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{"token": "00110091fd080823211938d14a988291", "waymo_split": "test", "type": "image", "frame_index": 55, "question": "What actions are currently possible?", "category": "Normal Planning", "options": ["A. U-turn", "B. Left change", "C. Go straight", "D. Right change"], "answer_index": 2}
{"token": "00110091fd080823211938d14a988291", "waymo_split": "test", "type": "image", "frame_index": 79, "question": "What actions are currently available?", "category": "Normal Planning", "options": ["A. Change to the left", "B. Go straight", "C. Turn left", "D. Change to the right"], "answer_index": 1}
{"token": "00110091fd080823211938d14a988291", "waymo_split": "test", "type": "image", "frame_index": 113, "question": "What actions are currently possible?", "category": "Normal Planning", "options": ["A. U-turn", "B. Go straight", "C. Change to the left", "D. Change to the right"], "answer_index": 1}
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{"token": "0219605e399d03373c7babed0010a233", "waymo_split": "test", "type": "image", "frame_index": 73, "question": "What actions are currently possible?", "category": "Normal Planning", "options": ["A. Going straight is possible", "B. Stopping is possible", "C. Right change is possible", "D. Left change is possible"], "answer_index": 1}
{"token": "0219605e399d03373c7babed0010a233", "waymo_split": "test", "type": "image", "frame_index": 144, "question": "What actions are currently available?", "category": "Normal Planning", "options": ["A. Change to the right", "B. Change to the left", "C. Go straight", "D. Turn right"], "answer_index": 2}
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{"token": "03195aefc01e511b9756a496c860efb6", "waymo_split": "test", "type": "image", "frame_index": 47, "question": "What actions are currently possible?", "category": "Normal Planning", "options": ["A. Turn left", "B. Go straight", "C. Turn right", "D. Make a U-turn"], "answer_index": 2}
{"token": "03195aefc01e511b9756a496c860efb6", "waymo_split": "test", "type": "image", "frame_index": 118, "question": "What actions are currently possible?", "category": "Normal Planning", "options": ["A. U-turn", "B. Left turn", "C. Go straight", "D. Reverse"], "answer_index": 2}
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{"token": "048c25599526d75511bbe3712f3bcca2", "waymo_split": "test", "type": "image", "frame_index": 123, "question": "What actions are currently possible?", "category": "Normal Planning", "options": ["A. Turn left, turn right", "B. Change to the right, go straight", "C. Go straight, turn left", "D. Go straight, turn right"], "answer_index": 3}
{"token": "048c25599526d75511bbe3712f3bcca2", "waymo_split": "test", "type": "image", "frame_index": 142, "question": "What actions are currently possible?", "category": "Normal Planning", "options": ["A. Turn left", "B. Make a U-turn", "C. Turn right", "D. Change to the right lane"], "answer_index": 2}
{"token": "048c25599526d75511bbe3712f3bcca2", "waymo_split": "test", "type": "image", "frame_index": 57, "question": "What actions are currently possible?", "category": "Normal Planning", "options": ["A. Turn right", "B. Change to the right lane", "C. Go straight", "D. Change to the left lane"], "answer_index": 2}
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{"token": "04a5ceae782b7f5ec6ac06f1af981ad6", "waymo_split": "test", "type": "image", "frame_index": 68, "question": "What actions are currently possible?", "category": "Normal Planning", "options": ["A. Go straight", "B. Change to the left", "C. Stop", "D. Change to the right"], "answer_index": 2}
{"token": "04a5ceae782b7f5ec6ac06f1af981ad6", "waymo_split": "test", "type": "image", "frame_index": 116, "question": "What actions are currently possible?", "category": "Normal Planning", "options": ["A. Turn right", "B. Change to the left", "C. Go straight", "D. Make a U-turn"], "answer_index": 2}
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{"token": "04a5ceae782b7f5ec6ac06f1af981ad6", "waymo_split": "test", "type": "image", "frame_index": 141, "question": "What actions are currently possible?", "category": "Normal Planning", "options": ["A. Change to the left lane", "B. Stop or slow down and then stop", "C. Go straight or slow down and go straight", "D. Turn right and then go straight"], "answer_index": 2}
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{"token": "05019aad63090c9c1833c945592b4a31", "waymo_split": "test", "type": "image", "frame_index": 58, "question": "What actions are currently possible?", "category": "Normal Planning", "options": ["A. Go straight", "B. Change to the right", "C. Turn left", "D. Turn right"], "answer_index": 0}
{"token": "05019aad63090c9c1833c945592b4a31", "waymo_split": "test", "type": "image", "frame_index": 75, "question": "What actions are currently possible?", "category": "Normal Planning", "options": ["A. Change to the right", "B. Turn left", "C. Go straight", "D. Change to the left"], "answer_index": 2}
{"token": "05019aad63090c9c1833c945592b4a31", "waymo_split": "test", "type": "image", "frame_index": 123, "question": "What actions are currently possible?", "category": "Normal Planning", "options": ["A. U-turn, reverse, decelerate", "B. Left change, right change, stop", "C. Go straight, turn left, turn right", "D. Go straight, stop, right change"], "answer_index": 2}
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{"token": "058432e7f5272981a3b59ea0b92fca11", "waymo_split": "test", "type": "image", "frame_index": 78, "question": "What actions are currently possible?", "category": "Normal Planning", "options": ["A. Turn left", "B. Change to the left lane", "C. Change to the right lane", "D. Go straight"], "answer_index": 3}
{"token": "058432e7f5272981a3b59ea0b92fca11", "waymo_split": "test", "type": "image", "frame_index": 98, "question": "What actions are currently possible?", "category": "Normal Planning", "options": ["A. Driving straight", "B. Changing to the left lane", "C. Changing to the right lane", "D. Turning right"], "answer_index": 0}
{"token": "058432e7f5272981a3b59ea0b92fca11", "waymo_split": "test", "type": "image", "frame_index": 106, "question": "What actions are currently possible?", "category": "Normal Planning", "options": ["A. Change to the right lane", "B. Change to the left lane", "C. Turn right", "D. Maintain straight driving"], "answer_index": 1}
{"token": "058432e7f5272981a3b59ea0b92fca11", "waymo_split": "test", "type": "image", "frame_index": 141, "question": "What actions are currently possible?", "category": "Normal Planning", "options": ["A. Change to the right", "B. Turn left", "C. Go straight", "D. Turn right"], "answer_index": 2}
{"token": "064d39a83e0f26a577b607e4d45cb412", "waymo_split": "test", "type": "image", "frame_index": 112, "question": "What actions are currently available?", "category": "Normal Planning", "options": ["A. Change to the left", "B. Change to the right", "C. Proceed slowly straight", "D. Proceed at a constant speed straight"], "answer_index": 2}
{"token": "064d39a83e0f26a577b607e4d45cb412", "waymo_split": "test", "type": "image", "frame_index": 11, "question": "What actions are currently possible?", "category": "Normal Planning", "options": ["A. Turn right", "B. Turn left", "C. Change to the left", "D. Change to the right"], "answer_index": 0}
{"token": "064d39a83e0f26a577b607e4d45cb412", "waymo_split": "test", "type": "image", "frame_index": 38, "question": "What actions are currently possible?", "category": "Normal Planning", "options": ["A. Stop", "B. Turn left", "C. Change to the left lane", "D. Make a U-turn"], "answer_index": 0}
{"token": "064d39a83e0f26a577b607e4d45cb412", "waymo_split": "test", "type": "image", "frame_index": 140, "question": "What actions are currently possible?", "category": "Normal Planning", "options": ["A. Change to the left", "B. Proceed slowly straight", "C. Turn right", "D. Change to the right"], "answer_index": 1}
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{"token": "0797c14632bb29039999d6a7b9d4242c", "waymo_split": "test", "type": "image", "frame_index": 101, "question": "What actions are currently possible?", "category": "Normal Planning", "options": ["A. Change to the right", "B. Turn right", "C. Go straight", "D. Change to the left"], "answer_index": 2}
{"token": "0797c14632bb29039999d6a7b9d4242c", "waymo_split": "test", "type": "image", "frame_index": 123, "question": "What actions are currently possible?", "category": "Normal Planning", "options": ["A. Change to the left", "B. Turn right", "C. Change to the right", "D. Turn left"], "answer_index": 2}
{"token": "0797c14632bb29039999d6a7b9d4242c", "waymo_split": "test", "type": "image", "frame_index": 141, "question": "What actions are currently available?", "category": "Normal Planning", "options": ["A. Change to the right", "B. Change to the left", "C. Turn left", "D. Make a U-turn"], "answer_index": 0}
{"token": "0797c14632bb29039999d6a7b9d4242c", "waymo_split": "test", "type": "image", "frame_index": 148, "question": "What actions are currently possible?", "category": "Normal Planning", "options": ["A. Turning the steering wheel to the right to enter the adjacent lane while avoiding an obstacle ahead", "B. Turning the steering wheel to the left to avoid a collision with a safety-critical object", "C. Accelerating straight to exit the intersection while increasing the distance from the following vehicle", "D. Braking hard to come to a complete stop in front of the stop line, checking the pedestrian crossing"], "answer_index": 1}
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{"token": "07f794452f2baef0e17c23ec3d2ac150", "waymo_split": "test", "type": "image", "frame_index": 89, "question": "What actions are currently available?", "category": "Normal Planning", "options": ["A. Change to the right", "B. Change to the left", "C. Go straight", "D. Turn right"], "answer_index": 2}
{"token": "07f794452f2baef0e17c23ec3d2ac150", "waymo_split": "test", "type": "image", "frame_index": 128, "question": "What actions are currently possible?", "category": "Normal Planning", "options": ["A. Go straight", "B. Change to the right", "C. Turn right", "D. Turn left"], "answer_index": 0}
{"token": "07f794452f2baef0e17c23ec3d2ac150", "waymo_split": "test", "type": "image", "frame_index": 139, "question": "What actions are currently possible?", "category": "Normal Planning", "options": ["A. Turn right", "B. Change to the right", "C. Change to the left", "D. Go straight"], "answer_index": 3}
{"token": "07f794452f2baef0e17c23ec3d2ac150", "waymo_split": "test", "type": "image", "frame_index": 148, "question": "What actions are currently possible?", "category": "Normal Planning", "options": ["A. Continue straight while maintaining speed, but slow down", "B. Change to the left lane to overtake, but accelerate", "C. Change to the right lane to overtake, but accelerate", "D. Change to the left lane to overtake, but decelerate"], "answer_index": 3}
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{"token": "08413cc49674a273394e7a88ff7d1e31", "waymo_split": "test", "type": "image", "frame_index": 70, "question": "What actions are currently possible?", "category": "Normal Planning", "options": ["A. Turn left", "B. Change to the right", "C. Go straight", "D. Change to the left"], "answer_index": 2}
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{"token": "08413cc49674a273394e7a88ff7d1e31", "waymo_split": "test", "type": "image", "frame_index": 148, "question": "What actions are currently possible?", "category": "Normal Planning", "options": ["A. Change to the right, stop possible", "B. Stop, go straight possible", "C. Change to the left, go straight possible", "D. Change to the right, change to the left possible"], "answer_index": 1}
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{"token": "09e4e8a16373f714185646c621eb552d", "waymo_split": "test", "type": "image", "frame_index": 78, "question": "What actions are currently available?", "category": "Normal Planning", "options": ["A. Change to the right", "B. Change to the left", "C. U-turn", "D. Go straight"], "answer_index": 3}
{"token": "09e4e8a16373f714185646c621eb552d", "waymo_split": "test", "type": "image", "frame_index": 110, "question": "What actions are currently available?", "category": "Normal Planning", "options": ["A. Change left", "B. Change right", "C. U-turn", "D. Go straight"], "answer_index": 3}
{"token": "09e4e8a16373f714185646c621eb552d", "waymo_split": "test", "type": "image", "frame_index": 129, "question": "What actions are currently available?", "category": "Normal Planning", "options": ["A. Change left, stop", "B. Change right, change left", "C. Go straight, change right", "D. Go straight, stop"], "answer_index": 3}
{"token": "09e4e8a16373f714185646c621eb552d", "waymo_split": "test", "type": "image", "frame_index": 149, "question": "What actions are currently possible?", "category": "Normal Planning", "options": ["A. Go straight, change to the right", "B. Change to the right, change to the left", "C. Stop, change to the left", "D. Go straight, stop"], "answer_index": 3}
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{"token": "0bc53b3d558122035cf71d51db455995", "waymo_split": "test", "type": "image", "frame_index": 29, "question": "What actions are currently possible?", "category": "Normal Planning", "options": ["A. Go straight", "B. Change to the right", "C. Change to the left", "D. Stop"], "answer_index": 3}
{"token": "0bc53b3d558122035cf71d51db455995", "waymo_split": "test", "type": "image", "frame_index": 72, "question": "What actions are currently available?", "category": "Normal Planning", "options": ["A. Change to the left", "B. Go straight", "C. Change to the right", "D. Stop"], "answer_index": 3}
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{"token": "0ccbe14043e407ee91a2ef748c9305cd", "waymo_split": "test", "type": "image", "frame_index": 33, "question": "What actions are currently possible?", "category": "Normal Planning", "options": ["A. Change to the right, change to the left", "B. Change to the left, go straight", "C. Change to the right, stop", "D. Go straight, stop"], "answer_index": 3}
{"token": "0ccbe14043e407ee91a2ef748c9305cd", "waymo_split": "test", "type": "image", "frame_index": 76, "question": "What actions are currently possible?", "category": "Normal Planning", "options": ["A. Change to the left, go straight", "B. Change to the right, stop", "C. Go straight, stop", "D. Change to the left, change to the right"], "answer_index": 2}
{"token": "0ccbe14043e407ee91a2ef748c9305cd", "waymo_split": "test", "type": "image", "frame_index": 115, "question": "What actions are currently possible?", "category": "Normal Planning", "options": ["A. Go straight, stop", "B. Change to the right, change to the left", "C. Go straight, change to the right", "D. Change to the left, stop"], "answer_index": 0}
{"token": "0ccbe14043e407ee91a2ef748c9305cd", "waymo_split": "test", "type": "image", "frame_index": 144, "question": "What actions are currently possible?", "category": "Normal Planning", "options": ["A. Go straight, change to the right", "B. Change to the left, change to the right", "C. Go straight, stop", "D. Stop, change to the left"], "answer_index": 2}
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{"token": "0cf69e4d4048c193d899ab58369f3f93", "waymo_split": "test", "type": "image", "frame_index": 53, "question": "What actions are currently possible?", "category": "Normal Planning", "options": ["A. Stop, change to the left", "B. Change to the right, change to the left", "C. Go straight, change to the right", "D. Go straight, stop"], "answer_index": 3}
{"token": "0cf69e4d4048c193d899ab58369f3f93", "waymo_split": "test", "type": "image", "frame_index": 88, "question": "What actions are currently possible?", "category": "Normal Planning", "options": ["A. Change to the left, U-turn", "B. Change to the right, Change to the left", "C. Change to the right, U-turn", "D. Go straight, Stop"], "answer_index": 3}
{"token": "0cf69e4d4048c193d899ab58369f3f93", "waymo_split": "test", "type": "image", "frame_index": 102, "question": "What actions are currently possible?", "category": "Normal Planning", "options": ["A. Go straight, stop", "B. Change to the right, change to the left", "C. Go straight, change to the right", "D. Change to the left, stop"], "answer_index": 0}
{"token": "0cf69e4d4048c193d899ab58369f3f93", "waymo_split": "test", "type": "image", "frame_index": 132, "question": "What actions are currently possible?", "category": "Normal Planning", "options": ["A. Change to the right, change to the left", "B. Change to the right, stop", "C. Change to the left, go straight", "D. Go straight, stop"], "answer_index": 3}
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{"token": "0d990f183c732ce1cfcc3eeeb898455a", "waymo_split": "test", "type": "image", "frame_index": 80, "question": "What actions are currently possible?", "category": "Normal Planning", "options": ["A. Change left, change right", "B. Reverse, change left", "C. Go straight, stop", "D. Change right, U-turn"], "answer_index": 2}
{"token": "0d990f183c732ce1cfcc3eeeb898455a", "waymo_split": "test", "type": "image", "frame_index": 107, "question": "What actions are currently possible?", "category": "Normal Planning", "options": ["A. Go straight, stop", "B. Go straight, change to the left", "C. Stop, change to the right", "D. Change to the right, change to the left"], "answer_index": 0}
{"token": "0d990f183c732ce1cfcc3eeeb898455a", "waymo_split": "test", "type": "image", "frame_index": 125, "question": "What actions are currently possible?", "category": "Normal Planning", "options": ["A. Change left, go straight", "B. Change right, stop", "C. Go straight, stop", "D. Change right, change left"], "answer_index": 2}
{"token": "0d990f183c732ce1cfcc3eeeb898455a", "waymo_split": "test", "type": "image", "frame_index": 145, "question": "What actions are currently possible?", "category": "Normal Planning", "options": ["A. Change to the right, stop", "B. Go straight, stop", "C. Change to the left, go straight", "D. Change to the right, change to the left"], "answer_index": 1}
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{"token": "0d9cc789e74de3b90ecc174c27d6a561", "waymo_split": "test", "type": "image", "frame_index": 56, "question": "What actions are currently possible?", "category": "Normal Planning", "options": ["A. Go straight", "B. Change to the right", "C. Stop", "D. Change to the left"], "answer_index": 2}
{"token": "0d9cc789e74de3b90ecc174c27d6a561", "waymo_split": "test", "type": "image", "frame_index": 90, "question": "What actions are currently available?", "category": "Normal Planning", "options": ["A. Stop", "B. Go straight", "C. Change to the right", "D. Change to the left"], "answer_index": 0}
{"token": "0d9cc789e74de3b90ecc174c27d6a561", "waymo_split": "test", "type": "image", "frame_index": 112, "question": "What actions are currently available?", "category": "Normal Planning", "options": ["A. Change left", "B. Change right", "C. Go straight", "D. Stop"], "answer_index": 3}
{"token": "0d9cc789e74de3b90ecc174c27d6a561", "waymo_split": "test", "type": "image", "frame_index": 137, "question": "What actions are currently possible?", "category": "Normal Planning", "options": ["A. Change to the right, change to the left", "B. Change to the right, stop", "C. Change to the left, go straight", "D. Go straight, stop"], "answer_index": 3}
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{"token": "0f396009da4cfe4364c3565fc8da0d93", "waymo_split": "test", "type": "image", "frame_index": 46, "question": "What actions are currently available?", "category": "Normal Planning", "options": ["A. Change to the left", "B. Turn left", "C. Change to the right", "D. Go straight"], "answer_index": 3}
{"token": "0f396009da4cfe4364c3565fc8da0d93", "waymo_split": "test", "type": "image", "frame_index": 94, "question": "What actions are currently possible?", "category": "Normal Planning", "options": ["A. Turn left", "B. Change to the right", "C. Change to the left", "D. Go straight"], "answer_index": 3}
{"token": "0f396009da4cfe4364c3565fc8da0d93", "waymo_split": "test", "type": "image", "frame_index": 116, "question": "What actions are currently possible?", "category": "Normal Planning", "options": ["A. Change to the left", "B. Turn left", "C. Change to the right", "D. Go straight"], "answer_index": 3}
{"token": "0f396009da4cfe4364c3565fc8da0d93", "waymo_split": "test", "type": "image", "frame_index": 142, "question": "What actions are currently possible?", "category": "Normal Planning", "options": ["A. Turn left", "B. Turn left", "C. Go straight", "D. Change to the right"], "answer_index": 2}
{"token": "0ff01d9ee070abfe63bbede3ef27857e", "waymo_split": "test", "type": "image", "frame_index": 17, "question": "What actions are currently possible?", "category": "Normal Planning", "options": ["A. Go straight, change to the left", "B. Go straight, change to the right", "C. Stop, change to the left", "D. Stop, turn right"], "answer_index": 3}
{"token": "0ff01d9ee070abfe63bbede3ef27857e", "waymo_split": "test", "type": "image", "frame_index": 50, "question": "What actions are currently possible?", "category": "Normal Planning", "options": ["A. Go straight, change to the right", "B. Go straight, make a U-turn to the left", "C. Stop, make a U-turn to the left", "D. Stop, turn right"], "answer_index": 2}
{"token": "0ff01d9ee070abfe63bbede3ef27857e", "waymo_split": "test", "type": "image", "frame_index": 65, "question": "What actions are currently possible?", "category": "Normal Planning", "options": ["A. Stop, change to the right", "B. Go straight, turn right", "C. Change to the right, change to the left", "D. Stop, make a U-turn to the left"], "answer_index": 3}
{"token": "0ff01d9ee070abfe63bbede3ef27857e", "waymo_split": "test", "type": "image", "frame_index": 85, "question": "What actions are currently possible?", "category": "Normal Planning", "options": ["A. U-turn", "B. Go straight", "C. Left turn", "D. Right change"], "answer_index": 0}
{"token": "0ff01d9ee070abfe63bbede3ef27857e", "waymo_split": "test", "type": "image", "frame_index": 143, "question": "What actions are currently possible?", "category": "Normal Planning", "options": ["A. Change to the left or reverse", "B. Go straight or turn right", "C. Stop or change to the right", "D. Change to the right or go straight"], "answer_index": 0}
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{"token": "10e72ef3d3c1e75b3dd7bd43988ec51d", "waymo_split": "test", "type": "image", "frame_index": 38, "question": "What actions are currently possible?", "category": "Normal Planning", "options": ["A. Go straight, stop", "B. Change to the right, stop", "C. Change to the left, go straight", "D. Change to the right, change to the left"], "answer_index": 0}
{"token": "10e72ef3d3c1e75b3dd7bd43988ec51d", "waymo_split": "test", "type": "image", "frame_index": 64, "question": "What actions are currently available?", "category": "Normal Planning", "options": ["A. Change to the right, Change to the left", "B. Go straight, Stop", "C. Change to the left, Stop", "D. Change to the right, Stop"], "answer_index": 1}
{"token": "10e72ef3d3c1e75b3dd7bd43988ec51d", "waymo_split": "test", "type": "image", "frame_index": 97, "question": "What actions are currently possible?", "category": "Normal Planning", "options": ["A. Change to the right, stop", "B. Go straight, stop", "C. Change to the right, change to the left", "D. Change to the left, go straight"], "answer_index": 1}
{"token": "10e72ef3d3c1e75b3dd7bd43988ec51d", "waymo_split": "test", "type": "image", "frame_index": 132, "question": "What actions are currently available?", "category": "Normal Planning", "options": ["A. Stop", "B. Change to the left", "C. Go straight", "D. Change to the right"], "answer_index": 0}
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{"token": "1184c8a0a1b8bfe776c3c47939d7a9c4", "waymo_split": "test", "type": "image", "frame_index": 40, "question": "What actions are currently possible?", "category": "Normal Planning", "options": ["A. Go straight", "B. Stop", "C. Change to the right", "D. Change to the left"], "answer_index": 0}
{"token": "1184c8a0a1b8bfe776c3c47939d7a9c4", "waymo_split": "test", "type": "image", "frame_index": 71, "question": "What actions are currently available?", "category": "Normal Planning", "options": ["A. Change to the left", "B. Go straight", "C. Turn left", "D. Change to the right"], "answer_index": 1}
{"token": "1184c8a0a1b8bfe776c3c47939d7a9c4", "waymo_split": "test", "type": "image", "frame_index": 118, "question": "What actions are currently possible?", "category": "Normal Planning", "options": ["A. Go straight, change to the right", "B. Change to the right, change to the left", "C. Stop, change to the left", "D. Go straight, stop"], "answer_index": 3}
{"token": "1184c8a0a1b8bfe776c3c47939d7a9c4", "waymo_split": "test", "type": "image", "frame_index": 142, "question": "What actions are currently possible?", "category": "Normal Planning", "options": ["A. Go straight, stop", "B. Change to the right, change to the left", "C. Go straight, change to the right", "D. Change to the left, stop"], "answer_index": 0}
{"token": "12643bac32dc219cf204529b8d73bbc9", "waymo_split": "test", "type": "image", "frame_index": 15, "question": "What actions are currently possible?", "category": "Normal Planning", "options": ["A. Change to the right, change to the left", "B. Go straight, stop", "C. Change to the left, go straight", "D. Change to the right, stop"], "answer_index": 1}
{"token": "12643bac32dc219cf204529b8d73bbc9", "waymo_split": "test", "type": "image", "frame_index": 46, "question": "What actions are currently possible?", "category": "Normal Planning", "options": ["A. Change to the left, stop", "B. Turn left, U-turn", "C. Change to the right, go straight", "D. Go straight, stop"], "answer_index": 3}
