-tail candidate: this is a routine green-light departure with no supported unusual conflict, obstruction of the route, or material plan change.", "camera_evidence": [{"camera": "front", "t_s": -1, "detail": "The forward-facing signal is green; the foreground crosswalk has no visible crossing actor."}, {"camera": "front", "t_s": 0, "detail": "Green signal, marked crosswalk, KEEP CLEAR lettering, and an unobstructed visible through path between curbside vehicles."}, {"camera": "front_left", "t_s": 0, "detail": "The left portion of the intersection and marked crossing are visible; cars and a motorcycle are beside the far curb, outside ego's straight-ahead path."}, {"camera": "front_right", "t_s": -2, "detail": "A dark SUV is beside the right-hand crossing, with parts of the vehicle hidden by foreground poles."}, {"camera": "front_right", "t_s": 0, "detail": "The SUV remains in approximately the same position; poles and a tree interrupt the view, and sunlight creates glare."}, {"camera": "side_left", "t_s": -2, "detail": "A pedestrian is on the sidewalk beside the building, behind the curbside bollards."}, {"camera": "side_left", "t_s": 0, "detail": "The pedestrian has progressed rightward along the sidewalk toward the gate, without visible roadway entry."}, {"camera": "side_right", "t_s": 0, "detail": "The immediate view shows the building wall and sidewalk; part of a carried bag appears at the lower-right edge."}, {"camera": "rear_left", "t_s": 0, "detail": "A mural-fronted building, trees, sidewalk, and curbside bollards are visible, with no actor entering the roadway."}, {"camera": "rear", "t_s": 0, "detail": "A delivery truck is along the right side of the road behind ego; no immediate rear conflict is visible."}, {"camera": "rear_right", "t_s": -2, "detail": "A pedestrian carrying bags is on the sidewalk beside a curbside sedan."}, {"camera": "rear_right", "t_s": 0, "detail": "The pedestrian has moved leftward in the image along the sidewalk and remains outside the roadway."}], "uncertainties": ["The right-side SUV's intended maneuver is unknown; the available history does not show meaningful displacement.", "Sidewalk pedestrians' future crossing intentions cannot be established.", "Poles and glare limit inspection of portions of the right-hand approach."]}, "discovery_label": {"title": "Routine Green-Light Departure", "category": "routine", "tags": ["green signal", "stationary ego", "sidewalk pedestrians"], "current_situation": "Ego is stationary before a marked crosswalk with a GO_STRAIGHT route. The forward signal is green at -1 and 0 seconds, and no actor visibly occupies the straight-ahead crossing path. Pedestrians progress along the left and right sidewalks without visible roadway entry. A dark SUV beside the right-hand crosswalk remains in approximately the same position throughout the history; poles partly obscure it, and sunlight produces glare in that view.", "baseline_decision": "After checking that the crosswalk and intersection are clear, accelerate smoothly from rest and proceed straight on green, maintaining the current lane.", "decision_changing_cue": "No visible nonroutine cue materially changes that departure decision. The sidewalk pedestrians and stationary vehicle to the right do not visibly intersect ego's straight-ahead path.", "causal_mechanism": "The green signal supports departure, while the observed actors remain outside the visible through path. They warrant ordinary clearance checks, not an additional stop or evasive maneuver.", "expected_action": "accelerate", "decision_deviation": false, "annotation": "Ego is stationary before a marked crosswalk under a green signal, with pedestrians walking along the side sidewalks and no visible actor occupying the straight-ahead path. The normal departure remains appropriate: confirm crossing clearance, then accelerate smoothly straight ahead without a lane change.", "interest_score": 28, "confidence": 0.9, "selection_reason": "Reject as a long-tail candidate: this is a routine green-light departure with no supported unusual conflict, obstruction of the route, or material plan change.", "camera_evidence": [{"camera": "front", "t_s": -1, "detail": "The forward-facing signal is green; the foreground crosswalk has no visible crossing actor."}, {"camera": "front", "t_s": 0, "detail": "Green signal, marked crosswalk, KEEP CLEAR lettering, and an unobstructed visible through path between curbside vehicles."}, {"camera": "front_left", "t_s": 0, "detail": "The left portion of the intersection and marked crossing are visible; cars and a motorcycle are beside the far curb, outside ego's straight-ahead path."}, {"camera": "front_right", "t_s": -2, "detail": "A dark SUV is beside the right-hand crossing, with parts of the vehicle hidden by foreground poles."}, {"camera": "front_right", "t_s": 0, "detail": "The SUV remains in approximately the same position; poles and a tree interrupt the view, and sunlight creates glare."}, {"camera": "side_left", "t_s": -2, "detail": "A pedestrian is on the sidewalk beside the building, behind the curbside bollards."}, {"camera": "side_left", "t_s": 0, "detail": "The pedestrian has progressed rightward along the sidewalk toward the gate, without visible roadway entry."}, {"camera": "side_right", "t_s": 0, "detail": "The immediate view shows the building wall and sidewalk; part of a carried bag appears at the lower-right edge."}, {"camera": "rear_left", "t_s": 0, "detail": "A mural-fronted building, trees, sidewalk, and curbside bollards are visible, with no actor entering the roadway."}, {"camera": "rear", "t_s": 0, "detail": "A delivery truck is along the right side of the road behind ego; no immediate rear conflict is visible."}, {"camera": "rear_right", "t_s": -2, "detail": "A pedestrian carrying bags is on the sidewalk beside a curbside sedan."}, {"camera": "rear_right", "t_s": 0, "detail": "The pedestrian has moved leftward in the image along the sidewalk and remains outside the roadway."}], "uncertainties": ["The right-side SUV's intended maneuver is unknown; the available history does not show meaningful displacement.", "Sidewalk pedestrians' future crossing intentions cannot be established.", "Poles and glare limit inspection of portions of the right-hand approach."], "_binding_sha256": "ea03be2a49e2bb89d8d7211dfe7c6e1b6e106ef1499c83da3bb98b76298c5db9", "_request": "requests/38abb0d354833b6b4ba4f6078bdb617d-164/discovery-001"}, "review": null, "status": "dismissed", "annotation": "Ego is stationary before a marked crosswalk under a green signal, with pedestrians walking along the side sidewalks and no visible actor occupying the straight-ahead path. The normal departure remains appropriate: confirm crossing clearance, then accelerate smoothly straight ahead without a lane change.", "selected": false}
{"id": "67e48b2418513be729659cf32babeed8-070", "scenario_id": "67e48b2418513be729659cf32babeed8", "split": "train", "batch_index": 82, "source_manifest_line": 83, "intent": "GO_LEFT", "anchor_frame": 70, "motion": {"current_speed_mps": 0.0, "future_xy_m": [[0.0, -3.0517578125e-05], [-3.814697265625e-06, -3.0517578125e-05], [0.0, -3.0517578125e-05], [-3.814697265625e-06, -3.0517578125e-05], [-3.814697265625e-06, -3.0517578125e-05], [0.0, -3.0517578125e-05], [0.0, 3.0517578125e-05], [0.0, 3.0517578125e-05], [0.0, 3.0517578125e-05], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [3.814697265625e-06, 3.0517578125e-05], [2.6702880859375e-05, 9.1552734375e-05], [3.0517578125e-05, 9.1552734375e-05], [3.0517578125e-05, 6.103515625e-05], [3.0517578125e-05, 3.0517578125e-05], [2.6702880859375e-05, 6.103515625e-05], [3.0517578125e-05, 9.1552734375e-05]], "future_hz": 4, "speed_windows": [{"t_s": 0.5, "speed_mps": 0.0}, {"t_s": 1.5, "speed_mps": 0.0}, {"t_s": 2.5, "speed_mps": 0.0}, {"t_s": 3.5, "speed_mps": 0.0}, {"t_s": 4.5, "speed_mps": 0.0}], "minimum_1s_acceleration_mps2": -0.0, "maximum_speed_drop_mps": 0.0, "recorded_response": "remain_stopped", "method": "4 Hz trajectory path length; 1 s mean speeds; differences of adjacent 1 s means. Recorded response is descriptive, not a causal label."}, "frames": [{"t_s": 0.0, "source_frame": 70, "images": {"front_left": "images/67e48b2418513be729659cf32babeed8-070/+000_front_left.webp", "front": "images/67e48b2418513be729659cf32babeed8-070/+000_front.webp", "front_right": "images/67e48b2418513be729659cf32babeed8-070/+000_front_right.webp", "side_left": "images/67e48b2418513be729659cf32babeed8-070/+000_side_left.webp", "side_right": "images/67e48b2418513be729659cf32babeed8-070/+000_side_right.webp", "rear_left": "images/67e48b2418513be729659cf32babeed8-070/+000_rear_left.webp", "rear": "images/67e48b2418513be729659cf32babeed8-070/+000_rear.webp", "rear_right": "images/67e48b2418513be729659cf32babeed8-070/+000_rear_right.webp"}}], "camera_count": 8, "available_source_times_s": [-2.0, -1.0, 0.0, 1.0, 2.0, 3.0, 4.0, 5.0], "camera_scope": "current_only", "label": {"title": "Routine signal wait before left turn", "category": "routine", "tags": ["signal-controlled intersection", "left-turn intent", "cross traffic", "rail tracks"], "current_situation": "Ego is stationary before a marked crosswalk at a broad urban intersection with embedded rail tracks and overhead wires. A forward-facing signal shows red, and vehicles move right-to-left through the front-left view across the available history. A gray SUV remains alongside on the right; a nearby pedestrian is partly obscured by that SUV and a signal pole. Other pedestrians are visible at the far-right corner, with vehicles alongside and behind ego. Visibility is clear in daylight.", "baseline_decision": "Remain stopped before the crosswalk until the intended left turn is permitted, then check crossing traffic and the turn path before proceeding.", "decision_changing_cue": "No supported nonroutine cue changes that baseline. The red indication and passing cross traffic support an ordinary intersection wait; the partly obscured right-corner pedestrian is not visibly entering ego's left-turn path.", "causal_mechanism": "Entering now would conflict with the visible signal restriction and crossing traffic. These are routine reasons to continue waiting, not evidence of an exceptional interaction or an additional maneuver requirement.", "expected_action": "remain_stopped", "decision_deviation": false, "annotation": "Ego is stopped before a marked crosswalk at a signal-controlled intersection while cross traffic passes and a forward-facing signal shows red. Ego should remain stopped over the next few seconds, beginning the intended left turn only when permitted and the crossing lanes and turn path are clear.", "interest_score": 43, "confidence": 0.9, "selection_reason": "Reject as a long-tail candidate: all eight cameras show a routine signal wait, with no visible encroachment, obstruction, or unusual negotiation materially changing the left-turn plan.", "camera_evidence": [{"camera": "front_left", "t_s": -2, "detail": "A dark SUV is toward the right of the intersection view, with rail tracks visible across the foreground."}, {"camera": "front_left", "t_s": 0, "detail": "The dark SUV has moved leftward across the view, supporting right-to-left cross-traffic motion."}, {"camera": "front", "t_s": 0, "detail": "A marked crosswalk lies immediately ahead; a forward-facing signal displays red, and pedestrians are visible at the far-right corner."}, {"camera": "front_right", "t_s": 0, "detail": "A gray SUV occupies the adjacent foreground. A pedestrian near the corner is partly hidden by the SUV and signal pole; a turning-vehicles yield-to-pedestrians sign is visible."}, {"camera": "side_left", "t_s": -1, "detail": "A dark crossover is visible on the roadway beyond the rail tracks."}, {"camera": "side_left", "t_s": 0, "detail": "The previously visible crossover has left this view; the rail corridor and sidewalk remain visible without an evident obstruction."}, {"camera": "side_right", "t_s": 0, "detail": "The rear portion of the adjacent gray SUV is visible beside the curb and sidewalk."}, {"camera": "rear_left", "t_s": 0, "detail": "Vehicles are visible beyond the rail corridor; none visibly intrudes into ego's immediate space."}, {"camera": "rear", "t_s": 0, "detail": "A dark SUV is behind ego in the same lane, with no visible immediate conflict."}, {"camera": "rear_right", "t_s": 0, "detail": "A light-colored vehicle is alongside and behind on the right, with storefronts and parked vehicles beyond."}], "uncertainties": ["The precise left-turn signal configuration and future phase timing cannot be established confidently.", "The nearby right-corner pedestrian's lower body and exact trajectory are obscured.", "No observations after the anchor are available; future ego behavior is not recorded here."]}, "discovery_label": {"title": "Routine signal wait before left turn", "category": "routine", "tags": ["signal-controlled intersection", "left-turn intent", "cross traffic", "rail tracks"], "current_situation": "Ego is stationary before a marked crosswalk at a broad urban intersection with embedded rail tracks and overhead wires. A forward-facing signal shows red, and vehicles move right-to-left through the front-left view across the available history. A gray SUV remains alongside on the right; a nearby pedestrian is partly obscured by that SUV and a signal pole. Other pedestrians are visible at the far-right corner, with vehicles alongside and behind ego. Visibility is clear in daylight.", "baseline_decision": "Remain stopped before the crosswalk until the intended left turn is permitted, then check crossing traffic and the turn path before proceeding.", "decision_changing_cue": "No supported nonroutine cue changes that baseline. The red indication and passing cross traffic support an ordinary intersection wait; the partly obscured right-corner pedestrian is not visibly entering ego's left-turn path.", "causal_mechanism": "Entering now would conflict with the visible signal restriction and crossing traffic. These are routine reasons to continue waiting, not evidence of an exceptional interaction or an additional maneuver requirement.", "expected_action": "remain_stopped", "decision_deviation": false, "annotation": "Ego is stopped before a marked crosswalk at a signal-controlled intersection while cross traffic passes and a forward-facing signal shows red. Ego should remain stopped over the next few seconds, beginning the intended left turn only when permitted and the crossing lanes and turn path are clear.", "interest_score": 43, "confidence": 0.9, "selection_reason": "Reject as a long-tail candidate: all eight cameras show a routine signal wait, with no visible encroachment, obstruction, or unusual negotiation materially changing the left-turn plan.", "camera_evidence": [{"camera": "front_left", "t_s": -2, "detail": "A dark SUV is toward the right of the intersection view, with rail tracks visible across the foreground."}, {"camera": "front_left", "t_s": 0, "detail": "The dark SUV has moved leftward across the view, supporting right-to-left cross-traffic motion."}, {"camera": "front", "t_s": 0, "detail": "A marked crosswalk lies immediately ahead; a forward-facing signal displays red, and pedestrians are visible at the far-right corner."}, {"camera": "front_right", "t_s": 0, "detail": "A gray SUV occupies the adjacent foreground. A pedestrian near the corner is partly hidden by the SUV and signal pole; a turning-vehicles yield-to-pedestrians sign is visible."}, {"camera": "side_left", "t_s": -1, "detail": "A dark crossover is visible on the roadway beyond the rail tracks."}, {"camera": "side_left", "t_s": 0, "detail": "The previously visible crossover has left this view; the rail corridor and sidewalk remain visible without an evident obstruction."}, {"camera": "side_right", "t_s": 0, "detail": "The rear portion of the adjacent gray SUV is visible beside the curb and sidewalk."}, {"camera": "rear_left", "t_s": 0, "detail": "Vehicles are visible beyond the rail corridor; none visibly intrudes into ego's immediate space."}, {"camera": "rear", "t_s": 0, "detail": "A dark SUV is behind ego in the same lane, with no visible immediate conflict."}, {"camera": "rear_right", "t_s": 0, "detail": "A light-colored vehicle is alongside and behind on the right, with storefronts and parked vehicles beyond."}], "uncertainties": ["The precise left-turn signal configuration and future phase timing cannot be established confidently.", "The nearby right-corner pedestrian's lower body and exact trajectory are obscured.", "No observations after the anchor are available; future ego behavior is not recorded here."], "_binding_sha256": "d28b5d4b89e28192af8093f178eabfa8dc590b2842c2eb05f50940e67f0ad2e6", "_request": "requests/67e48b2418513be729659cf32babeed8-070/discovery-001"}, "review": null, "status": "dismissed", "annotation": "Ego is stopped before a marked crosswalk at a signal-controlled intersection while cross traffic passes and a forward-facing signal shows red. Ego should remain stopped over the next few seconds, beginning the intended left turn only when permitted and the crossing lanes and turn path are clear.", "selected": false}
{"id": "f94f6851a876b298cad8a17944ef0bbb-222", "scenario_id": "f94f6851a876b298cad8a17944ef0bbb", "split": "train", "batch_index": 83, "source_manifest_line": 84, "intent": "GO_STRAIGHT", "anchor_frame": 222, "motion": {"current_speed_mps": 2.805, "future_xy_m": [[0.70703125, -0.000244140625], [1.4248046875, -0.0008544921875], [2.1533203125, -0.005615234375], [2.89501953125, -0.013427734375], [3.6484375, -0.0235595703125], [4.41943359375, -0.0374755859375], [5.20947265625, -0.056396484375], [6.01904296875, -0.0802001953125], [6.85693359375, -0.1094970703125], [7.720703125, -0.1446533203125], [8.609375, -0.185546875], [9.52099609375, -0.235595703125], [10.44677734375, -0.29296875], [11.39892578125, -0.35595703125], [12.36669921875, -0.4281005859375], [13.35107421875, -0.5079345703125], [14.3505859375, -0.594970703125], [15.357421875, -0.689208984375], [16.37890625, -0.7923583984375], [17.41015625, -0.9031982421875]], "future_hz": 4, "speed_windows": [{"t_s": 0.5, "speed_mps": 2.895}, {"t_s": 1.5, "speed_mps": 3.125}, {"t_s": 2.5, "speed_mps": 3.505}, {"t_s": 3.5, "speed_mps": 3.84}, {"t_s": 4.5, "speed_mps": 4.078}], "minimum_1s_acceleration_mps2": 0.23, "maximum_speed_drop_mps": 0.0, "recorded_response": "roughly_maintain_speed", "method": "4 Hz trajectory path length; 1 s mean speeds; differences of adjacent 1 s means. Recorded response is descriptive, not a causal label."}, "frames": [{"t_s": 0.0, "source_frame": 222, "images": {"front_left": "images/f94f6851a876b298cad8a17944ef0bbb-222/+000_front_left.webp", "front": "images/f94f6851a876b298cad8a17944ef0bbb-222/+000_front.webp", "front_right": "images/f94f6851a876b298cad8a17944ef0bbb-222/+000_front_right.webp", "side_left": "images/f94f6851a876b298cad8a17944ef0bbb-222/+000_side_left.webp", "side_right": "images/f94f6851a876b298cad8a17944ef0bbb-222/+000_side_right.webp", "rear_left": "images/f94f6851a876b298cad8a17944ef0bbb-222/+000_rear_left.webp", "rear": "images/f94f6851a876b298cad8a17944ef0bbb-222/+000_rear.webp", "rear_right": "images/f94f6851a876b298cad8a17944ef0bbb-222/+000_rear_right.webp"}}], "camera_count": 8, "available_source_times_s": [-2.0, -1.0, 0.0], "camera_scope": "current_only", "label": {"title": "Routine Clearance Past a Work Van", "category": "routine", "tags": ["narrow residential street", "parked vehicles", "work van"], "current_situation": "Ego is traveling straight at 2.805 m/s along an unmarked residential street lined with vehicles on both sides. A ladder-carrying work van occupies the right roadway edge beside a curbside gray sedan, while the central passage remains open. A stop sign is visible farther ahead. No pedestrian, cyclist, opening door, or vehicle entering ego's path is visible across the eight cameras.", "baseline_decision": "Continue straight at the existing low speed, maintaining ordinary clearance from parked vehicles and preparing to stop at the sign ahead.", "decision_changing_cue": "No material decision-changing cue is established. The work van narrows the available passage but does not visibly block it or move into ego's path.", "causal_mechanism": "The van and opposite parked vehicles require routine lateral clearance. Their presence does not establish a conflict requiring additional braking, yielding, or a route change during the next 0–5 seconds.", "expected_action": "maintain_speed", "decision_deviation": false, "annotation": "A ladder-carrying work van and vehicles parked opposite narrow the residential street, but the central passage remains open and a stop sign is visible farther ahead. Ego should continue straight at low speed with clearance from both sides and prepare to stop at the sign; no visible conflict requires an additional maneuver.", "interest_score": 35, "confidence": 0.87, "selection_reason": "Reject as a long-tail candidate: the visible constraint is ordinary parked-vehicle clearance, without a supported unusual interaction or substantial change to the straight-ahead plan.", "camera_evidence": [{"camera": "front", "t_s": -2, "detail": "The work van's rear is ahead on the right, with curbside vehicles opposite and an open passage between them."}, {"camera": "front", "t_s": -1, "detail": "The van and left-side white SUV appear larger as ego approaches; no lateral entry into the central passage is evident."}, {"camera": "front", "t_s": 0, "detail": "The unmarked central roadway remains open beyond the van, and a small stop sign is visible near the far end on the right."}, {"camera": "front_left", "t_s": 0, "detail": "A white SUV sits along the left curb beside the houses; no opening door or person entering the road is visible."}, {"camera": "front_right", "t_s": 0, "detail": "The work van carries roof-mounted ladders and sits toward the roadway beside a curbside gray sedan; no worker is visible."}, {"camera": "side_left", "t_s": 0, "detail": "A dark SUV, garages, and sidewalk are visible beside ego, without a visible pedestrian or driveway entry."}, {"camera": "side_right", "t_s": 0, "detail": "The gray sedan's rear and the residential sidewalk are visible; no person or opening door is apparent."}, {"camera": "rear_left", "t_s": 0, "detail": "A white sedan and dark SUV occupy the left curbside area behind ego."}, {"camera": "rear", "t_s": 0, "detail": "Vehicles line both sides of the street behind ego, with a blue car visible centrally farther back; no immediate rear conflict is evident."}, {"camera": "rear_right", "t_s": 0, "detail": "A white SUV is beside the right curb behind ego, with no visible movement into the roadway."}], "uncertainties": ["The images do not conclusively establish whether the work van is double-parked or its exact lateral clearance.", "Relative image motion does not establish independent motion of the van or the centrally visible rear vehicle.", "The distant stop sign's precise location and applicability are less clear than the nearby parked vehicles."]}, "discovery_label": {"title": "Routine Clearance Past a Work Van", "category": "routine", "tags": ["narrow residential street", "parked vehicles", "work van"], "current_situation": "Ego is traveling straight at 2.805 m/s along an unmarked residential street lined with vehicles on both sides. A ladder-carrying work van occupies the right roadway edge beside a curbside gray sedan, while the central passage remains open. A stop sign is visible farther ahead. No pedestrian, cyclist, opening door, or vehicle entering ego's path is visible across the eight cameras.", "baseline_decision": "Continue straight at the existing low speed, maintaining ordinary clearance from parked vehicles and preparing to stop at the sign ahead.", "decision_changing_cue": "No material decision-changing cue is established. The work van narrows the available passage but does not visibly block it or move into ego's path.", "causal_mechanism": "The van and opposite parked vehicles require routine lateral clearance. Their presence does not establish a conflict requiring additional braking, yielding, or a route change during the next 0–5 seconds.", "expected_action": "maintain_speed", "decision_deviation": false, "annotation": "A ladder-carrying work van and vehicles parked opposite narrow the residential street, but the central passage remains open and a stop sign is visible farther ahead. Ego should continue straight at low speed with clearance from both sides and prepare to stop at the sign; no visible conflict requires an additional maneuver.", "interest_score": 35, "confidence": 0.87, "selection_reason": "Reject as a long-tail candidate: the visible constraint is ordinary parked-vehicle clearance, without a supported unusual interaction or substantial change to the straight-ahead plan.", "camera_evidence": [{"camera": "front", "t_s": -2, "detail": "The work van's rear is ahead on the right, with curbside vehicles opposite and an open passage between them."}, {"camera": "front", "t_s": -1, "detail": "The van and left-side white SUV appear larger as ego approaches; no lateral entry into the central passage is evident."}, {"camera": "front", "t_s": 0, "detail": "The unmarked central roadway remains open beyond the van, and a small stop sign is visible near the far end on the right."}, {"camera": "front_left", "t_s": 0, "detail": "A white SUV sits along the left curb beside the houses; no opening door or person entering the road is visible."}, {"camera": "front_right", "t_s": 0, "detail": "The work van carries roof-mounted ladders and sits toward the roadway beside a curbside gray sedan; no worker is visible."}, {"camera": "side_left", "t_s": 0, "detail": "A dark SUV, garages, and sidewalk are visible beside ego, without a visible pedestrian or driveway entry."}, {"camera": "side_right", "t_s": 0, "detail": "The gray sedan's rear and the residential sidewalk are visible; no person or opening door is apparent."}, {"camera": "rear_left", "t_s": 0, "detail": "A white sedan and dark SUV occupy the left curbside area behind ego."}, {"camera": "rear", "t_s": 0, "detail": "Vehicles line both sides of the street behind ego, with a blue car visible centrally farther back; no immediate rear conflict is evident."}, {"camera": "rear_right", "t_s": 0, "detail": "A white SUV is beside the right curb behind ego, with no visible movement into the roadway."}], "uncertainties": ["The images do not conclusively establish whether the work van is double-parked or its exact lateral clearance.", "Relative image motion does not establish independent motion of the van or the centrally visible rear vehicle.", "The distant stop sign's precise location and applicability are less clear than the nearby parked vehicles."], "_binding_sha256": "16f0f30c8e5ae7ed982eeb92a5466c79c61a8a2644bbb98959797a577d9fef20", "_request": "requests/f94f6851a876b298cad8a17944ef0bbb-222/discovery-001"}, "review": null, "status": "dismissed", "annotation": "A ladder-carrying work van and vehicles parked opposite narrow the residential street, but the central passage remains open and a stop sign is visible farther ahead. Ego should continue straight at low speed with clearance from both sides and prepare to stop at the sign; no visible conflict requires an additional maneuver.", "selected": false}