{"token": "12643bac32dc219cf204529b8d73bbc9", "waymo_split": "test", "type": "image", "frame_index": 80, "question": "What actions are currently possible?", "category": "Normal Planning", "options": ["A. Change to the right, stop", "B. Go straight, stop", "C. Change to the left, go straight", "D. U-turn, stop"], "answer_index": 1}
{"token": "12643bac32dc219cf204529b8d73bbc9", "waymo_split": "test", "type": "image", "frame_index": 122, "question": "What actions are currently possible?", "category": "Normal Planning", "options": ["A. Go straight, stop", "B. Go straight, change to the right", "C. Stop, change to the left", "D. Change to the right, change to the left"], "answer_index": 0}
{"token": "12643bac32dc219cf204529b8d73bbc9", "waymo_split": "test", "type": "image", "frame_index": 143, "question": "What actions are currently possible?", "category": "Normal Planning", "options": ["A. Stop on the right shoulder", "B. Change to the right lane", "C. Maintain going straight", "D. Stop on the left shoulder"], "answer_index": 0}
{"token": "128227ac9e2741dfce423db2762dc690", "waymo_split": "test", "type": "image", "frame_index": 29, "question": "What actions are currently possible?", "category": "Normal Planning", "options": ["A. Can go straight or stop by changing to the right", "B. Can stop or go straight by changing to the right", "C. Can go straight or stop while maintaining the lane", "D. Can go straight or stop by changing to the left"], "answer_index": 3}
{"token": "128227ac9e2741dfce423db2762dc690", "waymo_split": "test", "type": "image", "frame_index": 58, "question": "What actions are currently possible?", "category": "Normal Planning", "options": ["A. Can go straight or stop without changing to the left", "B. Can go straight or stop by changing to the right", "C. Can only go straight by changing to the left", "D. Can go straight or stop by changing to the right"], "answer_index": 3}
{"token": "128227ac9e2741dfce423db2762dc690", "waymo_split": "test", "type": "image", "frame_index": 89, "question": "What actions are currently possible?", "category": "Normal Planning", "options": ["A. Maintain lane and wait to stop or park on the left shoulder", "B. Change to the right and go straight or maintain parking on the left shoulder", "C. Change to the left and turn right or maintain driving in the center lane", "D. Change to the left and go straight or maintain parking on the right shoulder"], "answer_index": 3}
{"token": "128227ac9e2741dfce423db2762dc690", "waymo_split": "test", "type": "image", "frame_index": 112, "question": "What actions are currently possible?", "category": "Normal Planning", "options": ["A. Stop and go straight in the current lane without changing to the left", "B. Stop and change to the left to go straight in the bus-only lane", "C. Stop and change to the left to go straight in the driving lane", "D. Stop and change to the right to go straight in the driving lane"], "answer_index": 2}
{"token": "128227ac9e2741dfce423db2762dc690", "waymo_split": "test", "type": "image", "frame_index": 141, "question": "What actions are currently possible?", "category": "Normal Planning", "options": ["A. Stop, change to the right and enter the merging lane", "B. Stop, change to the left and go straight in the driving lane", "C. Slow down, change to the right and go straight in the driving lane", "D. Proceed slowly, go straight in the current lane without changing to the left"], "answer_index": 1}
{"token": "14b8a5ea097ddf985f7916241ca4e4ff", "waymo_split": "test", "type": "image", "frame_index": 30, "question": "What actions are currently possible?", "category": "Normal Planning", "options": ["A. Change to the right, Change to the left", "B. Go straight, Turn right", "C. Stop, Change to the right", "D. Go straight, Change to the left"], "answer_index": 3}
{"token": "14b8a5ea097ddf985f7916241ca4e4ff", "waymo_split": "test", "type": "image", "frame_index": 54, "question": "What actions are currently possible?", "category": "Normal Planning", "options": ["A. Go straight, change to the left", "B. Turn left, change to the left", "C. Go straight, change to the right", "D. Go straight, turn right"], "answer_index": 0}
{"token": "14b8a5ea097ddf985f7916241ca4e4ff", "waymo_split": "test", "type": "image", "frame_index": 81, "question": "What actions are currently possible?", "category": "Normal Planning", "options": ["A. Go straight, change to the left", "B. Stop, change to the right", "C. Go straight, change to the right", "D. Stop, turn right"], "answer_index": 0}
{"token": "14b8a5ea097ddf985f7916241ca4e4ff", "waymo_split": "test", "type": "image", "frame_index": 126, "question": "What actions are currently possible?", "category": "Normal Planning", "options": ["A. Go straight, turn left", "B. Go straight, change to the right", "C. Stop, change to the right", "D. Go straight, change to the left"], "answer_index": 3}
{"token": "14b8a5ea097ddf985f7916241ca4e4ff", "waymo_split": "test", "type": "image", "frame_index": 149, "question": "What actions are currently possible?", "category": "Normal Planning", "options": ["A. Go straight, change to the left", "B. Stop, change to the right", "C. Go straight, change to the right", "D. Stop, make a U-turn"], "answer_index": 0}
{"token": "153a0e38863dc477a774ae581c265b66", "waymo_split": "test", "type": "image", "frame_index": 14, "question": "What actions are currently possible?", "category": "Normal Planning", "options": ["A. Stop, left change possible", "B. Go straight, right change possible", "C. Stop, right change possible", "D. Go straight, left change possible"], "answer_index": 1}
{"token": "153a0e38863dc477a774ae581c265b66", "waymo_split": "test", "type": "image", "frame_index": 41, "question": "What actions are currently possible?", "category": "Normal Planning", "options": ["A. Go straight, change to the left", "B. Go straight, change to the right", "C. Stop, change to the left", "D. Stop, change to the right"], "answer_index": 1}
{"token": "153a0e38863dc477a774ae581c265b66", "waymo_split": "test", "type": "image", "frame_index": 65, "question": "What actions are currently possible?", "category": "Normal Planning", "options": ["A. Go straight", "B. Change to the left", "C. Turn right", "D. Stop"], "answer_index": 0}
{"token": "153a0e38863dc477a774ae581c265b66", "waymo_split": "test", "type": "image", "frame_index": 83, "question": "What actions are currently possible?", "category": "Normal Planning", "options": ["A. Left change possible (lane)", "B. Going straight possible (main line)", "C. Right turn", "D. Stop needed (safety check)"], "answer_index": 1}
{"token": "153a0e38863dc477a774ae581c265b66", "waymo_split": "test", "type": "image", "frame_index": 126, "question": "What actions are currently possible?", "category": "Normal Planning", "options": ["A. Only right turn is possible, going straight is not allowed", "B. Only left turn is possible, stop", "C. Only going straight is allowed, no lane changes left or right", "D. Both left and right turns are possible, going straight is allowed"], "answer_index": 3}
{"token": "16efb3a242bcc66f17a3c6a679c31d23", "waymo_split": "test", "type": "image", "frame_index": 9, "question": "What actions are currently possible?", "category": "Normal Planning", "options": ["A. Can turn right", "B. Can make a U-turn", "C. Can go straight", "D. Can turn left"], "answer_index": 3}
{"token": "16efb3a242bcc66f17a3c6a679c31d23", "waymo_split": "test", "type": "image", "frame_index": 38, "question": "What actions are currently possible?", "category": "Normal Planning", "options": ["A. Stop", "B. Go straight", "C. Turn left", "D. Turn right"], "answer_index": 2}
{"token": "16efb3a242bcc66f17a3c6a679c31d23", "waymo_split": "test", "type": "image", "frame_index": 76, "question": "What actions are currently possible?", "category": "Normal Planning", "options": ["A. Change to the left, go straight", "B. Go straight, stop", "C. Change to the left, change to the right", "D. Change to the right, stop"], "answer_index": 1}
{"token": "16efb3a242bcc66f17a3c6a679c31d23", "waymo_split": "test", "type": "image", "frame_index": 115, "question": "What actions are currently possible?", "category": "Normal Planning", "options": ["A. Go straight, change to the right", "B. Change to the left, go straight", "C. Change to the right, stop", "D. Go straight, stop"], "answer_index": 3}
{"token": "16efb3a242bcc66f17a3c6a679c31d23", "waymo_split": "test", "type": "image", "frame_index": 145, "question": "What actions are currently available?", "category": "Normal Planning", "options": ["A. Change to the right, stop", "B. Change to the right, change to the left", "C. Go straight, change to the left", "D. Go straight, stop"], "answer_index": 3}
{"token": "1781cee0322159879b610319dbbd528c", "waymo_split": "test", "type": "image", "frame_index": 12, "question": "What actions are currently possible?", "category": "Normal Planning", "options": ["A. Turn left", "B. Go straight", "C. Change to the right", "D. Change to the left"], "answer_index": 1}
{"token": "1781cee0322159879b610319dbbd528c", "waymo_split": "test", "type": "image", "frame_index": 46, "question": "What actions are currently possible?", "category": "Normal Planning", "options": ["A. Go straight, stop", "B. Change to the right, stop", "C. Change to the right, change to the left", "D. Change to the left, go straight"], "answer_index": 0}
{"token": "1781cee0322159879b610319dbbd528c", "waymo_split": "test", "type": "image", "frame_index": 67, "question": "What actions are currently possible?", "category": "Normal Planning", "options": ["A. Change to the right, stop", "B. Change to the left, change to the right", "C. Change to the left, go straight", "D. Go straight, stop"], "answer_index": 3}
{"token": "1781cee0322159879b610319dbbd528c", "waymo_split": "test", "type": "image", "frame_index": 93, "question": "What actions are currently possible?", "category": "Normal Planning", "options": ["A. Change to the left, go straight", "B. Turn right, stop", "C. Change to the right, stop", "D. Go straight, stop"], "answer_index": 3}
{"token": "1781cee0322159879b610319dbbd528c", "waymo_split": "test", "type": "image", "frame_index": 147, "question": "What actions are currently possible?", "category": "Normal Planning", "options": ["A. Stop, change to the left", "B. Change to the right, change to the left", "C. Go straight, stop", "D. Go straight, change to the right"], "answer_index": 2}
{"token": "1b1b31dfd2693662391f36934d0c755b", "waymo_split": "test", "type": "image", "frame_index": 29, "question": "What actions are currently possible?", "category": "Normal Planning", "options": ["A. Go straight", "B. Stop", "C. Change to the right", "D. Make a U-turn"], "answer_index": 0}
{"token": "1b1b31dfd2693662391f36934d0c755b", "waymo_split": "test", "type": "image", "frame_index": 55, "question": "What actions are currently possible?", "category": "Normal Planning", "options": ["A. Turn left", "B. Stop", "C. Make a U-turn", "D. Go straight"], "answer_index": 0}
{"token": "1b1b31dfd2693662391f36934d0c755b", "waymo_split": "test", "type": "image", "frame_index": 70, "question": "What actions are currently possible?", "category": "Normal Planning", "options": ["A. Go straight, stop", "B. Change to the right, change to the left", "C. Go straight, change to the right", "D. Stop, change to the left"], "answer_index": 0}
{"token": "1b1b31dfd2693662391f36934d0c755b", "waymo_split": "test", "type": "image", "frame_index": 106, "question": "What actions are currently possible?", "category": "Normal Planning", "options": ["A. Change to the right, change to the left", "B. U-turn, reverse", "C. Turn right, turn left", "D. Go straight, stop"], "answer_index": 3}
{"token": "1b1b31dfd2693662391f36934d0c755b", "waymo_split": "test", "type": "image", "frame_index": 123, "question": "What actions are currently available?", "category": "Normal Planning", "options": ["A. Change to the right, change to the left", "B. Change to the right, stop", "C. Change to the left, stop", "D. Go straight, stop"], "answer_index": 3}
{"token": "1c12c17615023d6c7c50d8f1f0ef9c13", "waymo_split": "test", "type": "image", "frame_index": 28, "question": "What actions are currently possible?", "category": "Normal Planning", "options": ["A. Go straight, stop", "B. Change to the left, go straight", "C. Change to the right, stop", "D. Change to the right, change to the left"], "answer_index": 0}
{"token": "1c12c17615023d6c7c50d8f1f0ef9c13", "waymo_split": "test", "type": "image", "frame_index": 76, "question": "What actions are currently possible?", "category": "Normal Planning", "options": ["A. Change to the left, go straight", "B. Go straight, stop", "C. Change to the right, change to the left", "D. Change to the right, stop"], "answer_index": 1}
{"token": "1c12c17615023d6c7c50d8f1f0ef9c13", "waymo_split": "test", "type": "image", "frame_index": 104, "question": "What actions are currently possible?", "category": "Normal Planning", "options": ["A. Change to the right, Change to the left", "B. Turn right, Turn left", "C. Go straight, Stop", "D. U-turn, Change to the right"], "answer_index": 2}
{"token": "1c12c17615023d6c7c50d8f1f0ef9c13", "waymo_split": "test", "type": "image", "frame_index": 119, "question": "What actions are currently possible?", "category": "Normal Planning", "options": ["A. Change left, go straight, turn left", "B. Go straight, turn left, make a U-turn", "C. Go straight, stop, turn right", "D. Stop, change left, change right"], "answer_index": 2}
{"token": "1c12c17615023d6c7c50d8f1f0ef9c13", "waymo_split": "test", "type": "image", "frame_index": 142, "question": "What actions are currently possible?", "category": "Normal Planning", "options": ["A. Stop, turn left", "B. Stop, change to the left", "C. Stop, change to the right", "D. Go straight, stop"], "answer_index": 3}
{"token": "1c53c60f95f0fdf9b348cbf358743666", "waymo_split": "test", "type": "image", "frame_index": 36, "question": "What actions are currently possible?", "category": "Normal Planning", "options": ["A. Change to the left, go straight", "B. Change to the right, stop", "C. Change to the right, change to the left", "D. Go straight, stop"], "answer_index": 3}
{"token": "1c53c60f95f0fdf9b348cbf358743666", "waymo_split": "test", "type": "image", "frame_index": 63, "question": "What actions are currently possible?", "category": "Normal Planning", "options": ["A. Go straight, stop", "B. Change to the left, stop", "C. Change to the right, change to the left", "D. Go straight, change to the right"], "answer_index": 0}
{"token": "1c53c60f95f0fdf9b348cbf358743666", "waymo_split": "test", "type": "image", "frame_index": 105, "question": "What actions are currently possible?", "category": "Normal Planning", "options": ["A. Go straight, stop", "B. Change to the right, change to the left", "C. Turn right, turn left", "D. U-turn, turn right"], "answer_index": 0}
{"token": "1c53c60f95f0fdf9b348cbf358743666", "waymo_split": "test", "type": "image", "frame_index": 137, "question": "What actions are currently possible?", "category": "Normal Planning", "options": ["A. Go straight", "B. Stop", "C. Change to the right", "D. Change to the left"], "answer_index": 1}
{"token": "1c53c60f95f0fdf9b348cbf358743666", "waymo_split": "test", "type": "image", "frame_index": 127, "question": "What actions are currently possible?", "category": "Normal Planning", "options": ["A. Stop", "B. Change to the left", "C. Go straight", "D. Change to the right"], "answer_index": 0}
{"token": "1d81e9e0579506c17aae22a42cbdda7a", "waymo_split": "test", "type": "image", "frame_index": 8, "question": "What actions are currently possible?", "category": "Normal Planning", "options": ["A. Go straight, stop the vehicle on the right shoulder", "B. Change to the left, stop the vehicle on the left shoulder", "C. Change to the right, stop the vehicle in front of the intersection", "D. Stop, stop the vehicle next to the median"], "answer_index": 0}
{"token": "1d81e9e0579506c17aae22a42cbdda7a", "waymo_split": "test", "type": "image", "frame_index": 69, "question": "What actions are currently possible?", "category": "Normal Planning", "options": ["A. Change to the left, stop the vehicle on the left shoulder", "B. Stop, wait in the left lane", "C. Go straight, stop the vehicle on the right shoulder", "D. Change to the right, stop in front of the stop line"], "answer_index": 2}
{"token": "1d81e9e0579506c17aae22a42cbdda7a", "waymo_split": "test", "type": "image", "frame_index": 95, "question": "What actions are currently possible?", "category": "Normal Planning", "options": ["A. Go straight, stop, change to the left lane", "B. Go straight, stop, park on the right shoulder", "C. Go straight, stop, park on the left shoulder", "D. Turn right, stop, change to the right lane"], "answer_index": 1}
{"token": "1d81e9e0579506c17aae22a42cbdda7a", "waymo_split": "test", "type": "image", "frame_index": 114, "question": "What actions are currently possible?", "category": "Normal Planning", "options": ["A. Go straight, stop", "B. Turn right, turn left", "C. U-turn, change to the right", "D. Change to the right, change to the left"], "answer_index": 0}
{"token": "1d81e9e0579506c17aae22a42cbdda7a", "waymo_split": "test", "type": "image", "frame_index": 147, "question": "What actions are currently possible?", "category": "Normal Planning", "options": ["A. Go straight, change to the left", "B. Go straight, stop", "C. Go straight, change to the right", "D. Change to the right, change to the left"], "answer_index": 1}
{"token": "20fc29f0d090769cd5daaa4cc1c0bef1", "waymo_split": "test", "type": "image", "frame_index": 9, "question": "What actions are currently possible?", "category": "Normal Planning", "options": ["A. Change left, stop", "B. Change right, go straight", "C. Change left, change right", "D. Go straight, stop"], "answer_index": 3}
{"token": "20fc29f0d090769cd5daaa4cc1c0bef1", "waymo_split": "test", "type": "image", "frame_index": 43, "question": "What actions are currently possible?", "category": "Normal Planning", "options": ["A. Change left, stop", "B. Change right, go straight", "C. Go straight, stop", "D. Change right, change left"], "answer_index": 2}
{"token": "20fc29f0d090769cd5daaa4cc1c0bef1", "waymo_split": "test", "type": "image", "frame_index": 61, "question": "What actions are currently possible?", "category": "Normal Planning", "options": ["A. Stop, reverse, change to the right", "B. Go straight, stop, change to the left or right", "C. Go straight, stop, turn left", "D. Go straight, make a U-turn, change to the left"], "answer_index": 2}
{"token": "20fc29f0d090769cd5daaa4cc1c0bef1", "waymo_split": "test", "type": "image", "frame_index": 102, "question": "What actions are currently possible?", "category": "Normal Planning", "options": ["A. Reverse, stop, turn right", "B. U-turn, turn left, change to the right", "C. Go straight, stop, turn left or right", "D. Go straight, change to the left, change to the right"], "answer_index": 2}
{"token": "20fc29f0d090769cd5daaa4cc1c0bef1", "waymo_split": "test", "type": "image", "frame_index": 140, "question": "What actions are currently possible?", "category": "Normal Planning", "options": ["A. Go straight, change to the right", "B. Turn right, go straight", "C. Change to the left, turn right", "D. Turn left, stop"], "answer_index": 3}
{"token": "22797b0ef9f5ee2a20cbf4765ef0b438", "waymo_split": "test", "type": "image", "frame_index": 28, "question": "What actions are currently possible?", "category": "Normal Planning", "options": ["A. Go straight, stop", "B. Go straight, change to the right", "C. Change to the left, stop", "D. Change to the left, change to the right"], "answer_index": 0}
{"token": "22797b0ef9f5ee2a20cbf4765ef0b438", "waymo_split": "test", "type": "image", "frame_index": 53, "question": "What actions are currently possible?", "category": "Normal Planning", "options": ["A. Go straight, stop, turn right", "B. Go straight, stop, change to the right", "C. Go straight, stop, turn left", "D. Go straight, stop, change to the left"], "answer_index": 0}
{"token": "22797b0ef9f5ee2a20cbf4765ef0b438", "waymo_split": "test", "type": "image", "frame_index": 110, "question": "What actions are currently possible?", "category": "Normal Planning", "options": ["A. Go straight, make a U-turn", "B. Go straight, change to the right", "C. Go straight, stop", "D. Stop, change to the right"], "answer_index": 2}
{"token": "22797b0ef9f5ee2a20cbf4765ef0b438", "waymo_split": "test", "type": "image", "frame_index": 146, "question": "What actions are currently possible?", "category": "Normal Planning", "options": ["A. Go straight, stop, change to the left lane (although there is no line)", "B. Go straight, stop, change to the right lane (since it is a dashed line)", "C. Go straight, stop, make a U-turn (as long as the signal is right)", "D. Go straight, stop, change lanes to both left and right (there is room)"], "answer_index": 0}
{"token": "234501e613efd8e0429be3e5a22c7d97", "waymo_split": "test", "type": "image", "frame_index": 9, "question": "What actions are currently possible?", "category": "Normal Planning", "options": ["A. Turn right and proceed slowly", "B. Go straight and stop slowly", "C. Change to the right and maintain slow speed", "D. Change to the left and stop temporarily"], "answer_index": 1}
{"token": "234501e613efd8e0429be3e5a22c7d97", "waymo_split": "test", "type": "image", "frame_index": 39, "question": "What actions are currently possible?", "category": "Normal Planning", "options": ["A. Go straight, slow down and stop, turn right", "B. Turn left, change to the right, stop", "C. Slow down and turn left, change to the right, yield", "D. Make a U-turn, change to the left, reverse"], "answer_index": 0}
{"token": "234501e613efd8e0429be3e5a22c7d97", "waymo_split": "test", "type": "image", "frame_index": 77, "question": "What actions are currently possible?", "category": "Normal Planning", "options": ["A. Left turn, lane change to the left, U-turn", "B. Slow driving, left turn, maintain speed", "C. Go straight, slow down to stop, right turn", "D. Lane change to the right, maintain stop, reverse"], "answer_index": 2}
{"token": "234501e613efd8e0429be3e5a22c7d97", "waymo_split": "test", "type": "image", "frame_index": 123, "question": "What actions are currently possible?", "category": "Normal Planning", "options": ["A. Change left, go straight", "B. Change right, stop", "C. Change right, change left", "D. Go straight, stop"], "answer_index": 3}
{"token": "234501e613efd8e0429be3e5a22c7d97", "waymo_split": "test", "type": "image", "frame_index": 148, "question": "What actions are currently possible?", "category": "Normal Planning", "options": ["A. Go straight, change to the right", "B. Change to the left, stop", "C. Go straight, stop", "D. Change to the right, change to the left"], "answer_index": 2}
{"token": "2560d5455e526aea6b9f330c24d7b213", "waymo_split": "test", "type": "image", "frame_index": 9, "question": "What actions are currently available?", "category": "Normal Planning", "options": ["A. Change left", "B. Change right", "C. U-turn", "D. Go straight"], "answer_index": 3}
{"token": "2560d5455e526aea6b9f330c24d7b213", "waymo_split": "test", "type": "image", "frame_index": 30, "question": "What actions are currently available?", "category": "Normal Planning", "options": ["A. Change to the left", "B. Go straight", "C. Change to the right", "D. Make a U-turn"], "answer_index": 1}
{"token": "2560d5455e526aea6b9f330c24d7b213", "waymo_split": "test", "type": "image", "frame_index": 80, "question": "What actions are currently possible?", "category": "Normal Planning", "options": ["A. Stop, U-turn, and right turn", "B. Go straight, change to the left, and change to the right", "C. Go straight, left turn, and right turn", "D. Right turn, go straight, and U-turn"], "answer_index": 2}
{"token": "2560d5455e526aea6b9f330c24d7b213", "waymo_split": "test", "type": "image", "frame_index": 111, "question": "What actions are currently possible?", "category": "Normal Planning", "options": ["A. U-turn, left change", "B. Go straight, stop", "C. Reverse, right change", "D. Left change, right change"], "answer_index": 1}
{"token": "2560d5455e526aea6b9f330c24d7b213", "waymo_split": "test", "type": "image", "frame_index": 143, "question": "What actions are currently possible?", "category": "Normal Planning", "options": ["A. Change to the right, stop", "B. Change to the left, go straight", "C. Change to the right, change to the left", "D. Go straight, stop"], "answer_index": 3}
{"token": "278f173b3b1d999f742d174be0701fdb", "waymo_split": "test", "type": "image", "frame_index": 10, "question": "What actions are currently possible?", "category": "Normal Planning", "options": ["A. Go straight, change to the right", "B. Go straight, stop", "C. Change to the right, change to the left", "D. Change to the left, stop"], "answer_index": 1}
{"token": "278f173b3b1d999f742d174be0701fdb", "waymo_split": "test", "type": "image", "frame_index": 47, "question": "What actions are currently possible?", "category": "Normal Planning", "options": ["A. Go straight, change to the left", "B. Go straight, stop", "C. Stop, change to the right", "D. Change to the right, change to the left"], "answer_index": 1}
{"token": "278f173b3b1d999f742d174be0701fdb", "waymo_split": "test", "type": "image", "frame_index": 53, "question": "What actions are currently available?", "category": "Normal Planning", "options": ["A. Change to the right, Change to the left", "B. Change to the left, Stop", "C. Go straight, Stop", "D. Go straight, Change to the right"], "answer_index": 2}
{"token": "278f173b3b1d999f742d174be0701fdb", "waymo_split": "test", "type": "image", "frame_index": 87, "question": "What actions are currently possible?", "category": "Normal Planning", "options": ["A. Go straight, stop", "B. Go straight, change to the right", "C. Change to the left, stop", "D. Change to the right, change to the left"], "answer_index": 0}
{"token": "278f173b3b1d999f742d174be0701fdb", "waymo_split": "test", "type": "image", "frame_index": 139, "question": "What actions are currently possible?", "category": "Normal Planning", "options": ["A. Change to the right, Change to the left", "B. Go straight, Change to the right", "C. Go straight, Stop", "D. Change to the left, Stop"], "answer_index": 2}
{"token": "27b29232b5da3b738d8b6be87263514c", "waymo_split": "test", "type": "image", "frame_index": 9, "question": "What actions are currently possible?", "category": "Normal Planning", "options": ["A. Go straight, change to the left", "B. Go straight, change to the right", "C. Go straight, stop", "D. Stop, change to the left"], "answer_index": 1}
{"token": "27b29232b5da3b738d8b6be87263514c", "waymo_split": "test", "type": "image", "frame_index": 32, "question": "What actions are currently possible?", "category": "Normal Planning", "options": ["A. Go straight, change to the left, turn right", "B. Go straight, turn left, change to the right", "C. Go straight, change to the left, change to the right", "D. Stop, change to the left, change to the right"], "answer_index": 2}
{"token": "27b29232b5da3b738d8b6be87263514c", "waymo_split": "test", "type": "image", "frame_index": 79, "question": "What actions are currently possible?", "category": "Normal Planning", "options": ["A. Go straight, change to the left, change to the right", "B. Go straight, stop, change to the left", "C. Go straight, stop, change to the right", "D. Stop, change to the left, change to the right"], "answer_index": 0}
{"token": "27b29232b5da3b738d8b6be87263514c", "waymo_split": "test", "type": "image", "frame_index": 116, "question": "What actions are currently possible?", "category": "Normal Planning", "options": ["A. Stop, change to the right", "B. Turn right, stop", "C. Go straight, slow down", "D. Change to the left, accelerate"], "answer_index": 2}
{"token": "27b29232b5da3b738d8b6be87263514c", "waymo_split": "test", "type": "image", "frame_index": 143, "question": "What actions are currently possible?", "category": "Normal Planning", "options": ["A. Go straight, slow down", "B. Stop, change to the left", "C. Reverse, make a U-turn", "D. Change to the right, accelerate"], "answer_index": 0}
{"token": "27e3d29574a6918b32f21ef891ce9112", "waymo_split": "test", "type": "image", "frame_index": 9, "question": "What actions are currently possible?", "category": "Normal Planning", "options": ["A. Go straight", "B. Change to the left", "C. Make a U-turn", "D. Change to the right"], "answer_index": 0}
{"token": "27e3d29574a6918b32f21ef891ce9112", "waymo_split": "test", "type": "image", "frame_index": 24, "question": "What actions are currently possible?", "category": "Normal Planning", "options": ["A. Stop, change to the left, change to the right", "B. Go straight, turn left, turn right", "C. Reverse, make a U-turn, stop", "D. Change to the right, change to the left, make a U-turn"], "answer_index": 1}
{"token": "27e3d29574a6918b32f21ef891ce9112", "waymo_split": "test", "type": "image", "frame_index": 59, "question": "What actions are currently possible?", "category": "Normal Planning", "options": ["A. Turn left", "B. Make a U-turn", "C. Go straight", "D. Turn right"], "answer_index": 0}
{"token": "27e3d29574a6918b32f21ef891ce9112", "waymo_split": "test", "type": "image", "frame_index": 83, "question": "What actions are currently possible?", "category": "Normal Planning", "options": ["A. U-turn", "B. Right change", "C. Go straight", "D. Left change"], "answer_index": 2}
{"token": "27e3d29574a6918b32f21ef891ce9112", "waymo_split": "test", "type": "image", "frame_index": 147, "question": "What actions are currently possible?", "category": "Normal Planning", "options": ["A. U-turn", "B. Go straight", "C. Change to the right", "D. Change to the left"], "answer_index": 1}
{"token": "27e8a15994bda8af97379ca203c03ee3", "waymo_split": "test", "type": "image", "frame_index": 32, "question": "What actions are currently possible?", "category": "Normal Planning", "options": ["A. Change to the left, go straight", "B. Go straight, stop", "C. Change to the right, change to the left", "D. Change to the right, stop"], "answer_index": 1}
{"token": "27e8a15994bda8af97379ca203c03ee3", "waymo_split": "test", "type": "image", "frame_index": 59, "question": "What actions are currently possible?", "category": "Normal Planning", "options": ["A. Change to the right, Change to the left", "B. Go straight, Stop", "C. Change to the left, Stop", "D. Go straight, Change to the right"], "answer_index": 1}
{"token": "27e8a15994bda8af97379ca203c03ee3", "waymo_split": "test", "type": "image", "frame_index": 10, "question": "What actions are currently possible?", "category": "Normal Planning", "options": ["A. Change to the left, change to the right", "B. Go straight, stop", "C. Change to the left, go straight", "D. Change to the right, stop"], "answer_index": 1}
{"token": "27e8a15994bda8af97379ca203c03ee3", "waymo_split": "test", "type": "image", "frame_index": 97, "question": "What actions are currently possible?", "category": "Normal Planning", "options": ["A. Go straight, change to the right", "B. Go straight, stop", "C. Change to the right, change to the left", "D. Stop, change to the left"], "answer_index": 1}
{"token": "27e8a15994bda8af97379ca203c03ee3", "waymo_split": "test", "type": "image", "frame_index": 135, "question": "What actions are currently possible?", "category": "Normal Planning", "options": ["A. Change to the right, stop", "B. Go straight, stop", "C. Change to the left, go straight", "D. U-turn, change to the right"], "answer_index": 1}
{"token": "2841af69c18f753cee5c258b87dc46c8", "waymo_split": "test", "type": "image", "frame_index": 9, "question": "What actions are currently possible?", "category": "Normal Planning", "options": ["A. Change left, go straight", "B. Change right, stop", "C. Go straight, stop", "D. Change left, change right"], "answer_index": 2}
{"token": "2841af69c18f753cee5c258b87dc46c8", "waymo_split": "test", "type": "image", "frame_index": 39, "question": "What actions are currently possible?", "category": "Normal Planning", "options": ["A. Go straight, stop", "B. Change to the right, stop", "C. Change to the left, go straight", "D. Change to the right, change to the left"], "answer_index": 0}
{"token": "2841af69c18f753cee5c258b87dc46c8", "waymo_split": "test", "type": "image", "frame_index": 66, "question": "What actions are currently possible?", "category": "Normal Planning", "options": ["A. Change to the right, stop", "B. Change to the right, change to the left", "C. Go straight, stop", "D. Change to the left, go straight"], "answer_index": 2}
{"token": "2841af69c18f753cee5c258b87dc46c8", "waymo_split": "test", "type": "image", "frame_index": 102, "question": "What actions are currently possible?", "category": "Normal Planning", "options": ["A. Go straight, stop", "B. Change to the right, change to the left", "C. Go straight, change to the right", "D. Change to the left, stop"], "answer_index": 0}
{"token": "2841af69c18f753cee5c258b87dc46c8", "waymo_split": "test", "type": "image", "frame_index": 138, "question": "What actions are currently available?", "category": "Normal Planning", "options": ["A. Stop", "B. Change to the right", "C. Change to the left", "D. Go straight"], "answer_index": 0}
{"token": "28567e17bd2293ee923c447ec5b26c99", "waymo_split": "test", "type": "image", "frame_index": 9, "question": "What actions are currently possible?", "category": "Normal Planning", "options": ["A. Change to the right, stop", "B. Change to the right, change to the left", "C. Go straight, stop", "D. Change to the left, go straight"], "answer_index": 2}
{"token": "28567e17bd2293ee923c447ec5b26c99", "waymo_split": "test", "type": "image", "frame_index": 39, "question": "What actions are currently possible?", "category": "Normal Planning", "options": ["A. Change to the right, change to the left", "B. Turn right, turn left", "C. Go straight, stop", "D. Change to the right, make a U-turn"], "answer_index": 2}
{"token": "28567e17bd2293ee923c447ec5b26c99", "waymo_split": "test", "type": "image", "frame_index": 70, "question": "What actions are currently possible?", "category": "Normal Planning", "options": ["A. Go straight, stop", "B. Change to the left, go straight", "C. Change to the left, change to the right", "D. Change to the right, stop"], "answer_index": 0}
{"token": "28567e17bd2293ee923c447ec5b26c99", "waymo_split": "test", "type": "image", "frame_index": 110, "question": "What actions are currently possible?", "category": "Normal Planning", "options": ["A. Go straight, stop", "B. Go straight, change to the right", "C. Change to the right, change to the left", "D. Stop, change to the left"], "answer_index": 0}
{"token": "28567e17bd2293ee923c447ec5b26c99", "waymo_split": "test", "type": "image", "frame_index": 142, "question": "What actions are currently possible?", "category": "Normal Planning", "options": ["A. Reverse, stop", "B. Left change, stop", "C. Right change, left change", "D. Go straight, stop"], "answer_index": 3}
{"token": "28ba58bcef428b9d62896bed8e57287d", "waymo_split": "test", "type": "image", "frame_index": 31, "question": "What actions are currently available?", "category": "Normal Planning", "options": ["A. Change left", "B. Change right", "C. Stop", "D. Go straight"], "answer_index": 3}
{"token": "28ba58bcef428b9d62896bed8e57287d", "waymo_split": "test", "type": "image", "frame_index": 43, "question": "What actions are currently available?", "category": "Normal Planning", "options": ["A. Stop", "B. Change to the left", "C. Change to the right", "D. Go straight"], "answer_index": 3}
{"token": "28ba58bcef428b9d62896bed8e57287d", "waymo_split": "test", "type": "image", "frame_index": 80, "question": "What actions are currently possible?", "category": "Normal Planning", "options": ["A. Go straight", "B. Change to the right", "C. Stop", "D. Change to the left"], "answer_index": 0}
{"token": "28ba58bcef428b9d62896bed8e57287d", "waymo_split": "test", "type": "image", "frame_index": 113, "question": "What actions are currently possible?", "category": "Normal Planning", "options": ["A. Stop", "B. Turn left", "C. Turn right", "D. Go straight"], "answer_index": 3}
{"token": "28ba58bcef428b9d62896bed8e57287d", "waymo_split": "test", "type": "image", "frame_index": 146, "question": "What actions are currently available?", "category": "Normal Planning", "options": ["A. Stop", "B. Change to the left", "C. Change to the right", "D. Go straight"], "answer_index": 3}
{"token": "295da6ec055ae8df320d3baf3db03ff1", "waymo_split": "test", "type": "image", "frame_index": 9, "question": "What actions are currently possible?", "category": "Normal Planning", "options": ["A. Stop, change to the left,", "B. Go straight, change to the right,", "C. Stop, change to the right,", "D. Go straight, change to the left,"], "answer_index": 1}
{"token": "295da6ec055ae8df320d3baf3db03ff1", "waymo_split": "test", "type": "image", "frame_index": 43, "question": "What actions are currently possible?", "category": "Normal Planning", "options": ["A. Reverse", "B. Turn right", "C. Turn left", "D. Change to the left lane"], "answer_index": 2}
{"token": "295da6ec055ae8df320d3baf3db03ff1", "waymo_split": "test", "type": "image", "frame_index": 63, "question": "What actions are currently possible?", "category": "Normal Planning", "options": ["A. Turn right", "B. Make a U-turn", "C. Change to the left lane", "D. Turn left"], "answer_index": 3}
{"token": "295da6ec055ae8df320d3baf3db03ff1", "waymo_split": "test", "type": "image", "frame_index": 95, "question": "What actions are currently possible?", "category": "Normal Planning", "options": ["A. Turn right", "B. Turn left", "C. Change to the right", "D. Go straight"], "answer_index": 1}
{"token": "295da6ec055ae8df320d3baf3db03ff1", "waymo_split": "test", "type": "image", "frame_index": 133, "question": "What actions are currently possible?", "category": "Normal Planning", "options": ["A. Go straight", "B. Stop", "C. Turn left", "D. Turn right"], "answer_index": 2}
{"token": "29761def635ea6c99c236de0f6d1c6ae", "waymo_split": "test", "type": "image", "frame_index": 29, "question": "What actions are currently possible?", "category": "Normal Planning", "options": ["A. Change to the left, go straight", "B. Turn right, stop", "C. Change to the right, stop", "D. Go straight, stop"], "answer_index": 3}
{"token": "29761def635ea6c99c236de0f6d1c6ae", "waymo_split": "test", "type": "image", "frame_index": 52, "question": "What actions are currently possible?", "category": "Normal Planning", "options": ["A. Go straight, stop", "B. Stop, change to the left", "C. Go straight, change to the right", "D. Change to the right, change to the left"], "answer_index": 0}
{"token": "29761def635ea6c99c236de0f6d1c6ae", "waymo_split": "test", "type": "image", "frame_index": 72, "question": "What actions are currently available?", "category": "Normal Planning", "options": ["A. Change left, stop", "B. Change right, stop", "C. Go straight, stop", "D. Change right, change left"], "answer_index": 2}
{"token": "29761def635ea6c99c236de0f6d1c6ae", "waymo_split": "test", "type": "image", "frame_index": 99, "question": "What actions are currently possible?", "category": "Normal Planning", "options": ["A. Go straight, change to the right", "B. Stop, change to the left", "C. Go straight, stop", "D. Change to the right, change to the left"], "answer_index": 2}
{"token": "29761def635ea6c99c236de0f6d1c6ae", "waymo_split": "test", "type": "image", "frame_index": 132, "question": "What actions are currently possible?", "category": "Normal Planning", "options": ["A. Change to the left, go straight", "B. Change to the right, stop", "C. Go straight, stop", "D. Change to the left, change to the right"], "answer_index": 2}
{"token": "2a0bc956f211fcea7e06b92078fb0029", "waymo_split": "test", "type": "image", "frame_index": 9, "question": "What actions are currently possible?", "category": "Normal Planning", "options": ["A. Stop, change to the right", "B. Go straight, stop", "C. Change to the right, change to the left", "D. Change to the left, stop"], "answer_index": 1}
{"token": "2a0bc956f211fcea7e06b92078fb0029", "waymo_split": "test", "type": "image", "frame_index": 34, "question": "What actions are currently possible?", "category": "Normal Planning", "options": ["A. Change to the right, Change to the left", "B. Go straight, Stop", "C. Change to the left, Go straight", "D. Change to the right, Stop"], "answer_index": 1}
{"token": "2a0bc956f211fcea7e06b92078fb0029", "waymo_split": "test", "type": "image", "frame_index": 67, "question": "What actions are currently possible?", "category": "Normal Planning", "options": ["A. Go straight, change to the right", "B. Stop, change to the left", "C. Go straight, stop", "D. Change to the right, change to the left"], "answer_index": 2}
{"token": "2a0bc956f211fcea7e06b92078fb0029", "waymo_split": "test", "type": "image", "frame_index": 108, "question": "What actions are currently possible?", "category": "Normal Planning", "options": ["A. Change left, go straight", "B. Change right, change left", "C. Go straight, stop", "D. Change right, stop"], "answer_index": 2}
{"token": "2a0bc956f211fcea7e06b92078fb0029", "waymo_split": "test", "type": "image", "frame_index": 145, "question": "What actions are currently possible?", "category": "Normal Planning", "options": ["A. Go straight, stop", "B. Change to the left, turn right", "C. Change to the right, change to the left", "D. Turn right, make a U-turn"], "answer_index": 0}
{"token": "2aa75335f876b06abecc9e05076aa067", "waymo_split": "test", "type": "image", "frame_index": 8, "question": "What actions are currently possible?", "category": "Normal Planning", "options": ["A. Go straight, stop", "B. Change to the left, stop", "C. Change to the right, change to the left", "D. Go straight, change to the right"], "answer_index": 0}
{"token": "2aa75335f876b06abecc9e05076aa067", "waymo_split": "test", "type": "image", "frame_index": 29, "question": "What actions are currently possible?", "category": "Normal Planning", "options": ["A. Go straight, stop, U-turn", "B. Go straight, change to the left, stop", "C. Go straight, stop, turn left", "D. Go straight, stop, turn right"], "answer_index": 3}
{"token": "2aa75335f876b06abecc9e05076aa067", "waymo_split": "test", "type": "image", "frame_index": 67, "question": "What actions are currently possible?", "category": "Normal Planning", "options": ["A. Go straight, stop", "B. Change to the right, change to the left", "C. Change to the right, stop", "D. Change to the left, go straight"], "answer_index": 0}
{"token": "2aa75335f876b06abecc9e05076aa067", "waymo_split": "test", "type": "image", "frame_index": 87, "question": "What actions are currently possible?", "category": "Normal Planning", "options": ["A. Go straight, stop", "B. Change to the right, change to the left", "C. Change to the left, stop", "D. Go straight, change to the right"], "answer_index": 0}
{"token": "2aa75335f876b06abecc9e05076aa067", "waymo_split": "test", "type": "image", "frame_index": 138, "question": "What actions are currently available?", "category": "Normal Planning", "options": ["A. Change left", "B. Change right", "C. Stop", "D. Go straight"], "answer_index": 2}
{"token": "2b6a0cb6e68a3a963c8427e1fa7bdfa6", "waymo_split": "test", "type": "image", "frame_index": 29, "question": "What actions are currently possible?", "category": "Normal Planning", "options": ["A. Reverse, right turn, left turn", "B. Go straight, right turn, left turn", "C. Go straight, right turn, left turn", "D. Go straight, stop, right turn"], "answer_index": 2}
{"token": "2b6a0cb6e68a3a963c8427e1fa7bdfa6", "waymo_split": "test", "type": "image", "frame_index": 51, "question": "What actions are currently possible?", "category": "Normal Planning", "options": ["A. Stop, change to the left, change to the right", "B. Go straight, change to the right, change to the left", "C. Stop, go straight, change to the left", "D. Go straight, stop, change to the right"], "answer_index": 1}
{"token": "2b6a0cb6e68a3a963c8427e1fa7bdfa6", "waymo_split": "test", "type": "image", "frame_index": 80, "question": "What actions are currently possible?", "category": "Normal Planning", "options": ["A. Go straight, turn right, turn left", "B. Go straight, change to the right, change to the left", "C. Stop, make a U-turn, change to the right", "D. Stop, change to the right, change to the left"], "answer_index": 1}
{"token": "2b6a0cb6e68a3a963c8427e1fa7bdfa6", "waymo_split": "test", "type": "image", "frame_index": 132, "question": "What actions are currently possible?", "category": "Normal Planning", "options": ["A. Go straight, stop, change to the right", "B. Go straight, turn right, turn left", "C. Go straight, change to the right, change to the left", "D. Stop, make a U-turn, change to the left"], "answer_index": 2}
{"token": "2b6a0cb6e68a3a963c8427e1fa7bdfa6", "waymo_split": "test", "type": "image", "frame_index": 148, "question": "What actions are currently possible?", "category": "Normal Planning", "options": ["A. Reversing, right turn, left turn", "B. Going straight, U-turn, left turn", "C. Going straight, right turn, left turn", "D. Going straight, stop, right turn"], "answer_index": 2}
{"token": "2f35266c0b38fe703332fb2f40ba9d55", "waymo_split": "test", "type": "image", "frame_index": 10, "question": "What actions are currently possible?", "category": "Normal Planning", "options": ["A. Go straight", "B. Change to the left", "C. Change to the right", "D. Stop"], "answer_index": 3}
{"token": "2f35266c0b38fe703332fb2f40ba9d55", "waymo_split": "test", "type": "image", "frame_index": 63, "question": "What actions are currently possible?", "category": "Normal Planning", "options": ["A. Change to the right, change to the left", "B. Go straight, turn right", "C. Stop, go straight", "D. Stop, change to the right"], "answer_index": 2}
{"token": "2f35266c0b38fe703332fb2f40ba9d55", "waymo_split": "test", "type": "image", "frame_index": 71, "question": "What actions are currently possible?", "category": "Normal Planning", "options": ["A. Change to the right, go straight", "B. Stop, go straight", "C. Change to the right, change to the left", "D. Change to the left, stop"], "answer_index": 1}
{"token": "2f35266c0b38fe703332fb2f40ba9d55", "waymo_split": "test", "type": "image", "frame_index": 86, "question": "What actions are currently possible?", "category": "Normal Planning", "options": ["A. Stop, go straight", "B. Stop, turn right", "C. Change to the right, change to the left", "D. Change to the left, go straight"], "answer_index": 0}
{"token": "2f35266c0b38fe703332fb2f40ba9d55", "waymo_split": "test", "type": "image", "frame_index": 115, "question": "What actions are currently possible?", "category": "Normal Planning", "options": ["A. Stop, go straight", "B. Change to the left, change to the right", "C. Change to the right, go straight", "D. Change to the left, stop"], "answer_index": 0}
{"token": "2f7f17a816304bb71574e87a1342b80b", "waymo_split": "test", "type": "image", "frame_index": 9, "question": "What actions are currently possible?", "category": "Normal Planning", "options": ["A. Go straight", "B. Turn left", "C. Change to the right", "D. Turn right"], "answer_index": 1}
{"token": "2f7f17a816304bb71574e87a1342b80b", "waymo_split": "test", "type": "image", "frame_index": 31, "question": "What actions are currently possible?", "category": "Normal Planning", "options": ["A. Change to the left, go straight", "B. Change to the right, change to the left", "C. Go straight, stop", "D. Change to the right, stop"], "answer_index": 2}
{"token": "2f7f17a816304bb71574e87a1342b80b", "waymo_split": "test", "type": "image", "frame_index": 46, "question": "What actions are currently available?", "category": "Normal Planning", "options": ["A. Change to the right, change to the left", "B. Change to the right, stop", "C. Change to the left, stop", "D. Go straight, stop"], "answer_index": 3}
{"token": "2f7f17a816304bb71574e87a1342b80b", "waymo_split": "test", "type": "image", "frame_index": 64, "question": "What actions are currently possible?", "category": "Normal Planning", "options": ["A. Go straight, change to the left", "B. Change to the right, stop", "C. Change to the right, change to the left", "D. Go straight, stop"], "answer_index": 3}
{"token": "2f7f17a816304bb71574e87a1342b80b", "waymo_split": "test", "type": "image", "frame_index": 103, "question": "What actions are currently available?", "category": "Normal Planning", "options": ["A. Change to the right", "B. Change to the left", "C. Go straight", "D. Stop"], "answer_index": 3}
{"token": "2f9920d08ad837d73dd44789849eabe6", "waymo_split": "test", "type": "image", "frame_index": 9, "question": "What actions are currently possible?", "category": "Normal Planning", "options": ["A. Go straight, stop", "B. Change to the right, go straight", "C. Change to the right, change to the left", "D. Change to the left, stop"], "answer_index": 0}
{"token": "2f9920d08ad837d73dd44789849eabe6", "waymo_split": "test", "type": "image", "frame_index": 25, "question": "What actions are currently possible?", "category": "Normal Planning", "options": ["A. Change left, go straight", "B. Change right, stop", "C. Go straight, stop", "D. Change right, change left"], "answer_index": 2}
{"token": "2f9920d08ad837d73dd44789849eabe6", "waymo_split": "test", "type": "image", "frame_index": 53, "question": "What actions are currently available?", "category": "Normal Planning", "options": ["A. Stop", "B. Go straight", "C. Change to the right", "D. Change to the left"], "answer_index": 0}
{"token": "2f9920d08ad837d73dd44789849eabe6", "waymo_split": "test", "type": "image", "frame_index": 82, "question": "What actions are currently available?", "category": "Normal Planning", "options": ["A. Stop", "B. Go straight", "C. Change to the left", "D. Change to the right"], "answer_index": 0}
{"token": "2f9920d08ad837d73dd44789849eabe6", "waymo_split": "test", "type": "image", "frame_index": 125, "question": "What actions are currently available?", "category": "Normal Planning", "options": ["A. Change to the right", "B. Stop", "C. Change to the left", "D. Go straight"], "answer_index": 1}
{"token": "300ba7bb9117701cb92c7064a06650a3", "waymo_split": "test", "type": "image", "frame_index": 28, "question": "What actions are currently possible?", "category": "Normal Planning", "options": ["A. Go straight, stop", "B. Change to the right, change to the left", "C. Change to the left, go straight", "D. Change to the right, stop"], "answer_index": 0}
{"token": "300ba7bb9117701cb92c7064a06650a3", "waymo_split": "test", "type": "image", "frame_index": 53, "question": "What actions are currently possible?", "category": "Normal Planning", "options": ["A. Go straight, stop", "B. Change to the right, change to the left", "C. Change to the left, go straight", "D. Change to the right, stop"], "answer_index": 0}
{"token": "300ba7bb9117701cb92c7064a06650a3", "waymo_split": "test", "type": "image", "frame_index": 81, "question": "What actions are currently possible?", "category": "Normal Planning", "options": ["A. Stop, U-turn, Go straight", "B. Go straight, Stop, Turn right", "C. Go straight, Change to left lane, Stop", "D. Go straight, Stop, Turn left"], "answer_index": 1}
{"token": "300ba7bb9117701cb92c7064a06650a3", "waymo_split": "test", "type": "image", "frame_index": 125, "question": "What actions are currently possible?", "category": "Normal Planning", "options": ["A. Proceed slowly and pass", "B. Change lanes to the right", "C. Accelerate and go straight", "D. Decelerate and stop"], "answer_index": 3}
{"token": "300ba7bb9117701cb92c7064a06650a3", "waymo_split": "test", "type": "image", "frame_index": 148, "question": "What actions are currently available?", "category": "Normal Planning", "options": ["A. Change to the left", "B. Go straight", "C. Stop", "D. Change to the right"], "answer_index": 2}