{"id": "f91c1390c644dae7cc98356ca5bdc2d0-208", "scenario_id": "f91c1390c644dae7cc98356ca5bdc2d0", "split": "train", "batch_index": 84, "source_manifest_line": 85, "intent": "GO_STRAIGHT", "anchor_frame": 208, "motion": {"current_speed_mps": 10.017, "future_xy_m": [[2.531005859375, -0.00146484375], [5.08123779296875, 0.01025390625], [7.6529541015625, 0.0400390625], [10.2490234375, 0.0859375], [12.8648681640625, 0.14892578125], [15.49462890625, 0.2294921875], [18.12646484375, 0.333984375], [20.7679443359375, 0.45361328125], [23.4010009765625, 0.580078125], [26.0189208984375, 0.7119140625], [28.583251953125, 0.84912109375], [31.0672607421875, 0.98486328125], [33.450439453125, 1.119140625], [35.7471923828125, 1.25], [37.97509765625, 1.37939453125], [40.1302490234375, 1.5029296875], [42.197021484375, 1.62060546875], [44.15576171875, 1.7294921875], [45.98388671875, 1.830078125], [47.65576171875, 1.9208984375]], "future_hz": 4, "speed_windows": [{"t_s": 0.5, "speed_mps": 10.25}, {"t_s": 1.5, "speed_mps": 10.526}, {"t_s": 2.5, "speed_mps": 10.313}, {"t_s": 3.5, "speed_mps": 9.078}, {"t_s": 4.5, "speed_mps": 7.537}], "minimum_1s_acceleration_mps2": -1.541, "maximum_speed_drop_mps": 2.48, "recorded_response": "slow_down", "method": "4 Hz trajectory path length; 1 s mean speeds; differences of adjacent 1 s means. Recorded response is descriptive, not a causal label."}, "frames": [{"t_s": 0.0, "source_frame": 208, "images": {"front_left": "images/f91c1390c644dae7cc98356ca5bdc2d0-208/+000_front_left.webp", "front": "images/f91c1390c644dae7cc98356ca5bdc2d0-208/+000_front.webp", "front_right": "images/f91c1390c644dae7cc98356ca5bdc2d0-208/+000_front_right.webp", "side_left": "images/f91c1390c644dae7cc98356ca5bdc2d0-208/+000_side_left.webp", "side_right": "images/f91c1390c644dae7cc98356ca5bdc2d0-208/+000_side_right.webp", "rear_left": "images/f91c1390c644dae7cc98356ca5bdc2d0-208/+000_rear_left.webp", "rear": "images/f91c1390c644dae7cc98356ca5bdc2d0-208/+000_rear.webp", "rear_right": "images/f91c1390c644dae7cc98356ca5bdc2d0-208/+000_rear_right.webp"}}], "camera_count": 8, "available_source_times_s": [-2.0, -1.0, 0.0, 1.0, 2.0], "camera_scope": "current_only", "label": {"title": "Clear lane past parked large vehicles", "category": "routine", "tags": ["clear through lane", "curbside RVs", "rear-right mixer"], "current_situation": "Ego is traveling straight at 10.017 m/s beyond a marked intersection; the forward signal was green at t=-2. The straight roadway has yellow center markings and a clear ego lane. RVs, buses and cars line the curbs. A concrete mixer is rear-right and becomes farther behind across the observations, while a silver car remains behind ego. A cyclist is visible on the left cross street at t=-1, without a visible conflict with ego's current path. Daylight glare affects right-facing views but does not conceal the forward lane.", "baseline_decision": "Continue straight in the current lane at approximately the current speed, maintaining normal clearance from parked vehicles and observing upcoming controls.", "decision_changing_cue": "None established: the curbside large vehicles, cyclist on the cross street and rear-right mixer show no visible intrusion into ego's forward path.", "causal_mechanism": "The unusual vehicle appearances do not create a demonstrated obstruction or converging interaction. They therefore do not justify a material change from ordinary straight-ahead travel over the next 0-5 seconds.", "expected_action": "maintain_speed", "decision_deviation": false, "annotation": "Ego has cleared an intersection and has an open straight-ahead lane, with RVs and buses along the curbs and a concrete mixer behind-right. These vehicles do not visibly intrude into the travel lane, so ego should continue straight at approximately its current speed while maintaining normal curbside clearance.", "interest_score": 23, "confidence": 0.9, "selection_reason": "Reject as a long-tail candidate: all eight camera views show no specific current conflict requiring a different plan. Large parked vehicles and nearby rear traffic are not sufficient evidence of a nonroutine interaction.", "camera_evidence": [{"camera": "front", "t_s": -2, "detail": "The forward-facing overhead signal displays green above the marked crossing; a small raised island lies left of ego's through path."}, {"camera": "front", "t_s": 0, "detail": "The straight travel lane is unobstructed, with yellow center markings to the left and curbside vehicles to the right."}, {"camera": "front_left", "t_s": 0, "detail": "An RV and buses are aligned along the opposite curb, outside ego's travel lane."}, {"camera": "front_right", "t_s": 0, "detail": "A dark SUV, minivan and part of a sedan occupy the right curbside row; no visible door or vehicle projects into ego's lane."}, {"camera": "side_left", "t_s": -1, "detail": "A cyclist is visible on the left cross street near curbside cars, not in ego's forward lane."}, {"camera": "side_left", "t_s": 0, "detail": "A silver wagon and red SUV are aligned along the opposite curb; the passed intersection is at the left edge."}, {"camera": "side_right", "t_s": 0, "detail": "A curbside silver sedan, tree and utility cabinet are visible; sunlight brightens the upper-left portion of this view."}, {"camera": "rear_left", "t_s": 0, "detail": "The intersection and its marked crossings are behind ego, with several cars around the cross street."}, {"camera": "rear", "t_s": 0, "detail": "A silver car remains behind ego, with other traffic farther back and part of the mixer at the left image edge."}, {"camera": "rear_right", "t_s": 0, "detail": "The concrete mixer's cab is behind-right and occupies less of the view than at t=-2; no lateral intrusion is established."}], "uncertainties": ["Upcoming distant traffic-light states are not readable.", "The cyclist's exact trajectory cannot be resolved from the small cross-street views.", "Relative image movement does not establish the mixer's absolute speed or future maneuver."]}, "discovery_label": {"title": "Clear lane past parked large vehicles", "category": "routine", "tags": ["clear through lane", "curbside RVs", "rear-right mixer"], "current_situation": "Ego is traveling straight at 10.017 m/s beyond a marked intersection; the forward signal was green at t=-2. The straight roadway has yellow center markings and a clear ego lane. RVs, buses and cars line the curbs. A concrete mixer is rear-right and becomes farther behind across the observations, while a silver car remains behind ego. A cyclist is visible on the left cross street at t=-1, without a visible conflict with ego's current path. Daylight glare affects right-facing views but does not conceal the forward lane.", "baseline_decision": "Continue straight in the current lane at approximately the current speed, maintaining normal clearance from parked vehicles and observing upcoming controls.", "decision_changing_cue": "None established: the curbside large vehicles, cyclist on the cross street and rear-right mixer show no visible intrusion into ego's forward path.", "causal_mechanism": "The unusual vehicle appearances do not create a demonstrated obstruction or converging interaction. They therefore do not justify a material change from ordinary straight-ahead travel over the next 0-5 seconds.", "expected_action": "maintain_speed", "decision_deviation": false, "annotation": "Ego has cleared an intersection and has an open straight-ahead lane, with RVs and buses along the curbs and a concrete mixer behind-right. These vehicles do not visibly intrude into the travel lane, so ego should continue straight at approximately its current speed while maintaining normal curbside clearance.", "interest_score": 23, "confidence": 0.9, "selection_reason": "Reject as a long-tail candidate: all eight camera views show no specific current conflict requiring a different plan. Large parked vehicles and nearby rear traffic are not sufficient evidence of a nonroutine interaction.", "camera_evidence": [{"camera": "front", "t_s": -2, "detail": "The forward-facing overhead signal displays green above the marked crossing; a small raised island lies left of ego's through path."}, {"camera": "front", "t_s": 0, "detail": "The straight travel lane is unobstructed, with yellow center markings to the left and curbside vehicles to the right."}, {"camera": "front_left", "t_s": 0, "detail": "An RV and buses are aligned along the opposite curb, outside ego's travel lane."}, {"camera": "front_right", "t_s": 0, "detail": "A dark SUV, minivan and part of a sedan occupy the right curbside row; no visible door or vehicle projects into ego's lane."}, {"camera": "side_left", "t_s": -1, "detail": "A cyclist is visible on the left cross street near curbside cars, not in ego's forward lane."}, {"camera": "side_left", "t_s": 0, "detail": "A silver wagon and red SUV are aligned along the opposite curb; the passed intersection is at the left edge."}, {"camera": "side_right", "t_s": 0, "detail": "A curbside silver sedan, tree and utility cabinet are visible; sunlight brightens the upper-left portion of this view."}, {"camera": "rear_left", "t_s": 0, "detail": "The intersection and its marked crossings are behind ego, with several cars around the cross street."}, {"camera": "rear", "t_s": 0, "detail": "A silver car remains behind ego, with other traffic farther back and part of the mixer at the left image edge."}, {"camera": "rear_right", "t_s": 0, "detail": "The concrete mixer's cab is behind-right and occupies less of the view than at t=-2; no lateral intrusion is established."}], "uncertainties": ["Upcoming distant traffic-light states are not readable.", "The cyclist's exact trajectory cannot be resolved from the small cross-street views.", "Relative image movement does not establish the mixer's absolute speed or future maneuver."], "_binding_sha256": "87585b97292b6e9e0c23fce3e296b727b2527fe084f5fed01e757f5bcb0f8fad", "_request": "requests/f91c1390c644dae7cc98356ca5bdc2d0-208/discovery-001"}, "review": null, "status": "dismissed", "annotation": "Ego has cleared an intersection and has an open straight-ahead lane, with RVs and buses along the curbs and a concrete mixer behind-right. These vehicles do not visibly intrude into the travel lane, so ego should continue straight at approximately its current speed while maintaining normal curbside clearance.", "selected": false}
{"id": "2346c426dda7893ca2973ca49a126bb3-115", "scenario_id": "2346c426dda7893ca2973ca49a126bb3", "split": "train", "batch_index": 85, "source_manifest_line": 86, "intent": "GO_STRAIGHT", "anchor_frame": 115, "motion": {"current_speed_mps": 0.389, "future_xy_m": [[0.08642578125, -0.0009765625], [0.15380859375, -0.0009765625], [0.2060546875, -0.00146484375], [0.242431640625, -0.00146484375], [0.2607421875, -0.00146484375], [0.259521484375, -0.00146484375], [0.259765625, -0.0009765625], [0.259033203125, -0.0009765625], [0.259033203125, -0.0009765625], [0.259033203125, -0.00048828125], [0.259033203125, -0.00048828125], [0.259033203125, -0.00048828125], [0.259033203125, -0.00048828125], [0.259033203125, -0.00048828125], [0.259033203125, -0.00048828125], [0.259033203125, -0.00048828125], [0.259033203125, -0.00048828125], [0.260498046875, -0.00048828125], [0.281494140625, -0.00048828125], [0.354736328125, -0.00146484375]], "future_hz": 4, "speed_windows": [{"t_s": 0.5, "speed_mps": 0.242}, {"t_s": 1.5, "speed_mps": 0.021}, {"t_s": 2.5, "speed_mps": 0.0}, {"t_s": 3.5, "speed_mps": 0.0}, {"t_s": 4.5, "speed_mps": 0.096}], "minimum_1s_acceleration_mps2": -0.222, "maximum_speed_drop_mps": 0.389, "recorded_response": "remain_stopped", "method": "4 Hz trajectory path length; 1 s mean speeds; differences of adjacent 1 s means. Recorded response is descriptive, not a causal label."}, "frames": [{"t_s": 0.0, "source_frame": 115, "images": {"front_left": "images/2346c426dda7893ca2973ca49a126bb3-115/+000_front_left.webp", "front": "images/2346c426dda7893ca2973ca49a126bb3-115/+000_front.webp", "front_right": "images/2346c426dda7893ca2973ca49a126bb3-115/+000_front_right.webp", "side_left": "images/2346c426dda7893ca2973ca49a126bb3-115/+000_side_left.webp", "side_right": "images/2346c426dda7893ca2973ca49a126bb3-115/+000_side_right.webp", "rear_left": "images/2346c426dda7893ca2973ca49a126bb3-115/+000_rear_left.webp", "rear": "images/2346c426dda7893ca2973ca49a126bb3-115/+000_rear.webp", "rear_right": "images/2346c426dda7893ca2973ca49a126bb3-115/+000_rear_right.webp"}}], "camera_count": 8, "available_source_times_s": [-2.0, -1.0, 0.0, 1.0, 2.0, 3.0, 4.0, 5.0], "camera_scope": "current_only", "label": {"title": "Red-light stop beside temporary channelization", "category": "routine", "tags": ["red signal", "temporary delineators", "cross traffic"], "current_situation": "Ego intends to go straight and is moving at 0.389 m/s toward an intersection with red signals facing its approach. A silver vehicle moves leftward across the junction over the observed history. Temporary striped delineators border the approach, with a left-turn-only sign to ego's left and a temporary stop-position sign on the right corner. Streetlights illuminate the roadway, but surrounding areas have limited detail. No visible actor or barrier blocks the straight-through path.", "baseline_decision": "Even without the temporary channelization, smoothly complete a stop before entering the intersection and wait for a permissive signal for the straight route.", "decision_changing_cue": "No additional material cue is established. The temporary delineators and roadside signs do not visibly require a maneuver beyond the existing red-light stop.", "causal_mechanism": "The red signal already prohibits entering the junction. The visible channelization adds boundaries to monitor but does not change the immediate longitudinal decision or establish a need for lateral avoidance.", "expected_action": "stop", "decision_deviation": false, "annotation": "Ego is creeping toward red signals at an intersection bordered by temporary striped delineators, while a silver vehicle has moved leftward across the junction. Complete a smooth stop now and wait in the straight-through approach; the visible channelization does not require an additional evasive maneuver.", "interest_score": 44, "confidence": 0.89, "selection_reason": "Reject as a long-tail candidate: the immediate decision is an ordinary red-light stop, and no specific work-zone obstruction or unusual interaction materially changes that baseline.", "camera_evidence": [{"camera": "front", "t_s": -2, "detail": "Red signals face ego, and a silver vehicle is crossing the junction."}, {"camera": "front_left", "t_s": -1, "detail": "The silver vehicle is farther left than at -2 seconds, supporting leftward crossing motion."}, {"camera": "front_left", "t_s": 0, "detail": "The silver vehicle is near the far-left side of the junction; striped delineators and a temporary left-turn-only sign stand to ego's left."}, {"camera": "front", "t_s": 0, "detail": "Signals facing the approach remain red. A vehicle with headlights is visible across the intersection, and no barrier spans the visible forward path."}, {"camera": "front_right", "t_s": 0, "detail": "The right corner has a sidewalk, fence, and flagged temporary stop-position sign; no actor is visibly entering the roadway there."}, {"camera": "side_left", "t_s": 0, "detail": "A low building and fenced parking area are visible beside the intersection, with no visible lateral conflict."}, {"camera": "side_right", "t_s": 0, "detail": "A sidewalk runs beside a low wall and metal fence; no nearby roadway actor is visible."}, {"camera": "rear_left", "t_s": 0, "detail": "Striped delineators stand beside the roadway, and an RV is parked in an adjacent lot."}, {"camera": "rear", "t_s": 0, "detail": "A sequence of illuminated delineators extends along the approach behind ego; no close following vehicle is visible."}, {"camera": "rear_right", "t_s": 0, "detail": "A small upright figure and dark objects are visible on the sidewalk beside the fence, without visible roadway entry."}], "uncertainties": ["The exact temporary lane layout and stop-line position are not fully resolved.", "The rear-right figure's identity and motion are unclear at mosaic resolution.", "No future signal change or actor movement is available beyond t=0."]}, "discovery_label": {"title": "Red-light stop beside temporary channelization", "category": "routine", "tags": ["red signal", "temporary delineators", "cross traffic"], "current_situation": "Ego intends to go straight and is moving at 0.389 m/s toward an intersection with red signals facing its approach. A silver vehicle moves leftward across the junction over the observed history. Temporary striped delineators border the approach, with a left-turn-only sign to ego's left and a temporary stop-position sign on the right corner. Streetlights illuminate the roadway, but surrounding areas have limited detail. No visible actor or barrier blocks the straight-through path.", "baseline_decision": "Even without the temporary channelization, smoothly complete a stop before entering the intersection and wait for a permissive signal for the straight route.", "decision_changing_cue": "No additional material cue is established. The temporary delineators and roadside signs do not visibly require a maneuver beyond the existing red-light stop.", "causal_mechanism": "The red signal already prohibits entering the junction. The visible channelization adds boundaries to monitor but does not change the immediate longitudinal decision or establish a need for lateral avoidance.", "expected_action": "stop", "decision_deviation": false, "annotation": "Ego is creeping toward red signals at an intersection bordered by temporary striped delineators, while a silver vehicle has moved leftward across the junction. Complete a smooth stop now and wait in the straight-through approach; the visible channelization does not require an additional evasive maneuver.", "interest_score": 44, "confidence": 0.89, "selection_reason": "Reject as a long-tail candidate: the immediate decision is an ordinary red-light stop, and no specific work-zone obstruction or unusual interaction materially changes that baseline.", "camera_evidence": [{"camera": "front", "t_s": -2, "detail": "Red signals face ego, and a silver vehicle is crossing the junction."}, {"camera": "front_left", "t_s": -1, "detail": "The silver vehicle is farther left than at -2 seconds, supporting leftward crossing motion."}, {"camera": "front_left", "t_s": 0, "detail": "The silver vehicle is near the far-left side of the junction; striped delineators and a temporary left-turn-only sign stand to ego's left."}, {"camera": "front", "t_s": 0, "detail": "Signals facing the approach remain red. A vehicle with headlights is visible across the intersection, and no barrier spans the visible forward path."}, {"camera": "front_right", "t_s": 0, "detail": "The right corner has a sidewalk, fence, and flagged temporary stop-position sign; no actor is visibly entering the roadway there."}, {"camera": "side_left", "t_s": 0, "detail": "A low building and fenced parking area are visible beside the intersection, with no visible lateral conflict."}, {"camera": "side_right", "t_s": 0, "detail": "A sidewalk runs beside a low wall and metal fence; no nearby roadway actor is visible."}, {"camera": "rear_left", "t_s": 0, "detail": "Striped delineators stand beside the roadway, and an RV is parked in an adjacent lot."}, {"camera": "rear", "t_s": 0, "detail": "A sequence of illuminated delineators extends along the approach behind ego; no close following vehicle is visible."}, {"camera": "rear_right", "t_s": 0, "detail": "A small upright figure and dark objects are visible on the sidewalk beside the fence, without visible roadway entry."}], "uncertainties": ["The exact temporary lane layout and stop-line position are not fully resolved.", "The rear-right figure's identity and motion are unclear at mosaic resolution.", "No future signal change or actor movement is available beyond t=0."], "_binding_sha256": "a59e0b3f84a541b5bd3b22a4b98815f59f1c23b1443df699916b0bc5e18d9be1", "_request": "requests/2346c426dda7893ca2973ca49a126bb3-115/discovery-001"}, "review": null, "status": "dismissed", "annotation": "Ego is creeping toward red signals at an intersection bordered by temporary striped delineators, while a silver vehicle has moved leftward across the junction. Complete a smooth stop now and wait in the straight-through approach; the visible channelization does not require an additional evasive maneuver.", "selected": false}