{"token": "301102408e3be146b02a002d287854e6", "waymo_split": "test", "type": "image", "frame_index": 10, "question": "What actions are currently available?", "category": "Normal Planning", "options": ["A. Change left", "B. Change right", "C. Go straight", "D. Stop"], "answer_index": 3}
{"token": "301102408e3be146b02a002d287854e6", "waymo_split": "test", "type": "image", "frame_index": 66, "question": "What actions are currently possible?", "category": "Normal Planning", "options": ["A. Go straight", "B. Change to the right", "C. Stop", "D. Change to the left"], "answer_index": 2}
{"token": "301102408e3be146b02a002d287854e6", "waymo_split": "test", "type": "image", "frame_index": 90, "question": "What actions are currently available?", "category": "Normal Planning", "options": ["A. Change to the right", "B. Go straight", "C. Change to the left", "D. Turn right"], "answer_index": 3}
{"token": "301102408e3be146b02a002d287854e6", "waymo_split": "test", "type": "image", "frame_index": 121, "question": "What actions are currently available?", "category": "Normal Planning", "options": ["A. Change to the right", "B. Stop", "C. Change to the left", "D. Go straight"], "answer_index": 3}
{"token": "301102408e3be146b02a002d287854e6", "waymo_split": "test", "type": "image", "frame_index": 146, "question": "What actions are currently possible?", "category": "Normal Planning", "options": ["A. Turn left", "B. Change to the right", "C. Change to the left", "D. Stop"], "answer_index": 3}
{"token": "00110091fd080823211938d14a988291", "waymo_split": "test", "type": "video", "frame_index": null, "question": "What are the divisions of the scene?", "category": "Normal scene Understanding", "options": ["A. rural road", "B. unpaved", "C. urban area", "D. residential area"], "answer_index": 3}
{"token": "00110091fd080823211938d14a988291", "waymo_split": "test", "type": "video", "frame_index": null, "question": "Where is the safety-critical situation in the video?", "category": "Temporal Grounding", "options": ["A. 3/4", "B. 1/4", "C. 2/4", "D. 4/4"], "answer_index": 3}
{"token": "00110091fd080823211938d14a988291", "waymo_split": "test", "type": "video", "frame_index": null, "question": "What is correct regarding Video Summary from a Safety-critical Scene perspective?", "category": "Safety-critical scene caption", "options": ["A. The Ego vehicle is stopped, yielding to a pedestrian at the crosswalk. A taxi in the left lane quickly passes through, ignoring the signal, and brushes past the front of the Ego vehicle. There is a risk of a momentary side collision.", "B. The Ego vehicle is moving straight on a one-way four-lane road. A city bus that was stopped at the right bus stop suddenly changes lanes without warning and merges into the lane right in front. There is insufficient time to slow down, increasing the risk of a rear-end collision.", "C. The Ego vehicle is slowing down to make a right turn as it enters an intersection on a two-lane road. At this moment, a white SUV in the right roadside parking area backs out and blocks the lane. If braking is delayed, there is a high risk of contact with the reversing vehicle.", "D. The Ego vehicle is passing a crosswalk and entering an alley between the next blocks on a three-lane road. At this time, a black vehicle that was parked on the left starts to move and attempts to cut in front of the Ego vehicle. There is a risk of collision with the already moving Ego vehicle during this process."], "answer_index": 3}
{"token": "00110091fd080823211938d14a988291", "waymo_split": "test", "type": "video", "frame_index": null, "question": "Which of the following is a correct description of traffic density?", "category": "Normal scene Understanding", "options": ["A. Fast. There are a moderate number of surrounding vehicles. The road is flat. Vehicles moving in the same direction and in a straight line only have the vehicle directly behind them.", "B. Slow. Surrounding vehicles are dense. The road is flat. Vehicles moving in the same direction and in a straight line have the two vehicles in front closely spaced together.", "C. Slow. There are almost no surrounding vehicles. The road has a slight uphill slope. Vehicles moving in the same direction and in a straight line only have one vehicle visible in front.", "D. Normal. There are many surrounding vehicles. The road has a gentle downhill slope. Vehicles moving in the same direction and in a straight line are lined up several in front and behind."], "answer_index": 0}
{"token": "00110091fd080823211938d14a988291", "waymo_split": "test", "type": "video", "frame_index": null, "question": "Are there any special circumstances?", "category": "Special Event", "options": ["A. Difficult to secure forward visibility due to heavy rain", "B. Temporary lane changes due to construction site cone installation", "C. Temporary traffic restrictions due to school bus stops", "D. Lower visibility for identifying black vehicles at night"], "answer_index": 3}
{"token": "00110091fd080823211938d14a988291", "waymo_split": "test", "type": "video", "frame_index": null, "question": "Which of the following is a correct description of road alignment?", "category": "Normal Perception & Prediction", "options": ["A. One-way two-lane overtaking lane", "B. Straight lane after an intersection", "C. Left turn lane before an intersection", "D. Right turn lane after a junction"], "answer_index": 1}
{"token": "00110091fd080823211938d14a988291", "waymo_split": "test", "type": "video", "frame_index": null, "question": "Which of the following descriptions about the environment is correct?", "category": "Normal scene Understanding", "options": ["A. At night, the weather is clear, and the lighting is moderately spaced with streetlights between buildings.", "B. At sunset, it is cloudy, and the lighting is bright mainly at intersections and on signs.", "C. Early in the morning, there is light fog, most lights are off, and only some shops are lit.", "D. In the afternoon, there is light rain, and the lighting is only visible indoors with almost none on the street."], "answer_index": 0}
{"token": "00110091fd080823211938d14a988291", "waymo_split": "test", "type": "video", "frame_index": null, "question": "What is the description of a non-safety-critical object?", "category": "Normal Perception & Prediction", "options": ["A. There is a white vehicle moving vertically from the right to the left of the camera's viewpoint at the intersection. There is a vehicle waiting for a signal on the right side of the intersection. When the traffic light turns green, the silver vehicle that was stopped at the red light on the right makes a right turn. The vehicle right behind changes lanes to the left before the Ego vehicle. The interior of the building immediately to the left after passing the intersection is dark with the lights off.", "B. Two pedestrians are crossing the crosswalk from the left to the right at the intersection. A construction vehicle is temporarily stopped in the right lane of the intersection. The traffic light is still red, so the black vehicle on the left is still waiting. The following vehicle enters the U-turn lane and turns in the opposite direction. After passing the intersection, the right building has its window blinds down, making the interior invisible.", "C. A motorcycle is slowly moving diagonally across the center of the intersection. Vehicles waiting for the signal are lined up in the lane directly ahead, not on the left side of the intersection. When the traffic light turns yellow, a white SUV in front suddenly brakes. The vehicle right behind slows down while keeping a distance from the Ego vehicle and turns on its right blinker. After passing the intersection, only the sign of the left-side store is lit, and the interior of the building is dark.", "D. There is a gray vehicle moving vertically from the left to the right of the camera's viewpoint at the intersection. There is a vehicle waiting for a signal on the left side of the intersection. When the traffic light turns green, the black vehicle that was stopped at the red light on the left makes a left turn. The vehicle right behind goes straight following the Ego vehicle. After passing the intersection, the interior of the building immediately to the right is bright with the indoor lights on."], "answer_index": 3}
{"token": "00110091fd080823211938d14a988291", "waymo_split": "test", "type": "video", "frame_index": null, "question": "What is the answer regarding parked vehicles on the shoulder, the presence of a center line, and Ego's crossing of the center line?", "category": "Normal Perception & Prediction", "options": ["A. There is a parked vehicle on the shoulder only on the left side just before entering the next block in the 3rd lane.", "B. There are parked vehicles on the shoulder on both sides when entering the next block in the 3rd lane.", "C. There is a parked vehicle on the shoulder only on one side when entering the next block in the 2nd lane.", "D. There are no parked vehicles on the shoulder after passing the intersection in the 2nd lane."], "answer_index": 1}
{"token": "00110091fd080823211938d14a988291", "waymo_split": "test", "type": "video", "frame_index": null, "question": "What is a safety-critical object?", "category": "Safety-critical Perception", "options": ["A. A silver hatchback that is parked on the left and starts moving without signaling.", "B. A black SUV that is parked on the left and starts moving while signaling.", "C. A gray pickup truck that is moving slowly on the left shoulder and attempts to make a right turn.", "D. A white sedan that is parked on the right and is just sitting there with only the hazard lights on."], "answer_index": 1}
{"token": "00110091fd080823211938d14a988291", "waymo_split": "test", "type": "video", "frame_index": null, "question": "Is there a blind spot?", "category": "Uncertainty", "options": ["A. No blind spot", "B. Left blind spot", "C. There is a blind spot", "D. Right blind spot"], "answer_index": 0}
{"token": "00110091fd080823211938d14a988291", "waymo_split": "test", "type": "video", "frame_index": null, "question": "Which of the following is correct regarding traffic signals?", "category": "Traffic Signal", "options": ["A. Traffic lights exist at intersections", "B. Only flashing signals at crosswalks", "C. T-shaped intersection signs are installed", "D. No traffic lights at roundabouts"], "answer_index": 0}
{"token": "00110091fd080823211938d14a988291", "waymo_split": "test", "type": "video", "frame_index": null, "question": "What is the correlation in safety-critical situations?", "category": "Safety-critical scene Understanding", "options": ["A. People and two-wheeled vehicles", "B. Car and car", "C. Car and two-wheeled vehicles", "D. Car and people"], "answer_index": 1}
{"token": "00110091fd080823211938d14a988291", "waymo_split": "test", "type": "video", "frame_index": null, "question": "Summary of Ego (own vehicle) behavior before a safety-critical situation", "category": "Normal scene Understanding", "options": ["A. Checked the pedestrian signal at the intersection, reduced speed, and made a right turn to enter the adjacent road.", "B. As soon as the red light at the intersection turned green, proceeded straight while maintaining speed and entered the next block.", "C. As soon as the left turn signal came on at the intersection, turned left and slowed down to merge into the opposite lane.", "D. When the yellow light turned on at the intersection, applied the brakes and stopped in front of the stop line to start at the next signal."], "answer_index": 1}
{"token": "00110091fd080823211938d14a988291", "waymo_split": "test", "type": "video", "frame_index": null, "question": "How did the safety-critical object move and how did the Ego vehicle behave?", "category": "Safety-critical scene Understanding", "options": ["A. The vehicle entered the lane in reverse from a parallel parking position facing the opposite direction with only the hazard lights on, slowly merging while staying close behind the Ego. The Ego slightly reduced its speed and continued straight with a gap.", "B. The vehicle waited briefly in a parallel parking position on the shoulder without using turn signals, then started following after the Ego passed, not obstructing the Ego's progress. The Ego continued to accelerate and moved straight at a constant speed.", "C. The vehicle started moving from a reverse parking position with its turn signal on, facing the same direction as the Ego, beginning to drive ahead of the Ego as if cutting in. The Ego continued straight without reducing its speed.", "D. The vehicle attempted to turn left into the main road from an alley exit with its left turn signal on, trying to move forward across the Ego's path. The Ego slowed down, stopped briefly to yield, and then continued straight."], "answer_index": 2}
{"token": "00110091fd080823211938d14a988291", "waymo_split": "test", "type": "video", "frame_index": null, "question": "What situation would have occurred if the vehicle had acted this way?", "category": "Counterfactual", "options": ["A. If the vehicle had repeatedly used high beams and honked to avoid, while passing at its speed, a situation would have been created where surrounding vehicles naturally adjusted their speed to match the signals and ensured a safe distance.", "B. If the vehicle had ignored the turn signal and accelerated to narrow the gap when entering the next block, a situation would have been created where the black vehicle could merge without hesitation, thereby reducing the risk of collision.", "C. If the vehicle had suddenly changed to the right lane and occupied the path of the black vehicle, a situation would have been created where merging confusion disappeared and the overall flow became smoother.", "D. If the vehicle had noticed the black vehicle with its turn signal on attempting to merge left and had reduced speed when entering the next block, a situation would have been created where each vehicle could drive more safely."], "answer_index": 3}
{"token": "00110091fd080823211938d14a988291", "waymo_split": "test", "type": "video", "frame_index": null, "question": "Who is responsible in a safety-critical situation? What is the cause?", "category": "Safety-critical scene Understanding", "options": ["A. Ego is responsible. The cause is that the vehicle that merged from the left started with its turn signal on and at a slow speed, so Ego should have reduced speed before reaching a safe distance from that vehicle.", "B. The vehicle that merged from the left is responsible. The cause is that it accelerated rapidly without signaling and occupied the lane, making it impossible for Ego to respond while driving normally.", "C. The following vehicle is responsible. The cause is that Ego tried to slow down upon seeing the merging vehicle, but the speeding and close driving of the following vehicle eliminated the braking margin.", "D. The road management authority is responsible. The cause is that the lane markings and guiding signs at the merging point were unclear, creating an environment that misled both the left vehicle and Ego about their paths."], "answer_index": 0}
{"token": "00110091fd080823211938d14a988291", "waymo_split": "test", "type": "image", "frame_index": 13, "question": "Which of the following is correct as an Image Caption from the perspective of a Normal Frame?", "category": "Normal scene caption", "options": ["A. Waiting at a red light at an intersection, a vehicle is seen trying to move from left to right.", "B. At an intersection, a yellow light is flashing while moving slowly, and a vehicle is seen turning left from the front.", "C. At an intersection, a green light is on, indicating a situation about to start, and a vehicle is seen moving from right to left.", "D. At an intersection, vehicles are moving straight under a blue light, and a vehicle is seen trying to merge into the right turn lane."], "answer_index": 0}
{"token": "00110091fd080823211938d14a988291", "waymo_split": "test", "type": "image", "frame_index": 13, "question": "What is the classification of the scene?", "category": "Normal scene Understanding", "options": ["A. Residential area", "B. City", "C. Highway", "D. Unpaved"], "answer_index": 0}
{"token": "00110091fd080823211938d14a988291", "waymo_split": "test", "type": "image", "frame_index": 13, "question": "Which of the following is a correct description of traffic density?", "category": "Normal scene Understanding", "options": ["A. Slow flow, with 2 vehicles behind and none on the left", "B. Driving slowly, with 5 vehicles behind and two on the left", "C. Crawling, with 3 vehicles behind and one on the right", "D. Stopped, with 4 vehicles behind and one on the left"], "answer_index": 3}
{"token": "00110091fd080823211938d14a988291", "waymo_split": "test", "type": "image", "frame_index": 13, "question": "Based on the current appearance of the person/vehicle (two-wheeled), how do they intend to move?", "category": "Normal Perception & Prediction", "options": ["A. They intend to make a U-turn when the signal changes.", "B. They intend to turn left when the signal changes.", "C. They intend to turn right when the signal changes.", "D. They intend to go straight when the signal changes."], "answer_index": 3}
{"token": "00110091fd080823211938d14a988291", "waymo_split": "test", "type": "image", "frame_index": 13, "question": "What is the plan for yielding when an ambulance/fire truck approaches?", "category": "Special Event", "options": ["A. If there is space on the left and right and no objects or people approaching, you can slightly move your vehicle to the side to yield.", "B. Even if there is enough space on the left and right, do not change your path and continue at a steady speed to allow the ambulance to pass through the gap.", "C. If there are no objects or people approaching, it is acceptable to pass through the intersection first and then slowly stop at the edge to yield.", "D. If there is space ahead, it is safer to slightly move towards the center line to help the fire truck pass quickly on the right."], "answer_index": 0}
{"token": "00110091fd080823211938d14a988291", "waymo_split": "test", "type": "image", "frame_index": 13, "question": "What are the behavioral restrictions in school zones/congested areas?", "category": "Special Event", "options": ["A. In congested areas, there will be an increase in lane changes.", "B. In school zones, vehicle speed will increase.", "C. In school zones, pedestrians will yield to vehicles.", "D. In school zones, vehicle speed will decrease."], "answer_index": 3}
{"token": "00110091fd080823211938d14a988291", "waymo_split": "test", "type": "image", "frame_index": 13, "question": "Which of the following descriptions about the environment is correct?", "category": "Normal scene Understanding", "options": ["A. Evening, dim streetlights", "B. Dusk, rain", "C. Dawn, thick fog", "D. Night, bright streetlights"], "answer_index": 3}
{"token": "00110091fd080823211938d14a988291", "waymo_split": "test", "type": "image", "frame_index": 55, "question": "Based on the current appearance of the person/vehicle (two-wheeled), how do you intend to move?", "category": "Normal Perception & Prediction", "options": ["A. Go straight", "B. Turn left", "C. Turn right", "D. Make a U-turn"], "answer_index": 0}
{"token": "00110091fd080823211938d14a988291", "waymo_split": "test", "type": "image", "frame_index": 13, "question": "Which of the following is a correct description of traffic signals?", "category": "Traffic Signal", "options": ["A. Traffic light is green", "B. Pedestrian signal is blue", "C. Traffic light is red", "D. Left turn arrow on the road"], "answer_index": 2}
{"token": "00110091fd080823211938d14a988291", "waymo_split": "test", "type": "image", "frame_index": 13, "question": "Is there a blind spot?", "category": "Uncertainty", "options": ["A. There is a blind spot", "B. There is no blind spot", "C. Left blind spot", "D. Right blind spot"], "answer_index": 1}
{"token": "00110091fd080823211938d14a988291", "waymo_split": "test", "type": "image", "frame_index": 55, "question": "Which of the following is correct as an Image Caption from the perspective of the Normal Frame?", "category": "Normal scene caption", "options": ["A. The pedestrian signal changes to green.", "B. The signal changes to red.", "C. The signal changes to green.", "D. The signal changes to yellow."], "answer_index": 2}
{"token": "00110091fd080823211938d14a988291", "waymo_split": "test", "type": "image", "frame_index": 13, "question": "What is the description of a non-safety-critical object?", "category": "Normal Perception & Prediction", "options": ["A. A bicycle moving from right to left. One vehicle stopped when the traffic signal at the front changes to red.", "B. A vehicle moving from left to right. Two vehicles waiting to start when the traffic signal behind changes to green.", "C. A truck moving from front to left. One vehicle waiting to make a U-turn when the traffic signal at the front changes to red.", "D. A motorcycle moving from right to left. One vehicle waiting to turn left when the traffic signal behind changes to yellow."], "answer_index": 1}
{"token": "00110091fd080823211938d14a988291", "waymo_split": "test", "type": "image", "frame_index": 55, "question": "What are the classifications of scenes?", "category": "Normal scene Understanding", "options": ["A. Highway", "B. Unpaved", "C. Urban area", "D. Residential area"], "answer_index": 3}
{"token": "00110091fd080823211938d14a988291", "waymo_split": "test", "type": "image", "frame_index": 55, "question": "Which of the following descriptions about the environment is correct?", "category": "Normal scene Understanding", "options": ["A. Dawn, thick fog", "B. Dusk, rain", "C. Night, presence of streetlights", "D. Day, streetlights off"], "answer_index": 2}
{"token": "00110091fd080823211938d14a988291", "waymo_split": "test", "type": "image", "frame_index": 55, "question": "Which of the following is a correct description of traffic density?", "category": "Normal scene Understanding", "options": ["A. Slow, one vehicle behind", "B. Fast, two vehicles ahead", "C. Slow, several vehicles on the left", "D. Fast, no surrounding vehicles"], "answer_index": 0}
{"token": "00110091fd080823211938d14a988291", "waymo_split": "test", "type": "image", "frame_index": 55, "question": "What is your plan for yielding when an ambulance/fire truck approaches?", "category": "Special Event", "options": ["A. Even if I am already increasing my speed, I plan to maintain acceleration in line with traffic flow upon hearing the siren.", "B. Near an intersection, I plan to accelerate first to reduce congestion and continue driving after passing through the intersection.", "C. When the ambulance/fire truck gets close, I consider stopping dangerous and plan to maintain speed in the center of the lane with only the hazard lights on.", "D. Although I am about to increase my speed, I plan to maintain a slow speed to yield when the ambulance/fire truck approaches."], "answer_index": 3}
{"token": "00110091fd080823211938d14a988291", "waymo_split": "test", "type": "image", "frame_index": 79, "question": "Based on the current appearance of the person/vehicle (two-wheeled), how do they intend to move?", "category": "Normal Perception & Prediction", "options": ["A. Trying to turn left", "B. Trying to turn right", "C. Trying to make a U-turn", "D. Trying to go straight"], "answer_index": 3}
{"token": "00110091fd080823211938d14a988291", "waymo_split": "test", "type": "image", "frame_index": 79, "question": "Which of the following is a correct description of traffic density?", "category": "Normal scene Understanding", "options": ["A. High, number of surrounding vehicles is 7", "B. Normal, number of surrounding vehicles is 5", "C. Low, number of surrounding vehicles is 3", "D. Congested, number of surrounding vehicles is 8"], "answer_index": 2}
{"token": "00110091fd080823211938d14a988291", "waymo_split": "test", "type": "image", "frame_index": 79, "question": "Which of the following is correct as an Image Caption from the perspective of Normal Frame?", "category": "Normal scene caption", "options": ["A. The light has turned yellow, slowing down and trying to stop in front of the stop line. The left side has not changed signals yet, so vehicles in the same direction are waiting. This left road seems to lead to a straight lane like Ego.", "B. The light is red, so vehicles in front of the intersection are stopped. The left side is also waiting for the signal, so no vehicles are starting. The pedestrian signal is on, and people are crossing.", "C. The light has turned green, and driving has started. Vehicles on the left are also starting to drive in the same direction as the light has turned green. However, this left road may not be a straight lane in the same direction as Ego.", "D. The left turn signal has come on first, and vehicles on the left are starting to turn. The Ego side still has a straight signal, so it cannot move. The left lane is in the same straight direction as Ego, so it is in a situation to start side by side."], "answer_index": 2}
{"token": "00110091fd080823211938d14a988291", "waymo_split": "test", "type": "image", "frame_index": 79, "question": "What are the divisions of the scene?", "category": "Normal scene Understanding", "options": ["A. Alley", "B. Unpaved", "C. Residential area", "D. City center"], "answer_index": 2}
{"token": "00110091fd080823211938d14a988291", "waymo_split": "test", "type": "image", "frame_index": 55, "question": "Which of the following is a correct description of traffic signals?", "category": "Traffic Signal", "options": ["A. Traffic light present (green light)", "B. Traffic light present (red light)", "C. Pedestrian traffic light (blue light)", "D. Left turn traffic light (green arrow)"], "answer_index": 0}
{"token": "00110091fd080823211938d14a988291", "waymo_split": "test", "type": "image", "frame_index": 79, "question": "What is the description of a non-safety-critical object?", "category": "Normal Perception & Prediction", "options": ["A. A white vehicle driving in the opposite direction in front of the crosswalk on the right. A blue vehicle attempting to turn left in the front lane.", "B. A black vehicle driving in the same direction as Ego after passing the crosswalk on the left. A gray vehicle trying to go in the same direction as Ego from behind.", "C. A gray vehicle waiting to turn right in the right lane just before the intersection. A black vehicle approaching towards Ego from the opposite lane.", "D. A white van temporarily stopped next to the bus stop on the left. A red vehicle attempting to overtake by changing lanes from behind Ego."], "answer_index": 1}
{"token": "00110091fd080823211938d14a988291", "waymo_split": "test", "type": "image", "frame_index": 79, "question": "Which of the following is a correct description of traffic signals?", "category": "Traffic Signal", "options": ["A. Green light at an intersection traffic light", "B. Green light at a three-way traffic light", "C. Green light for a left turn signal", "D. Red light at an intersection traffic light"], "answer_index": 0}
{"token": "00110091fd080823211938d14a988291", "waymo_split": "test", "type": "image", "frame_index": 113, "question": "Based on the current appearance of the person/vehicle (two-wheeled), how do they intend to move?", "category": "Normal Perception & Prediction", "options": ["A. Trying to turn right", "B. Trying to stop", "C. Trying to go straight", "D. Trying to turn left"], "answer_index": 2}
{"token": "00110091fd080823211938d14a988291", "waymo_split": "test", "type": "image", "frame_index": 113, "question": "Which of the following is a correct description of traffic density?", "category": "Normal scene Understanding", "options": ["A. One surrounding vehicle", "B. Adjacent lane units", "C. Four rear vehicles", "D. Two surrounding vehicles"], "answer_index": 3}
{"token": "00110091fd080823211938d14a988291", "waymo_split": "test", "type": "image", "frame_index": 113, "question": "What are the classifications of scenes?", "category": "Normal scene Understanding", "options": ["A. Commercial area", "B. Alley", "C. Urban area", "D. Residential area"], "answer_index": 3}
{"token": "00110091fd080823211938d14a988291", "waymo_split": "test", "type": "image", "frame_index": 79, "question": "What is the answer regarding the parked vehicle on the shoulder, the presence of a center line, and whether Ego has crossed the center line?", "category": "Normal Perception & Prediction", "options": ["A. According to the rear camera, there is a parked vehicle on the shoulder behind.", "B. According to the front camera, there is a parked vehicle on the shoulder ahead.", "C. According to the rear camera, there is no parked vehicle on the shoulder behind.", "D. Based on the rear camera, the vehicle behind is moving slowly on the shoulder."], "answer_index": 0}
{"token": "00110091fd080823211938d14a988291", "waymo_split": "test", "type": "image", "frame_index": 113, "question": "Which of the following is correct as an Image Caption from the perspective of Normal Frame?", "category": "Normal scene caption", "options": ["A. A white vehicle traveling in the same direction as Ego from the right is making a right turn onto the road at the intersection while Ego slows down and continues straight.", "B. A black vehicle in the same lane ahead is going straight through the intersection while Ego is preparing to turn right onto the road.", "C. A silver SUV merging from the left is making a U-turn in the center of the intersection while Ego stops at the stop line according to the signal.", "D. A black vehicle traveling in the same direction as Ego from the left is making a left turn onto the road at the intersection while Ego continues straight ahead."], "answer_index": 3}
{"token": "00110091fd080823211938d14a988291", "waymo_split": "test", "type": "image", "frame_index": 113, "question": "Which of the following descriptions about the environment is correct?", "category": "Normal scene Understanding", "options": ["A. Night, clear. Streetlights present", "B. Dusk, cloudy. No streetlights", "C. Day, light rain. Streetlights present", "D. Dawn, foggy. Streetlights off"], "answer_index": 0}
{"token": "00110091fd080823211938d14a988291", "waymo_split": "test", "type": "image", "frame_index": 113, "question": "What is the description of a non-safety-critical object?", "category": "Normal Perception & Prediction", "options": ["A. Many parked vehicles are visible on the right side of the road after crossing the crosswalk ahead. A white vehicle making a right turn is visible on the right.", "B. Several motorcycles and small cars are parked on the right shoulder just before the intersection ahead. A silver SUV is moving straight on the left.", "C. No crosswalk is visible ahead, and several empty parking spaces are seen along the road in the next block. A gray vehicle is waiting in the left lane.", "D. Many vehicles are parked on the left side of the road in the next block after the crosswalk ahead. A black vehicle is making a left turn on the left."], "answer_index": 3}
{"token": "00110091fd080823211938d14a988291", "waymo_split": "test", "type": "image", "frame_index": 134, "question": "What is a safety-critical object?", "category": "Safety-critical Perception", "options": ["A. A silver sedan that stopped on the right shoulder and is trying to start again", "B. A gray SUV attempting to make a left turn at an intersection", "C. A black vehicle that was parked on the left side and is trying to start moving", "D. A white vehicle that was parallel parked on the right and is trying to merge into the lane"], "answer_index": 2}
{"token": "00110091fd080823211938d14a988291", "waymo_split": "test", "type": "image", "frame_index": 134, "question": "How do you think a safety-critical object will move?", "category": "Safety-critical Prediction", "options": ["A. Cut in front of the ego and go straight ahead", "B. Enter behind the ego and reduce speed while following", "C. Change to the left lane to avoid the ego", "D. Veer to the right of the ego and make a right turn"], "answer_index": 0}
{"token": "00110091fd080823211938d14a988291", "waymo_split": "test", "type": "image", "frame_index": 134, "question": "Which of the following is correct from the perspective of Safety-critical Frame regarding Image Caption?", "category": "Safety-critical scene caption", "options": ["A. Ego is attempting to change lanes to the right immediately after passing the crosswalk. A black vehicle is reversing out of a parking space ahead on the right and has its reverse lights on. The left front is a construction area, so instead of parked cars, there is a safety fence.", "B. Ego has just exited an alley and is in the process of making a left turn at an intersection. A delivery truck with its hazard lights on is stopped ahead on the left, and vehicles are moving slowly behind it. There are hardly any parked cars visible ahead on the right.", "C. Ego is preparing to make a right turn at the crosswalk of an intersection. A silver vehicle with its turn signal on is entering a parking space in the right front curbside parking area. There are more empty spaces noticeable in the front left and right.", "D. Ego is going straight through the crosswalk of an intersection into the next block. Among the vehicles parked on the left front, there is a black vehicle that is trying to start with its turn signal on. There are also other parked vehicles visible on both the left and right front."], "answer_index": 3}
{"token": "00110091fd080823211938d14a988291", "waymo_split": "test", "type": "image", "frame_index": 134, "question": "What should I do to drive safely?", "category": "Safety-critical Planning", "options": ["A. If a vehicle in the adjacent lane gets close, I should signal with the horn and high beams to indicate I want to go quickly.", "B. On rainy roads, I should only check my visibility and continue at my usual speed.", "C. I need to reduce my speed to maintain a safe distance from vehicles trying to merge in front of me.", "D. I should increase my speed to stay close to the car in front and prevent others from merging in."], "answer_index": 2}
{"token": "00110091fd080823211938d14a988291", "waymo_split": "test", "type": "image", "frame_index": 134, "question": "Is lane changing possible? Which is safer between slowing down and changing lanes?", "category": "Safety-critical Planning", "options": ["A. Maintain speed", "B. Slow down", "C. Change lanes", "D. Accelerate"], "answer_index": 1}
{"token": "00110091fd080823211938d14a988291", "waymo_split": "test", "type": "image", "frame_index": 134, "question": "What is the correlation in a safety-critical situation?", "category": "Safety-critical scene Understanding", "options": ["A. The ego vehicle was waiting to go straight, and it moved after the two-wheeled vehicle in front passed.", "B. The left-side parked vehicle started first, and then the ego vehicle merged while going straight.", "C. The ego vehicle was waiting to turn right while moving slowly, and the right-side parked vehicle entered first.", "D. The ego vehicle was going straight first, and then the parked vehicle on the left started."], "answer_index": 3}
{"token": "00110091fd080823211938d14a988291", "waymo_split": "test", "type": "image", "frame_index": 134, "question": "What situation might have occurred if the self-driving car acted like this?", "category": "Counterfactual", "options": ["A. If the self-driving car changed lanes abruptly, it would have made contact with the median.", "B. If the self-driving car slammed on the brakes, it would have collided with the car behind.", "C. If the self-driving car chose to turn right, it would have brushed against the edge of the sidewalk.", "D. If the self-driving car increased its speed, it would have collided with a parked vehicle."], "answer_index": 3}
{"token": "00110091fd080823211938d14a988291", "waymo_split": "test", "type": "image", "frame_index": 134, "question": "Who is responsible in a safety-critical situation? What is the cause?", "category": "Safety-critical scene Understanding", "options": ["A. Responsibility lies with the safety-critical object. It attempted to move.", "B. Responsibility lies with the other vehicle. It tried to cut in from the right.", "C. Responsibility lies with the ego vehicle. It attempted to reverse.", "D. Responsibility lies with the pedestrian. It tried to enter the lane."], "answer_index": 0}
{"token": "00110091fd080823211938d14a988291", "waymo_split": "test", "type": "image", "frame_index": 134, "question": "What are the potential situations that could arise in the current circumstances?", "category": "Counterfactual", "options": ["A. Collision", "B. Delay", "C. None", "D. Error"], "answer_index": 2}
{"token": "00110091fd080823211938d14a988291", "waymo_split": "test", "type": "image", "frame_index": 149, "question": "What is a safety-critical object?", "category": "Safety-critical Perception", "options": ["A. A gray truck approaching head-on", "B. A white sedan parked on the right", "C. A black SUV departing on the left", "D. A black SUV standing on the left"], "answer_index": 2}
{"token": "00110091fd080823211938d14a988291", "waymo_split": "test", "type": "image", "frame_index": 149, "question": "Is lane changing possible? Which is safer, slowing down or changing lanes?", "category": "Safety-critical Planning", "options": ["A. If traffic is light, changing lanes is safer than slowing down.", "B. Changing lanes is possible and it is safer than slowing down.", "C. On the highway, quick lane changes take priority over slowing down.", "D. Lane changing is possible, but slowing down is safer."], "answer_index": 3}
{"token": "00110091fd080823211938d14a988291", "waymo_split": "test", "type": "image", "frame_index": 149, "question": "How do you think a safety-critical object will move?", "category": "Safety-critical Prediction", "options": ["A. Enter the rightmost lane of the three lanes and make an immediate right turn", "B. Enter the leftmost lane of the three lanes and go straight ahead", "C. Enter the leftmost lane of the three lanes and make an immediate left turn", "D. Enter the middle lane of the three lanes and go straight ahead"], "answer_index": 1}
{"token": "00110091fd080823211938d14a988291", "waymo_split": "test", "type": "image", "frame_index": 149, "question": "What should I do to drive safely?", "category": "Safety-critical Planning", "options": ["A. I should prioritize maintaining speed over safety critical objects according to the flow of traffic.", "B. I need to maintain speed to minimize the distance from safety critical objects.", "C. I should change lanes to quickly overtake safety critical objects.", "D. I need to reduce speed to ensure a safe distance from safety critical objects."], "answer_index": 3}
{"token": "00110091fd080823211938d14a988291", "waymo_split": "test", "type": "image", "frame_index": 149, "question": "What is the correlation in a safety-critical situation?", "category": "Safety-critical scene Understanding", "options": ["A. The ego was moving straight first, and then a vehicle parked on the left side turned on its turn signal and tried to go straight.", "B. The ego was slowly making a right turn, and then a motorcycle on the left shoulder turned on its left turn signal and tried to merge into the lane.", "C. The ego was stopped in front of the intersection, and then a vehicle parked on the right side turned on its hazard lights and tried to back out.", "D. The ego was moving straight at a constant speed, and then a pedestrian on the right sidewalk tried to enter the road without a signal."], "answer_index": 0}
{"token": "00110091fd080823211938d14a988291", "waymo_split": "test", "type": "image", "frame_index": 149, "question": "What situation would occur if the autonomous vehicle acted this way?", "category": "Counterfactual", "options": ["A. If the autonomous vehicle increases its speed, it could avoid the safety-critical situation on the left.", "B. If the autonomous vehicle maintains its speed, it will not create a safety-critical situation on the left.", "C. If the autonomous vehicle enters the left lane, a safety-critical situation will not occur on the left.", "D. If the autonomous vehicle decreases its speed, it will not create a safety-critical situation on the left."], "answer_index": 3}
{"token": "00110091fd080823211938d14a988291", "waymo_split": "test", "type": "image", "frame_index": 149, "question": "Where is the area that hides the danger in the current frame?", "category": "Uncertainty", "options": ["A. A blind spot adjacent to the right side of the safety-critical object and the right commercial area.", "B. An invisible space directly in front of the safety-critical object, between the left residential area.", "C. A blind spot at the entrance of the right alley across from the safety-critical object.", "D. A hidden gap near the side of the safety-critical object, towards the central divider."], "answer_index": 1}
{"token": "00110091fd080823211938d14a988291", "waymo_split": "test", "type": "image", "frame_index": 149, "question": "What are the newly exposed risk candidates in the following section?", "category": "Safety-critical Prediction", "options": ["A. Vehicles can make a U-turn and enter the lane from an unseen gap next to the safety-critical object adjacent to the central divider opening.", "B. A motorcycle can suddenly cut in from the blind spot between the right-side entrance to the shopping area and the safety-critical object right in front.", "C. A bus can suddenly start from the shaded area behind the bus stop next to the safety-critical object and push into the adjacent lane.", "D. A person or bicycle can suddenly emerge from the unseen space between the safety-critical object right in front and the left-side residential area."], "answer_index": 3}
{"token": "00110091fd080823211938d14a988291", "waymo_split": "test", "type": "image", "frame_index": 149, "question": "Who is responsible in a safety-critical situation? What is the cause?", "category": "Safety-critical scene Understanding", "options": ["A. The road management authority is responsible. The cause is that the merging section signs and lane markings were unclear, causing confusion about the direction of travel, and the temporary barriers obstructed visibility, delaying mutual recognition.", "B. The driver of the rear two-wheeled vehicle is responsible. The cause is that continuous honking and high beams pressured the Ego vehicle into sudden acceleration, causing it to miss whether the safety-critical object in front had stopped.", "C. The safety-critical object is responsible. The cause is that it abruptly merged into the right lane without signaling and proceeded while ignoring the safety distance from the Ego vehicle.", "D. The Ego vehicle is responsible. The cause is that the safety-critical object had already signaled to alert the following Ego vehicle, and it was attempting to start moving at a slower speed compared to the Ego vehicle."], "answer_index": 3}
{"token": "0219605e399d03373c7babed0010a233", "waymo_split": "test", "type": "video", "frame_index": null, "question": "What are the classifications of scenes?", "category": "Normal scene Understanding", "options": ["A. Main highway (no ramp)", "B. Residential road (no alley)", "C. Main road in the city (commercial area)", "D. General road (no residential area)"], "answer_index": 3}
{"token": "0219605e399d03373c7babed0010a233", "waymo_split": "test", "type": "video", "frame_index": null, "question": "Which of the following is a correct description of traffic density?", "category": "Normal scene Understanding", "options": ["A. Normal number of surrounding vehicles. Slight road incline. Maintaining a fast speed from the beginning.", "B. Almost no surrounding vehicles. Uphill road incline. Moving at a consistently slow speed.", "C. Many surrounding vehicles. Flat road incline. Moving slowly then speeding up.", "D. Few surrounding vehicles. Downhill road incline. Fast at first then gradually slowing down."], "answer_index": 2}
{"token": "0219605e399d03373c7babed0010a233", "waymo_split": "test", "type": "video", "frame_index": null, "question": "Is there a special situation?", "category": "Special Event", "options": ["A. Due to the emergency vehicle response situation, yielding is necessary at the intersection.", "B. Due to the school bus stopping situation, children are waiting at the edge of the road.", "C. Due to the construction zone situation, there are orange cones and temporary lane markings.", "D. Due to the situation under the overpass, there are structures like pillars supporting the overpass."], "answer_index": 3}
{"token": "0219605e399d03373c7babed0010a233", "waymo_split": "test", "type": "video", "frame_index": null, "question": "Which of the following is correct regarding the Video Summary from the perspective of a Normal Scene?", "category": "Normal scene caption", "options": ["A. Vehicles, including myself, are almost stopped at a one-way road with two lanes under the overpass, waiting at a traffic signal or in congestion. As the vehicle in front of me accelerates and starts moving, I also begin to move. Just as I start, a motorcycle speeds by in the separation line between the two lanes. After that, a person is seen on the shoulder next to the right lane.", "B. Although it is under the overpass, traffic is relatively smooth on the one-way three-lane road, and I am driving at a steady speed. I maintain distance from the vehicle in front, and a taxi in the right lane signals and merges naturally. There is no motorcycle speeding between the lanes. Soon, there are no people on the right shoulder, and a pedestrian passes on the opposite sidewalk.", "C. At a one-way two-lane road near the tunnel entrance, the signal has just changed, and vehicles are already moving and accelerating. I smoothly accelerate following the vehicle in front, and shortly after, a bicycle passes closely on the left edge. There is no rapid movement of two-wheeled vehicles in the central lane. Then, a construction worker is seen on the left shoulder.", "D. Vehicles are moving slowly and maintaining flow on a two-lane road near a wide intersection. Since the vehicle in front does not change speed significantly, I just match the distance and follow. At this time, a passenger car suddenly cuts in from the left lane and passes in front of me. After that, a person waiting for a bus is seen on the left sidewalk."], "answer_index": 0}
{"token": "0219605e399d03373c7babed0010a233", "waymo_split": "test", "type": "video", "frame_index": null, "question": "Which of the following is correct regarding road alignment?", "category": "Normal Perception & Prediction", "options": ["A. Right turn", "B. Straight", "C. Overtaking", "D. Left turn"], "answer_index": 1}
{"token": "0219605e399d03373c7babed0010a233", "waymo_split": "test", "type": "video", "frame_index": null, "question": "What is the description of non-safety-critical objects?", "category": "Normal Perception & Prediction", "options": ["A. There are many vehicles almost at a standstill due to a traffic signal in the oncoming lane, and bicycles and motorcycles are intermittently moving in the opposite lane.", "B. There are many vehicles that were stopped and are now moving straight ahead. Additionally, there are vehicles traveling at high speed from the opposite direction on the right side.", "C. There are many vehicles that were stopped and are slowly starting to move while changing lanes to the left, and on the left side, there is a bus moving slowly in the same direction.", "D. There are many vehicles sequentially turning right in accordance with the right turn signal, and on the right side, there is almost no vehicle traffic due to a construction zone."], "answer_index": 1}
{"token": "0219605e399d03373c7babed0010a233", "waymo_split": "test", "type": "video", "frame_index": null, "question": "Which of the following is a correct description of Spatial Relationship?", "category": "Spatial Relationship", "options": ["A. The car in front stops and stands still on the road, and when it starts moving, my car behaves the same way. A safe distance is maintained during this process.", "B. The car in front continues to drive smoothly without stopping, while my car briefly stops at the signal and then starts moving. The distance to the car in front decreases during this process.", "C. The car in front suddenly decelerates just before the crosswalk, and my car also brakes urgently while following. The safe distance is temporarily compromised.", "D. As the car in front begins to move to the left lane, my car goes straight and moves forward. A safe distance is not sufficiently maintained."], "answer_index": 0}
{"token": "0219605e399d03373c7babed0010a233", "waymo_split": "test", "type": "video", "frame_index": null, "question": "Which of the following descriptions about the environment is correct?", "category": "Normal scene Understanding", "options": ["A. Evening time. Soft indoor lighting is on", "B. Rainy night street. Focused on streetlights and sign lights", "C. Daytime. No additional lighting", "D. Cloudy day. Using softbox lighting"], "answer_index": 2}
{"token": "0219605e399d03373c7babed0010a233", "waymo_split": "test", "type": "video", "frame_index": null, "question": "Where is the safety-critical situation in the video?", "category": "Temporal Grounding", "options": ["A. A pedestrian crossing the road at a place without a signal 3/4", "B. A bicycle crossing into the lane 2/4", "C. A vehicle changing lanes without a turn signal 1/4", "D. A motorcycle speeding 2/4; a person standing on the shoulder instead of the sidewalk 4/4"], "answer_index": 3}
{"token": "0219605e399d03373c7babed0010a233", "waymo_split": "test", "type": "video", "frame_index": null, "question": "Which of the following is a correct description of traffic signals?", "category": "Traffic Signal", "options": ["A. Left turn only signal section", "B. Pedestrian priority signal section", "C. Section without traffic signals", "D. Traffic light red flashing section"], "answer_index": 2}
{"token": "0219605e399d03373c7babed0010a233", "waymo_split": "test", "type": "video", "frame_index": null, "question": "What is a safety-critical object?", "category": "Safety-critical Perception", "options": ["A. 1. Central passenger car. 2. Rear pedestrian", "B. 1. Left motorcycle. 2. Right person", "C. 1. Front bus. 2. Left bicycle", "D. 1. Right motorcycle. 2. Left person"], "answer_index": 1}
{"token": "0219605e399d03373c7babed0010a233", "waymo_split": "test", "type": "video", "frame_index": null, "question": "Summary of Ego (own vehicle) behavior before safety-critical situation", "category": "Normal scene Understanding", "options": ["A. 1. Waiting for a left turn signal at the stop line. 2. Proceeding with the left turn after the signal changes", "B. 1. Starting to drive from a stopped position. 2. Continuing to drive straight", "C. 1. Gradually decelerating and preparing to stop. 2. Moving to the right lane to enter a right turn", "D. 1. Shifting the gear to R for reverse operation. 2. Slowly reversing towards the parking area"], "answer_index": 1}
{"token": "0219605e399d03373c7babed0010a233", "waymo_split": "test", "type": "video", "frame_index": null, "question": "What is the correlation in a safety-critical situation?", "category": "Safety-critical scene Understanding", "options": ["A. 1. The vehicle starts to reverse while stopped, and a motorcycle approaches slowly from the left rear, remaining in view. 2. The vehicle slows down after recognizing a person stopped in the center ahead.", "B. 1. The vehicle is already accelerating straight ahead, and an electric scooter merges slowly from the front right, briefly disappearing from the right front view. 2. The vehicle makes a right turn and belatedly notices a pedestrian standing on the left.", "C. 1. The vehicle is moving straight at a constant speed while a bicycle slowly follows in the same lane from behind, continuously visible in the left mirror. 2. The vehicle maintains a sufficient distance from a pedestrian who is stopped at the edge of the sidewalk on the right while making a left turn.", "D. 1. The vehicle is stationary and then starts moving, during which a motorcycle quickly moves straight ahead and disappears from the left front view. 2. The vehicle discovers a person moving slowly on the right while going straight."], "answer_index": 3}