{"id": "633acd4421856b5f46c775bd53d4502a-184", "scenario_id": "633acd4421856b5f46c775bd53d4502a", "split": "train", "batch_index": 86, "source_manifest_line": 87, "intent": "GO_STRAIGHT", "anchor_frame": 184, "motion": {"current_speed_mps": 9.131, "future_xy_m": [[2.2457275390625, -0.00152587890625], [4.4151611328125, -0.003173828125], [6.5067138671875, -0.00439453125], [8.5191650390625, -0.0057373046875], [10.4476318359375, -0.007080078125], [12.2916259765625, -0.00848388671875], [14.050537109375, -0.010498046875], [15.72509765625, -0.012451171875], [17.315185546875, -0.01409912109375], [18.8204345703125, -0.01690673828125], [20.240966796875, -0.01861572265625], [21.5816650390625, -0.02252197265625], [22.8416748046875, -0.02435302734375], [24.0218505859375, -0.0242919921875], [25.1229248046875, -0.0235595703125], [26.1468505859375, -0.0242919921875], [27.0950927734375, -0.02545166015625], [27.9835205078125, -0.02496337890625], [28.8314208984375, -0.0223388671875], [29.6441650390625, -0.0186767578125]], "future_hz": 4, "speed_windows": [{"t_s": 0.5, "speed_mps": 8.519}, {"t_s": 1.5, "speed_mps": 7.206}, {"t_s": 2.5, "speed_mps": 5.857}, {"t_s": 3.5, "speed_mps": 4.565}, {"t_s": 4.5, "speed_mps": 3.497}], "minimum_1s_acceleration_mps2": -1.349, "maximum_speed_drop_mps": 5.633, "recorded_response": "slow_down", "method": "4 Hz trajectory path length; 1 s mean speeds; differences of adjacent 1 s means. Recorded response is descriptive, not a causal label."}, "frames": [{"t_s": 0.0, "source_frame": 184, "images": {"front_left": "images/633acd4421856b5f46c775bd53d4502a-184/+000_front_left.webp", "front": "images/633acd4421856b5f46c775bd53d4502a-184/+000_front.webp", "front_right": "images/633acd4421856b5f46c775bd53d4502a-184/+000_front_right.webp", "side_left": "images/633acd4421856b5f46c775bd53d4502a-184/+000_side_left.webp", "side_right": "images/633acd4421856b5f46c775bd53d4502a-184/+000_side_right.webp", "rear_left": "images/633acd4421856b5f46c775bd53d4502a-184/+000_rear_left.webp", "rear": "images/633acd4421856b5f46c775bd53d4502a-184/+000_rear.webp", "rear_right": "images/633acd4421856b5f46c775bd53d4502a-184/+000_rear_right.webp"}}], "camera_count": 8, "available_source_times_s": [-2.0, -1.0, 0.0, 1.0, 2.0, 3.0, 4.0], "camera_scope": "current_only", "label": {"title": "Work-zone channel beside a rail platform", "category": "work_zone", "tags": ["keep-left channelization", "rail platform", "signalized approach"], "current_situation": "Ego is traveling straight beside a raised rail platform on the left. Orange-striped delineators and KEEP LEFT signs occupy the roadway to the right, while ego's current lane remains visibly open toward a signalized intersection. A STREET CLOSED AHEAD sign is visible on the right in earlier frames. People visible on the left platform and previously behind ego on the right sidewalk show no established entry into ego's path. Side and rear views show station structures, parking access, parked vehicles, and a distant vehicle behind.", "baseline_decision": "Approach the intersection straight in the current lane, adjusting speed and stopping as required by the governing signal.", "decision_changing_cue": "The right-side delineators and KEEP LEFT signs constrain available road space, but do not visibly force ego out of its existing lane.", "causal_mechanism": "The channelization requires clearance from temporary devices and rules out drifting right. Because the straight-ahead lane remains open, it does not establish a material change beyond controlled approach speed and ordinary signal compliance.", "expected_action": "slow_down", "decision_deviation": false, "annotation": "Orange-striped delineators and KEEP LEFT signs channel traffic beside a raised rail platform, leaving ego's straight-ahead lane open. Ego would otherwise approach the signalized intersection in this same lane; it should preserve clearance from the markers and slow as required by the signal, without an additional lane change.", "interest_score": 52, "confidence": 0.86, "selection_reason": "Reject as a strong long-tail candidate: the temporary channelization is concrete, but ego is already in the open lane and no unusual conflict or forced maneuver is visible. The closure warning alone does not establish an immediate route blockage.", "camera_evidence": [{"camera": "front_left", "t_s": 0, "detail": "Raised rail platform, shelter, tracks, and a person partly obscured by a pole; no visible entry into the roadway."}, {"camera": "front", "t_s": 0, "detail": "Ego's lane remains open left of the white lane line; temporary markers occupy the right-side roadway, with illuminated signal heads ahead."}, {"camera": "front_right", "t_s": -1, "detail": "Portable STREET CLOSED AHEAD sign stands among orange-striped delineators on the right."}, {"camera": "front_right", "t_s": 0, "detail": "KEEP LEFT sign and delineator mark the right-side channel boundary; the adjacent sidewalk has benches and trees."}, {"camera": "side_left", "t_s": 0, "detail": "Station shelter and raised platform edge run alongside ego; DO NOT CROSS TRACKS wording is visible."}, {"camera": "side_right", "t_s": 0, "detail": "A flagged temporary marker stands beside the right-side roadway, with building frontage and benches beyond."}, {"camera": "rear_left", "t_s": 0, "detail": "Station shelter and information panels remain alongside the tracks behind ego."}, {"camera": "rear", "t_s": 0, "detail": "Roadway behind contains temporary markers and a distant vehicle; no close rear conflict is visible."}, {"camera": "rear_right", "t_s": -2, "detail": "A person is visible on the right sidewalk near parking signs and temporary markers, behind ego."}, {"camera": "rear_right", "t_s": 0, "detail": "Parking access, parked vehicles, and temporary roadway markers are visible behind on the right."}], "uncertainties": ["The governing signal aspect is not confidently resolved from the photographs.", "The extent of the advertised street closure beyond the visible approach is unclear.", "Pedestrian motion is not reliably established by the available frames."]}, "discovery_label": {"title": "Work-zone channel beside a rail platform", "category": "work_zone", "tags": ["keep-left channelization", "rail platform", "signalized approach"], "current_situation": "Ego is traveling straight beside a raised rail platform on the left. Orange-striped delineators and KEEP LEFT signs occupy the roadway to the right, while ego's current lane remains visibly open toward a signalized intersection. A STREET CLOSED AHEAD sign is visible on the right in earlier frames. People visible on the left platform and previously behind ego on the right sidewalk show no established entry into ego's path. Side and rear views show station structures, parking access, parked vehicles, and a distant vehicle behind.", "baseline_decision": "Approach the intersection straight in the current lane, adjusting speed and stopping as required by the governing signal.", "decision_changing_cue": "The right-side delineators and KEEP LEFT signs constrain available road space, but do not visibly force ego out of its existing lane.", "causal_mechanism": "The channelization requires clearance from temporary devices and rules out drifting right. Because the straight-ahead lane remains open, it does not establish a material change beyond controlled approach speed and ordinary signal compliance.", "expected_action": "slow_down", "decision_deviation": false, "annotation": "Orange-striped delineators and KEEP LEFT signs channel traffic beside a raised rail platform, leaving ego's straight-ahead lane open. Ego would otherwise approach the signalized intersection in this same lane; it should preserve clearance from the markers and slow as required by the signal, without an additional lane change.", "interest_score": 52, "confidence": 0.86, "selection_reason": "Reject as a strong long-tail candidate: the temporary channelization is concrete, but ego is already in the open lane and no unusual conflict or forced maneuver is visible. The closure warning alone does not establish an immediate route blockage.", "camera_evidence": [{"camera": "front_left", "t_s": 0, "detail": "Raised rail platform, shelter, tracks, and a person partly obscured by a pole; no visible entry into the roadway."}, {"camera": "front", "t_s": 0, "detail": "Ego's lane remains open left of the white lane line; temporary markers occupy the right-side roadway, with illuminated signal heads ahead."}, {"camera": "front_right", "t_s": -1, "detail": "Portable STREET CLOSED AHEAD sign stands among orange-striped delineators on the right."}, {"camera": "front_right", "t_s": 0, "detail": "KEEP LEFT sign and delineator mark the right-side channel boundary; the adjacent sidewalk has benches and trees."}, {"camera": "side_left", "t_s": 0, "detail": "Station shelter and raised platform edge run alongside ego; DO NOT CROSS TRACKS wording is visible."}, {"camera": "side_right", "t_s": 0, "detail": "A flagged temporary marker stands beside the right-side roadway, with building frontage and benches beyond."}, {"camera": "rear_left", "t_s": 0, "detail": "Station shelter and information panels remain alongside the tracks behind ego."}, {"camera": "rear", "t_s": 0, "detail": "Roadway behind contains temporary markers and a distant vehicle; no close rear conflict is visible."}, {"camera": "rear_right", "t_s": -2, "detail": "A person is visible on the right sidewalk near parking signs and temporary markers, behind ego."}, {"camera": "rear_right", "t_s": 0, "detail": "Parking access, parked vehicles, and temporary roadway markers are visible behind on the right."}], "uncertainties": ["The governing signal aspect is not confidently resolved from the photographs.", "The extent of the advertised street closure beyond the visible approach is unclear.", "Pedestrian motion is not reliably established by the available frames."], "_binding_sha256": "1f781c0348b475c151153a000bf0aa8ce9c1d004d02788c41046c1ca2582e60b", "_request": "requests/633acd4421856b5f46c775bd53d4502a-184/discovery-001"}, "review": null, "status": "dismissed", "annotation": "Orange-striped delineators and KEEP LEFT signs channel traffic beside a raised rail platform, leaving ego's straight-ahead lane open. Ego would otherwise approach the signalized intersection in this same lane; it should preserve clearance from the markers and slow as required by the signal, without an additional lane change.", "selected": false}
{"id": "95bf2f670cf99bcfcdbe22769dfeee71-234", "scenario_id": "95bf2f670cf99bcfcdbe22769dfeee71", "split": "train", "batch_index": 87, "source_manifest_line": 88, "intent": "GO_RIGHT", "anchor_frame": 234, "motion": {"current_speed_mps": 3.249, "future_xy_m": [[0.82763671875, -0.21875], [1.673095703125, -0.556640625], [2.515380859375, -1.029296875], [3.339599609375, -1.638671875], [4.1611328125, -2.365234375], [4.98291015625, -3.208984375], [5.805419921875, -4.16015625], [6.64501953125, -5.205078125], [7.507568359375, -6.328125], [8.38623046875, -7.51953125], [9.2861328125, -8.771484375], [10.20166015625, -10.07421875], [11.13427734375, -11.419921875], [12.083740234375, -12.796875], [13.05810546875, -14.19921875], [14.062255859375, -15.626953125], [15.08642578125, -17.08203125], [16.1298828125, -18.55859375], [17.18408203125, -20.05078125], [18.24609375, -21.556640625]], "future_hz": 4, "speed_windows": [{"t_s": 0.5, "speed_mps": 3.757}, {"t_s": 1.5, "speed_mps": 4.872}, {"t_s": 2.5, "speed_mps": 6.031}, {"t_s": 3.5, "speed_mps": 6.763}, {"t_s": 4.5, "speed_mps": 7.257}], "minimum_1s_acceleration_mps2": 0.494, "maximum_speed_drop_mps": 0.0, "recorded_response": "accelerate", "method": "4 Hz trajectory path length; 1 s mean speeds; differences of adjacent 1 s means. Recorded response is descriptive, not a causal label."}, "frames": [{"t_s": 0.0, "source_frame": 234, "images": {"front_left": "images/95bf2f670cf99bcfcdbe22769dfeee71-234/+000_front_left.webp", "front": "images/95bf2f670cf99bcfcdbe22769dfeee71-234/+000_front.webp", "front_right": "images/95bf2f670cf99bcfcdbe22769dfeee71-234/+000_front_right.webp", "side_left": "images/95bf2f670cf99bcfcdbe22769dfeee71-234/+000_side_left.webp", "side_right": "images/95bf2f670cf99bcfcdbe22769dfeee71-234/+000_side_right.webp", "rear_left": "images/95bf2f670cf99bcfcdbe22769dfeee71-234/+000_rear_left.webp", "rear": "images/95bf2f670cf99bcfcdbe22769dfeee71-234/+000_rear.webp", "rear_right": "images/95bf2f670cf99bcfcdbe22769dfeee71-234/+000_rear_right.webp"}}], "camera_count": 8, "available_source_times_s": [-2.0, -1.0, 0.0], "camera_scope": "current_only", "label": {"title": "Low-light residential right turn", "category": "routine", "tags": ["right turn", "low illumination", "limited visibility"], "current_situation": "Ego has a right-turn route and a supplied current speed of 3.249 m/s. Across the history, the opposite house shifts left and the right-hand street comes into view, consistent with progressing through the turn. Curbs, sidewalks, residential frontage, bins and fences are visible under sparse lighting. No definite moving road user or obstruction in the turning path is discernible across the eight cameras. An octagonal sign is visible from behind on the rear-right; its face and applicability cannot be established.", "baseline_decision": "Complete the commanded right turn at a controlled low speed, respecting applicable junction controls, and accelerate only after confirming the exit roadway is clear.", "decision_changing_cue": "No specific conflict or nonroutine decision-changing cue is established. The street extending to the right is poorly illuminated beyond the nearer visible pavement.", "causal_mechanism": "Limited illumination supports maintaining a cautious turning speed and postponing acceleration, but does not establish an unusual interaction requiring a material departure from normal safe turning.", "expected_action": "maintain_speed", "decision_deviation": false, "annotation": "Ego is negotiating a right turn onto a dim residential street, with curbs and fences visible but no definite road user in the turning path. Continue the right turn at low speed over the next few seconds and delay acceleration until the exit roadway can be confirmed clear.", "interest_score": 26, "confidence": 0.8, "selection_reason": "Reject as a long-tail candidate: this is a low-speed turn with ordinary nighttime visibility limitations, without a visually supported conflict, obstruction or unusual negotiation.", "camera_evidence": [{"camera": "front", "t_s": -2, "detail": "Bins stand beside the opposite driveway/frontage; the cross street spans the foreground."}, {"camera": "front", "t_s": -1, "detail": "The bins and driveway have shifted left within the view; a light-colored vehicle is visible within the residential frontage."}, {"camera": "front_left", "t_s": 0, "detail": "Dim residential frontage and bins remain visible toward the left of the junction; no definite moving actor is discernible."}, {"camera": "front", "t_s": 0, "detail": "A streetlamp and headlights illuminate the opposite house, landscaping, sidewalk and curb."}, {"camera": "front_right", "t_s": 0, "detail": "The right-hand street extends ahead between residential boundaries, with a nearby right curb and sidewalk but little illumination farther along."}, {"camera": "side_left", "t_s": 0, "detail": "A dim corner and illuminated portions of residential frontage are visible; no definite road user is resolved."}, {"camera": "side_right", "t_s": 0, "detail": "A low wall and metal fence border the nearby sidewalk; lighting is visible beyond the fence."}, {"camera": "rear_left", "t_s": 0, "detail": "The junction corner and scattered exterior lights are visible in a predominantly dark view."}, {"camera": "rear", "t_s": 0, "detail": "Distant building and exterior lights are visible behind ego; no definite approaching vehicle is resolved."}, {"camera": "rear_right", "t_s": 0, "detail": "The back of an octagonal roadside sign stands beside a fenced property; the sign face is not visible."}], "uncertainties": ["Low illumination prevents confidently excluding road users in unlit areas.", "The rear-right sign's displayed instruction and applicability to ego are unknown.", "No independent actor motion can be established from the supplied history."]}, "discovery_label": {"title": "Low-light residential right turn", "category": "routine", "tags": ["right turn", "low illumination", "limited visibility"], "current_situation": "Ego has a right-turn route and a supplied current speed of 3.249 m/s. Across the history, the opposite house shifts left and the right-hand street comes into view, consistent with progressing through the turn. Curbs, sidewalks, residential frontage, bins and fences are visible under sparse lighting. No definite moving road user or obstruction in the turning path is discernible across the eight cameras. An octagonal sign is visible from behind on the rear-right; its face and applicability cannot be established.", "baseline_decision": "Complete the commanded right turn at a controlled low speed, respecting applicable junction controls, and accelerate only after confirming the exit roadway is clear.", "decision_changing_cue": "No specific conflict or nonroutine decision-changing cue is established. The street extending to the right is poorly illuminated beyond the nearer visible pavement.", "causal_mechanism": "Limited illumination supports maintaining a cautious turning speed and postponing acceleration, but does not establish an unusual interaction requiring a material departure from normal safe turning.", "expected_action": "maintain_speed", "decision_deviation": false, "annotation": "Ego is negotiating a right turn onto a dim residential street, with curbs and fences visible but no definite road user in the turning path. Continue the right turn at low speed over the next few seconds and delay acceleration until the exit roadway can be confirmed clear.", "interest_score": 26, "confidence": 0.8, "selection_reason": "Reject as a long-tail candidate: this is a low-speed turn with ordinary nighttime visibility limitations, without a visually supported conflict, obstruction or unusual negotiation.", "camera_evidence": [{"camera": "front", "t_s": -2, "detail": "Bins stand beside the opposite driveway/frontage; the cross street spans the foreground."}, {"camera": "front", "t_s": -1, "detail": "The bins and driveway have shifted left within the view; a light-colored vehicle is visible within the residential frontage."}, {"camera": "front_left", "t_s": 0, "detail": "Dim residential frontage and bins remain visible toward the left of the junction; no definite moving actor is discernible."}, {"camera": "front", "t_s": 0, "detail": "A streetlamp and headlights illuminate the opposite house, landscaping, sidewalk and curb."}, {"camera": "front_right", "t_s": 0, "detail": "The right-hand street extends ahead between residential boundaries, with a nearby right curb and sidewalk but little illumination farther along."}, {"camera": "side_left", "t_s": 0, "detail": "A dim corner and illuminated portions of residential frontage are visible; no definite road user is resolved."}, {"camera": "side_right", "t_s": 0, "detail": "A low wall and metal fence border the nearby sidewalk; lighting is visible beyond the fence."}, {"camera": "rear_left", "t_s": 0, "detail": "The junction corner and scattered exterior lights are visible in a predominantly dark view."}, {"camera": "rear", "t_s": 0, "detail": "Distant building and exterior lights are visible behind ego; no definite approaching vehicle is resolved."}, {"camera": "rear_right", "t_s": 0, "detail": "The back of an octagonal roadside sign stands beside a fenced property; the sign face is not visible."}], "uncertainties": ["Low illumination prevents confidently excluding road users in unlit areas.", "The rear-right sign's displayed instruction and applicability to ego are unknown.", "No independent actor motion can be established from the supplied history."], "_binding_sha256": "38f0f7e3e9cce6fe5182b62f60ab4dd8d0333d25eaabf109ce5d606c7a645670", "_request": "requests/95bf2f670cf99bcfcdbe22769dfeee71-234/discovery-001"}, "review": null, "status": "dismissed", "annotation": "Ego is negotiating a right turn onto a dim residential street, with curbs and fences visible but no definite road user in the turning path. Continue the right turn at low speed over the next few seconds and delay acceleration until the exit roadway can be confirmed clear.", "selected": false}
{"id": "be988601654ec06821ed0903c1a7d5c7-040", "scenario_id": "be988601654ec06821ed0903c1a7d5c7", "split": "train", "batch_index": 88, "source_manifest_line": 89, "intent": "GO_STRAIGHT", "anchor_frame": 40, "motion": {"current_speed_mps": 6.896, "future_xy_m": [[1.7431640625, -0.005859375], [3.5361328125, -0.01171875], [5.400390625, -0.01953125], [7.353515625, -0.029296875], [9.3916015625, -0.041015625], [11.5185546875, -0.0556640625], [13.6845703125, -0.068359375], [15.85546875, -0.0869140625], [17.9892578125, -0.1103515625], [20.0537109375, -0.1337890625], [22.021484375, -0.1611328125], [23.873046875, -0.1884765625], [25.61328125, -0.2138671875], [27.271484375, -0.2412109375], [28.8505859375, -0.2666015625], [30.349609375, -0.291015625], [31.767578125, -0.3154296875], [33.1025390625, -0.3388671875], [34.3486328125, -0.3603515625], [35.509765625, -0.3798828125]], "future_hz": 4, "speed_windows": [{"t_s": 0.5, "speed_mps": 7.354}, {"t_s": 1.5, "speed_mps": 8.502}, {"t_s": 2.5, "speed_mps": 8.018}, {"t_s": 3.5, "speed_mps": 6.477}, {"t_s": 4.5, "speed_mps": 5.161}], "minimum_1s_acceleration_mps2": -1.541, "maximum_speed_drop_mps": 1.735, "recorded_response": "slow_down", "method": "4 Hz trajectory path length; 1 s mean speeds; differences of adjacent 1 s means. Recorded response is descriptive, not a causal label."}, "frames": [{"t_s": 0.0, "source_frame": 40, "images": {"front_left": "images/be988601654ec06821ed0903c1a7d5c7-040/+000_front_left.webp", "front": "images/be988601654ec06821ed0903c1a7d5c7-040/+000_front.webp", "front_right": "images/be988601654ec06821ed0903c1a7d5c7-040/+000_front_right.webp", "side_left": "images/be988601654ec06821ed0903c1a7d5c7-040/+000_side_left.webp", "side_right": "images/be988601654ec06821ed0903c1a7d5c7-040/+000_side_right.webp", "rear_left": "images/be988601654ec06821ed0903c1a7d5c7-040/+000_rear_left.webp", "rear": "images/be988601654ec06821ed0903c1a7d5c7-040/+000_rear.webp", "rear_right": "images/be988601654ec06821ed0903c1a7d5c7-040/+000_rear_right.webp"}}], "camera_count": 8, "available_source_times_s": [-1.0, 0.0, 1.0, 2.0, 3.0, 4.0, 5.0], "camera_scope": "current_only", "label": {"title": "Routine Stop Approach With Curbside Bins", "category": "routine", "tags": ["stop-controlled junction", "curbside bins", "cross-street vehicles"], "current_situation": "Ego is traveling at 6.896 m/s along an unmarked street toward a visible stop sign and cross street. Two wheeled bins occupy the right roadway edge without blocking the central approach. Vehicles are visible on the cross street; buildings and vegetation limit views farther along it. All eight cameras show daylight conditions, with no visible pedestrian or immediate conflict in ego's path.", "baseline_decision": "Follow the supplied straight-ahead route intent while progressively slowing to stop at the visible stop control, then assess cross traffic before proceeding.", "decision_changing_cue": "No material nonroutine cue is established. The curbside bins leave the central approach open, and cross-street vehicles are relevant to the already-required stop.", "causal_mechanism": "The stop sign requires routine longitudinal deceleration regardless of the bins. Their edge placement calls for ordinary clearance awareness, not an additional stop, emergency braking, or a substantial lateral maneuver.", "expected_action": "stop", "decision_deviation": false, "annotation": "Two wheeled bins stand along the right roadway edge on the approach to a stop-controlled cross street, with vehicles visible beyond the junction. Ego should progressively slow to the required stop, keeping clearance from the bins without a substantial lateral maneuver, and check cross traffic before proceeding.", "interest_score": 43, "confidence": 0.91, "selection_reason": "Reject as a long-tail candidate: the visible stop control already determines the approach decision, and neither the bins nor the cross-street vehicles establish an unusual interaction that materially changes that plan.", "camera_evidence": [{"camera": "front", "t_s": -1, "detail": "A stop sign is visible ahead at the cross street; a dark vehicle is visible left of the sign, and a bin stands near the right curb."}, {"camera": "front", "t_s": 0, "detail": "The enlarged view shows the stop sign, two bins at the right roadway edge, a white sedan across the junction, and a dark vehicle farther right. The central approach remains unobstructed."}, {"camera": "front_left", "t_s": 0, "detail": "A brick building, trees, sidewalk, and curb border the left approach; no actor is visible entering the roadway."}, {"camera": "front_right", "t_s": 0, "detail": "A house, fenced frontage, landscaping, and curb line the right side; no visible actor enters ego's path."}, {"camera": "side_left", "t_s": 0, "detail": "A paved driveway beside the brick building opens onto the street; no vehicle is visibly emerging at its mouth."}, {"camera": "side_right", "t_s": 0, "detail": "Residential frontage, a fence, sidewalk, and a palm trunk are visible beside ego."}, {"camera": "rear_left", "t_s": 0, "detail": "The brick building and its driveway are behind ego, with no visible merging interaction."}, {"camera": "rear", "t_s": 0, "detail": "A light-colored sedan is near the left curb of the rear view; white transverse roadway markings are visible behind ego."}, {"camera": "rear_right", "t_s": 0, "detail": "Houses, trees, lawns, and sidewalk line the rear-right frontage, with no visible roadway conflict."}], "uncertainties": ["Cross-street vehicle identities and exact motion cannot be reliably established from the two observations.", "The junction appears T-shaped; the continuation of the supplied straight-ahead route is not visually established.", "The rear sedan's own motion is unclear.", "Bin clearance and the stopping location cannot be metrically determined from the images."]}, "discovery_label": {"title": "Routine Stop Approach With Curbside Bins", "category": "routine", "tags": ["stop-controlled junction", "curbside bins", "cross-street vehicles"], "current_situation": "Ego is traveling at 6.896 m/s along an unmarked street toward a visible stop sign and cross street. Two wheeled bins occupy the right roadway edge without blocking the central approach. Vehicles are visible on the cross street; buildings and vegetation limit views farther along it. All eight cameras show daylight conditions, with no visible pedestrian or immediate conflict in ego's path.", "baseline_decision": "Follow the supplied straight-ahead route intent while progressively slowing to stop at the visible stop control, then assess cross traffic before proceeding.", "decision_changing_cue": "No material nonroutine cue is established. The curbside bins leave the central approach open, and cross-street vehicles are relevant to the already-required stop.", "causal_mechanism": "The stop sign requires routine longitudinal deceleration regardless of the bins. Their edge placement calls for ordinary clearance awareness, not an additional stop, emergency braking, or a substantial lateral maneuver.", "expected_action": "stop", "decision_deviation": false, "annotation": "Two wheeled bins stand along the right roadway edge on the approach to a stop-controlled cross street, with vehicles visible beyond the junction. Ego should progressively slow to the required stop, keeping clearance from the bins without a substantial lateral maneuver, and check cross traffic before proceeding.", "interest_score": 43, "confidence": 0.91, "selection_reason": "Reject as a long-tail candidate: the visible stop control already determines the approach decision, and neither the bins nor the cross-street vehicles establish an unusual interaction that materially changes that plan.", "camera_evidence": [{"camera": "front", "t_s": -1, "detail": "A stop sign is visible ahead at the cross street; a dark vehicle is visible left of the sign, and a bin stands near the right curb."}, {"camera": "front", "t_s": 0, "detail": "The enlarged view shows the stop sign, two bins at the right roadway edge, a white sedan across the junction, and a dark vehicle farther right. The central approach remains unobstructed."}, {"camera": "front_left", "t_s": 0, "detail": "A brick building, trees, sidewalk, and curb border the left approach; no actor is visible entering the roadway."}, {"camera": "front_right", "t_s": 0, "detail": "A house, fenced frontage, landscaping, and curb line the right side; no visible actor enters ego's path."}, {"camera": "side_left", "t_s": 0, "detail": "A paved driveway beside the brick building opens onto the street; no vehicle is visibly emerging at its mouth."}, {"camera": "side_right", "t_s": 0, "detail": "Residential frontage, a fence, sidewalk, and a palm trunk are visible beside ego."}, {"camera": "rear_left", "t_s": 0, "detail": "The brick building and its driveway are behind ego, with no visible merging interaction."}, {"camera": "rear", "t_s": 0, "detail": "A light-colored sedan is near the left curb of the rear view; white transverse roadway markings are visible behind ego."}, {"camera": "rear_right", "t_s": 0, "detail": "Houses, trees, lawns, and sidewalk line the rear-right frontage, with no visible roadway conflict."}], "uncertainties": ["Cross-street vehicle identities and exact motion cannot be reliably established from the two observations.", "The junction appears T-shaped; the continuation of the supplied straight-ahead route is not visually established.", "The rear sedan's own motion is unclear.", "Bin clearance and the stopping location cannot be metrically determined from the images."], "_binding_sha256": "85796085c2fa4b2e726f02982db6630cdf151f5962435a17a4b65fc186f21198", "_request": "requests/be988601654ec06821ed0903c1a7d5c7-040/discovery-001"}, "review": null, "status": "dismissed", "annotation": "Two wheeled bins stand along the right roadway edge on the approach to a stop-controlled cross street, with vehicles visible beyond the junction. Ego should progressively slow to the required stop, keeping clearance from the bins without a substantial lateral maneuver, and check cross traffic before proceeding.", "selected": false}
{"id": "0387cf79ac0e52893c1c44c0c9f54beb-077", "scenario_id": "0387cf79ac0e52893c1c44c0c9f54beb", "split": "train", "batch_index": 89, "source_manifest_line": 90, "intent": "GO_STRAIGHT", "anchor_frame": 77, "motion": {"current_speed_mps": 2.062, "future_xy_m": [[0.515869140625, -0.001708984375], [1.045654296875, -0.00341796875], [1.6182861328125, -0.005859375], [2.24169921875, -0.00927734375], [2.9149169921875, -0.01318359375], [3.639892578125, -0.017822265625], [4.4163818359375, -0.022705078125], [5.2418212890625, -0.029541015625], [6.1168212890625, -0.035888671875], [7.0413818359375, -0.04296875], [8.0135498046875, -0.052490234375], [9.035400390625, -0.062255859375], [10.106201171875, -0.072265625], [11.2227783203125, -0.084228515625], [12.3814697265625, -0.096435546875], [13.5911865234375, -0.10986328125], [14.8502197265625, -0.126220703125], [16.1444091796875, -0.141357421875], [17.478759765625, -0.158935546875], [18.8460693359375, -0.1767578125]], "future_hz": 4, "speed_windows": [{"t_s": 0.5, "speed_mps": 2.242}, {"t_s": 1.5, "speed_mps": 3.0}, {"t_s": 2.5, "speed_mps": 3.794}, {"t_s": 3.5, "speed_mps": 4.556}, {"t_s": 4.5, "speed_mps": 5.255}], "minimum_1s_acceleration_mps2": 0.699, "maximum_speed_drop_mps": 0.0, "recorded_response": "accelerate", "method": "4 Hz trajectory path length; 1 s mean speeds; differences of adjacent 1 s means. Recorded response is descriptive, not a causal label."}, "frames": [{"t_s": 0.0, "source_frame": 77, "images": {"front_left": "images/0387cf79ac0e52893c1c44c0c9f54beb-077/+000_front_left.webp", "front": "images/0387cf79ac0e52893c1c44c0c9f54beb-077/+000_front.webp", "front_right": "images/0387cf79ac0e52893c1c44c0c9f54beb-077/+000_front_right.webp", "side_left": "images/0387cf79ac0e52893c1c44c0c9f54beb-077/+000_side_left.webp", "side_right": "images/0387cf79ac0e52893c1c44c0c9f54beb-077/+000_side_right.webp", "rear_left": "images/0387cf79ac0e52893c1c44c0c9f54beb-077/+000_rear_left.webp", "rear": "images/0387cf79ac0e52893c1c44c0c9f54beb-077/+000_rear.webp", "rear_right": "images/0387cf79ac0e52893c1c44c0c9f54beb-077/+000_rear_right.webp"}}], "camera_count": 8, "available_source_times_s": [-2.0, -1.0, 0.0, 1.0, 2.0, 3.0, 4.0, 5.0], "camera_scope": "current_only", "label": {"title": "Routine Following With Oncoming Two-Wheeler", "category": "routine", "tags": ["low-speed following", "oncoming two-wheeler", "parked vehicles"], "current_situation": "Ego is traveling straight at 2.062 m/s behind a gray sedan on a sloping, two-way residential street with double-yellow center markings and parked vehicles along both curbs. The sedan remains ahead throughout the history, with an increasing apparent gap. A white vehicle and an apparent motorcyclist approach on the opposing side of the centerline. Two pedestrians are visible on the left sidewalk, without roadway entry. Daylight visibility includes tree shadows and some glare; an orange diamond sign ahead is unreadable.", "baseline_decision": "Continue straight at low speed behind the sedan, maintaining a following gap, remaining right of the centerline, and observing downstream traffic controls.", "decision_changing_cue": "No material decision-changing cue is established. The apparent motorcyclist is near the centerline but remains on the opposing side, and the sidewalk pedestrians do not visibly enter the road.", "causal_mechanism": "Neither the approaching rider nor the pedestrians visibly overlap ego's travel path. Their presence warrants monitoring but does not establish a need to brake, yield, or move laterally beyond ordinary lane keeping and following.", "expected_action": "maintain_speed", "decision_deviation": false, "annotation": "Ego follows a gray sedan on a sloping street lined with parked vehicles, while a white vehicle and an apparent motorcyclist approach on the opposing side of the centerline. Over the next few seconds, ego should continue straight at low speed with a safe following gap; no visible roadway intrusion requires a departure from routine following.", "interest_score": 42, "confidence": 0.84, "selection_reason": "Reject as a long-tail candidate: this is ordinary following with opposing traffic and sidewalk pedestrians, without a supported unusual conflict or material change to the ego plan. The unreadable orange sign alone does not establish a work-zone interaction.", "camera_evidence": [{"camera": "front", "t_s": -2, "detail": "A gray sedan occupies ego's lane ahead; parked vehicles line both sides of the sloping road."}, {"camera": "front", "t_s": -1, "detail": "The gray sedan remains ahead, and the oncoming white vehicle is larger in the image than at the preceding observation."}, {"camera": "front", "t_s": 0, "detail": "An apparent motorcyclist is beside the oncoming white vehicle on the opposing side of the double-yellow markings. The lead sedan remains in ego's lane; an orange diamond sign stands farther ahead on the right."}, {"camera": "front_left", "t_s": 0, "detail": "Two pedestrians are on the left sidewalk behind curbside parked sedans, with no visible roadway entry."}, {"camera": "front_right", "t_s": 0, "detail": "Residential steps, a sidewalk tree, and the edge of a curbside vehicle are visible; no actor enters the roadway here."}, {"camera": "side_left", "t_s": 0, "detail": "Trees and residential facades border the left sidewalk; no immediate lateral conflict is visible."}, {"camera": "side_right", "t_s": 0, "detail": "A tree, residential entrances, and a clear visible sidewalk section occupy the view."}, {"camera": "rear_left", "t_s": 0, "detail": "A white SUV is beside the curb, with a yellow pedestrian-crossing warning sign farther behind."}, {"camera": "rear", "t_s": 0, "detail": "Yellow crossing markings lie behind ego, and a blue vehicle is visible farther back in the roadway."}, {"camera": "rear_right", "t_s": 0, "detail": "Residential steps, sidewalk trees, and curbside vehicles are visible without an immediate conflict."}], "uncertainties": ["The approaching two-wheeler's precise type and lateral clearance cannot be resolved confidently.", "The orange sign's message is unreadable; no associated obstruction is established.", "Exact actor speeds and following distances cannot be determined from these images.", "Future pedestrian or rider movements are unknown."]}, "discovery_label": {"title": "Routine Following With Oncoming Two-Wheeler", "category": "routine", "tags": ["low-speed following", "oncoming two-wheeler", "parked vehicles"], "current_situation": "Ego is traveling straight at 2.062 m/s behind a gray sedan on a sloping, two-way residential street with double-yellow center markings and parked vehicles along both curbs. The sedan remains ahead throughout the history, with an increasing apparent gap. A white vehicle and an apparent motorcyclist approach on the opposing side of the centerline. Two pedestrians are visible on the left sidewalk, without roadway entry. Daylight visibility includes tree shadows and some glare; an orange diamond sign ahead is unreadable.", "baseline_decision": "Continue straight at low speed behind the sedan, maintaining a following gap, remaining right of the centerline, and observing downstream traffic controls.", "decision_changing_cue": "No material decision-changing cue is established. The apparent motorcyclist is near the centerline but remains on the opposing side, and the sidewalk pedestrians do not visibly enter the road.", "causal_mechanism": "Neither the approaching rider nor the pedestrians visibly overlap ego's travel path. Their presence warrants monitoring but does not establish a need to brake, yield, or move laterally beyond ordinary lane keeping and following.", "expected_action": "maintain_speed", "decision_deviation": false, "annotation": "Ego follows a gray sedan on a sloping street lined with parked vehicles, while a white vehicle and an apparent motorcyclist approach on the opposing side of the centerline. Over the next few seconds, ego should continue straight at low speed with a safe following gap; no visible roadway intrusion requires a departure from routine following.", "interest_score": 42, "confidence": 0.84, "selection_reason": "Reject as a long-tail candidate: this is ordinary following with opposing traffic and sidewalk pedestrians, without a supported unusual conflict or material change to the ego plan. The unreadable orange sign alone does not establish a work-zone interaction.", "camera_evidence": [{"camera": "front", "t_s": -2, "detail": "A gray sedan occupies ego's lane ahead; parked vehicles line both sides of the sloping road."}, {"camera": "front", "t_s": -1, "detail": "The gray sedan remains ahead, and the oncoming white vehicle is larger in the image than at the preceding observation."}, {"camera": "front", "t_s": 0, "detail": "An apparent motorcyclist is beside the oncoming white vehicle on the opposing side of the double-yellow markings. The lead sedan remains in ego's lane; an orange diamond sign stands farther ahead on the right."}, {"camera": "front_left", "t_s": 0, "detail": "Two pedestrians are on the left sidewalk behind curbside parked sedans, with no visible roadway entry."}, {"camera": "front_right", "t_s": 0, "detail": "Residential steps, a sidewalk tree, and the edge of a curbside vehicle are visible; no actor enters the roadway here."}, {"camera": "side_left", "t_s": 0, "detail": "Trees and residential facades border the left sidewalk; no immediate lateral conflict is visible."}, {"camera": "side_right", "t_s": 0, "detail": "A tree, residential entrances, and a clear visible sidewalk section occupy the view."}, {"camera": "rear_left", "t_s": 0, "detail": "A white SUV is beside the curb, with a yellow pedestrian-crossing warning sign farther behind."}, {"camera": "rear", "t_s": 0, "detail": "Yellow crossing markings lie behind ego, and a blue vehicle is visible farther back in the roadway."}, {"camera": "rear_right", "t_s": 0, "detail": "Residential steps, sidewalk trees, and curbside vehicles are visible without an immediate conflict."}], "uncertainties": ["The approaching two-wheeler's precise type and lateral clearance cannot be resolved confidently.", "The orange sign's message is unreadable; no associated obstruction is established.", "Exact actor speeds and following distances cannot be determined from these images.", "Future pedestrian or rider movements are unknown."], "_binding_sha256": "3c6970939005b27047663fda821bb3e8ca392b52df94d5a53911a1f2254c0742", "_request": "requests/0387cf79ac0e52893c1c44c0c9f54beb-077/discovery-001"}, "review": null, "status": "dismissed", "annotation": "Ego follows a gray sedan on a sloping street lined with parked vehicles, while a white vehicle and an apparent motorcyclist approach on the opposing side of the centerline. Over the next few seconds, ego should continue straight at low speed with a safe following gap; no visible roadway intrusion requires a departure from routine following.", "selected": false}
{"id": "6c8b31ec351e58a4148d404ad95b110c-063", "scenario_id": "6c8b31ec351e58a4148d404ad95b110c", "split": "train", "batch_index": 90, "source_manifest_line": 91, "intent": "GO_STRAIGHT", "anchor_frame": 63, "motion": {"current_speed_mps": 12.042, "future_xy_m": [[3.01904296875, 0.0], [6.06298828125, 0.0], [9.12890625, -0.0009765625], [12.21533203125, -0.0009765625], [15.3193359375, -0.0029296875], [18.44580078125, -0.0078125], [21.5908203125, -0.017578125], [24.75390625, -0.029296875], [27.9326171875, -0.0439453125], [31.12451171875, -0.05859375], [34.32763671875, -0.072265625], [37.53515625, -0.0869140625], [40.7431640625, -0.1025390625], [43.95166015625, -0.1171875], [47.16259765625, -0.1318359375], [50.3720703125, -0.1494140625], [53.5693359375, -0.1669921875], [56.732421875, -0.1865234375], [59.8369140625, -0.205078125], [62.87939453125, -0.220703125]], "future_hz": 4, "speed_windows": [{"t_s": 0.5, "speed_mps": 12.215}, {"t_s": 1.5, "speed_mps": 12.539}, {"t_s": 2.5, "speed_mps": 12.781}, {"t_s": 3.5, "speed_mps": 12.837}, {"t_s": 4.5, "speed_mps": 12.508}], "minimum_1s_acceleration_mps2": -0.33, "maximum_speed_drop_mps": 0.0, "recorded_response": "roughly_maintain_speed", "method": "4 Hz trajectory path length; 1 s mean speeds; differences of adjacent 1 s means. Recorded response is descriptive, not a causal label."}, "frames": [{"t_s": 0.0, "source_frame": 63, "images": {"front_left": "images/6c8b31ec351e58a4148d404ad95b110c-063/+000_front_left.webp", "front": "images/6c8b31ec351e58a4148d404ad95b110c-063/+000_front.webp", "front_right": "images/6c8b31ec351e58a4148d404ad95b110c-063/+000_front_right.webp", "side_left": "images/6c8b31ec351e58a4148d404ad95b110c-063/+000_side_left.webp", "side_right": "images/6c8b31ec351e58a4148d404ad95b110c-063/+000_side_right.webp", "rear_left": "images/6c8b31ec351e58a4148d404ad95b110c-063/+000_rear_left.webp", "rear": "images/6c8b31ec351e58a4148d404ad95b110c-063/+000_rear.webp", "rear_right": "images/6c8b31ec351e58a4148d404ad95b110c-063/+000_rear_right.webp"}}], "camera_count": 8, "available_source_times_s": [-2.0, -1.0, 0.0, 1.0, 2.0, 3.0, 4.0, 5.0], "camera_scope": "current_only", "label": {"title": "Routine straight travel across fenced overpass", "category": "routine", "tags": ["overpass", "normal following", "oncoming traffic"], "current_situation": "Ego is traveling straight at 12.042 m/s on an overpass with double-yellow centerlines, concrete barriers and mesh fencing. A red car is ahead, and a gray car approaches in the opposing lane across the observation history. A 30 mph speed-limit sign is visible. Side views show freeway traffic below, physically separated from ego; rear views show a red car behind near the market access. Daylight visibility is clear, with no visible obstruction or road user entering ego's lane.", "baseline_decision": "Continue straight within the posted speed limit, retaining the current lane and appropriate following clearance while observing downstream controls.", "decision_changing_cue": "None visible: the approaching car remains in the opposing lane, and freeway traffic is separated by the overpass barriers.", "causal_mechanism": "The visible actors and bridge geometry impose ordinary lane keeping and following requirements, not a material change to the straight-ahead plan.", "expected_action": "maintain_speed", "decision_deviation": false, "annotation": "Ego is traveling straight across a fenced overpass behind a red car while a gray car approaches in the opposing lane. With no visible lane intrusion or obstruction, ego should continue straight over the next 0–5 seconds within the posted 30 mph limit, maintaining its lane and following clearance.", "interest_score": 15, "confidence": 0.93, "selection_reason": "Reject as a long-tail candidate: normal following, opposing traffic and separated freeway traffic do not establish an unusual interaction or material decision change.", "camera_evidence": [{"camera": "front_left", "t_s": 0, "detail": "Marked pavement, a concrete barrier and mesh fencing are visible beside the opposing side of the overpass; no actor intrudes toward ego."}, {"camera": "front", "t_s": -2, "detail": "A red car is ahead along the straight roadway, with a smaller approaching vehicle on the opposite side of the double-yellow centerlines."}, {"camera": "front", "t_s": 0, "detail": "The gray approaching car remains left of the double-yellow centerlines; the red car remains ahead, and a roadside sign reads SPEED LIMIT 30."}, {"camera": "front_right", "t_s": 0, "detail": "Concrete barrier and mesh fencing separate ego's roadway from vehicles on the freeway below."}, {"camera": "side_left", "t_s": 0, "detail": "The adjacent marked roadway, concrete barrier and fencing show no nearby vehicle or pedestrian conflict."}, {"camera": "side_right", "t_s": 0, "detail": "Multiple freeway lanes and vehicles are visible below the fenced bridge, not on ego's roadway."}, {"camera": "rear_left", "t_s": 0, "detail": "The bridge-side pavement and barrier are clear of nearby actors."}, {"camera": "rear", "t_s": -2, "detail": "A red car is angled across the roadway behind ego near the market access; it is not ahead in ego's path."}, {"camera": "rear", "t_s": 0, "detail": "The red car remains behind and appears more aligned with the roadway than at -2 seconds."}, {"camera": "rear_right", "t_s": 0, "detail": "Concrete barrier, mesh fencing and vegetation are visible, with no nearby merging actor."}], "uncertainties": ["The lead car's speed and downstream control states cannot be reliably determined from these images.", "The rear red car's intended maneuver is unknown; its visible position does not establish a forward conflict."]}, "discovery_label": {"title": "Routine straight travel across fenced overpass", "category": "routine", "tags": ["overpass", "normal following", "oncoming traffic"], "current_situation": "Ego is traveling straight at 12.042 m/s on an overpass with double-yellow centerlines, concrete barriers and mesh fencing. A red car is ahead, and a gray car approaches in the opposing lane across the observation history. A 30 mph speed-limit sign is visible. Side views show freeway traffic below, physically separated from ego; rear views show a red car behind near the market access. Daylight visibility is clear, with no visible obstruction or road user entering ego's lane.", "baseline_decision": "Continue straight within the posted speed limit, retaining the current lane and appropriate following clearance while observing downstream controls.", "decision_changing_cue": "None visible: the approaching car remains in the opposing lane, and freeway traffic is separated by the overpass barriers.", "causal_mechanism": "The visible actors and bridge geometry impose ordinary lane keeping and following requirements, not a material change to the straight-ahead plan.", "expected_action": "maintain_speed", "decision_deviation": false, "annotation": "Ego is traveling straight across a fenced overpass behind a red car while a gray car approaches in the opposing lane. With no visible lane intrusion or obstruction, ego should continue straight over the next 0–5 seconds within the posted 30 mph limit, maintaining its lane and following clearance.", "interest_score": 15, "confidence": 0.93, "selection_reason": "Reject as a long-tail candidate: normal following, opposing traffic and separated freeway traffic do not establish an unusual interaction or material decision change.", "camera_evidence": [{"camera": "front_left", "t_s": 0, "detail": "Marked pavement, a concrete barrier and mesh fencing are visible beside the opposing side of the overpass; no actor intrudes toward ego."}, {"camera": "front", "t_s": -2, "detail": "A red car is ahead along the straight roadway, with a smaller approaching vehicle on the opposite side of the double-yellow centerlines."}, {"camera": "front", "t_s": 0, "detail": "The gray approaching car remains left of the double-yellow centerlines; the red car remains ahead, and a roadside sign reads SPEED LIMIT 30."}, {"camera": "front_right", "t_s": 0, "detail": "Concrete barrier and mesh fencing separate ego's roadway from vehicles on the freeway below."}, {"camera": "side_left", "t_s": 0, "detail": "The adjacent marked roadway, concrete barrier and fencing show no nearby vehicle or pedestrian conflict."}, {"camera": "side_right", "t_s": 0, "detail": "Multiple freeway lanes and vehicles are visible below the fenced bridge, not on ego's roadway."}, {"camera": "rear_left", "t_s": 0, "detail": "The bridge-side pavement and barrier are clear of nearby actors."}, {"camera": "rear", "t_s": -2, "detail": "A red car is angled across the roadway behind ego near the market access; it is not ahead in ego's path."}, {"camera": "rear", "t_s": 0, "detail": "The red car remains behind and appears more aligned with the roadway than at -2 seconds."}, {"camera": "rear_right", "t_s": 0, "detail": "Concrete barrier, mesh fencing and vegetation are visible, with no nearby merging actor."}], "uncertainties": ["The lead car's speed and downstream control states cannot be reliably determined from these images.", "The rear red car's intended maneuver is unknown; its visible position does not establish a forward conflict."], "_binding_sha256": "e8fcc9d195fa058db9948c9d03e41b3ef89e4c470e3d5d04803b1a35192956fb", "_request": "requests/6c8b31ec351e58a4148d404ad95b110c-063/discovery-001"}, "review": null, "status": "dismissed", "annotation": "Ego is traveling straight across a fenced overpass behind a red car while a gray car approaches in the opposing lane. With no visible lane intrusion or obstruction, ego should continue straight over the next 0–5 seconds within the posted 30 mph limit, maintaining its lane and following clearance.", "selected": false}