{"token": "0219605e399d03373c7babed0010a233", "waymo_split": "test", "type": "video", "frame_index": null, "question": "What situation might have occurred if the self-driving car behaved like this?", "category": "Counterfactual", "options": ["A. If the self-driving car had maintained its lane, it might have brushed against a bicycle that was slightly crossing the center line.", "B. If the self-driving car had attempted to make a right turn, it would have collided with a city bus that was stopped with its turn signal on at the intersection entrance.", "C. 1. If the self-driving car had tried to change to the left lane, it would have collided with a motorcycle (safety-critical object) driving in the center median. 2. If the self-driving car had accelerated more, it was expected to brush against or collide with a person walking slowly on the shoulder.", "D. If the self-driving car had made a sudden stop, it would have been difficult to avoid a collision with the vehicle behind that was maintaining a safe distance."], "answer_index": 2}
{"token": "0219605e399d03373c7babed0010a233", "waymo_split": "test", "type": "image", "frame_index": 46, "question": "Which of the following is correct as an Image Caption from the perspective of a Normal Frame?", "category": "Normal scene caption", "options": ["A. The motorcycle is gradually moving away towards the intersection and veering to the left. Both lanes on the two-lane road are moving slowly but without congestion.", "B. The motorcycle is slowing down in front of my vehicle while maintaining the center of the lane. Vehicles in the right lane are moving slowly, while the lane with my vehicle has a smoother flow.", "C. The motorcycle is quickly chasing right behind my vehicle. In the current two-lane situation, vehicles in the left lane and the lane where my vehicle is located, including my vehicle, are stopped (not completely parked).", "D. The motorcycle attempted to merge from the right rear of my vehicle but slowed down. In the two-lane situation, the left lane received a signal and exited first, while my vehicle's lane is also moving forward gradually."], "answer_index": 2}
{"token": "0219605e399d03373c7babed0010a233", "waymo_split": "test", "type": "image", "frame_index": 46, "question": "Based on the current appearance of the person/car (two-wheeled), how do you intend to move?", "category": "Normal Perception & Prediction", "options": ["A. Increase the distance from the car in front and slow down to make a right turn", "B. Turn on the left turn signal and change lanes to make a left turn", "C. If the car in front starts moving, similarly increase your speed and go straight", "D. Even if the signal changes, maintain a brief stop and wait"], "answer_index": 2}
{"token": "0219605e399d03373c7babed0010a233", "waymo_split": "test", "type": "image", "frame_index": 46, "question": "What is your plan to yield when an ambulance/fire truck approaches?", "category": "Special Event", "options": ["A. Plan to slowly yield while driving in the lane with emergency lights on.", "B. Plan to speed up and yield after passing the intersection.", "C. Plan to slightly steer to the right shoulder to yield.", "D. Plan to slightly move to the left shoulder to yield."], "answer_index": 2}
{"token": "0219605e399d03373c7babed0010a233", "waymo_split": "test", "type": "image", "frame_index": 46, "question": "Which of the following is a correct description of traffic density?", "category": "Normal scene Understanding", "options": ["A. Few vehicles around the right lane (1-2 vehicles). Normal speed", "B. Average number of vehicles around immediately after passing an intersection (3-5 vehicles). Accelerating", "C. Few vehicles ahead (2-3 vehicles). Fast state", "D. Many vehicles present around (6-7 or more vehicles). Slow state"], "answer_index": 3}
{"token": "0219605e399d03373c7babed0010a233", "waymo_split": "test", "type": "image", "frame_index": 46, "question": "What are the classifications of scenes?", "category": "Normal scene Understanding", "options": ["A. Unpaved country road", "B. Urban main street", "C. Highway main line", "D. Two-lane regular road"], "answer_index": 3}
{"token": "0219605e399d03373c7babed0010a233", "waymo_split": "test", "type": "image", "frame_index": 46, "question": "Which of the following descriptions about the environment is correct?", "category": "Normal scene Understanding", "options": ["A. At sunset, clear, lighting on", "B. At night, clear, lighting on", "C. During the day, cloudy, lighting off", "D. During the day, clear, lighting off"], "answer_index": 3}
{"token": "0219605e399d03373c7babed0010a233", "waymo_split": "test", "type": "image", "frame_index": 73, "question": "Based on the current appearance of the person/vehicle (two-wheeled), how do you intend to move?", "category": "Normal Perception & Prediction", "options": ["A. When the pedestrian signal ends, move to the lane and wait in the left turn queue.", "B. When the signal changes, slow down and move towards the center line to make a U-turn.", "C. Even if the car in front starts moving, reduce speed and stay close to the right edge.", "D. If the car in front starts moving, similarly increase your speed and go straight."], "answer_index": 3}
{"token": "0219605e399d03373c7babed0010a233", "waymo_split": "test", "type": "image", "frame_index": 46, "question": "What is the description of a non-safety-critical object?", "category": "Normal Perception & Prediction", "options": ["A. The left shoulder is partially controlled by work cones, the front lanes flow smoothly according to the speed limit, and there is only slight slowing from the right rear. Above, only streetlights and power lines pass through.", "B. The central divider side is open to a low flower bed, with sporadic pedestrian traffic visible. Cars are forming a queue to turn left in front and to the right front. Ahead, the entrance to an underpass slopes down.", "C. The right shoulder is empty and only has bushes without guardrails. Vehicles are smoothly proceeding in sync with the signals to the right front and right rear. The sky is open above, and no elevated structures are visible.", "D. On the right side of the right shoulder, there are barriers like fences. Vehicles are slowly moving and almost stopped to go straight in the left front, front, and left rear. An overpass exists directly above the vehicle."], "answer_index": 3}
{"token": "0219605e399d03373c7babed0010a233", "waymo_split": "test", "type": "image", "frame_index": 73, "question": "What is your plan to yield when an ambulance/fire truck approaches?", "category": "Special Event", "options": ["A. Plan to turn on the emergency lights and briefly stop in the center of the lane to yield.", "B. Plan to slightly increase speed and exit the intersection first before yielding.", "C. Plan to slightly steer the vehicle to the right shoulder to yield.", "D. Plan to slightly move the vehicle to the left shoulder to yield."], "answer_index": 2}
{"token": "0219605e399d03373c7babed0010a233", "waymo_split": "test", "type": "image", "frame_index": 73, "question": "What are the classifications of scenes?", "category": "Normal scene Understanding", "options": ["A. Two-lane general road", "B. Main highway", "C. Four-lane urban road", "D. Residential back road"], "answer_index": 0}
{"token": "0219605e399d03373c7babed0010a233", "waymo_split": "test", "type": "image", "frame_index": 73, "question": "Which of the following is a correct description of traffic density?", "category": "Normal scene Understanding", "options": ["A. A small number of surrounding vehicles (1-2). Fast condition", "B. Only the opposite lane is congested, our lane is sparse (2-3 vehicles). Normal speed", "C. A normal number of surrounding vehicles (3-5). Smooth driving", "D. A large number of surrounding vehicles (6-7 or more). Slow condition"], "answer_index": 3}
{"token": "0219605e399d03373c7babed0010a233", "waymo_split": "test", "type": "image", "frame_index": 73, "question": "Which of the following descriptions about the environment is correct?", "category": "Normal scene Understanding", "options": ["A. At sunset, light fog, backlight", "B. Evening, cloudy, lights on", "C. Night, light rain, only streetlights", "D. Daytime, clear, no lights"], "answer_index": 3}
{"token": "0219605e399d03373c7babed0010a233", "waymo_split": "test", "type": "image", "frame_index": 73, "question": "What is the description of a non-safety-critical object?", "category": "Normal Perception & Prediction", "options": ["A. The left shoulder is open without a guardrail, and vehicles in the right front, front, and right rear are slowly moving while preparing to make a right turn; only a traffic light support is visible above, and there are no elevated structures.", "B. Next to the right shoulder, there are street trees and flower beds, and vehicles in the front and right front and right rear are gradually reducing speed to change lanes; above the vehicle, only power lines and streetlights pass instead of a pedestrian overpass.", "C. The left guardrail runs along the road, and vehicles in the left front, front, and right front are almost stopped in a left turn queue; the elevated road is only visible far ahead but not directly above.", "D. On the right side of the right shoulder, there are barriers like fences, and vehicles in the left front, front, and left rear are slowly moving and almost stopped to go straight; an elevated road exists directly above the vehicle."], "answer_index": 3}
{"token": "0219605e399d03373c7babed0010a233", "waymo_split": "test", "type": "image", "frame_index": 73, "question": "What is a safety-critical object?", "category": "Safety-critical Perception", "options": ["A. A passenger car on the left rear", "B. An electric scooter in front", "C. A bicycle on the right front", "D. A motorcycle on the left front"], "answer_index": 3}
{"token": "0219605e399d03373c7babed0010a233", "waymo_split": "test", "type": "image", "frame_index": 73, "question": "What is the answer regarding the presence of parked vehicles on the shoulder, the existence of a center line, and whether Ego crosses the center line?", "category": "Normal Perception & Prediction", "options": ["A. There is a parked vehicle on the shoulder, a center line exists, and Ego does not cross the center line.", "B. There is no parked vehicle on the shoulder, a center line exists, and Ego does not cross the center line.", "C. There is no parked vehicle on the shoulder, a center line exists, and Ego crosses the center line.", "D. There is no parked vehicle on the shoulder, there is no center line, and Ego does not cross the center line."], "answer_index": 1}
{"token": "0219605e399d03373c7babed0010a233", "waymo_split": "test", "type": "image", "frame_index": 73, "question": "How do you think a safety-critical object will move?", "category": "Safety-critical Prediction", "options": ["A. It will slowly turn right into the right lane.", "B. It will slowly turn left while crossing the lane.", "C. It will gradually enter towards the sidewalk.", "D. It will quickly go straight along the center line."], "answer_index": 3}
{"token": "0219605e399d03373c7babed0010a233", "waymo_split": "test", "type": "image", "frame_index": 73, "question": "What should you do to drive safely?", "category": "Safety-critical Planning", "options": ["A. Even if the motorcycle is in the center of the lane, the vehicle can maintain speed as long as it keeps a safe distance.", "B. The vehicle should honk and use high beams to urge the motorcycle to move aside.", "C. The vehicle should accelerate and pass first while the motorcycle is quickly passing along the center line.", "D. The vehicle should slow down until the motorcycle quickly passes along the center line."], "answer_index": 3}
{"token": "0219605e399d03373c7babed0010a233", "waymo_split": "test", "type": "image", "frame_index": 73, "question": "Is lane change possible? Which is safer between deceleration and lane change?", "category": "Safety-critical Planning", "options": ["A. Change is possible, accelerating is safer", "B. Change is possible, maintaining speed is safer", "C. Change is not possible, deceleration is safer", "D. Change is possible, moving left is safer"], "answer_index": 2}
{"token": "0219605e399d03373c7babed0010a233", "waymo_split": "test", "type": "image", "frame_index": 73, "question": "Are there any safety-critical objects other than the first safety-critical object? If so, how will you move?", "category": "Safety-critical Prediction", "options": ["A. Yes: Avoid left side to prevent hitting pedestrians ahead", "B. Yes: Slowly reverse to avoid exposed cables on the right", "C. No", "D. Yes: Move to the right safety zone to avoid the gas cylinder ahead"], "answer_index": 2}
{"token": "0219605e399d03373c7babed0010a233", "waymo_split": "test", "type": "image", "frame_index": 144, "question": "What is the classification of the scene?", "category": "Normal scene Understanding", "options": ["A. Residential back road", "B. Urban four-lane road", "C. Two-lane general road", "D. Unpaved rural road"], "answer_index": 2}
{"token": "0219605e399d03373c7babed0010a233", "waymo_split": "test", "type": "image", "frame_index": 73, "question": "What are the guidelines for the behavior of my vehicle based on the actions of the safety-critical object?", "category": "Safety-critical Planning", "options": ["A. If the safety-critical object is moving straight without changing lanes, my vehicle should only sound a warning and maintain its current speed.", "B. If the safety-critical object slightly extends its head towards my vehicle from the right edge, my vehicle should move closer to the center line and pass while sounding the horn continuously.", "C. If the safety-critical object attempts to cut in front of my vehicle without moving straight along the center line, my vehicle should reduce its already slow speed to nearly a stop to avoid a collision with the motorcycle.", "D. If the safety-critical object is only slowly moving closer to the center line, my vehicle should not yield to the motorcycle and should accelerate to increase the distance while passing."], "answer_index": 2}
{"token": "0219605e399d03373c7babed0010a233", "waymo_split": "test", "type": "image", "frame_index": 73, "question": "What situation might have occurred if the vehicle acted this way?", "category": "Counterfactual", "options": ["A. If the vehicle was preparing to turn left or executed a left turn, there could be a collision with a motorcycle traveling on the left side of the vehicle.", "B. If the vehicle was preparing to turn right or executed a right turn, there could be a collision with a bicycle traveling on the right side of the vehicle.", "C. If the vehicle accelerated suddenly to go straight, there could be a collision with a bus that was stopped in front of the vehicle.", "D. If the vehicle was preparing to change to the left lane or executed a lane change, there could be a collision with a car overtaking from behind the vehicle."], "answer_index": 0}
{"token": "0219605e399d03373c7babed0010a233", "waymo_split": "test", "type": "image", "frame_index": 73, "question": "Who is responsible in a safety-critical situation? What is the cause?", "category": "Safety-critical scene Understanding", "options": ["A. It is the responsibility of the car driver. The car suddenly cut between lanes without using turn signals.", "B. It is the responsibility of the bus driver. The bus suddenly stopped to pull over at the bus stop, blocking the surrounding flow.", "C. It is the responsibility of the road management authority. The lane width is narrow and the road markings are faint, causing vehicles to crowd between lanes.", "D. It is the responsibility of the motorcycle. The motorcycle is speeding between lanes on a two-lane road with many vehicles present."], "answer_index": 3}
{"token": "0219605e399d03373c7babed0010a233", "waymo_split": "test", "type": "image", "frame_index": 144, "question": "Which of the following descriptions about the environment is correct?", "category": "Normal scene Understanding", "options": ["A. Twilight, light rain, lighting on", "B. Night, clear, lighting on", "C. Day, clear, lighting off", "D. Evening, cloudy, lighting off"], "answer_index": 2}
{"token": "0219605e399d03373c7babed0010a233", "waymo_split": "test", "type": "image", "frame_index": 144, "question": "Which of the following is correct as an Image Caption from a Safety-critical Frame perspective?", "category": "Safety-critical scene caption", "options": ["A. A person is riding a bicycle slowly straight ahead on the left shoulder. A vehicle in the left lane of a two-lane road is overtaking the car in front. There is a risk of sudden braking due to short distances between vehicles in some sections.", "B. A pedestrian on the right sidewalk is trying to cross the crosswalk while leaving a handcart behind. Some vehicles are stopped at a signal on a three-lane road. The stopping and starting are repeated, causing inconsistent maintenance of safe distance.", "C. A person is walking straight while pushing an object on the shoulder, not the right sidewalk. All vehicles, including the subject vehicle, are going straight on a two-lane road. During this process, each vehicle is maintaining a safe distance.", "D. A person is walking in the opposite direction of vehicle traffic while pulling a small cart on the right sidewalk. The leading vehicle, including the subject vehicle, is turning into the right turn lane on a two-lane road. The following vehicles are closely following, resulting in insufficient maintenance of safe distance."], "answer_index": 2}
{"token": "0219605e399d03373c7babed0010a233", "waymo_split": "test", "type": "image", "frame_index": 144, "question": "What is the description of a non-safety-critical object?", "category": "Normal Perception & Prediction", "options": ["A. A few vehicles with wide spacing are driving in the first lane. (Flow is relaxed, steady driving is not an issue) The pillars of the overpass are located in the left front, and a low fence is visible outside the left road.", "B. One or two large vehicles are visible on the bus-only lane. (Intermittent traffic has little impact) The overpass structure is small and visible in the upper left rear, and a metal fence is installed towards the central divider.", "C. Vehicle congestion in the three-lane road is rare. (No issues due to secured spare lanes) The pillars of the overpass are visible in the upper right front, and there is no fence as the right side of the road is an open area.", "D. There are many vehicles driving in the two-lane road. (No issues due to maintaining a safe distance and steady driving). The pillars of the overpass are located in the lower right rear. There is a fence outside the right road."], "answer_index": 3}
{"token": "0219605e399d03373c7babed0010a233", "waymo_split": "test", "type": "image", "frame_index": 144, "question": "How do you think a safety-critical object will move?", "category": "Safety-critical Prediction", "options": ["A. It will walk to the left", "B. It will walk to the right", "C. It will slide sideways", "D. It will walk straight ahead"], "answer_index": 3}
{"token": "0219605e399d03373c7babed0010a233", "waymo_split": "test", "type": "image", "frame_index": 144, "question": "Is lane change possible? Which is safer, slowing down or changing lanes?", "category": "Safety-critical Planning", "options": ["A. Not possible, slowing down is safer", "B. Left change possible, changing lanes is safer", "C. Change possible, changing lanes is safer", "D. Right change possible, changing lanes is safer"], "answer_index": 0}
{"token": "0219605e399d03373c7babed0010a233", "waymo_split": "test", "type": "image", "frame_index": 144, "question": "What should I do to drive safely?", "category": "Safety-critical Planning", "options": ["A. Change lanes while paying attention to the movement of the person on the left and go straight.", "B. Turn right while observing the movement of the pedestrian on the left and keeping the right turn signal on.", "C. Go straight while maintaining the lane and paying attention to the movement of the person on the right.", "D. Overtake while maintaining speed and watching the movement of the bicycle in front."], "answer_index": 2}
{"token": "0219605e399d03373c7babed0010a233", "waymo_split": "test", "type": "image", "frame_index": 144, "question": "What is a safety-critical object?", "category": "Safety-critical Perception", "options": ["A. A person walking straight on the left sidewalk", "B. A person standing still on the right shoulder", "C. A person walking straight on the right shoulder", "D. A bicycle running straight on the right sidewalk"], "answer_index": 2}
{"token": "0219605e399d03373c7babed0010a233", "waymo_split": "test", "type": "image", "frame_index": 144, "question": "Are there any other safety-critical objects besides the first safety-critical object? If so, how will they be moved?", "category": "Safety-critical Prediction", "options": ["A. None", "B. Yes: Move the first aid kit to a shelf outside the aisle", "C. Yes: Roll the gas cylinder towards the wall", "D. Yes: Slightly move the fire extinguisher towards the left wall"], "answer_index": 0}
{"token": "0219605e399d03373c7babed0010a233", "waymo_split": "test", "type": "image", "frame_index": 144, "question": "Who is responsible in a safety-critical situation? What is the cause?", "category": "Safety-critical scene Understanding", "options": ["A. It is the autonomous vehicle's fault because it unnecessarily drove close to the shoulder, reducing the safety distance with pedestrians.", "B. It is the responsibility of the road management authority because there were insufficient protective barriers and signs on the shoulder, forcing the pedestrian to step onto the edge of the road.", "C. It is the fault of the safety-critical object because this person is dangerously pushing an object while walking on the shoulder instead of the sidewalk.", "D. It is the fault of the following truck driver because they neglected to pay attention to the road ahead, only honking the horn and not reducing speed."], "answer_index": 2}
{"token": "0219605e399d03373c7babed0010a233", "waymo_split": "test", "type": "image", "frame_index": 144, "question": "What is the guideline for my vehicle's behavior in response to the behavior of a safety-critical object?", "category": "Safety-critical Planning", "options": ["A. If the safety-critical object is slightly encroaching towards the lane from the shoulder, I can honk the horn and maintain my speed to pass by.", "B. If the safety-critical object is partially invading the lane as it approaches, it is safer for me to slightly veer to the right and accelerate to increase the distance.", "C. If the safety-critical object is veering towards the center line while going straight, it is better for me to turn on my left turn signal and quickly overtake to get out of the danger zone.", "D. If the safety-critical object is not going straight along the shoulder but slightly encroaching into the lane or continuing straight while encroaching, I must immediately brake hard to avoid a collision."], "answer_index": 3}
{"token": "03195aefc01e511b9756a496c860efb6", "waymo_split": "test", "type": "video", "frame_index": null, "question": "Which of the following is a correct description of road alignment?", "category": "Normal Perception & Prediction", "options": ["A. Straight", "B. Left turn", "C. Overtaking", "D. Right turn"], "answer_index": 3}
{"token": "03195aefc01e511b9756a496c860efb6", "waymo_split": "test", "type": "video", "frame_index": null, "question": "Where is the safety-critical situation in the video?", "category": "Temporal Grounding", "options": ["A. 4/4", "B. 1/4", "C. 2/4", "D. 3/4"], "answer_index": 3}
{"token": "03195aefc01e511b9756a496c860efb6", "waymo_split": "test", "type": "video", "frame_index": null, "question": "What are the classifications of scenes?", "category": "Normal scene Understanding", "options": ["A. Unpaved", "B. Residential area", "C. Urban area", "D. Highway"], "answer_index": 1}
{"token": "03195aefc01e511b9756a496c860efb6", "waymo_split": "test", "type": "video", "frame_index": null, "question": "Which of the following is a correct description of traffic density?", "category": "Normal scene Understanding", "options": ["A. Slow, after entering a left turn, the road has a gentle downhill to the right.", "B. Slow, right after a U-turn, the slope ahead decreases and two cars in front are moving slowly.", "C. Normal, while maintaining a straight path, there are several surrounding vehicles and the road surface is flat.", "D. Fast, after entering a right turn, the road has a slope rising towards the front direction."], "answer_index": 3}
{"token": "03195aefc01e511b9756a496c860efb6", "waymo_split": "test", "type": "video", "frame_index": null, "question": "Which of the following is a correct description of the environment?", "category": "Normal scene Understanding", "options": ["A. No lighting, clear weather, daytime", "B. No lighting, foggy weather, nighttime", "C. Weak lighting, rainy weather, dawn", "D. Lighting on, cloudy weather, evening"], "answer_index": 0}
{"token": "03195aefc01e511b9756a496c860efb6", "waymo_split": "test", "type": "video", "frame_index": null, "question": "Which of the following descriptions about traffic signals is correct?", "category": "Traffic Signal", "options": ["A. A green sign saying Broadway above the pedestrian signal on the right when turning right at an intersection. Intersection traffic light.", "B. A blue sign saying Broadway St above the pedestrian signal on the left when making a U-turn at an intersection, dedicated left turn signal.", "C. A green sign saying Madison Ave next to the vehicle signal on the left when turning left at an intersection, intersection traffic light.", "D. A green sign saying Main St below the pedestrian signal in front when going straight at a T-intersection, intersection traffic light."], "answer_index": 0}