{"id": "6fb8e37b733965362c06adc79843e1a2-043", "scenario_id": "6fb8e37b733965362c06adc79843e1a2", "split": "train", "batch_index": 91, "source_manifest_line": 92, "intent": "GO_STRAIGHT", "anchor_frame": 43, "motion": {"current_speed_mps": 2.667, "future_xy_m": [[0.708984375, 0.029296875], [1.50390625, 0.0732421875], [2.380859375, 0.126953125], [3.33984375, 0.1826171875], [4.384765625, 0.2421875], [5.513671875, 0.3037109375], [6.724609375, 0.3671875], [8.013671875, 0.427734375], [9.376953125, 0.484375], [10.794921875, 0.533203125], [12.251953125, 0.5693359375], [13.73828125, 0.5908203125], [15.240234375, 0.5966796875], [16.74609375, 0.5927734375], [18.251953125, 0.5830078125], [19.751953125, 0.56640625], [21.23828125, 0.5439453125], [22.70703125, 0.5185546875], [24.162109375, 0.4873046875], [25.599609375, 0.453125]], "future_hz": 4, "speed_windows": [{"t_s": 0.5, "speed_mps": 3.345}, {"t_s": 1.5, "speed_mps": 4.68}, {"t_s": 2.5, "speed_mps": 5.727}, {"t_s": 3.5, "speed_mps": 6.014}, {"t_s": 4.5, "speed_mps": 5.849}], "minimum_1s_acceleration_mps2": -0.165, "maximum_speed_drop_mps": 0.0, "recorded_response": "accelerate", "method": "4 Hz trajectory path length; 1 s mean speeds; differences of adjacent 1 s means. Recorded response is descriptive, not a causal label."}, "frames": [{"t_s": 0.0, "source_frame": 43, "images": {"front_left": "images/6fb8e37b733965362c06adc79843e1a2-043/+000_front_left.webp", "front": "images/6fb8e37b733965362c06adc79843e1a2-043/+000_front.webp", "front_right": "images/6fb8e37b733965362c06adc79843e1a2-043/+000_front_right.webp", "side_left": "images/6fb8e37b733965362c06adc79843e1a2-043/+000_side_left.webp", "side_right": "images/6fb8e37b733965362c06adc79843e1a2-043/+000_side_right.webp", "rear_left": "images/6fb8e37b733965362c06adc79843e1a2-043/+000_rear_left.webp", "rear": "images/6fb8e37b733965362c06adc79843e1a2-043/+000_rear.webp", "rear_right": "images/6fb8e37b733965362c06adc79843e1a2-043/+000_rear_right.webp"}}], "camera_count": 8, "available_source_times_s": [-1.0, 0.0, 1.0, 2.0, 3.0, 4.0, 5.0], "camera_scope": "current_only", "label": {"title": "Open Residential Street", "category": "routine", "tags": ["residential street", "driveway vehicles", "clear travel path"], "current_situation": "Ego is traveling at 2.667 m/s with a straight-ahead route on a residential street without clearly marked lanes. The immediate travel path is open, with a vehicle farther ahead near the right curb and other vehicles in driveways. Trees obscure portions of roadside properties, but no visible actor is entering the roadway. No readable ego-facing stop or signal control is apparent.", "baseline_decision": "Continue straight at the current cautious speed, maintaining normal clearance from curbside vehicles and monitoring driveways.", "decision_changing_cue": "None supported by the available images; no visible crossing, driveway departure, or obstruction materially changes the straight-ahead plan.", "causal_mechanism": "The visible vehicles do not occupy the immediate travel path. Roadside vegetation and parked vehicles alone do not establish a conflict requiring braking or lateral avoidance.", "expected_action": "maintain_speed", "decision_deviation": false, "annotation": "Ego faces an open residential street with a vehicle farther ahead near the right curb and other vehicles in driveways. No visible conflict requires departing from the baseline of continuing straight at a cautious low speed over the next 0–5 seconds while maintaining normal curbside clearance.", "interest_score": 10, "confidence": 0.93, "selection_reason": "Reject as a long-tail candidate: all eight cameras show ordinary residential surroundings without a specific nonroutine interaction or material decision-changing cue.", "camera_evidence": [{"camera": "front_left", "t_s": 0, "detail": "A dark SUV sits in a driveway on the left, behind the sidewalk and outside the roadway."}, {"camera": "front", "t_s": 0, "detail": "The straight street has an open immediate travel path; a vehicle is visible farther ahead near the right curb."}, {"camera": "front_right", "t_s": -1, "detail": "A white van is visible in a residential driveway, outside the street."}, {"camera": "front_right", "t_s": 0, "detail": "The right-side driveway apron and sidewalk are clear of visible crossing actors."}, {"camera": "side_left", "t_s": 0, "detail": "A white sedan is in a driveway beside a lawn; no visible actor occupies the adjacent sidewalk or roadway."}, {"camera": "side_right", "t_s": 0, "detail": "A white van and dark pickup are visible in a driveway, with a tree obscuring part of the pickup."}, {"camera": "rear_left", "t_s": 0, "detail": "Residential lawns, sidewalk, and driveway edges are visible without an immediate roadway conflict."}, {"camera": "rear", "t_s": 0, "detail": "Several vehicles line the street behind ego; the nearby road surface remains open."}, {"camera": "rear_right", "t_s": 0, "detail": "Trees, shrubs, a lawn, and a residential sidewalk are visible without an actor entering the street."}], "uncertainties": ["The motion of the vehicle farther ahead cannot be established reliably from the two observations.", "Small roadside sign text is not reliably readable.", "The one-second history does not establish future driveway departures."]}, "discovery_label": {"title": "Open Residential Street", "category": "routine", "tags": ["residential street", "driveway vehicles", "clear travel path"], "current_situation": "Ego is traveling at 2.667 m/s with a straight-ahead route on a residential street without clearly marked lanes. The immediate travel path is open, with a vehicle farther ahead near the right curb and other vehicles in driveways. Trees obscure portions of roadside properties, but no visible actor is entering the roadway. No readable ego-facing stop or signal control is apparent.", "baseline_decision": "Continue straight at the current cautious speed, maintaining normal clearance from curbside vehicles and monitoring driveways.", "decision_changing_cue": "None supported by the available images; no visible crossing, driveway departure, or obstruction materially changes the straight-ahead plan.", "causal_mechanism": "The visible vehicles do not occupy the immediate travel path. Roadside vegetation and parked vehicles alone do not establish a conflict requiring braking or lateral avoidance.", "expected_action": "maintain_speed", "decision_deviation": false, "annotation": "Ego faces an open residential street with a vehicle farther ahead near the right curb and other vehicles in driveways. No visible conflict requires departing from the baseline of continuing straight at a cautious low speed over the next 0–5 seconds while maintaining normal curbside clearance.", "interest_score": 10, "confidence": 0.93, "selection_reason": "Reject as a long-tail candidate: all eight cameras show ordinary residential surroundings without a specific nonroutine interaction or material decision-changing cue.", "camera_evidence": [{"camera": "front_left", "t_s": 0, "detail": "A dark SUV sits in a driveway on the left, behind the sidewalk and outside the roadway."}, {"camera": "front", "t_s": 0, "detail": "The straight street has an open immediate travel path; a vehicle is visible farther ahead near the right curb."}, {"camera": "front_right", "t_s": -1, "detail": "A white van is visible in a residential driveway, outside the street."}, {"camera": "front_right", "t_s": 0, "detail": "The right-side driveway apron and sidewalk are clear of visible crossing actors."}, {"camera": "side_left", "t_s": 0, "detail": "A white sedan is in a driveway beside a lawn; no visible actor occupies the adjacent sidewalk or roadway."}, {"camera": "side_right", "t_s": 0, "detail": "A white van and dark pickup are visible in a driveway, with a tree obscuring part of the pickup."}, {"camera": "rear_left", "t_s": 0, "detail": "Residential lawns, sidewalk, and driveway edges are visible without an immediate roadway conflict."}, {"camera": "rear", "t_s": 0, "detail": "Several vehicles line the street behind ego; the nearby road surface remains open."}, {"camera": "rear_right", "t_s": 0, "detail": "Trees, shrubs, a lawn, and a residential sidewalk are visible without an actor entering the street."}], "uncertainties": ["The motion of the vehicle farther ahead cannot be established reliably from the two observations.", "Small roadside sign text is not reliably readable.", "The one-second history does not establish future driveway departures."], "_binding_sha256": "28f8463d06b14b4b41697142abd9e2aa6fcf564b5eeda99cfdc554aa6ceedb20", "_request": "requests/6fb8e37b733965362c06adc79843e1a2-043/discovery-001"}, "review": null, "status": "dismissed", "annotation": "Ego faces an open residential street with a vehicle farther ahead near the right curb and other vehicles in driveways. No visible conflict requires departing from the baseline of continuing straight at a cautious low speed over the next 0–5 seconds while maintaining normal curbside clearance.", "selected": false}
{"id": "adb2130fe01fe90730816f9c8a973b2b-144", "scenario_id": "adb2130fe01fe90730816f9c8a973b2b", "split": "train", "batch_index": 92, "source_manifest_line": 93, "intent": "GO_LEFT", "anchor_frame": 144, "motion": {"current_speed_mps": 4.586, "future_xy_m": [[1.151580810546875, 0.203125], [2.3090057373046875, 0.47265625], [3.4786834716796875, 0.791015625], [4.6638031005859375, 1.12890625], [5.8741607666015625, 1.482421875], [7.110809326171875, 1.849609375], [8.376068115234375, 2.228515625], [9.665374755859375, 2.61328125], [10.979629516601562, 3.009765625], [12.314559936523438, 3.416015625], [13.67578125, 3.8359375], [15.059982299804688, 4.26953125], [16.463516235351562, 4.71484375], [17.88641357421875, 5.169921875], [19.321670532226562, 5.638671875], [20.7744140625, 6.111328125], [22.254364013671875, 6.6015625], [23.745697021484375, 7.1015625], [25.243988037109375, 7.603515625], [26.752655029296875, 8.123046875]], "future_hz": 4, "speed_windows": [{"t_s": 0.5, "speed_mps": 4.802}, {"t_s": 1.5, "speed_mps": 5.217}, {"t_s": 2.5, "speed_mps": 5.643}, {"t_s": 3.5, "speed_mps": 6.004}, {"t_s": 4.5, "speed_mps": 6.308}], "minimum_1s_acceleration_mps2": 0.304, "maximum_speed_drop_mps": 0.0, "recorded_response": "accelerate", "method": "4 Hz trajectory path length; 1 s mean speeds; differences of adjacent 1 s means. Recorded response is descriptive, not a causal label."}, "frames": [{"t_s": 0.0, "source_frame": 144, "images": {"front_left": "images/adb2130fe01fe90730816f9c8a973b2b-144/+000_front_left.webp", "front": "images/adb2130fe01fe90730816f9c8a973b2b-144/+000_front.webp", "front_right": "images/adb2130fe01fe90730816f9c8a973b2b-144/+000_front_right.webp", "side_left": "images/adb2130fe01fe90730816f9c8a973b2b-144/+000_side_left.webp", "side_right": "images/adb2130fe01fe90730816f9c8a973b2b-144/+000_side_right.webp", "rear_left": "images/adb2130fe01fe90730816f9c8a973b2b-144/+000_rear_left.webp", "rear": "images/adb2130fe01fe90730816f9c8a973b2b-144/+000_rear.webp", "rear_right": "images/adb2130fe01fe90730816f9c8a973b2b-144/+000_rear_right.webp"}}], "camera_count": 8, "available_source_times_s": [-2.0, -1.0, 0.0, 1.0, 2.0, 3.0, 4.0, 5.0], "camera_scope": "current_only", "label": {"title": "Left turn past roadside pedestrian", "category": "vulnerable_road_user_interaction", "tags": ["left turn", "roadside pedestrian", "parked cars", "low illumination"], "current_situation": "The camera history shows ego turning left into a street lined with parked vehicles; current speed is 4.586 m/s. A person is visible beside the roadway-facing side of the parked-car row ahead on the right. Other pedestrians remain on the left corner sidewalk. Streetlights illuminate portions of the roadway, but darker areas have limited detail. The back of an octagonal sign is visible at the corner; its applicability to ego cannot be established.", "baseline_decision": "Complete the intended left turn at low speed through the open travel aisle, maintaining normal parked-car clearance and respecting applicable controls.", "decision_changing_cue": "A visible person beside the right-hand parked vehicles warrants additional passing clearance, but no movement across ego's path is established.", "causal_mechanism": "The roadside person reduces the available separation from the parked-car row. Extra lateral margin while straightening the turn is prudent, but the observations do not establish an immediate conflict or an unusual yielding requirement.", "expected_action": "increase_clearance", "decision_deviation": false, "annotation": "Ego is completing a left turn into a dimly lit, parked-car-lined street, with a person visible beside the roadway-facing side of the parked vehicles ahead on the right. Although ego would otherwise finish the turn through the open aisle, the person's position calls for extra right-side passing clearance while retaining a low speed over the next few seconds.", "interest_score": 58, "confidence": 0.76, "selection_reason": "Reject as a long-tail candidate: the roadside person warrants routine pedestrian-aware clearance, but no crossing, sudden emergence, obstruction, or unusual negotiation is visibly established.", "camera_evidence": [{"camera": "front_left", "t_s": -1, "detail": "The parked-car-lined destination street lies ahead-left before becoming centered in the current front view, supporting an ongoing left turn."}, {"camera": "front", "t_s": 0, "detail": "A person is visible on the roadway-facing side of the right-hand parked-car row, beyond the nearest blue and red cars; the central travel aisle remains open."}, {"camera": "front_left", "t_s": 0, "detail": "Vehicles are parked along the left curb, and pedestrians at the far left remain on the sidewalk rather than visibly occupying the roadway."}, {"camera": "front_right", "t_s": 0, "detail": "A sidewalk corner, hydrant, and fenced property are visible; no actor is visibly entering the immediate turn path from this side."}, {"camera": "side_left", "t_s": -2, "detail": "Several pedestrians are visible on the corner sidewalk near the Portland street sign and the back of an octagonal sign."}, {"camera": "side_left", "t_s": 0, "detail": "Pedestrians remain visible along the corner sidewalk; no roadway crossing is established."}, {"camera": "side_right", "t_s": 0, "detail": "The adjoining street has curbside parked vehicles, with no clearly visible vehicle entering the junction."}, {"camera": "rear_left", "t_s": 0, "detail": "Parked vehicles and a landscaped sidewalk border the street behind the turn."}, {"camera": "rear", "t_s": 0, "detail": "The roadway behind and the landscaped corner show no visible immediate rear conflict."}, {"camera": "rear_right", "t_s": 0, "detail": "A low wall, sidewalk, and parked vehicles are visible without a clearly discernible moving conflict."}], "uncertainties": ["The roadside person's independent motion is not reliably distinguishable from ego's changing viewpoint.", "Low illumination and image resolution limit precise assessment of the person's position relative to the travel aisle.", "The corner sign's face and applicability are not visible; distant vehicle motion is also unresolved."]}, "discovery_label": {"title": "Left turn past roadside pedestrian", "category": "vulnerable_road_user_interaction", "tags": ["left turn", "roadside pedestrian", "parked cars", "low illumination"], "current_situation": "The camera history shows ego turning left into a street lined with parked vehicles; current speed is 4.586 m/s. A person is visible beside the roadway-facing side of the parked-car row ahead on the right. Other pedestrians remain on the left corner sidewalk. Streetlights illuminate portions of the roadway, but darker areas have limited detail. The back of an octagonal sign is visible at the corner; its applicability to ego cannot be established.", "baseline_decision": "Complete the intended left turn at low speed through the open travel aisle, maintaining normal parked-car clearance and respecting applicable controls.", "decision_changing_cue": "A visible person beside the right-hand parked vehicles warrants additional passing clearance, but no movement across ego's path is established.", "causal_mechanism": "The roadside person reduces the available separation from the parked-car row. Extra lateral margin while straightening the turn is prudent, but the observations do not establish an immediate conflict or an unusual yielding requirement.", "expected_action": "increase_clearance", "decision_deviation": false, "annotation": "Ego is completing a left turn into a dimly lit, parked-car-lined street, with a person visible beside the roadway-facing side of the parked vehicles ahead on the right. Although ego would otherwise finish the turn through the open aisle, the person's position calls for extra right-side passing clearance while retaining a low speed over the next few seconds.", "interest_score": 58, "confidence": 0.76, "selection_reason": "Reject as a long-tail candidate: the roadside person warrants routine pedestrian-aware clearance, but no crossing, sudden emergence, obstruction, or unusual negotiation is visibly established.", "camera_evidence": [{"camera": "front_left", "t_s": -1, "detail": "The parked-car-lined destination street lies ahead-left before becoming centered in the current front view, supporting an ongoing left turn."}, {"camera": "front", "t_s": 0, "detail": "A person is visible on the roadway-facing side of the right-hand parked-car row, beyond the nearest blue and red cars; the central travel aisle remains open."}, {"camera": "front_left", "t_s": 0, "detail": "Vehicles are parked along the left curb, and pedestrians at the far left remain on the sidewalk rather than visibly occupying the roadway."}, {"camera": "front_right", "t_s": 0, "detail": "A sidewalk corner, hydrant, and fenced property are visible; no actor is visibly entering the immediate turn path from this side."}, {"camera": "side_left", "t_s": -2, "detail": "Several pedestrians are visible on the corner sidewalk near the Portland street sign and the back of an octagonal sign."}, {"camera": "side_left", "t_s": 0, "detail": "Pedestrians remain visible along the corner sidewalk; no roadway crossing is established."}, {"camera": "side_right", "t_s": 0, "detail": "The adjoining street has curbside parked vehicles, with no clearly visible vehicle entering the junction."}, {"camera": "rear_left", "t_s": 0, "detail": "Parked vehicles and a landscaped sidewalk border the street behind the turn."}, {"camera": "rear", "t_s": 0, "detail": "The roadway behind and the landscaped corner show no visible immediate rear conflict."}, {"camera": "rear_right", "t_s": 0, "detail": "A low wall, sidewalk, and parked vehicles are visible without a clearly discernible moving conflict."}], "uncertainties": ["The roadside person's independent motion is not reliably distinguishable from ego's changing viewpoint.", "Low illumination and image resolution limit precise assessment of the person's position relative to the travel aisle.", "The corner sign's face and applicability are not visible; distant vehicle motion is also unresolved."], "_binding_sha256": "ac0ef565a0f5efe48c503ab12993d4124773762e4205501082991a931288901a", "_request": "requests/adb2130fe01fe90730816f9c8a973b2b-144/discovery-002"}, "review": null, "status": "dismissed", "annotation": "Ego is completing a left turn into a dimly lit, parked-car-lined street, with a person visible beside the roadway-facing side of the parked vehicles ahead on the right. Although ego would otherwise finish the turn through the open aisle, the person's position calls for extra right-side passing clearance while retaining a low speed over the next few seconds.", "selected": false}
{"id": "c41dfef583199fd4912f1e96c95bf142-138", "scenario_id": "c41dfef583199fd4912f1e96c95bf142", "split": "train", "batch_index": 93, "source_manifest_line": 94, "intent": "GO_STRAIGHT", "anchor_frame": 138, "motion": {"current_speed_mps": 0.286, "future_xy_m": [[0.08319091796875, -0.0009765625], [0.20867919921875, -0.002197265625], [0.38671875, -0.00341796875], [0.611328125, -0.004638671875], [0.8597412109375, -0.005126953125], [1.11639404296875, -0.006103515625], [1.37774658203125, -0.007080078125], [1.639892578125, -0.008056640625], [1.89990234375, -0.0087890625], [2.15740966796875, -0.009521484375], [2.42449951171875, -0.0107421875], [2.7098388671875, -0.0107421875], [3.01275634765625, -0.010986328125], [3.33087158203125, -0.01123046875], [3.65283203125, -0.0107421875], [3.97784423828125, -0.010986328125], [4.30340576171875, -0.01025390625], [4.62493896484375, -0.010009765625], [4.9356689453125, -0.009033203125], [5.231689453125, -0.008544921875]], "future_hz": 4, "speed_windows": [{"t_s": 0.5, "speed_mps": 0.611}, {"t_s": 1.5, "speed_mps": 1.029}, {"t_s": 2.5, "speed_mps": 1.07}, {"t_s": 3.5, "speed_mps": 1.268}, {"t_s": 4.5, "speed_mps": 1.254}], "minimum_1s_acceleration_mps2": -0.014, "maximum_speed_drop_mps": 0.0, "recorded_response": "start_moving", "method": "4 Hz trajectory path length; 1 s mean speeds; differences of adjacent 1 s means. Recorded response is descriptive, not a causal label."}, "frames": [{"t_s": 0.0, "source_frame": 138, "images": {"front_left": "images/c41dfef583199fd4912f1e96c95bf142-138/+000_front_left.webp", "front": "images/c41dfef583199fd4912f1e96c95bf142-138/+000_front.webp", "front_right": "images/c41dfef583199fd4912f1e96c95bf142-138/+000_front_right.webp", "side_left": "images/c41dfef583199fd4912f1e96c95bf142-138/+000_side_left.webp", "side_right": "images/c41dfef583199fd4912f1e96c95bf142-138/+000_side_right.webp", "rear_left": "images/c41dfef583199fd4912f1e96c95bf142-138/+000_rear_left.webp", "rear": "images/c41dfef583199fd4912f1e96c95bf142-138/+000_rear.webp", "rear_right": "images/c41dfef583199fd4912f1e96c95bf142-138/+000_rear_right.webp"}}], "camera_count": 8, "available_source_times_s": [-2.0, -1.0, 0.0, 1.0, 2.0, 3.0, 4.0, 5.0], "camera_scope": "current_only", "label": {"title": "Routine Stop Queue With Crossing Pedestrian", "category": "routine", "tags": ["stop-controlled intersection", "lead vehicle", "crosswalk pedestrian"], "current_situation": "Ego is creeping at 0.286 m/s behind a sedan approaching a marked crosswalk and a visible stop sign, with a straight-ahead route. A pedestrian moves toward the left curb across the crosswalk over the available two-second history. Parked cars line both curbs, and a dining enclosure occupies the right curbside. A separate pedestrian behind ego remains on the right sidewalk; the side and rear views show no additional visible roadway conflict.", "baseline_decision": "Stop behind the lead sedan, advance only when space becomes available, and make ego's own required stop before continuing straight when permitted.", "decision_changing_cue": "A pedestrian still occupies the left portion of the crosswalk. This adds a routine clearance requirement before entering the crossing, but does not materially change the immediate stop-and-follow decision.", "causal_mechanism": "Entering the crosswalk before the pedestrian clears could conflict with their observed crossing movement. However, the lead sedan and stop control already require ego to stop upstream, so no exceptional braking or lateral maneuver is supported.", "expected_action": "stop", "decision_deviation": false, "annotation": "A sedan is ahead at a stop-controlled intersection while a pedestrian crosses toward the left curb. Ego should stop behind the sedan, then proceed straight only after making its own required stop and confirming the crosswalk is clear; the pedestrian adds routine yielding rather than a material change to the immediate plan.", "interest_score": 45, "confidence": 0.94, "selection_reason": "Reject as a long-tail candidate: the visible interaction is ordinary crosswalk yielding within a stop-controlled queue, with no supported unusual conflict, emergence, or obstruction requiring a materially different maneuver.", "camera_evidence": [{"camera": "front", "t_s": -2, "detail": "A pedestrian is crossing ahead of the lead sedan, with a marked crosswalk and a stop sign visible."}, {"camera": "front", "t_s": -1, "detail": "The crossing pedestrian has shifted leftward relative to the previous observation; the sedan remains directly ahead."}, {"camera": "front", "t_s": 0, "detail": "The pedestrian is in the left portion of the crosswalk. The lead sedan, stop sign, and painted STOP marking remain visible."}, {"camera": "front_left", "t_s": 0, "detail": "A convertible and a silver vehicle occupy curbside parking spaces; several people are visible at the corner sidewalk."}, {"camera": "front_right", "t_s": 0, "detail": "A black sedan is parked beside a curbside dining enclosure; people are visible within the enclosure, with no visible roadway entry."}, {"camera": "side_left", "t_s": 0, "detail": "Building frontage and sidewalk are visible with no actor entering the roadway."}, {"camera": "side_right", "t_s": 0, "detail": "Building frontage, a parking meter, and the edge of the curbside enclosure are visible; no crossing actor appears."}, {"camera": "rear_left", "t_s": 0, "detail": "A small car and scooter are parked at the left curb behind ego."}, {"camera": "rear", "t_s": 0, "detail": "The street behind is lined with parked vehicles, with no visible immediate approaching conflict."}, {"camera": "rear_right", "t_s": 0, "detail": "A pedestrian remains on the right sidewalk, having moved along it across the observation history without visible roadway entry."}], "uncertainties": ["The lead sedan's exact speed and next movement cannot be established from the images.", "The lead sedan obscures part of the central crosswalk, so complete crossing clearance must be checked before proceeding.", "Intersection priority and any traffic approaching outside the visible views are not established."]}, "discovery_label": {"title": "Routine Stop Queue With Crossing Pedestrian", "category": "routine", "tags": ["stop-controlled intersection", "lead vehicle", "crosswalk pedestrian"], "current_situation": "Ego is creeping at 0.286 m/s behind a sedan approaching a marked crosswalk and a visible stop sign, with a straight-ahead route. A pedestrian moves toward the left curb across the crosswalk over the available two-second history. Parked cars line both curbs, and a dining enclosure occupies the right curbside. A separate pedestrian behind ego remains on the right sidewalk; the side and rear views show no additional visible roadway conflict.", "baseline_decision": "Stop behind the lead sedan, advance only when space becomes available, and make ego's own required stop before continuing straight when permitted.", "decision_changing_cue": "A pedestrian still occupies the left portion of the crosswalk. This adds a routine clearance requirement before entering the crossing, but does not materially change the immediate stop-and-follow decision.", "causal_mechanism": "Entering the crosswalk before the pedestrian clears could conflict with their observed crossing movement. However, the lead sedan and stop control already require ego to stop upstream, so no exceptional braking or lateral maneuver is supported.", "expected_action": "stop", "decision_deviation": false, "annotation": "A sedan is ahead at a stop-controlled intersection while a pedestrian crosses toward the left curb. Ego should stop behind the sedan, then proceed straight only after making its own required stop and confirming the crosswalk is clear; the pedestrian adds routine yielding rather than a material change to the immediate plan.", "interest_score": 45, "confidence": 0.94, "selection_reason": "Reject as a long-tail candidate: the visible interaction is ordinary crosswalk yielding within a stop-controlled queue, with no supported unusual conflict, emergence, or obstruction requiring a materially different maneuver.", "camera_evidence": [{"camera": "front", "t_s": -2, "detail": "A pedestrian is crossing ahead of the lead sedan, with a marked crosswalk and a stop sign visible."}, {"camera": "front", "t_s": -1, "detail": "The crossing pedestrian has shifted leftward relative to the previous observation; the sedan remains directly ahead."}, {"camera": "front", "t_s": 0, "detail": "The pedestrian is in the left portion of the crosswalk. The lead sedan, stop sign, and painted STOP marking remain visible."}, {"camera": "front_left", "t_s": 0, "detail": "A convertible and a silver vehicle occupy curbside parking spaces; several people are visible at the corner sidewalk."}, {"camera": "front_right", "t_s": 0, "detail": "A black sedan is parked beside a curbside dining enclosure; people are visible within the enclosure, with no visible roadway entry."}, {"camera": "side_left", "t_s": 0, "detail": "Building frontage and sidewalk are visible with no actor entering the roadway."}, {"camera": "side_right", "t_s": 0, "detail": "Building frontage, a parking meter, and the edge of the curbside enclosure are visible; no crossing actor appears."}, {"camera": "rear_left", "t_s": 0, "detail": "A small car and scooter are parked at the left curb behind ego."}, {"camera": "rear", "t_s": 0, "detail": "The street behind is lined with parked vehicles, with no visible immediate approaching conflict."}, {"camera": "rear_right", "t_s": 0, "detail": "A pedestrian remains on the right sidewalk, having moved along it across the observation history without visible roadway entry."}], "uncertainties": ["The lead sedan's exact speed and next movement cannot be established from the images.", "The lead sedan obscures part of the central crosswalk, so complete crossing clearance must be checked before proceeding.", "Intersection priority and any traffic approaching outside the visible views are not established."], "_binding_sha256": "90d915ad809708748955718fdc7e9a43d0e8dc1abae05ff94f6285e6861f7b4a", "_request": "requests/c41dfef583199fd4912f1e96c95bf142-138/discovery-001"}, "review": null, "status": "dismissed", "annotation": "A sedan is ahead at a stop-controlled intersection while a pedestrian crosses toward the left curb. Ego should stop behind the sedan, then proceed straight only after making its own required stop and confirming the crosswalk is clear; the pedestrian adds routine yielding rather than a material change to the immediate plan.", "selected": false}
{"id": "a490e2f1a963a17f277295f208742cce-105", "scenario_id": "a490e2f1a963a17f277295f208742cce", "split": "train", "batch_index": 94, "source_manifest_line": 95, "intent": "GO_STRAIGHT", "anchor_frame": 105, "motion": {"current_speed_mps": 4.768, "future_xy_m": [[1.155029296875, 0.0015869140625], [2.2373046875, 0.00732421875], [3.250244140625, 0.0145263671875], [4.2001953125, 0.0225830078125], [5.08984375, 0.0323486328125], [5.947021484375, 0.04296875], [6.777099609375, 0.0545654296875], [7.582275390625, 0.066650390625], [8.357177734375, 0.0794677734375], [9.08544921875, 0.0921630859375], [9.758056640625, 0.10400390625], [10.37353515625, 0.114990234375], [10.93701171875, 0.12451171875], [11.44775390625, 0.1326904296875], [11.895751953125, 0.1402587890625], [12.27197265625, 0.14599609375], [12.57958984375, 0.151123046875], [12.826171875, 0.1551513671875], [13.019775390625, 0.158447265625], [13.17041015625, 0.1605224609375]], "future_hz": 4, "speed_windows": [{"t_s": 0.5, "speed_mps": 4.2}, {"t_s": 1.5, "speed_mps": 3.382}, {"t_s": 2.5, "speed_mps": 2.792}, {"t_s": 3.5, "speed_mps": 1.899}, {"t_s": 4.5, "speed_mps": 0.899}], "minimum_1s_acceleration_mps2": -1.0, "maximum_speed_drop_mps": 3.869, "recorded_response": "slow_down", "method": "4 Hz trajectory path length; 1 s mean speeds; differences of adjacent 1 s means. Recorded response is descriptive, not a causal label."}, "frames": [{"t_s": 0.0, "source_frame": 105, "images": {"front_left": "images/a490e2f1a963a17f277295f208742cce-105/+000_front_left.webp", "front": "images/a490e2f1a963a17f277295f208742cce-105/+000_front.webp", "front_right": "images/a490e2f1a963a17f277295f208742cce-105/+000_front_right.webp", "side_left": "images/a490e2f1a963a17f277295f208742cce-105/+000_side_left.webp", "side_right": "images/a490e2f1a963a17f277295f208742cce-105/+000_side_right.webp", "rear_left": "images/a490e2f1a963a17f277295f208742cce-105/+000_rear_left.webp", "rear": "images/a490e2f1a963a17f277295f208742cce-105/+000_rear.webp", "rear_right": "images/a490e2f1a963a17f277295f208742cce-105/+000_rear_right.webp"}}], "camera_count": 8, "available_source_times_s": [-2.0, -1.0, 0.0, 1.0, 2.0, 3.0, 4.0, 5.0], "camera_scope": "current_only", "label": {"title": "Routine Stop Beside Corner Construction", "category": "routine", "tags": ["all-way stop", "marked crosswalk", "corner construction"], "current_situation": "Ego is traveling straight at 4.768 m/s toward an all-way-stop intersection. A STOP road marking and striped crosswalk are ahead, with vehicles parked along both curbs. A person wearing an orange high-visibility vest stands beside temporary signs and scaffolding at the left corner, without visibly entering ego's path. A vehicle faces ego beyond the intersection. Sun glare affects the front-right view.", "baseline_decision": "Decelerate to a complete stop before the crosswalk, assess intersection priority and crossing activity, then proceed straight when clear.", "decision_changing_cue": "No supported nonroutine cue materially changes the baseline. The corner worker and construction signs are visible, but no crossing movement, lane obstruction, or traffic-directing gesture is established.", "causal_mechanism": "The stop control requires stopping regardless of the corner construction. The visible worker does not establish an additional conflict requiring exceptional braking, a lateral maneuver, or an extended wait.", "expected_action": "stop", "decision_deviation": false, "annotation": "Ego approaches an all-way-stop intersection with a marked crosswalk and a worker beside temporary signs at the left corner. With no visible worker movement into its path, ego should make the normal stop before the crosswalk, then continue straight only when intersection priority and crossing conditions permit.", "interest_score": 48, "confidence": 0.9, "selection_reason": "Reject as a long-tail candidate: construction activity adds context, but the supported next decision remains an ordinary stop-controlled straight traversal.", "camera_evidence": [{"camera": "front", "t_s": -2, "detail": "A stop sign and STOP road marking are visible ahead on the straight residential approach, with curbside vehicles on both sides."}, {"camera": "front", "t_s": -1, "detail": "The crosswalk and stop control become larger as ego advances; no actor is visibly crossing the approach."}, {"camera": "front", "t_s": 0, "detail": "The STOP sign has an ALL WAY plaque; a striped crosswalk spans the approach. A high-visibility-vested person stands beside temporary signs at the left corner, and a vehicle faces ego beyond the intersection."}, {"camera": "front_left", "t_s": 0, "detail": "A curb-aligned sedan, a scooter between vehicles, and a pickup occupy the left curb area; no scooter rider is visible."}, {"camera": "front_right", "t_s": 0, "detail": "A sedan is positioned along the right curb beside a tree and residential sidewalk; strong sunlight produces glare through the tree."}, {"camera": "side_left", "t_s": 0, "detail": "Curbside cars and a residential wall line the left side; no visible actor enters the roadway."}, {"camera": "side_right", "t_s": 0, "detail": "Residential garage fronts, sidewalk, and part of a curbside car are visible without an apparent roadway conflict."}, {"camera": "rear_left", "t_s": 0, "detail": "A curbside wagon and residential sidewalk are visible behind ego on the left."}, {"camera": "rear", "t_s": 0, "detail": "The street behind remains open between rows of curbside vehicles, with no clearly visible immediate rear conflict."}, {"camera": "rear_right", "t_s": 0, "detail": "Several curb-aligned vehicles and residential entrances occupy the right rear view."}], "uncertainties": ["The worker's precise motion and any hand gesture cannot be reliably established from the available images.", "Independent motion of the vehicle facing ego beyond the intersection is unclear because ego also advances.", "Parked vehicles and corner buildings limit portions of the cross-street view; no hidden actor is established."]}, "discovery_label": {"title": "Routine Stop Beside Corner Construction", "category": "routine", "tags": ["all-way stop", "marked crosswalk", "corner construction"], "current_situation": "Ego is traveling straight at 4.768 m/s toward an all-way-stop intersection. A STOP road marking and striped crosswalk are ahead, with vehicles parked along both curbs. A person wearing an orange high-visibility vest stands beside temporary signs and scaffolding at the left corner, without visibly entering ego's path. A vehicle faces ego beyond the intersection. Sun glare affects the front-right view.", "baseline_decision": "Decelerate to a complete stop before the crosswalk, assess intersection priority and crossing activity, then proceed straight when clear.", "decision_changing_cue": "No supported nonroutine cue materially changes the baseline. The corner worker and construction signs are visible, but no crossing movement, lane obstruction, or traffic-directing gesture is established.", "causal_mechanism": "The stop control requires stopping regardless of the corner construction. The visible worker does not establish an additional conflict requiring exceptional braking, a lateral maneuver, or an extended wait.", "expected_action": "stop", "decision_deviation": false, "annotation": "Ego approaches an all-way-stop intersection with a marked crosswalk and a worker beside temporary signs at the left corner. With no visible worker movement into its path, ego should make the normal stop before the crosswalk, then continue straight only when intersection priority and crossing conditions permit.", "interest_score": 48, "confidence": 0.9, "selection_reason": "Reject as a long-tail candidate: construction activity adds context, but the supported next decision remains an ordinary stop-controlled straight traversal.", "camera_evidence": [{"camera": "front", "t_s": -2, "detail": "A stop sign and STOP road marking are visible ahead on the straight residential approach, with curbside vehicles on both sides."}, {"camera": "front", "t_s": -1, "detail": "The crosswalk and stop control become larger as ego advances; no actor is visibly crossing the approach."}, {"camera": "front", "t_s": 0, "detail": "The STOP sign has an ALL WAY plaque; a striped crosswalk spans the approach. A high-visibility-vested person stands beside temporary signs at the left corner, and a vehicle faces ego beyond the intersection."}, {"camera": "front_left", "t_s": 0, "detail": "A curb-aligned sedan, a scooter between vehicles, and a pickup occupy the left curb area; no scooter rider is visible."}, {"camera": "front_right", "t_s": 0, "detail": "A sedan is positioned along the right curb beside a tree and residential sidewalk; strong sunlight produces glare through the tree."}, {"camera": "side_left", "t_s": 0, "detail": "Curbside cars and a residential wall line the left side; no visible actor enters the roadway."}, {"camera": "side_right", "t_s": 0, "detail": "Residential garage fronts, sidewalk, and part of a curbside car are visible without an apparent roadway conflict."}, {"camera": "rear_left", "t_s": 0, "detail": "A curbside wagon and residential sidewalk are visible behind ego on the left."}, {"camera": "rear", "t_s": 0, "detail": "The street behind remains open between rows of curbside vehicles, with no clearly visible immediate rear conflict."}, {"camera": "rear_right", "t_s": 0, "detail": "Several curb-aligned vehicles and residential entrances occupy the right rear view."}], "uncertainties": ["The worker's precise motion and any hand gesture cannot be reliably established from the available images.", "Independent motion of the vehicle facing ego beyond the intersection is unclear because ego also advances.", "Parked vehicles and corner buildings limit portions of the cross-street view; no hidden actor is established."], "_binding_sha256": "83d3e19a564d3527ec759a84c60dab0320378e3c656ca6267d36a6ded60e32bc", "_request": "requests/a490e2f1a963a17f277295f208742cce-105/discovery-001"}, "review": null, "status": "dismissed", "annotation": "Ego approaches an all-way-stop intersection with a marked crosswalk and a worker beside temporary signs at the left corner. With no visible worker movement into its path, ego should make the normal stop before the crosswalk, then continue straight only when intersection priority and crossing conditions permit.", "selected": false}
{"id": "4de7788689e9f683890af6b5a303e8dd-090", "scenario_id": "4de7788689e9f683890af6b5a303e8dd", "split": "train", "batch_index": 95, "source_manifest_line": 96, "intent": "GO_STRAIGHT", "anchor_frame": 90, "motion": {"current_speed_mps": 2.556, "future_xy_m": [[0.607421875, -0.026611328125], [1.157958984375, -0.0699462890625], [1.6591796875, -0.124267578125], [2.117919921875, -0.18377685546875], [2.550048828125, -0.2481689453125], [2.95947265625, -0.316650390625], [3.34765625, -0.38446044921875], [3.716064453125, -0.44970703125], [4.0654296875, -0.51055908203125], [4.396728515625, -0.5657958984375], [4.710205078125, -0.61572265625], [5.008544921875, -0.66082763671875], [5.2919921875, -0.70269775390625], [5.5625, -0.7391357421875], [5.8212890625, -0.77264404296875], [6.064453125, -0.80181884765625], [6.2919921875, -0.8272705078125], [6.506591796875, -0.850341796875], [6.708251953125, -0.87176513671875], [6.89453125, -0.89111328125]], "future_hz": 4, "speed_windows": [{"t_s": 0.5, "speed_mps": 2.127}, {"t_s": 1.5, "speed_mps": 1.62}, {"t_s": 2.5, "speed_mps": 1.31}, {"t_s": 3.5, "speed_mps": 1.065}, {"t_s": 4.5, "speed_mps": 0.835}], "minimum_1s_acceleration_mps2": -0.507, "maximum_speed_drop_mps": 1.721, "recorded_response": "slow_down", "method": "4 Hz trajectory path length; 1 s mean speeds; differences of adjacent 1 s means. Recorded response is descriptive, not a causal label."}, "frames": [{"t_s": 0.0, "source_frame": 90, "images": {"front_left": "images/4de7788689e9f683890af6b5a303e8dd-090/+000_front_left.webp", "front": "images/4de7788689e9f683890af6b5a303e8dd-090/+000_front.webp", "front_right": "images/4de7788689e9f683890af6b5a303e8dd-090/+000_front_right.webp", "side_left": "images/4de7788689e9f683890af6b5a303e8dd-090/+000_side_left.webp", "side_right": "images/4de7788689e9f683890af6b5a303e8dd-090/+000_side_right.webp", "rear_left": "images/4de7788689e9f683890af6b5a303e8dd-090/+000_rear_left.webp", "rear": "images/4de7788689e9f683890af6b5a303e8dd-090/+000_rear.webp", "rear_right": "images/4de7788689e9f683890af6b5a303e8dd-090/+000_rear_right.webp"}}], "camera_count": 8, "available_source_times_s": [-2.0, -1.0, 0.0, 1.0, 2.0, 3.0, 4.0, 5.0], "camera_scope": "current_only", "label": {"title": "Routine straight travel past parked vehicles", "category": "routine", "tags": ["curbside parking", "residential street", "pedestrian behind ego"], "current_situation": "Ego is traveling straight at 2.556 m/s along an unmarked residential street. Vehicles line both curbs, but the forward travel corridor remains open. A dark SUV remains in a right-side driveway across the supplied history. A pedestrian is visible near the intersection behind ego, not in its forward path. Stop controls are visible at the junction behind; no upcoming stop control is visible ahead. Daylight and tree shadows permit a clear view of the roadway.", "baseline_decision": "Continue straight at the current low speed, maintaining ordinary lateral clearance from curbside vehicles.", "decision_changing_cue": "None supported: no vehicle visibly enters the travel corridor, and the pedestrian behind ego does not present a visible forward-path conflict.", "causal_mechanism": "The parked vehicles require normal clearance management, not a materially different plan. Neither the driveway SUV nor the rear pedestrian provides evidence requiring braking, yielding, or an evasive lateral maneuver in the next 0–5 seconds.", "expected_action": "maintain_speed", "decision_deviation": false, "annotation": "An open residential street continues straight between curbside vehicles, while a driveway SUV remains stationary and a pedestrian is visible near the junction behind ego. No visible conflict changes the normal plan: ego should continue at its current low speed over the next few seconds, maintaining clearance from the parked vehicles.", "interest_score": 18, "confidence": 0.91, "selection_reason": "Reject as a long-tail candidate: ordinary curbside parking and a pedestrian behind ego do not establish a nonroutine interaction or material decision change.", "camera_evidence": [{"camera": "front_left", "t_s": 0, "detail": "Sidewalk, lawns, trees, and residential driveways are visible; no actor occupies the adjacent roadway."}, {"camera": "front", "t_s": 0, "detail": "A gray sedan sits at the right curb and a light pickup at the left curb, leaving an open straight travel corridor."}, {"camera": "front_right", "t_s": -2, "detail": "A dark SUV is positioned in the residential driveway beside a wall and fence."}, {"camera": "front_right", "t_s": 0, "detail": "The dark SUV remains positioned in the driveway, with no visible entry into the street."}, {"camera": "side_left", "t_s": 0, "detail": "A white SUV is parked in a driveway; the sidewalk and curb beside ego show no visible conflict."}, {"camera": "side_right", "t_s": 0, "detail": "A car is inside a fenced residential driveway, separated from the roadway."}, {"camera": "rear_left", "t_s": 0, "detail": "A stop sign stands at the intersection behind ego."}, {"camera": "rear", "t_s": 0, "detail": "The intersection and STOP pavement marking are behind ego; a pedestrian is visible near the left edge of this rear-facing view."}, {"camera": "rear_right", "t_s": -2, "detail": "A pedestrian is visible near the sidewalk corner behind ego, beside a slender tree."}, {"camera": "rear_right", "t_s": 0, "detail": "The view shows a wall, fence, sidewalk, and grass behind the right side, with no vehicle entering the roadway."}], "uncertainties": ["The pedestrian's precise walking direction is unclear because ego motion changes their position across rear views.", "Future movement of parked or driveway vehicles is not established by the available history."]}, "discovery_label": {"title": "Routine straight travel past parked vehicles", "category": "routine", "tags": ["curbside parking", "residential street", "pedestrian behind ego"], "current_situation": "Ego is traveling straight at 2.556 m/s along an unmarked residential street. Vehicles line both curbs, but the forward travel corridor remains open. A dark SUV remains in a right-side driveway across the supplied history. A pedestrian is visible near the intersection behind ego, not in its forward path. Stop controls are visible at the junction behind; no upcoming stop control is visible ahead. Daylight and tree shadows permit a clear view of the roadway.", "baseline_decision": "Continue straight at the current low speed, maintaining ordinary lateral clearance from curbside vehicles.", "decision_changing_cue": "None supported: no vehicle visibly enters the travel corridor, and the pedestrian behind ego does not present a visible forward-path conflict.", "causal_mechanism": "The parked vehicles require normal clearance management, not a materially different plan. Neither the driveway SUV nor the rear pedestrian provides evidence requiring braking, yielding, or an evasive lateral maneuver in the next 0–5 seconds.", "expected_action": "maintain_speed", "decision_deviation": false, "annotation": "An open residential street continues straight between curbside vehicles, while a driveway SUV remains stationary and a pedestrian is visible near the junction behind ego. No visible conflict changes the normal plan: ego should continue at its current low speed over the next few seconds, maintaining clearance from the parked vehicles.", "interest_score": 18, "confidence": 0.91, "selection_reason": "Reject as a long-tail candidate: ordinary curbside parking and a pedestrian behind ego do not establish a nonroutine interaction or material decision change.", "camera_evidence": [{"camera": "front_left", "t_s": 0, "detail": "Sidewalk, lawns, trees, and residential driveways are visible; no actor occupies the adjacent roadway."}, {"camera": "front", "t_s": 0, "detail": "A gray sedan sits at the right curb and a light pickup at the left curb, leaving an open straight travel corridor."}, {"camera": "front_right", "t_s": -2, "detail": "A dark SUV is positioned in the residential driveway beside a wall and fence."}, {"camera": "front_right", "t_s": 0, "detail": "The dark SUV remains positioned in the driveway, with no visible entry into the street."}, {"camera": "side_left", "t_s": 0, "detail": "A white SUV is parked in a driveway; the sidewalk and curb beside ego show no visible conflict."}, {"camera": "side_right", "t_s": 0, "detail": "A car is inside a fenced residential driveway, separated from the roadway."}, {"camera": "rear_left", "t_s": 0, "detail": "A stop sign stands at the intersection behind ego."}, {"camera": "rear", "t_s": 0, "detail": "The intersection and STOP pavement marking are behind ego; a pedestrian is visible near the left edge of this rear-facing view."}, {"camera": "rear_right", "t_s": -2, "detail": "A pedestrian is visible near the sidewalk corner behind ego, beside a slender tree."}, {"camera": "rear_right", "t_s": 0, "detail": "The view shows a wall, fence, sidewalk, and grass behind the right side, with no vehicle entering the roadway."}], "uncertainties": ["The pedestrian's precise walking direction is unclear because ego motion changes their position across rear views.", "Future movement of parked or driveway vehicles is not established by the available history."], "_binding_sha256": "7fa23f1b8385113bff4a2db61c6be9467beafb3791bed88622740bcb1b1082e4", "_request": "requests/4de7788689e9f683890af6b5a303e8dd-090/discovery-001"}, "review": null, "status": "dismissed", "annotation": "An open residential street continues straight between curbside vehicles, while a driveway SUV remains stationary and a pedestrian is visible near the junction behind ego. No visible conflict changes the normal plan: ego should continue at its current low speed over the next few seconds, maintaining clearance from the parked vehicles.", "selected": false}