{"token": "03195aefc01e511b9756a496c860efb6", "waymo_split": "test", "type": "video", "frame_index": null, "question": "Is there a blind spot in your field of vision?", "category": "Uncertainty", "options": ["A. There is almost no blind spot as parking is prohibited in the adjacent section of the right sidewalk during right-hand traffic.", "B. There is a blind spot between vehicles parked on the side during right-hand traffic.", "C. A blind spot is formed by vehicles merging from the left into the center lane during right-hand traffic.", "D. There is no blind spot as the right side is left clear for the bus-only lane during right-hand traffic."], "answer_index": 1}
{"token": "03195aefc01e511b9756a496c860efb6", "waymo_split": "test", "type": "video", "frame_index": null, "question": "What is the correlation in safety-critical situations?", "category": "Safety-critical scene Understanding", "options": ["A. Car and motorcycle", "B. Car and car", "C. Person and motorcycle", "D. Car and person"], "answer_index": 1}
{"token": "03195aefc01e511b9756a496c860efb6", "waymo_split": "test", "type": "video", "frame_index": null, "question": "What is a safety-critical object?", "category": "Safety-critical Perception", "options": ["A. A black vehicle driving towards Ego from the opposite direction on a two-lane road after a right turn, and a red vehicle following behind.", "B. A white van driving slowly in the same direction on a two-lane road after a right turn, and a motorcycle trying to enter from the right shoulder.", "C. A bicycle trying to enter the crosswalk immediately after a right turn, and a gray sedan waiting to turn left near the center line.", "D. A silver SUV attempting to change lanes in the left lane of a two-lane road after a right turn, and a blue bus stopped at a bus stop."], "answer_index": 0}
{"token": "03195aefc01e511b9756a496c860efb6", "waymo_split": "test", "type": "video", "frame_index": null, "question": "How did the safety-critical object move and how did the Ego vehicle behave?", "category": "Safety-critical scene Understanding", "options": ["A. The vehicle turned right at the intersection and left the lane, Ego changed lanes to the right.", "B. The vehicle slowly crossed from the left to the right lane, Ego lightly accelerated upon seeing a gap.", "C. The object approached the Ego vehicle directly from the opposite side. Ego decelerated as the vehicle approached.", "D. The vehicle moved straight ahead in the same direction as the Ego vehicle and moved away, Ego maintained speed."], "answer_index": 2}
{"token": "03195aefc01e511b9756a496c860efb6", "waymo_split": "test", "type": "video", "frame_index": null, "question": "Summary of Ego (own vehicle) behavior before a safety-critical situation", "category": "Normal scene Understanding", "options": ["A. The situation where I was turning right and entering a two-lane residential road", "B. The situation where I was entering a one-way two-lane commercial area after making a U-turn", "C. The situation where I was going straight through an intersection and merging onto a three-lane arterial road", "D. The situation where I was turning left and entering a one-lane alley"], "answer_index": 0}
{"token": "03195aefc01e511b9756a496c860efb6", "waymo_split": "test", "type": "video", "frame_index": null, "question": "Who is responsible in a safety-critical situation? What is the cause?", "category": "Safety-critical scene Understanding", "options": ["A. Responsibility exists on both sides. It's a two-lane road, and parked cars on both sides narrow the road, so both the safety-critical object and my vehicle need to be cautious.", "B. Responsibility lies only with the safety-critical object. It's a one-way three-lane road, so visibility is wide on both sides and there are fewer variables, so my vehicle can proceed normally.", "C. Responsibility is concentrated on my vehicle. In a one-lane alley, my vehicle crossed the center line, so my vehicle should have been more cautious than the pedestrian.", "D. Responsibility lies with a third party (the construction site). Road construction sharply narrowed the lane with temporary fencing, making it difficult for both the safety-critical object and my vehicle to control the situation."], "answer_index": 0}
{"token": "03195aefc01e511b9756a496c860efb6", "waymo_split": "test", "type": "video", "frame_index": null, "question": "What situation would have occurred if the self-driving car had behaved this way?", "category": "Counterfactual", "options": ["A. If the self-driving car had not slowed down, it would have maintained its position in the center of the lane and smoothly avoided construction cones and safety-critical objects.", "B. If the self-driving car had not slowed down, the distance from the car in front would have increased, creating more space.", "C. If the self-driving car had not slowed down, its path would have diverged from that of a pedestrian, resulting in no significant contact.", "D. If the self-driving car had not slowed down, it could have brushed against or collided with a safety-critical object."], "answer_index": 3}
{"token": "03195aefc01e511b9756a496c860efb6", "waymo_split": "test", "type": "image", "frame_index": 13, "question": "Which of the following is a correct description of traffic density?", "category": "Normal scene Understanding", "options": ["A. Slow, few surrounding vehicles", "B. Fast, a moderate number of surrounding vehicles", "C. Slow, many surrounding vehicles", "D. Fast, almost no surrounding vehicles"], "answer_index": 1}
{"token": "03195aefc01e511b9756a496c860efb6", "waymo_split": "test", "type": "image", "frame_index": 13, "question": "What are the restrictions on behavior in school zones/congested areas?", "category": "Special Event", "options": ["A. There may be restrictions on vehicle movement, such as tailgating at intersections, during congestion.", "B. In school zones, right turns may be allowed regardless of pedestrian signals during school hours.", "C. In congested areas, waiting and stopping within intersections may be temporarily allowed to alleviate congestion.", "D. In school zones, double parking may be allowed during certain times to facilitate smooth pick-up and drop-off for guardians."], "answer_index": 0}
{"token": "03195aefc01e511b9756a496c860efb6", "waymo_split": "test", "type": "image", "frame_index": 13, "question": "Which of the following is correct as an Image Caption from the perspective of a Normal Frame?", "category": "Normal scene caption", "options": ["A. A situation where a vehicle is stopped at a red light at an intersection, waiting to turn left, with shops at each corner and a narrow sidewalk connecting the road and buildings, and no preceding vehicles visible in front of the vehicle, while two vehicles are passing straight from the opposite direction.", "B. A situation where a pedestrian signal is on at an intersection, and people are crossing the crosswalk, causing a vehicle to stop. The corners are connected to an apartment complex entrance and a small park, and the sidewalk is not very wide. Right in front of the vehicle, a truck is waiting to turn right, while three vehicles are approaching from the opposite direction.", "C. A situation where a vehicle sees a green light at an intersection and is about to go straight or turn right after crossing the crosswalk directly in front of it. There are houses at each corner of the intersection, and a wide sidewalk exists between the houses and the road. Two preceding vehicles are in the direction of the vehicle's straight path, and one vehicle is moving in the opposite direction.", "D. A situation where only the left turn arrow signal is on at an intersection, and the vehicle is preparing to enter the left lane. Each corner has a small mart and a bus stop, and the sidewalk is narrow. In the direction of the vehicle's movement, only one bus is slowly moving ahead, while the opposite lane has been empty for a while."], "answer_index": 2}
{"token": "03195aefc01e511b9756a496c860efb6", "waymo_split": "test", "type": "image", "frame_index": 13, "question": "Based on the current appearance of the person/vehicle (two-wheeled), how do they intend to move?", "category": "Normal Perception & Prediction", "options": ["A. The appearance just before making a left turn. Only a left turn is possible according to the green light signal.", "B. The appearance just before going straight or making a right turn. Both a right turn and going straight are possible according to the green light signal.", "C. The appearance just before making a U-turn. Only a U-turn is possible according to the U-turn signal.", "D. The appearance trying to maintain a stopped state. Only stopping is possible according to the red light signal."], "answer_index": 1}
{"token": "03195aefc01e511b9756a496c860efb6", "waymo_split": "test", "type": "image", "frame_index": 13, "question": "What are the classifications of scenes?", "category": "Normal scene Understanding", "options": ["A. Residential area", "B. Unpaved", "C. Highway", "D. City"], "answer_index": 0}
{"token": "03195aefc01e511b9756a496c860efb6", "waymo_split": "test", "type": "image", "frame_index": 13, "question": "Which of the following statements about traffic signals is correct?", "category": "Traffic Signal", "options": ["A. No traffic lights at the roundabout", "B. Traffic lights exist at the intersection", "C. Stop line road markings are clear", "D. Traffic lights exist at the T-junction"], "answer_index": 1}
{"token": "03195aefc01e511b9756a496c860efb6", "waymo_split": "test", "type": "image", "frame_index": 13, "question": "Which of the following is a correct description of the environment?", "category": "Normal scene Understanding", "options": ["A. Soft lighting, cloudy weather, evening", "B. Backlighting, snowy weather, dawn", "C. Strong lighting, rainy weather, night", "D. No lighting, clear weather, daytime"], "answer_index": 3}
{"token": "03195aefc01e511b9756a496c860efb6", "waymo_split": "test", "type": "image", "frame_index": 13, "question": "What is the plan for yielding when an ambulance/fire truck approaches?", "category": "Special Event", "options": ["A. It may be safer to maintain speed near intersections, pass through the intersection first, and then open the lane behind.", "B. You can turn on the hazard lights and briefly stop in the center lane to create space on both sides to guide the ambulance/fire truck.", "C. You can slightly move to the left lane based on your vehicle's position to clear the center line, allowing the ambulance/fire truck to pass through the middle.", "D. You can slightly encroach on the right side towards the wide sidewalk to ensure a clear path for the ambulance/fire truck."], "answer_index": 3}
{"token": "03195aefc01e511b9756a496c860efb6", "waymo_split": "test", "type": "image", "frame_index": 13, "question": "Which of the following describes a non-safety-critical object?", "category": "Normal Perception & Prediction", "options": ["A. Two vehicles moving straight ahead. One vehicle driving in the opposite lane. A traffic light at a residential intersection. Houses and a sidewalk (no people).", "B. One taxi parked on the right shoulder. A city bus picking up and dropping off passengers at a stop in the opposite lane. A sign for a children's protection zone in front of a school. Street trees, utility poles, and a bus stop shelter.", "C. Three vehicles entering a roundabout ahead. One vehicle attempting a U-turn in the left lane. A traffic sign with a flashing signal at an intersection. An area with dense commercial buildings and one person riding a bicycle.", "D. One vehicle waiting to turn left in the left lane. One motorcycle moving slowly in the same lane. A sign indicating a construction zone. Two or three pedestrians at a crosswalk near commercial buildings."], "answer_index": 0}
{"token": "03195aefc01e511b9756a496c860efb6", "waymo_split": "test", "type": "image", "frame_index": 47, "question": "Based on the current appearance of the person/vehicle (two-wheeled), how do they intend to move?", "category": "Normal Perception & Prediction", "options": ["A. Turn left and enter a one-way alley", "B. Make a U-turn and merge into the opposite lane", "C. Go straight and change to the left lane", "D. Turn right and go straight along the two-lane road"], "answer_index": 3}
{"token": "03195aefc01e511b9756a496c860efb6", "waymo_split": "test", "type": "image", "frame_index": 47, "question": "What are the classifications of scenes?", "category": "Normal scene Understanding", "options": ["A. Residential area", "B. Unpaved", "C. City", "D. Highway"], "answer_index": 0}
{"token": "03195aefc01e511b9756a496c860efb6", "waymo_split": "test", "type": "image", "frame_index": 47, "question": "Which of the following is a correct description of traffic density?", "category": "Normal scene Understanding", "options": ["A. Two vehicles going straight, not turning right", "B. Three vehicles turning left, causing delays", "C. Only one vehicle going straight, surroundings are sparse and fast", "D. One vehicle waiting to turn right, flow is slow"], "answer_index": 0}
{"token": "03195aefc01e511b9756a496c860efb6", "waymo_split": "test", "type": "image", "frame_index": 47, "question": "Which is correct as an Image Caption from the perspective of a Normal Frame?", "category": "Normal scene caption", "options": ["A. Attempting to make a U-turn at an intersection to merge into the opposite lane, with a central divider and a bus-only lane continuing, and no on-street parking.", "B. Going straight at an intersection and trying to enter a narrow one-way alley, with flower beds in front of shops on both sides and no visible parked vehicles.", "C. Making a right turn at an intersection and entering a two-lane road. The two-lane road is densely lined with parked cars on both sides.", "D. Making a left turn at an intersection and entering a one-way three-lane road. The three-lane road has a wide shoulder and almost no parked vehicles on either side."], "answer_index": 2}
{"token": "03195aefc01e511b9756a496c860efb6", "waymo_split": "test", "type": "image", "frame_index": 13, "question": "What potential situations could arise in the current scenario?", "category": "Counterfactual", "options": ["A. A vehicle may suddenly enter from the right road at the intersection, ignoring the signal.", "B. A vehicle may suddenly cut in from the left road at the intersection, ignoring the signal.", "C. An electric scooter may suddenly cross between waiting vehicles from the right sidewalk into the lane.", "D. A vehicle may urgently make a U-turn at the yellow signal from the opposite lane, crossing the center line."], "answer_index": 0}
{"token": "03195aefc01e511b9756a496c860efb6", "waymo_split": "test", "type": "image", "frame_index": 47, "question": "Which of the following statements about traffic signals is correct?", "category": "Traffic Signal", "options": ["A. The traffic light at the intersection is no longer visible.", "B. Only the road markings are clearly visible.", "C. Only the left turn signal is faintly visible.", "D. The traffic light at the intersection is still visible."], "answer_index": 3}
{"token": "03195aefc01e511b9756a496c860efb6", "waymo_split": "test", "type": "image", "frame_index": 47, "question": "Which of the following is a correct description of the environment?", "category": "Normal scene Understanding", "options": ["A. Clear, night", "B. Clear, day", "C. Cloudy, day", "D. Rain, afternoon"], "answer_index": 1}
{"token": "03195aefc01e511b9756a496c860efb6", "waymo_split": "test", "type": "image", "frame_index": 47, "question": "Which of the following describes a non-safety-critical object?", "category": "Normal Perception & Prediction", "options": ["A. Several electric scooters parked at the edge of the sidewalk. Crosswalk sign", "B. Safety cones and barricades placed in front of a construction site. One-way sign", "C. A delivery truck stopped at the entrance of an alley. Bus stop sign", "D. Multiple vehicles parked on the side street. Traffic light"], "answer_index": 3}
{"token": "03195aefc01e511b9756a496c860efb6", "waymo_split": "test", "type": "image", "frame_index": 94, "question": "How do you think a safety-critical object will move?", "category": "Safety-critical Prediction", "options": ["A. Entering left turn", "B. Driving straight", "C. Proceeding right turn", "D. Driving backward"], "answer_index": 1}
{"token": "03195aefc01e511b9756a496c860efb6", "waymo_split": "test", "type": "image", "frame_index": 47, "question": "What is the answer regarding parked vehicles on the shoulder, the presence of a center line, and whether Ego has crossed the center line?", "category": "Normal Perception & Prediction", "options": ["A. There is a center line, and my vehicle has crossed it", "B. There is a center line, but it is faint", "C. There is no center line", "D. The center line is clear"], "answer_index": 1}
{"token": "03195aefc01e511b9756a496c860efb6", "waymo_split": "test", "type": "image", "frame_index": 94, "question": "What is a safety-critical object?", "category": "Safety-critical Perception", "options": ["A. A black vehicle driving towards your car from the left lane (opposite direction)", "B. A white sedan driving in the same direction as your car in the right lane", "C. A silver SUV moving away from your car in the left lane (opposite direction)", "D. A gray cargo truck temporarily stopped next to the median barrier"], "answer_index": 0}
{"token": "03195aefc01e511b9756a496c860efb6", "waymo_split": "test", "type": "image", "frame_index": 94, "question": "What should I do to drive safely?", "category": "Safety-critical Planning", "options": ["A. Due to parked vehicles, the width of the second lane is narrow, so I need to reduce my speed relative to the speed of those vehicles.", "B. Due to parked vehicles, the width of the second lane is narrow, so I should slightly touch the center line and overtake the vehicle in front to match the flow.", "C. Due to parked vehicles, the width of the second lane is narrow, so I should maintain my speed and stay close to the edge of the lane.", "D. Due to parked vehicles, the width of the second lane is narrow, so I should actually accelerate and pass through quickly in short sections."], "answer_index": 0}
{"token": "03195aefc01e511b9756a496c860efb6", "waymo_split": "test", "type": "image", "frame_index": 94, "question": "How should I drive to resolve the first risk while also addressing the second risk?", "category": "Safety-critical Planning", "options": ["A. Accelerate slightly to precede the second safety-critical object while focusing only on the front and center.", "B. Increase speed while checking primarily to the right until the second safety-critical object approaches in the same direction as my vehicle.", "C. Maintain speed while primarily watching the right until the second safety-critical object passes my vehicle.", "D. Drive while primarily watching the left in a decelerated state until the second safety-critical object passes my vehicle and drives in the opposite direction."], "answer_index": 3}
{"token": "03195aefc01e511b9756a496c860efb6", "waymo_split": "test", "type": "image", "frame_index": 94, "question": "Are there any other safety-critical objects besides the first one? If so, how will they move?", "category": "Safety-critical Prediction", "options": ["A. There is a white van moving slowly in front. This vehicle will change to the left lane to overtake the leading safety-critical object and then turn left at the intersection.", "B. There is a black SUV slowly approaching from behind. This vehicle will pass the leading safety-critical object and change to the right lane before making a right turn.", "C. There is a red vehicle following closely behind. This vehicle will follow the leading safety-critical object and continue straight in the same direction.", "D. There is a blue vehicle following at a distance behind. This vehicle will maintain distance from the leading safety-critical object and enter the right lane to make a right turn at the intersection."], "answer_index": 2}
{"token": "03195aefc01e511b9756a496c860efb6", "waymo_split": "test", "type": "image", "frame_index": 94, "question": "Is lane changing possible? Which is safer between slowing down and changing lanes?", "category": "Safety-critical Planning", "options": ["A. Changing lanes", "B. Changing to the right lane", "C. Slowing down", "D. Immediate lane change"], "answer_index": 2}
{"token": "03195aefc01e511b9756a496c860efb6", "waymo_split": "test", "type": "image", "frame_index": 94, "question": "What is the correlation in safety-critical situations?", "category": "Safety-critical scene Understanding", "options": ["A. Two-wheeled vehicles and cars", "B. Cars and cars", "C. Cars and people", "D. People and two-wheeled vehicles"], "answer_index": 1}
{"token": "03195aefc01e511b9756a496c860efb6", "waymo_split": "test", "type": "image", "frame_index": 94, "question": "Who is responsible for safety-critical situations? What is the cause?", "category": "Safety-critical scene Understanding", "options": ["A. The installation of a street vendor's tent and display stand is the cause. These facilities have encroached onto the roadway, making the two-lane road too narrow.", "B. The presence of parked vehicles on the side street is the cause. These vehicles have made the two-lane road too narrow.", "C. The expansion construction of the road's central divider is the cause. The construction barriers have made the two-lane road too narrow.", "D. A large bus that has been parked for a long time at the bus stop is the cause. This bus has made the two-lane road too narrow."], "answer_index": 1}
{"token": "03195aefc01e511b9756a496c860efb6", "waymo_split": "test", "type": "image", "frame_index": 94, "question": "Where is the area that hides danger in the current frame?", "category": "Uncertainty", "options": ["A. Blind spot behind the bus stop platform in front", "B. Blind spot between the parked cars on the right", "C. Blind spot between the trees on the left sidewalk", "D. Curved blind spot next to the central median flower bed"], "answer_index": 1}
{"token": "03195aefc01e511b9756a496c860efb6", "waymo_split": "test", "type": "image", "frame_index": 94, "question": "What situation might have occurred if the self-driving car behaved like this?", "category": "Counterfactual", "options": ["A. If the self-driving car made a sudden stop, there would be a risk of collision or contact with the following vehicle.", "B. If the self-driving car did not slow down, there would be a risk of collision or near miss with a safety-critical object approaching the self-driving car.", "C. If the self-driving car entered a left turn, there would be a risk of side collision or near miss with a vehicle going straight that has the right of way.", "D. If the self-driving car changed lanes recklessly, there would be a risk of contact or near miss with a two-wheeled vehicle in the blind spot."], "answer_index": 1}
{"token": "03195aefc01e511b9756a496c860efb6", "waymo_split": "test", "type": "image", "frame_index": 118, "question": "What are the classifications of scenes?", "category": "Normal scene Understanding", "options": ["A. Unpaved", "B. Urban", "C. Residential area", "D. Highway"], "answer_index": 2}
{"token": "03195aefc01e511b9756a496c860efb6", "waymo_split": "test", "type": "image", "frame_index": 94, "question": "What are the new exposure risk candidates in the following section?", "category": "Safety-critical Prediction", "options": ["A. Metal fence being installed in front", "B. Metal structure under construction on the right", "C. Metal structure under construction on the left", "D. Wooden structure being dismantled on the right"], "answer_index": 1}
{"token": "03195aefc01e511b9756a496c860efb6", "waymo_split": "test", "type": "image", "frame_index": 118, "question": "What is the description of a non-safety-critical object?", "category": "Normal Perception & Prediction", "options": ["A. Trees between a residential area and a road. A construction metal structure and an orange cone right next to it.", "B. A bus stop sign next to a bicycle lane. A glass replacement scaffold and blue safety tape across the street.", "C. Low bushes between a park and a roadway. A temporary makeshift staircase and a red warning light at the back corner.", "D. A small flower bed between a commercial building and a sidewalk. A wooden fence being painted and a yellow cone right next to it."], "answer_index": 0}
{"token": "03195aefc01e511b9756a496c860efb6", "waymo_split": "test", "type": "image", "frame_index": 118, "question": "Which of the following is a correct description of the environment?", "category": "Normal scene Understanding", "options": ["A. Rain, dawn", "B. Fog, dusk", "C. Clear, daytime", "D. Cloudy, night"], "answer_index": 2}
{"token": "03195aefc01e511b9756a496c860efb6", "waymo_split": "test", "type": "image", "frame_index": 118, "question": "Which of the following is correct as an Image Caption from the perspective of Safety-critical Frame?", "category": "Safety-critical scene caption", "options": ["A. A safety-critical object is ahead, and a red vehicle is approaching from the opposite lane towards my vehicle. A safety-critical vehicle is already driving right next to my vehicle. My vehicle has recognized this and is in a decelerated state.", "B. A red vehicle is slowly moving away in the same lane from behind a safety-critical object. The leading safety-critical vehicle is not driving parallel to my vehicle. My vehicle is accelerating as the situation stabilizes.", "C. The safety-critical object has passed the intersection, and the red vehicle is merging into my vehicle's lane after making a left turn. There are no vehicles next to my vehicle. My vehicle is gradually accelerating, seeing the merging space.", "D. A white vehicle is moving away from the right lane of the leading safety-critical vehicle, creating distance. The leading vehicle maintains a certain distance in front of my vehicle. My vehicle maintains speed and continues straight."], "answer_index": 0}