{"id": "c38223119a02ef785adec5063b495877-045", "scenario_id": "c38223119a02ef785adec5063b495877", "split": "train", "batch_index": 96, "source_manifest_line": 97, "intent": "GO_STRAIGHT", "anchor_frame": 45, "motion": {"current_speed_mps": 11.398, "future_xy_m": [[2.8231201171875, -0.01953125], [5.5931396484375, -0.0552978515625], [8.307373046875, -0.1044921875], [10.9619140625, -0.16552734375], [13.5352783203125, -0.2366943359375], [16.013427734375, -0.3184814453125], [18.403564453125, -0.4080810546875], [20.71142578125, -0.5013427734375], [22.941162109375, -0.5943603515625], [25.10546875, -0.68701171875], [27.22314453125, -0.77685546875], [29.3116455078125, -0.8475341796875], [31.3798828125, -0.8759765625], [33.4417724609375, -0.8525390625], [35.475341796875, -0.7515869140625], [37.4918212890625, -0.5565185546875], [39.4764404296875, -0.2567138671875], [41.4395751953125, 0.1741943359375], [43.355712890625, 0.7537841796875], [45.216796875, 1.489501953125]], "future_hz": 4, "speed_windows": [{"t_s": 0.5, "speed_mps": 10.963}, {"t_s": 1.5, "speed_mps": 9.755}, {"t_s": 2.5, "speed_mps": 8.607}, {"t_s": 3.5, "speed_mps": 8.192}, {"t_s": 4.5, "speed_mps": 8.02}], "minimum_1s_acceleration_mps2": -1.208, "maximum_speed_drop_mps": 3.378, "recorded_response": "slow_down", "method": "4 Hz trajectory path length; 1 s mean speeds; differences of adjacent 1 s means. Recorded response is descriptive, not a causal label."}, "frames": [{"t_s": 0.0, "source_frame": 45, "images": {"front_left": "images/c38223119a02ef785adec5063b495877-045/+000_front_left.webp", "front": "images/c38223119a02ef785adec5063b495877-045/+000_front.webp", "front_right": "images/c38223119a02ef785adec5063b495877-045/+000_front_right.webp", "side_left": "images/c38223119a02ef785adec5063b495877-045/+000_side_left.webp", "side_right": "images/c38223119a02ef785adec5063b495877-045/+000_side_right.webp", "rear_left": "images/c38223119a02ef785adec5063b495877-045/+000_rear_left.webp", "rear": "images/c38223119a02ef785adec5063b495877-045/+000_rear.webp", "rear_right": "images/c38223119a02ef785adec5063b495877-045/+000_rear_right.webp"}}], "camera_count": 8, "available_source_times_s": [-1.0, 0.0, 1.0, 2.0, 3.0, 4.0, 5.0], "camera_scope": "current_only", "label": {"title": "Turn-marked lane on a straight route", "category": "routine", "tags": ["lane positioning", "straight route", "green signal"], "current_situation": "Ego is approaching a signalized intersection at 11.398 m/s with a straight-ahead route. Forward-facing signals show green. A left-turn arrow appears in ego's current lane, separated by a white line from the through lane to the right. A person remains beside the left sidewalk bus shelter across the available observations; no roadway entry is visible. Buses and a pickup are visible off-road to the right, and a blue car is behind ego.", "baseline_decision": "Without the turn-lane marking, continue straight in the current lane under the green signal, while monitoring the intersection.", "decision_changing_cue": "The left-turn arrow in the apparent ego lane conflicts with the supplied GO_STRAIGHT route; the adjacent through lane is to the right.", "causal_mechanism": "Maintaining the apparent current lane would carry the straight route through a turn-marked approach lane. Ego should establish a safe gap and reposition right before the intersection, reducing speed if necessary rather than forcing the lane change.", "expected_action": "lane_change", "decision_deviation": true, "annotation": "Ego approaches a green signal on a straight route, but a left-turn arrow marks its apparent current lane. Although ego would otherwise continue straight, the lane marking requires checking adjacent and rear traffic and moving right into the through lane before the intersection when a safe gap is available.", "interest_score": 48, "confidence": 0.8, "selection_reason": "Reject as a long-tail candidate: the visible cue supports a meaningful but conventional route-alignment correction, not an uncommon hazardous interaction. Neither the sidewalk person nor the off-road buses show a specific conflict with ego.", "camera_evidence": [{"camera": "front", "t_s": -1, "detail": "A left-turn arrow lies between the yellow center markings and the white lane boundary to the right."}, {"camera": "front", "t_s": 0, "detail": "The larger image shows a left-turn arrow in the apparent ego lane, a through lane to its right, and green forward-facing signals."}, {"camera": "front_left", "t_s": -1, "detail": "A person is visible beside the bus shelter on the left sidewalk."}, {"camera": "front_left", "t_s": 0, "detail": "The person remains beside the shelter and belongings, behind the curb; no roadway entry is visible."}, {"camera": "front_right", "t_s": 0, "detail": "Buses and a pickup occupy the paved area to the right, outside the roadway; the visible adjacent road segment has no nearby vehicle."}, {"camera": "side_left", "t_s": 0, "detail": "A grass verge and sidewalk separate ego's roadway from houses and vehicles on the farther street."}, {"camera": "side_right", "t_s": 0, "detail": "A driveway opens into a parking lot containing a white vehicle; no vehicle is visible crossing the curb into ego's roadway."}, {"camera": "rear_left", "t_s": 0, "detail": "The rear-left view shows the curb, grass verge, trees, and residential frontage without a nearby roadway actor."}, {"camera": "rear", "t_s": 0, "detail": "A blue car is visible behind ego; this view does not establish a calibrated gap for a lane change."}, {"camera": "rear_right", "t_s": 0, "detail": "The rear-right view shows the roadside building, sidewalk, and driveway, with no nearby vehicle alongside ego."}], "uncertainties": ["Uncalibrated camera perspective limits certainty about ego's exact position within the turn-marked lane.", "The photographs do not establish a complete safe lane-change gap or the speed of the rear vehicle.", "Only one second of history is available; no future actor motion or recorded ego response is established."]}, "discovery_label": {"title": "Turn-marked lane on a straight route", "category": "routine", "tags": ["lane positioning", "straight route", "green signal"], "current_situation": "Ego is approaching a signalized intersection at 11.398 m/s with a straight-ahead route. Forward-facing signals show green. A left-turn arrow appears in ego's current lane, separated by a white line from the through lane to the right. A person remains beside the left sidewalk bus shelter across the available observations; no roadway entry is visible. Buses and a pickup are visible off-road to the right, and a blue car is behind ego.", "baseline_decision": "Without the turn-lane marking, continue straight in the current lane under the green signal, while monitoring the intersection.", "decision_changing_cue": "The left-turn arrow in the apparent ego lane conflicts with the supplied GO_STRAIGHT route; the adjacent through lane is to the right.", "causal_mechanism": "Maintaining the apparent current lane would carry the straight route through a turn-marked approach lane. Ego should establish a safe gap and reposition right before the intersection, reducing speed if necessary rather than forcing the lane change.", "expected_action": "lane_change", "decision_deviation": true, "annotation": "Ego approaches a green signal on a straight route, but a left-turn arrow marks its apparent current lane. Although ego would otherwise continue straight, the lane marking requires checking adjacent and rear traffic and moving right into the through lane before the intersection when a safe gap is available.", "interest_score": 48, "confidence": 0.8, "selection_reason": "Reject as a long-tail candidate: the visible cue supports a meaningful but conventional route-alignment correction, not an uncommon hazardous interaction. Neither the sidewalk person nor the off-road buses show a specific conflict with ego.", "camera_evidence": [{"camera": "front", "t_s": -1, "detail": "A left-turn arrow lies between the yellow center markings and the white lane boundary to the right."}, {"camera": "front", "t_s": 0, "detail": "The larger image shows a left-turn arrow in the apparent ego lane, a through lane to its right, and green forward-facing signals."}, {"camera": "front_left", "t_s": -1, "detail": "A person is visible beside the bus shelter on the left sidewalk."}, {"camera": "front_left", "t_s": 0, "detail": "The person remains beside the shelter and belongings, behind the curb; no roadway entry is visible."}, {"camera": "front_right", "t_s": 0, "detail": "Buses and a pickup occupy the paved area to the right, outside the roadway; the visible adjacent road segment has no nearby vehicle."}, {"camera": "side_left", "t_s": 0, "detail": "A grass verge and sidewalk separate ego's roadway from houses and vehicles on the farther street."}, {"camera": "side_right", "t_s": 0, "detail": "A driveway opens into a parking lot containing a white vehicle; no vehicle is visible crossing the curb into ego's roadway."}, {"camera": "rear_left", "t_s": 0, "detail": "The rear-left view shows the curb, grass verge, trees, and residential frontage without a nearby roadway actor."}, {"camera": "rear", "t_s": 0, "detail": "A blue car is visible behind ego; this view does not establish a calibrated gap for a lane change."}, {"camera": "rear_right", "t_s": 0, "detail": "The rear-right view shows the roadside building, sidewalk, and driveway, with no nearby vehicle alongside ego."}], "uncertainties": ["Uncalibrated camera perspective limits certainty about ego's exact position within the turn-marked lane.", "The photographs do not establish a complete safe lane-change gap or the speed of the rear vehicle.", "Only one second of history is available; no future actor motion or recorded ego response is established."], "_binding_sha256": "b6e6c311bbabaf375637533fd221d77e50447623a099b3b2f7cf49ea82891c15", "_request": "requests/c38223119a02ef785adec5063b495877-045/discovery-001"}, "review": null, "status": "dismissed", "annotation": "Ego approaches a green signal on a straight route, but a left-turn arrow marks its apparent current lane. Although ego would otherwise continue straight, the lane marking requires checking adjacent and rear traffic and moving right into the through lane before the intersection when a safe gap is available.", "selected": false}
{"id": "e0dd247c92d566815695c62e8e8f17d2-212", "scenario_id": "e0dd247c92d566815695c62e8e8f17d2", "split": "train", "batch_index": 97, "source_manifest_line": 98, "intent": "GO_STRAIGHT", "anchor_frame": 212, "motion": {"current_speed_mps": 5.381, "future_xy_m": [[1.3565673828125, 0.01220703125], [2.7374267578125, 0.03173828125], [4.1318359375, 0.05126953125], [5.551025390625, 0.07373046875], [6.99267578125, 0.095703125], [8.4716796875, 0.12353515625], [9.978271484375, 0.154296875], [11.5223388671875, 0.1845703125], [13.0953369140625, 0.21630859375], [14.7032470703125, 0.25], [16.33984375, 0.2890625], [17.9852294921875, 0.3447265625], [19.6239013671875, 0.4091796875], [21.215576171875, 0.47607421875], [22.7432861328125, 0.5400390625], [24.188720703125, 0.59912109375], [25.5474853515625, 0.65478515625], [26.8206787109375, 0.70703125], [28.0205078125, 0.75439453125], [29.157958984375, 0.79736328125]], "future_hz": 4, "speed_windows": [{"t_s": 0.5, "speed_mps": 5.552}, {"t_s": 1.5, "speed_mps": 5.972}, {"t_s": 2.5, "speed_mps": 6.465}, {"t_s": 3.5, "speed_mps": 6.209}, {"t_s": 4.5, "speed_mps": 4.973}], "minimum_1s_acceleration_mps2": -1.236, "maximum_speed_drop_mps": 0.407, "recorded_response": "roughly_maintain_speed", "method": "4 Hz trajectory path length; 1 s mean speeds; differences of adjacent 1 s means. Recorded response is descriptive, not a causal label."}, "frames": [{"t_s": 0.0, "source_frame": 212, "images": {"front_left": "images/e0dd247c92d566815695c62e8e8f17d2-212/+000_front_left.webp", "front": "images/e0dd247c92d566815695c62e8e8f17d2-212/+000_front.webp", "front_right": "images/e0dd247c92d566815695c62e8e8f17d2-212/+000_front_right.webp", "side_left": "images/e0dd247c92d566815695c62e8e8f17d2-212/+000_side_left.webp", "side_right": "images/e0dd247c92d566815695c62e8e8f17d2-212/+000_side_right.webp", "rear_left": "images/e0dd247c92d566815695c62e8e8f17d2-212/+000_rear_left.webp", "rear": "images/e0dd247c92d566815695c62e8e8f17d2-212/+000_rear.webp", "rear_right": "images/e0dd247c92d566815695c62e8e8f17d2-212/+000_rear_right.webp"}}], "camera_count": 8, "available_source_times_s": [-2.0, -1.0, 0.0, 1.0], "camera_scope": "current_only", "label": {"title": "Routine Stop Approach With Sidewalk Pedestrians", "category": "routine", "tags": ["stop approach", "sidewalk pedestrians", "curbside parking"], "current_situation": "Ego is traveling straight at 5.381 m/s along a residential street with vehicles parked on both sides. A STOP pavement marking is visible ahead at a junction. Two pedestrians remain on the left sidewalk across the observation history, appearing alongside ego in the current side-left view. The forward travel corridor is open; no pedestrian entry or vehicle intrusion is visible.", "baseline_decision": "Continue on the straight route with clearance from parked vehicles, slowing on approach to stop at the marked junction.", "decision_changing_cue": "No qualifying nonroutine cue is visible. The pedestrians remain on the sidewalk, and the STOP marking is a routine traffic control already included in the baseline.", "causal_mechanism": "The upcoming stop control supports progressive longitudinal deceleration during the next 0–5 seconds. The visible sidewalk pedestrians do not establish a roadway conflict requiring additional braking or lateral avoidance.", "expected_action": "slow_down", "decision_deviation": false, "annotation": "A STOP marking lies ahead on a residential street lined with parked vehicles, while two pedestrians remain on the left sidewalk as ego passes. Ego should continue straight with curbside clearance and slow on approach to stop at the junction; no visible interaction requires a departure from this routine plan.", "interest_score": 42, "confidence": 0.93, "selection_reason": "Reject as a long-tail candidate: this is a routine stop approach, with no supported crossing conflict, unusual obstruction, or negotiation materially changing the plan.", "camera_evidence": [{"camera": "front_left", "t_s": -1, "detail": "Two pedestrians are visible on the left sidewalk beside hedges and a driveway, outside the roadway."}, {"camera": "front", "t_s": -2, "detail": "The street ahead has curbside vehicles on both sides and an open central travel corridor."}, {"camera": "front_left", "t_s": 0, "detail": "A silver station wagon faces ego at the left curb; no roadway entry by a pedestrian is visible."}, {"camera": "front", "t_s": 0, "detail": "A STOP pavement marking is readable ahead at the junction, with a white van at the left curb and parked vehicles along the right."}, {"camera": "front_right", "t_s": 0, "detail": "A dark pickup is positioned in a residential driveway, clear of the forward travel corridor."}, {"camera": "side_left", "t_s": 0, "detail": "The two pedestrians are alongside ego on the sidewalk in front of a driveway; neither is visibly stepping into the street."}, {"camera": "side_right", "t_s": 0, "detail": "An SUV is positioned beside a house in a driveway area; no actor is entering the roadway."}, {"camera": "rear_left", "t_s": 0, "detail": "A silver SUV is visible beside the left curb and sidewalk behind ego."}, {"camera": "rear", "t_s": 0, "detail": "Vehicles line both sides of the street behind ego, with no visible crossing actor or immediate rear conflict."}, {"camera": "rear_right", "t_s": 0, "detail": "A dark sedan is visible at the right curb beside residential hedges."}], "uncertainties": ["The associated stop sign and exact stopping boundary are not clearly resolved; the pavement STOP marking is readable.", "The pedestrians' future paths are unknown, but the available history shows no roadway entry.", "The motion of distant vehicles near the junction cannot be established confidently from these images."]}, "discovery_label": {"title": "Routine Stop Approach With Sidewalk Pedestrians", "category": "routine", "tags": ["stop approach", "sidewalk pedestrians", "curbside parking"], "current_situation": "Ego is traveling straight at 5.381 m/s along a residential street with vehicles parked on both sides. A STOP pavement marking is visible ahead at a junction. Two pedestrians remain on the left sidewalk across the observation history, appearing alongside ego in the current side-left view. The forward travel corridor is open; no pedestrian entry or vehicle intrusion is visible.", "baseline_decision": "Continue on the straight route with clearance from parked vehicles, slowing on approach to stop at the marked junction.", "decision_changing_cue": "No qualifying nonroutine cue is visible. The pedestrians remain on the sidewalk, and the STOP marking is a routine traffic control already included in the baseline.", "causal_mechanism": "The upcoming stop control supports progressive longitudinal deceleration during the next 0–5 seconds. The visible sidewalk pedestrians do not establish a roadway conflict requiring additional braking or lateral avoidance.", "expected_action": "slow_down", "decision_deviation": false, "annotation": "A STOP marking lies ahead on a residential street lined with parked vehicles, while two pedestrians remain on the left sidewalk as ego passes. Ego should continue straight with curbside clearance and slow on approach to stop at the junction; no visible interaction requires a departure from this routine plan.", "interest_score": 42, "confidence": 0.93, "selection_reason": "Reject as a long-tail candidate: this is a routine stop approach, with no supported crossing conflict, unusual obstruction, or negotiation materially changing the plan.", "camera_evidence": [{"camera": "front_left", "t_s": -1, "detail": "Two pedestrians are visible on the left sidewalk beside hedges and a driveway, outside the roadway."}, {"camera": "front", "t_s": -2, "detail": "The street ahead has curbside vehicles on both sides and an open central travel corridor."}, {"camera": "front_left", "t_s": 0, "detail": "A silver station wagon faces ego at the left curb; no roadway entry by a pedestrian is visible."}, {"camera": "front", "t_s": 0, "detail": "A STOP pavement marking is readable ahead at the junction, with a white van at the left curb and parked vehicles along the right."}, {"camera": "front_right", "t_s": 0, "detail": "A dark pickup is positioned in a residential driveway, clear of the forward travel corridor."}, {"camera": "side_left", "t_s": 0, "detail": "The two pedestrians are alongside ego on the sidewalk in front of a driveway; neither is visibly stepping into the street."}, {"camera": "side_right", "t_s": 0, "detail": "An SUV is positioned beside a house in a driveway area; no actor is entering the roadway."}, {"camera": "rear_left", "t_s": 0, "detail": "A silver SUV is visible beside the left curb and sidewalk behind ego."}, {"camera": "rear", "t_s": 0, "detail": "Vehicles line both sides of the street behind ego, with no visible crossing actor or immediate rear conflict."}, {"camera": "rear_right", "t_s": 0, "detail": "A dark sedan is visible at the right curb beside residential hedges."}], "uncertainties": ["The associated stop sign and exact stopping boundary are not clearly resolved; the pavement STOP marking is readable.", "The pedestrians' future paths are unknown, but the available history shows no roadway entry.", "The motion of distant vehicles near the junction cannot be established confidently from these images."], "_binding_sha256": "12a158c526747b98f9e9c10dc1c1000b261e8510da6f8e804370611282f288ee", "_request": "requests/e0dd247c92d566815695c62e8e8f17d2-212/discovery-001"}, "review": null, "status": "dismissed", "annotation": "A STOP marking lies ahead on a residential street lined with parked vehicles, while two pedestrians remain on the left sidewalk as ego passes. Ego should continue straight with curbside clearance and slow on approach to stop at the junction; no visible interaction requires a departure from this routine plan.", "selected": false}
{"id": "a7360b1dc744f5d57d0d35baecbad06d-207", "scenario_id": "a7360b1dc744f5d57d0d35baecbad06d", "split": "train", "batch_index": 98, "source_manifest_line": 99, "intent": "GO_LEFT", "anchor_frame": 207, "motion": {"current_speed_mps": 0.0, "future_xy_m": [[0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0]], "future_hz": 4, "speed_windows": [{"t_s": 0.5, "speed_mps": 0.0}, {"t_s": 1.5, "speed_mps": 0.0}, {"t_s": 2.5, "speed_mps": 0.0}, {"t_s": 3.5, "speed_mps": 0.0}, {"t_s": 4.5, "speed_mps": 0.0}], "minimum_1s_acceleration_mps2": 0.0, "maximum_speed_drop_mps": 0.0, "recorded_response": "remain_stopped", "method": "4 Hz trajectory path length; 1 s mean speeds; differences of adjacent 1 s means. Recorded response is descriptive, not a causal label."}, "frames": [{"t_s": 0.0, "source_frame": 207, "images": {"front_left": "images/a7360b1dc744f5d57d0d35baecbad06d-207/+000_front_left.webp", "front": "images/a7360b1dc744f5d57d0d35baecbad06d-207/+000_front.webp", "front_right": "images/a7360b1dc744f5d57d0d35baecbad06d-207/+000_front_right.webp", "side_left": "images/a7360b1dc744f5d57d0d35baecbad06d-207/+000_side_left.webp", "side_right": "images/a7360b1dc744f5d57d0d35baecbad06d-207/+000_side_right.webp", "rear_left": "images/a7360b1dc744f5d57d0d35baecbad06d-207/+000_rear_left.webp", "rear": "images/a7360b1dc744f5d57d0d35baecbad06d-207/+000_rear.webp", "rear_right": "images/a7360b1dc744f5d57d0d35baecbad06d-207/+000_rear_right.webp"}}], "camera_count": 8, "available_source_times_s": [-2.0, -1.0, 0.0, 1.0, 2.0], "camera_scope": "current_only", "label": {"title": "Red signal and timed left-turn restriction", "category": "routine", "tags": ["red signal", "timed turn restriction", "pedestrian crossing"], "current_situation": "Ego is stationary before a marked crosswalk at a signalized urban intersection with a center median and small traffic island. Forward-facing signals show red. A sign prohibits left turns from 7 AM to 7 PM daily, relevant to the requested GO_LEFT route. Two pedestrians progress across the right-hand side-street crosswalk between -2 and 0 seconds; other pedestrians remain on sidewalks. Curbside vehicles and parked motorcycles are visible, with no demonstrated immediate obstruction of the requested left-turn path. Bright sunlight affects the upper front view, but the intersection controls remain visible.", "baseline_decision": "Remain stopped while the signal is red. Consider the requested left turn only when the signal permits, crossing and conflicting traffic are clear, and the timed left-turn prohibition is confirmed inactive.", "decision_changing_cue": "No additional material decision-changing cue is established. The pedestrians crossing the right-hand side street do not demonstrate a conflict with ego's requested left turn, and the red signal already requires waiting.", "causal_mechanism": "The red signal independently prevents entering the intersection. Removing the visible pedestrians would not change the immediate stopping decision; the timed restriction separately limits whether the requested left turn can legally proceed.", "expected_action": "remain_stopped", "decision_deviation": false, "annotation": "Ego is stopped before a marked crosswalk at a red signal, while pedestrians cross the right-hand side street and a sign prohibits left turns from 7 AM to 7 PM daily. Even without those pedestrians, ego should remain stopped while the signal is red and initiate the requested left turn only if the signal and timed restriction permit it.", "interest_score": 44, "confidence": 0.92, "selection_reason": "Reject as a long-tail candidate: this is a routine signal stop with a signed turn restriction. Reviewing all eight cameras reveals no supported unusual interaction requiring a material departure from that baseline.", "camera_evidence": [{"camera": "front_left", "t_s": 0, "detail": "The near pole carries a no-left-turn sign reading 7 AM to 7 PM DAILY; a marked crosswalk and small raised traffic island are visible."}, {"camera": "front", "t_s": 0, "detail": "Red forward-facing signals are visible beyond the foreground crosswalk; a boxy vehicle is alongside the far-right curb, and sunlight brightens the upper-left image."}, {"camera": "front_right", "t_s": -2, "detail": "Two pedestrians are at the near end of the marked right-hand side-street crossing, with additional pedestrians on the corner sidewalk."}, {"camera": "front_right", "t_s": 0, "detail": "The same two pedestrians have progressed away from the near corner across the marked crossing; nearby pedestrians remain on the sidewalk beside the fence."}, {"camera": "side_left", "t_s": 0, "detail": "Pedestrians are on the sidewalk along the gray building, beside parked motorcycles and parking meters; none is visibly entering the roadway."}, {"camera": "side_right", "t_s": -1, "detail": "A pedestrian walks along the restaurant-side sidewalk behind curbside parking meters."}, {"camera": "rear_left", "t_s": 0, "detail": "A dark hatchback and a white van are alongside the curb; no crossing actor or roadway obstruction is apparent."}, {"camera": "rear", "t_s": 0, "detail": "The street behind has curbside vehicles and a visible travel corridor without an immediate crossing conflict."}, {"camera": "rear_right", "t_s": 0, "detail": "A silver vehicle with roof-mounted equipment occupies the lower view; people are visible at the restaurant entrance behind the sidewalk railing."}], "uncertainties": ["The recording's local time is unavailable, so applicability of the timed left-turn prohibition cannot be determined.", "No future signal phase or pedestrian trajectory beyond t=0 is available.", "Some signal heads are viewed from the side or back; the red-state assessment uses the forward-facing signals."]}, "discovery_label": {"title": "Red signal and timed left-turn restriction", "category": "routine", "tags": ["red signal", "timed turn restriction", "pedestrian crossing"], "current_situation": "Ego is stationary before a marked crosswalk at a signalized urban intersection with a center median and small traffic island. Forward-facing signals show red. A sign prohibits left turns from 7 AM to 7 PM daily, relevant to the requested GO_LEFT route. Two pedestrians progress across the right-hand side-street crosswalk between -2 and 0 seconds; other pedestrians remain on sidewalks. Curbside vehicles and parked motorcycles are visible, with no demonstrated immediate obstruction of the requested left-turn path. Bright sunlight affects the upper front view, but the intersection controls remain visible.", "baseline_decision": "Remain stopped while the signal is red. Consider the requested left turn only when the signal permits, crossing and conflicting traffic are clear, and the timed left-turn prohibition is confirmed inactive.", "decision_changing_cue": "No additional material decision-changing cue is established. The pedestrians crossing the right-hand side street do not demonstrate a conflict with ego's requested left turn, and the red signal already requires waiting.", "causal_mechanism": "The red signal independently prevents entering the intersection. Removing the visible pedestrians would not change the immediate stopping decision; the timed restriction separately limits whether the requested left turn can legally proceed.", "expected_action": "remain_stopped", "decision_deviation": false, "annotation": "Ego is stopped before a marked crosswalk at a red signal, while pedestrians cross the right-hand side street and a sign prohibits left turns from 7 AM to 7 PM daily. Even without those pedestrians, ego should remain stopped while the signal is red and initiate the requested left turn only if the signal and timed restriction permit it.", "interest_score": 44, "confidence": 0.92, "selection_reason": "Reject as a long-tail candidate: this is a routine signal stop with a signed turn restriction. Reviewing all eight cameras reveals no supported unusual interaction requiring a material departure from that baseline.", "camera_evidence": [{"camera": "front_left", "t_s": 0, "detail": "The near pole carries a no-left-turn sign reading 7 AM to 7 PM DAILY; a marked crosswalk and small raised traffic island are visible."}, {"camera": "front", "t_s": 0, "detail": "Red forward-facing signals are visible beyond the foreground crosswalk; a boxy vehicle is alongside the far-right curb, and sunlight brightens the upper-left image."}, {"camera": "front_right", "t_s": -2, "detail": "Two pedestrians are at the near end of the marked right-hand side-street crossing, with additional pedestrians on the corner sidewalk."}, {"camera": "front_right", "t_s": 0, "detail": "The same two pedestrians have progressed away from the near corner across the marked crossing; nearby pedestrians remain on the sidewalk beside the fence."}, {"camera": "side_left", "t_s": 0, "detail": "Pedestrians are on the sidewalk along the gray building, beside parked motorcycles and parking meters; none is visibly entering the roadway."}, {"camera": "side_right", "t_s": -1, "detail": "A pedestrian walks along the restaurant-side sidewalk behind curbside parking meters."}, {"camera": "rear_left", "t_s": 0, "detail": "A dark hatchback and a white van are alongside the curb; no crossing actor or roadway obstruction is apparent."}, {"camera": "rear", "t_s": 0, "detail": "The street behind has curbside vehicles and a visible travel corridor without an immediate crossing conflict."}, {"camera": "rear_right", "t_s": 0, "detail": "A silver vehicle with roof-mounted equipment occupies the lower view; people are visible at the restaurant entrance behind the sidewalk railing."}], "uncertainties": ["The recording's local time is unavailable, so applicability of the timed left-turn prohibition cannot be determined.", "No future signal phase or pedestrian trajectory beyond t=0 is available.", "Some signal heads are viewed from the side or back; the red-state assessment uses the forward-facing signals."], "_binding_sha256": "62ee6a7bae5af66a1d146579f863fca55bc9e63c349914971b10e950071c4ad9", "_request": "requests/a7360b1dc744f5d57d0d35baecbad06d-207/discovery-001"}, "review": null, "status": "dismissed", "annotation": "Ego is stopped before a marked crosswalk at a red signal, while pedestrians cross the right-hand side street and a sign prohibits left turns from 7 AM to 7 PM daily. Even without those pedestrians, ego should remain stopped while the signal is red and initiate the requested left turn only if the signal and timed restriction permit it.", "selected": false}
{"id": "ac948a01703dd3c51bbc6ee77fe2b7b8-182", "scenario_id": "ac948a01703dd3c51bbc6ee77fe2b7b8", "split": "train", "batch_index": 99, "source_manifest_line": 100, "intent": "GO_STRAIGHT", "anchor_frame": 182, "motion": {"current_speed_mps": 9.563, "future_xy_m": [[2.4019775390625, -0.00043487548828125], [4.8170166015625, -0.0049285888671875], [7.2354736328125, -0.01122283935546875], [9.6446533203125, -0.0182952880859375], [12.0484619140625, -0.031337738037109375], [14.4415283203125, -0.0459747314453125], [16.83154296875, -0.06412124633789062], [19.2220458984375, -0.08362960815429688], [21.6097412109375, -0.10281753540039062], [23.9847412109375, -0.1194305419921875], [26.3536376953125, -0.13467025756835938], [28.7176513671875, -0.14696121215820312], [31.073974609375, -0.15499496459960938], [33.4384765625, -0.16296768188476562], [35.8035888671875, -0.16904830932617188], [38.1697998046875, -0.17407989501953125], [40.5362548828125, -0.17927932739257812], [42.90478515625, -0.1841278076171875], [45.2744140625, -0.18809127807617188], [47.6444091796875, -0.1933441162109375]], "future_hz": 4, "speed_windows": [{"t_s": 0.5, "speed_mps": 9.645}, {"t_s": 1.5, "speed_mps": 9.578}, {"t_s": 2.5, "speed_mps": 9.496}, {"t_s": 3.5, "speed_mps": 9.452}, {"t_s": 4.5, "speed_mps": 9.475}], "minimum_1s_acceleration_mps2": -0.082, "maximum_speed_drop_mps": 0.11, "recorded_response": "roughly_maintain_speed", "method": "4 Hz trajectory path length; 1 s mean speeds; differences of adjacent 1 s means. Recorded response is descriptive, not a causal label."}, "frames": [{"t_s": 0.0, "source_frame": 182, "images": {"front_left": "images/ac948a01703dd3c51bbc6ee77fe2b7b8-182/+000_front_left.webp", "front": "images/ac948a01703dd3c51bbc6ee77fe2b7b8-182/+000_front.webp", "front_right": "images/ac948a01703dd3c51bbc6ee77fe2b7b8-182/+000_front_right.webp", "side_left": "images/ac948a01703dd3c51bbc6ee77fe2b7b8-182/+000_side_left.webp", "side_right": "images/ac948a01703dd3c51bbc6ee77fe2b7b8-182/+000_side_right.webp", "rear_left": "images/ac948a01703dd3c51bbc6ee77fe2b7b8-182/+000_rear_left.webp", "rear": "images/ac948a01703dd3c51bbc6ee77fe2b7b8-182/+000_rear.webp", "rear_right": "images/ac948a01703dd3c51bbc6ee77fe2b7b8-182/+000_rear_right.webp"}}], "camera_count": 8, "available_source_times_s": [-2.0, -1.0, 0.0, 1.0, 2.0, 3.0, 4.0], "camera_scope": "current_only", "label": {"title": "Routine Straight Approach to Distant Signals", "category": "routine", "tags": ["signal approach", "clear travel lane", "curbside parking"], "current_situation": "Ego is traveling straight along a streetlit urban road. A car remains ahead-left across the three observations without visibly entering ego's lane. Parked vehicles occupy curbside spaces, including a blue car ahead-right outside the solid lane boundary. Red signal indications are visible farther ahead. Side and rear views show sidewalks, buildings, curbside vehicles, and distant headlights, without a visible immediate conflict.", "baseline_decision": "Continue in the straight-through lane, regulating speed for the approaching signalized intersection and stopping if the applicable signal remains red.", "decision_changing_cue": "No supported nonroutine cue is visible. The distant signal indications warrant ordinary approach planning, not an additional hazard-driven maneuver.", "causal_mechanism": "The visible vehicles and sidewalk fixtures do not obstruct ego's lane or show movement into it. Signal compliance already belongs to the baseline, so the scene does not support a material decision deviation.", "expected_action": "slow_down", "decision_deviation": false, "annotation": "Ego's straight-through lane is open, with a car ahead-left, curbside parked vehicles, and red signal indications farther ahead. Continue straight and reduce speed progressively as needed for the signal approach; no visible conflict calls for additional braking or a lateral maneuver.", "interest_score": 42, "confidence": 0.88, "selection_reason": "Reject as a long-tail candidate: the supported decision is routine signal-approach speed regulation, with no unusual interaction or obstruction materially changing the plan.", "camera_evidence": [{"camera": "front", "t_s": -2, "detail": "A dark car is ahead-left; ego's lane between the dashed left marking and solid right boundary is visibly open."}, {"camera": "front", "t_s": -1, "detail": "The car remains ahead-left, with no visible lateral encroachment into ego's lane."}, {"camera": "front", "t_s": 0, "detail": "The straight lane remains open. A blue car occupies the curbside area beyond the right boundary, and red signal indications are visible farther ahead."}, {"camera": "front_left", "t_s": 0, "detail": "Building frontage, sidewalk, and adjacent roadway are visible without an actor entering the road."}, {"camera": "front_right", "t_s": 0, "detail": "A building entrance, hydrant, and freestanding sign are on the sidewalk, outside the travel lane."}, {"camera": "side_left", "t_s": 0, "detail": "A silver SUV is positioned along the opposite curb beside a wall; no entry into ego's path is visible."}, {"camera": "side_right", "t_s": 0, "detail": "The building entrance and sidewalk show no visible road-entering actor."}, {"camera": "rear_left", "t_s": 0, "detail": "Curbside vehicles and a wall are visible behind-left, without a visible merging conflict."}, {"camera": "rear", "t_s": 0, "detail": "The roadway behind is open nearby, with curbside vehicles and distant headlights."}, {"camera": "rear_right", "t_s": 0, "detail": "Trees, building frontage, and orange posts remain on the sidewalk behind-right."}], "uncertainties": ["The distant signal heads' lane-specific applicability is not fully resolvable.", "The images do not establish when ego must begin decelerating or reach a stop.", "Low illumination limits small-object recognition along the sidewalks; no hidden actor is inferred.", "Only observations through t=0 are available; no future ego braking is recorded here."]}, "discovery_label": {"title": "Routine Straight Approach to Distant Signals", "category": "routine", "tags": ["signal approach", "clear travel lane", "curbside parking"], "current_situation": "Ego is traveling straight along a streetlit urban road. A car remains ahead-left across the three observations without visibly entering ego's lane. Parked vehicles occupy curbside spaces, including a blue car ahead-right outside the solid lane boundary. Red signal indications are visible farther ahead. Side and rear views show sidewalks, buildings, curbside vehicles, and distant headlights, without a visible immediate conflict.", "baseline_decision": "Continue in the straight-through lane, regulating speed for the approaching signalized intersection and stopping if the applicable signal remains red.", "decision_changing_cue": "No supported nonroutine cue is visible. The distant signal indications warrant ordinary approach planning, not an additional hazard-driven maneuver.", "causal_mechanism": "The visible vehicles and sidewalk fixtures do not obstruct ego's lane or show movement into it. Signal compliance already belongs to the baseline, so the scene does not support a material decision deviation.", "expected_action": "slow_down", "decision_deviation": false, "annotation": "Ego's straight-through lane is open, with a car ahead-left, curbside parked vehicles, and red signal indications farther ahead. Continue straight and reduce speed progressively as needed for the signal approach; no visible conflict calls for additional braking or a lateral maneuver.", "interest_score": 42, "confidence": 0.88, "selection_reason": "Reject as a long-tail candidate: the supported decision is routine signal-approach speed regulation, with no unusual interaction or obstruction materially changing the plan.", "camera_evidence": [{"camera": "front", "t_s": -2, "detail": "A dark car is ahead-left; ego's lane between the dashed left marking and solid right boundary is visibly open."}, {"camera": "front", "t_s": -1, "detail": "The car remains ahead-left, with no visible lateral encroachment into ego's lane."}, {"camera": "front", "t_s": 0, "detail": "The straight lane remains open. A blue car occupies the curbside area beyond the right boundary, and red signal indications are visible farther ahead."}, {"camera": "front_left", "t_s": 0, "detail": "Building frontage, sidewalk, and adjacent roadway are visible without an actor entering the road."}, {"camera": "front_right", "t_s": 0, "detail": "A building entrance, hydrant, and freestanding sign are on the sidewalk, outside the travel lane."}, {"camera": "side_left", "t_s": 0, "detail": "A silver SUV is positioned along the opposite curb beside a wall; no entry into ego's path is visible."}, {"camera": "side_right", "t_s": 0, "detail": "The building entrance and sidewalk show no visible road-entering actor."}, {"camera": "rear_left", "t_s": 0, "detail": "Curbside vehicles and a wall are visible behind-left, without a visible merging conflict."}, {"camera": "rear", "t_s": 0, "detail": "The roadway behind is open nearby, with curbside vehicles and distant headlights."}, {"camera": "rear_right", "t_s": 0, "detail": "Trees, building frontage, and orange posts remain on the sidewalk behind-right."}], "uncertainties": ["The distant signal heads' lane-specific applicability is not fully resolvable.", "The images do not establish when ego must begin decelerating or reach a stop.", "Low illumination limits small-object recognition along the sidewalks; no hidden actor is inferred.", "Only observations through t=0 are available; no future ego braking is recorded here."], "_binding_sha256": "edf2f67213384d7c586b1bdb312393610ef9491af6c29c4e6735cb129f92d0a9", "_request": "requests/ac948a01703dd3c51bbc6ee77fe2b7b8-182/discovery-001"}, "review": null, "status": "dismissed", "annotation": "Ego's straight-through lane is open, with a car ahead-left, curbside parked vehicles, and red signal indications farther ahead. Continue straight and reduce speed progressively as needed for the signal approach; no visible conflict calls for additional braking or a lateral maneuver.", "selected": false}
{"id": "5f6f402572300db82d03e488af74c251-098", "scenario_id": "5f6f402572300db82d03e488af74c251", "split": "train", "batch_index": 100, "source_manifest_line": 101, "intent": "GO_STRAIGHT", "anchor_frame": 98, "motion": {"current_speed_mps": 10.047, "future_xy_m": [[2.458984375, -0.0078125], [4.818359375, -0.01171875], [7.076171875, -0.017578125], [9.234375, -0.02734375], [11.294921875, -0.0390625], [13.248046875, -0.0546875], [15.091796875, -0.0791015625], [16.826171875, -0.1142578125], [18.470703125, -0.17578125], [20.03515625, -0.2900390625], [21.5390625, -0.4833984375], [22.97265625, -0.7685546875], [24.328125, -1.14453125], [25.60546875, -1.6025390625], [26.796875, -2.1376953125], [27.896484375, -2.7392578125], [28.90625, -3.41796875], [29.828125, -4.15625], [30.689453125, -4.974609375], [31.47265625, -5.859375]], "future_hz": 4, "speed_windows": [{"t_s": 0.5, "speed_mps": 9.234}, {"t_s": 1.5, "speed_mps": 7.592}, {"t_s": 2.5, "speed_mps": 6.192}, {"t_s": 3.5, "speed_mps": 5.323}, {"t_s": 4.5, "speed_mps": 4.767}], "minimum_1s_acceleration_mps2": -1.642, "maximum_speed_drop_mps": 5.279, "recorded_response": "slow_down", "method": "4 Hz trajectory path length; 1 s mean speeds; differences of adjacent 1 s means. Recorded response is descriptive, not a causal label."}, "frames": [{"t_s": 0.0, "source_frame": 98, "images": {"front_left": "images/5f6f402572300db82d03e488af74c251-098/+000_front_left.webp", "front": "images/5f6f402572300db82d03e488af74c251-098/+000_front.webp", "front_right": "images/5f6f402572300db82d03e488af74c251-098/+000_front_right.webp", "side_left": "images/5f6f402572300db82d03e488af74c251-098/+000_side_left.webp", "side_right": "images/5f6f402572300db82d03e488af74c251-098/+000_side_right.webp", "rear_left": "images/5f6f402572300db82d03e488af74c251-098/+000_rear_left.webp", "rear": "images/5f6f402572300db82d03e488af74c251-098/+000_rear.webp", "rear_right": "images/5f6f402572300db82d03e488af74c251-098/+000_rear_right.webp"}}], "camera_count": 8, "available_source_times_s": [-2.0, -1.0, 0.0, 1.0, 2.0, 3.0, 4.0, 5.0], "camera_scope": "current_only", "label": {"title": "Routine approach to a marked crossing", "category": "routine", "tags": ["marked crossing", "fenced construction", "normal following"], "current_situation": "Ego is traveling straight at 10.047 m/s toward a marked crossing with overhead signal heads and a STOP HERE ON RED sign. A dark vehicle remains ahead throughout the available history. Construction equipment, excavated ground, and portable toilets are behind fencing on the right; no crossing pedestrian or construction intrusion into ego's lane is clearly visible. A pickup appears progressively larger in the rear view. Daylight visibility is generally clear, with sun glare high in the front image.", "baseline_decision": "Continue straight at a controlled following speed, preserving the gap to the vehicle ahead and stopping at the crossing if its control requires it.", "decision_changing_cue": "No supported nonroutine cue is visible: the crossing appears unoccupied and the construction remains outside the travel lane.", "causal_mechanism": "The fenced work site does not visibly obstruct the straight route or create an immediate conflict. Crossing-control compliance and ordinary following remain the governing decisions over the next 0–5 seconds.", "expected_action": "maintain_speed", "decision_deviation": false, "annotation": "Ego approaches an unoccupied marked crossing behind a dark vehicle, with construction contained behind fencing on the right. Continue straight while preserving the following gap and obeying the crossing control; the visible work site alone does not require braking or a lane change.", "interest_score": 42, "confidence": 0.83, "selection_reason": "Reject as a long-tail candidate: this is a routine controlled-crossing approach with normal traffic and roadside construction, without a visible unusual interaction that materially changes the plan.", "camera_evidence": [{"camera": "front", "t_s": -2, "detail": "A dark vehicle is ahead on the straight roadway, with overhead crossing controls farther forward."}, {"camera": "front", "t_s": -1, "detail": "The marked crossing and a roadside STOP HERE ON RED sign become clearer; the dark vehicle remains ahead."}, {"camera": "front", "t_s": 0, "detail": "Broad white crossing stripes span the road with no clearly visible pedestrian on them; the signal indication is not reliably readable."}, {"camera": "front_left", "t_s": 0, "detail": "Cones and temporary barriers occupy the opposite corner, with a blue vehicle on the far roadway and no clear incursion into ego's path."}, {"camera": "front_right", "t_s": 0, "detail": "Portable toilets and construction machinery stand behind chain-link fencing beside the sidewalk."}, {"camera": "side_left", "t_s": 0, "detail": "Storefront frontage and opposing roadway are visible without an evident crossing actor."}, {"camera": "side_right", "t_s": 0, "detail": "Excavated ground and a material mound remain behind the roadside fence."}, {"camera": "rear_left", "t_s": 0, "detail": "Storefronts, a roadside shelter, and the opposing roadway are visible without an evident developing conflict."}, {"camera": "rear", "t_s": -2, "detail": "A pickup is visible behind ego."}, {"camera": "rear", "t_s": 0, "detail": "The pickup appears larger than in the earlier rear views; no lane incursion is evident."}, {"camera": "rear_right", "t_s": 0, "detail": "The fenced construction parcel continues along the roadside without a visible opening occupied by an entering actor."}], "uncertainties": ["The crossing signal's current indication cannot be reliably determined; proceeding is conditional on the control permitting it.", "Small shapes near the opposite corner are insufficiently resolved to establish pedestrian movement.", "Image scale changes do not establish the following pickup's speed or time to collision."]}, "discovery_label": {"title": "Routine approach to a marked crossing", "category": "routine", "tags": ["marked crossing", "fenced construction", "normal following"], "current_situation": "Ego is traveling straight at 10.047 m/s toward a marked crossing with overhead signal heads and a STOP HERE ON RED sign. A dark vehicle remains ahead throughout the available history. Construction equipment, excavated ground, and portable toilets are behind fencing on the right; no crossing pedestrian or construction intrusion into ego's lane is clearly visible. A pickup appears progressively larger in the rear view. Daylight visibility is generally clear, with sun glare high in the front image.", "baseline_decision": "Continue straight at a controlled following speed, preserving the gap to the vehicle ahead and stopping at the crossing if its control requires it.", "decision_changing_cue": "No supported nonroutine cue is visible: the crossing appears unoccupied and the construction remains outside the travel lane.", "causal_mechanism": "The fenced work site does not visibly obstruct the straight route or create an immediate conflict. Crossing-control compliance and ordinary following remain the governing decisions over the next 0–5 seconds.", "expected_action": "maintain_speed", "decision_deviation": false, "annotation": "Ego approaches an unoccupied marked crossing behind a dark vehicle, with construction contained behind fencing on the right. Continue straight while preserving the following gap and obeying the crossing control; the visible work site alone does not require braking or a lane change.", "interest_score": 42, "confidence": 0.83, "selection_reason": "Reject as a long-tail candidate: this is a routine controlled-crossing approach with normal traffic and roadside construction, without a visible unusual interaction that materially changes the plan.", "camera_evidence": [{"camera": "front", "t_s": -2, "detail": "A dark vehicle is ahead on the straight roadway, with overhead crossing controls farther forward."}, {"camera": "front", "t_s": -1, "detail": "The marked crossing and a roadside STOP HERE ON RED sign become clearer; the dark vehicle remains ahead."}, {"camera": "front", "t_s": 0, "detail": "Broad white crossing stripes span the road with no clearly visible pedestrian on them; the signal indication is not reliably readable."}, {"camera": "front_left", "t_s": 0, "detail": "Cones and temporary barriers occupy the opposite corner, with a blue vehicle on the far roadway and no clear incursion into ego's path."}, {"camera": "front_right", "t_s": 0, "detail": "Portable toilets and construction machinery stand behind chain-link fencing beside the sidewalk."}, {"camera": "side_left", "t_s": 0, "detail": "Storefront frontage and opposing roadway are visible without an evident crossing actor."}, {"camera": "side_right", "t_s": 0, "detail": "Excavated ground and a material mound remain behind the roadside fence."}, {"camera": "rear_left", "t_s": 0, "detail": "Storefronts, a roadside shelter, and the opposing roadway are visible without an evident developing conflict."}, {"camera": "rear", "t_s": -2, "detail": "A pickup is visible behind ego."}, {"camera": "rear", "t_s": 0, "detail": "The pickup appears larger than in the earlier rear views; no lane incursion is evident."}, {"camera": "rear_right", "t_s": 0, "detail": "The fenced construction parcel continues along the roadside without a visible opening occupied by an entering actor."}], "uncertainties": ["The crossing signal's current indication cannot be reliably determined; proceeding is conditional on the control permitting it.", "Small shapes near the opposite corner are insufficiently resolved to establish pedestrian movement.", "Image scale changes do not establish the following pickup's speed or time to collision."], "_binding_sha256": "54f1372efdb34af277fa11f9ad1b62922bf231b113aad1ecf1b4333e6078b83d", "_request": "requests/5f6f402572300db82d03e488af74c251-098/discovery-001"}, "review": null, "status": "dismissed", "annotation": "Ego approaches an unoccupied marked crossing behind a dark vehicle, with construction contained behind fencing on the right. Continue straight while preserving the following gap and obeying the crossing control; the visible work site alone does not require braking or a lane change.", "selected": false}