{"token": "03195aefc01e511b9756a496c860efb6", "waymo_split": "test", "type": "image", "frame_index": 118, "question": "Which of the following is a correct description of traffic density?", "category": "Normal scene Understanding", "options": ["A. There are almost no parked cars on both sides of a four-lane road, and the passing vehicles are sparse and fast.", "B. There are a few diagonal parked cars scattered on one side of a narrow alley, and the flow of vehicles is slow.", "C. On a one-way three-lane road, there are few surrounding vehicles, making it sparse, and the speed is generally fast.", "D. There are many parked cars lined up on both sides of a two-lane road."], "answer_index": 3}
{"token": "03195aefc01e511b9756a496c860efb6", "waymo_split": "test", "type": "image", "frame_index": 118, "question": "What is a safety-critical object?", "category": "Safety-critical Perception", "options": ["A. A black vehicle driving against traffic on the immediate left", "B. A white sedan merging from the immediate right", "C. A gray SUV cutting in at the intersection ahead", "D. A silver motorcycle overtaking from behind"], "answer_index": 0}
{"token": "03195aefc01e511b9756a496c860efb6", "waymo_split": "test", "type": "image", "frame_index": 118, "question": "What is the answer regarding parked vehicles on the shoulder, the presence of a center line, and whether Ego is crossing the center line?", "category": "Normal Perception & Prediction", "options": ["A. The center line is barely visible, the vehicle is comfortably maintained in the center of the lane, and there are no parked vehicles on the shoulder.", "B. The center line is clearly marked with a dashed line, the vehicle is driving close to the right while keeping distance from the center line, and there are a few parked vehicles on the shoulder.", "C. The center line is faintly present, the vehicle is not crossing it but is very close to the center line, and there are many parked vehicles on the shoulder.", "D. The center line is clearly visible, the vehicle is slightly crossing the center line while proceeding, and there is one or two parked vehicles on the shoulder."], "answer_index": 2}
{"token": "03195aefc01e511b9756a496c860efb6", "waymo_split": "test", "type": "image", "frame_index": 118, "question": "Are there any blind spots in your field of vision?", "category": "Uncertainty", "options": ["A. Blind spots occur only near the center line of the road.", "B. There are blind spots between parked vehicles on the side streets.", "C. There are no blind spots at the boundary of the sidewalk.", "D. Visibility is good around the entrances and exits of commercial buildings."], "answer_index": 1}
{"token": "03195aefc01e511b9756a496c860efb6", "waymo_split": "test", "type": "image", "frame_index": 118, "question": "How do you think a safety-critical object will move?", "category": "Safety-critical Prediction", "options": ["A. Driving straight in the opposite direction of the vehicle", "B. Entering a right turn based on the direction of the vehicle", "C. Changing to the left lane in the direction of the vehicle", "D. Driving straight in the same direction as the vehicle"], "answer_index": 0}
{"token": "03195aefc01e511b9756a496c860efb6", "waymo_split": "test", "type": "image", "frame_index": 118, "question": "Is there any other safety-critical object besides the first safety-critical object? If so, how will it move?", "category": "Safety-critical Prediction", "options": ["A. A red vehicle following a black vehicle driving in the opposite direction on the immediate left. It will drive in the opposite direction just like the black vehicle.", "B. A white SUV approaching at a constant speed in the right lane. It will continue straight in the right lane.", "C. A pedestrian in a dark coat standing at the end of the crosswalk ahead. When the signal changes, they will cross the road in a straight line.", "D. A gray van with its turn signal on in the left lane. It will slowly change lanes into our lane."], "answer_index": 0}
{"token": "03195aefc01e511b9756a496c860efb6", "waymo_split": "test", "type": "image", "frame_index": 118, "question": "How should I drive to resolve the first risk while also addressing the second risk?", "category": "Safety-critical Planning", "options": ["A. I should accelerate until the blue car ahead is far away.", "B. I should decelerate until the red car behind passes my vehicle.", "C. I should increase my speed before the red car approaches and get out first.", "D. I should immediately change to the left lane to avoid both risks at the same time."], "answer_index": 1}
{"token": "03195aefc01e511b9756a496c860efb6", "waymo_split": "test", "type": "image", "frame_index": 118, "question": "What should you do to drive safely?", "category": "Safety-critical Planning", "options": ["A. You should slow down and be careful not to brush against oncoming vehicles.", "B. You should speed up to quickly cross paths with oncoming cars.", "C. You should drive close to the center line to use the width of the vehicle.", "D. You should proceed with your high beams on to ensure visibility for oncoming vehicles."], "answer_index": 0}
{"token": "03195aefc01e511b9756a496c860efb6", "waymo_split": "test", "type": "image", "frame_index": 118, "question": "What is the correlation in safety-critical situations?", "category": "Safety-critical scene Understanding", "options": ["A. People and two-wheeled vehicles", "B. Cars and two-wheeled vehicles", "C. Cars and people", "D. Cars and cars"], "answer_index": 3}
{"token": "03195aefc01e511b9756a496c860efb6", "waymo_split": "test", "type": "image", "frame_index": 118, "question": "What situation might have occurred if the vehicle acted this way?", "category": "Counterfactual", "options": ["A. If the vehicle made an aggressive left turn, there is a risk of colliding with oncoming traffic.", "B. If the vehicle changed lanes abruptly, there is a risk of brushing against a motorcycle.", "C. If the vehicle made a sudden stop, there is a risk of colliding with a vehicle behind.", "D. If the vehicle did not slow down, there is a risk of brushing against a safety-critical object vehicle."], "answer_index": 3}
{"token": "03195aefc01e511b9756a496c860efb6", "waymo_split": "test", "type": "image", "frame_index": 118, "question": "Where is the area that hides danger in the current frame?", "category": "Uncertainty", "options": ["A. Blind spot around the bumper right in front of the bus that is stopped ahead", "B. Blind spot behind the vehicles parked consecutively on the left", "C. Blind spot between the vehicles parked on the right side", "D. Blind spot between the central median flower bed and the guardrail"], "answer_index": 2}
{"token": "03195aefc01e511b9756a496c860efb6", "waymo_split": "test", "type": "image", "frame_index": 118, "question": "Is lane changing possible? Which is safer between slowing down and changing lanes?", "category": "Safety-critical Planning", "options": ["A. Changing to the right lane is safe", "B. Slowing down is safe", "C. Changing lanes is safe", "D. Accelerating is safe"], "answer_index": 1}
{"token": "03195aefc01e511b9756a496c860efb6", "waymo_split": "test", "type": "image", "frame_index": 118, "question": "Who are the potential new exposure risks in the following area?", "category": "Safety-critical Prediction", "options": ["A. A person or bicycle that could emerge from the blind spot between vehicles parked on the right side.", "B. A passenger who could run out from behind a bus stopped at the left bus stop.", "C. A preceding vehicle that may suddenly stop due to a change in the traffic signal at the crosswalk ahead.", "D. A motorcycle that could emerge from the blind spot behind a truck illegally parked on the left."], "answer_index": 0}
{"token": "03ec85388a5d7971a6da7ef1546ea44d", "waymo_split": "test", "type": "video", "frame_index": null, "question": "Which of the following is a correct description of road alignment?", "category": "Normal Perception & Prediction", "options": ["A. Left turn", "B. Straight", "C. Overtaking", "D. Right turn"], "answer_index": 1}
{"token": "03ec85388a5d7971a6da7ef1546ea44d", "waymo_split": "test", "type": "video", "frame_index": null, "question": "Where is the safety-critical situation in the video?", "category": "Temporal Grounding", "options": ["A. 2/4", "B. 4/4", "C. 1/4", "D. 3/4"], "answer_index": 3}
{"token": "03ec85388a5d7971a6da7ef1546ea44d", "waymo_split": "test", "type": "video", "frame_index": null, "question": "What are the classifications of scenes?", "category": "Normal scene Understanding", "options": ["A. Unpaved road in the countryside", "B. Main section of the highway", "C. General road in the city", "D. Side road in a residential area"], "answer_index": 2}
{"token": "03ec85388a5d7971a6da7ef1546ea44d", "waymo_split": "test", "type": "video", "frame_index": null, "question": "Which of the following describes traffic density correctly?", "category": "Normal scene Understanding", "options": ["A. Surrounding vehicles are generally dispersed at a normal level. There is a slight downhill slope. Vehicles are mostly moving smoothly.", "B. Surrounding vehicles are very densely packed. The slope is flat. Vehicles are congested and moving slowly.", "C. Surrounding vehicles are sparse. There is a slightly curved uphill ramp. Vehicles are moving without interruption to match the signals.", "D. Surrounding vehicles have a loose spacing. There is a gentle uphill slope. Vehicles are flowing quickly near the speed limit."], "answer_index": 1}
{"token": "03ec85388a5d7971a6da7ef1546ea44d", "waymo_split": "test", "type": "video", "frame_index": null, "question": "Which of the following is correct regarding Video Summary from a safety-critical scene perspective?", "category": "Safety-critical scene caption", "options": ["A. A woman riding a scooter is slowly traveling along the left shoulder of her vehicle and merging behind it. At this time, the scooter is slower than the stationary vehicles, so it frequently stops and yields. The woman on the scooter is wearing a fluorescent vest and a helmet.", "B. A man riding a scooter is approaching from the opposite lane and stops in front of a crosswalk. At this time, the speed of the scooter is similar to or slower than the surrounding vehicles, so he cannot overtake. The man on the scooter is wearing a helmet and knee pads.", "C. A man riding a scooter is moving as if to cut in by overtaking right behind the lane of his vehicle. At this time, the speed of the scooter is faster than several vehicles, including the stationary vehicle, so he can overtake. The man on the scooter is not wearing any safety gear.", "D. A man riding a bicycle is moving slowly in front of his vehicle and backing away. At this time, the speed of the bicycle is slower than the surrounding vehicles, causing them to overtake and create a gap. The man on the bicycle is wearing a helmet and gloves."], "answer_index": 2}
{"token": "03ec85388a5d7971a6da7ef1546ea44d", "waymo_split": "test", "type": "video", "frame_index": null, "question": "Which of the following descriptions about the environment is correct?", "category": "Normal scene Understanding", "options": ["A. Day, clear, no lighting", "B. Dawn, fog, weak lighting", "C. Evening, cloudy, lighting on", "D. Night, rain, only streetlights"], "answer_index": 0}
{"token": "03ec85388a5d7971a6da7ef1546ea44d", "waymo_split": "test", "type": "video", "frame_index": null, "question": "Which of the following is a correct description of traffic signals?", "category": "Traffic Signal", "options": ["A. Stop sign", "B. No signal", "C. Red signal", "D. Left turn signal"], "answer_index": 1}
{"token": "03ec85388a5d7971a6da7ef1546ea44d", "waymo_split": "test", "type": "video", "frame_index": null, "question": "What is the description of a non-safety-critical object?", "category": "Normal Perception & Prediction", "options": ["A. Vehicles are moving slowly and adjusting their distance as signals change around them. On the right, there are low-rise shops and a narrow bicycle path, with low shrubs. In the distance to the left, a red billboard and an electronic display are prominently visible.", "B. There is a wide gap between vehicles and the road is generally empty, allowing for fast passage. On the right, there is a river with a railing and a walking path. In the distance to the left, a small yellow traffic sign is visible.", "C. Traffic is flowing smoothly with vehicles passing at a steady speed in one lane. On the right, there is a park with benches and a few streetlights. In the distance to the left, only one blue highway sign is visible.", "D. Traffic is congested and moving slowly across multiple lanes. On the right, there are buildings, a sidewalk, and a large tree (with yellow leaves). In the distance to the left, several large green signs are visible."], "answer_index": 3}
{"token": "03ec85388a5d7971a6da7ef1546ea44d", "waymo_split": "test", "type": "video", "frame_index": null, "question": "Is there a blind spot in the field of view?", "category": "Uncertainty", "options": ["A. There is a blind spot between the vehicles parked on the right side.", "B. There is no blind spot in front of the right-side store due to the secured sidewalk.", "C. The area around the right bus stop has a wide view, so there is no blind spot.", "D. There is a blind spot between the on-street parking areas on the left side."], "answer_index": 0}
{"token": "03ec85388a5d7971a6da7ef1546ea44d", "waymo_split": "test", "type": "video", "frame_index": null, "question": "What is a safety-critical object?", "category": "Safety-critical Perception", "options": ["A. A kickboard cutting in from behind the car (driven by a man)", "B. A kickboard moving away from the front of the car (driven by a woman)", "C. A kickboard stopped at the edge of the sidewalk (unmanned)", "D. A bicycle moving slowly in the adjacent lane to the car (driven by a man)"], "answer_index": 0}
{"token": "03ec85388a5d7971a6da7ef1546ea44d", "waymo_split": "test", "type": "video", "frame_index": null, "question": "Who is responsible in a safety-critical situation? What is the cause?", "category": "Safety-critical scene Understanding", "options": ["A. The rear vehicle is responsible because it failed to maintain a safe distance from the front vehicle and could not respond to sudden braking.", "B. The road maintenance vehicle is responsible because there were insufficient signs in the work zone, causing the flow to suddenly narrow.", "C. The vehicle itself is responsible because it changed lanes recklessly to avoid a stationary bus.", "D. The safety-critical object is responsible because it cut in between other stationary vehicles."], "answer_index": 3}
{"token": "03ec85388a5d7971a6da7ef1546ea44d", "waymo_split": "test", "type": "video", "frame_index": null, "question": "How did the safety-critical object move and how did the ego vehicle behave?", "category": "Safety-critical scene Understanding", "options": ["A. The ego vehicle moved to the right by changing lanes from the lane in front of it. The ego vehicle is slowly accelerating as the signal has just turned green.", "B. It merged from the right alley and stayed behind the ego vehicle before returning to the lane behind it. The ego vehicle continues to move in accordance with the flow in the second lane.", "C. It made a left turn from the opposite side and passed closely by the ego vehicle before moving behind it. The ego vehicle is maintaining a slow speed and distance before entering the intersection.", "D. It cut in from the lane behind the ego vehicle and moved forward. The ego vehicle is almost at a standstill due to congestion on the main road."], "answer_index": 3}
{"token": "03ec85388a5d7971a6da7ef1546ea44d", "waymo_split": "test", "type": "video", "frame_index": null, "question": "What is the correlation in safety-critical situations?", "category": "Safety-critical scene Understanding", "options": ["A. Car - Pedestrian", "B. Car - Bicycle", "C. Car - Kickboard", "D. Bus - Motorcycle"], "answer_index": 2}
{"token": "03ec85388a5d7971a6da7ef1546ea44d", "waymo_split": "test", "type": "video", "frame_index": null, "question": "Summary of Ego (self-vehicle) behavior before a safety-critical situation", "category": "Normal scene Understanding", "options": ["A. Driving at a constant speed on a quiet road", "B. Coming to a complete stop at the traffic signal waiting line", "C. Gradually accelerating to merge into the right lane", "D. Almost stopped in a low-speed state during congestion"], "answer_index": 3}
{"token": "03ec85388a5d7971a6da7ef1546ea44d", "waymo_split": "test", "type": "video", "frame_index": null, "question": "What situation might have occurred if the vehicle had acted this way?", "category": "Counterfactual", "options": ["A. If the vehicle had maintained its lane and moved straight, there wouldn't have been a major issue as the scooter behind would have passed without crossing the center line.", "B. If the vehicle had attempted to change to the left lane, a collision could have occurred as the scooter behind would have entered from the left.", "C. If the vehicle had accelerated to the left and exited first, there would have been no contact as the scooter behind would not have been able to follow.", "D. If the vehicle had attempted to change to the right lane, the scooter behind would have moved to the right and passed without a collision."], "answer_index": 1}
{"token": "03ec85388a5d7971a6da7ef1546ea44d", "waymo_split": "test", "type": "image", "frame_index": 96, "question": "What is correct from the perspective of Safety-critical Frame regarding Image Caption?", "category": "Safety-critical scene caption", "options": ["A. There are two scooters located to the left rear of the vehicle, and the scooter closer to the vehicle is maintaining its lane and moving straight steadily. The speed of both scooters is normal.", "B. There are two scooters located behind the vehicle, and the scooter closer to the vehicle is moving diagonally as if it is about to change lanes or overtake the vehicle. The speed of both scooters is fast.", "C. There is one scooter located in front of the vehicle, and this scooter is moving straight while maintaining the center of the lane. The speed of this scooter is slow.", "D. There are two scooters located to the right front of the vehicle, and the scooter closer to the vehicle is moving towards the right edge to avoid the vehicle. The speed of both scooters is slow."], "answer_index": 1}
{"token": "03ec85388a5d7971a6da7ef1546ea44d", "waymo_split": "test", "type": "image", "frame_index": 96, "question": "What is a safety-critical object?", "category": "Safety-critical Perception", "options": ["A. Bicycle", "B. Skateboard", "C. Stroller", "D. Kickboard"], "answer_index": 3}
{"token": "03ec85388a5d7971a6da7ef1546ea44d", "waymo_split": "test", "type": "video", "frame_index": null, "question": "What situations may potentially arise depending on the type/condition of the road?", "category": "Normal Perception & Prediction", "options": ["A. Since it is a narrow residential side road, large vehicles may cross the center line and drive safely, allowing for faster traffic flow.", "B. Since it is a city intersection with frequent signals, vehicles entering on yellow lights may have priority, resulting in smoother overall flow.", "C. Since it is a highway with a wet surface due to rain, increasing speed may improve tire grip, making overtaking easier.", "D. Since it is a major road with many stalled cars, frequent lane changes by each vehicle may prolong the congestion."], "answer_index": 3}
{"token": "03ec85388a5d7971a6da7ef1546ea44d", "waymo_split": "test", "type": "image", "frame_index": 96, "question": "How do you think a safety-critical object would move?", "category": "Safety-critical Prediction", "options": ["A. Moving diagonally to overtake my vehicle", "B. Slightly sticking to the right shoulder while driving", "C. Decelerating in a straight line to avoid my vehicle", "D. Slowly approaching to get behind my vehicle"], "answer_index": 0}
{"token": "03ec85388a5d7971a6da7ef1546ea44d", "waymo_split": "test", "type": "image", "frame_index": 96, "question": "Which of the following is correct as an Image Caption from the perspective of a Normal Frame?", "category": "Normal scene caption", "options": ["A. A relatively smooth flow of vehicles on a six-lane road in both directions. The car is gradually driving in the center lane. On the right, there is a bus stop and a bicycle lane, with no parked cars visible. A delivery motorcycle is closely following behind the car. A city bus is approaching in the lane behind the car.", "B. A relatively quiet outer road with three lanes in one direction. The car is driving in the far right lane at the speed limit. The right shoulder is empty, and there are no parked vehicles. Two pedestrians are crossing the crosswalk behind the car. A large truck is quickly approaching in the lane behind the car, attempting to overtake.", "C. A road near an intersection with only a few vehicles waiting at the signal visible. The car is entering the left lane and moving slowly. A construction fence is installed along the right sidewalk, so there is no parking on the side street. A person on a bicycle is following behind the car. Several taxis are lined up in the lane behind the car.", "D. A road with a large number of vehicles in congestion nearby. The car is currently in the far right lane, almost at a standstill due to the traffic jam. Several vehicles are parked on the right side. Two people on scooters are visible behind the car. There are no vehicles in the lane behind the car."], "answer_index": 3}
{"token": "03ec85388a5d7971a6da7ef1546ea44d", "waymo_split": "test", "type": "image", "frame_index": 96, "question": "What should you do to drive safely?", "category": "Safety-critical Planning", "options": ["A. You should pay attention to the left side where the scooter is moving, maintain a safe distance from the vehicle in front, and drive slowly.", "B. Since the scooter is far away, you should move to the right, reduce the distance to the vehicle in front, and pass quickly.", "C. You should only look at the right side where the bicycle is moving and closely follow the vehicle in front to overtake immediately.", "D. When you see a scooter, you should turn on your hazard lights, move towards the center line, and maintain your speed."], "answer_index": 0}
{"token": "03ec85388a5d7971a6da7ef1546ea44d", "waymo_split": "test", "type": "image", "frame_index": 96, "question": "How should I drive to solve the first risk while also addressing the second risk?", "category": "Safety-critical Planning", "options": ["A. I should honk loudly and stay close to the center line to overtake.", "B. Since the second scooter is likely to move to the left, I should proceed slowly while being cautious of the sides of the car.", "C. If I just get past the first risk, the second will stop, so I should only check the left and proceed as is.", "D. The second scooter is likely to veer to the right, so I should maintain my speed and pass quickly."], "answer_index": 1}
{"token": "03ec85388a5d7971a6da7ef1546ea44d", "waymo_split": "test", "type": "image", "frame_index": 96, "question": "What is the correlation in safety-critical situations?", "category": "Safety-critical scene Understanding", "options": ["A. Car - Pedestrian", "B. Car - Motorcycle", "C. Car - Bicycle", "D. Car - Scooter"], "answer_index": 3}
{"token": "03ec85388a5d7971a6da7ef1546ea44d", "waymo_split": "test", "type": "image", "frame_index": 96, "question": "Where is the area that hides danger in the current frame?", "category": "Uncertainty", "options": ["A. Blind spot of a large truck on the rear side", "B. Behind the bus stop shelter on the left", "C. Left corner of the building at the intersection ahead", "D. Between the parked cars on the right"], "answer_index": 3}
{"token": "03ec85388a5d7971a6da7ef1546ea44d", "waymo_split": "test", "type": "image", "frame_index": 96, "question": "Who is responsible in a safety-critical situation? What is the cause?", "category": "Safety-critical scene Understanding", "options": ["A. It is the taxi driver's responsibility. He changed lanes abruptly without signaling and blocked the kickboard's path, causing sudden braking.", "B. It is the pedestrian's responsibility for jaywalking. He ignored the signal and jumped into the lane, causing nearby vehicles and the kickboard to swerve suddenly, and he was not paying attention.", "C. It is the responsibility of the man on the kickboard. The speed of the kickboard was too fast for the congested road, and he was riding in the lane without wearing safety gear.", "D. It is the responsibility of the road management agency. On a rainy day, there was poor drainage leading to water accumulation and severe slipping, and the slippery warning signs were not properly installed."], "answer_index": 2}
{"token": "03ec85388a5d7971a6da7ef1546ea44d", "waymo_split": "test", "type": "image", "frame_index": 96, "question": "Are there any other safety-critical objects besides the first safety-critical object? If so, how will they move?", "category": "Safety-critical Prediction", "options": ["A. An electric bicycle approaching from the opposite side. It will turn left at the intersection according to the signal.", "B. An electric wheel that is moving to the edge of the sidewalk. It will gradually stop by leaving the road in accordance with pedestrian flow.", "C. A kickboard cutting in from the left. It will accelerate and turn left to overtake the vehicle in front.", "D. A kickboard following behind. This kickboard will also move along with the preceding safety-critical object kickboard."], "answer_index": 3}
{"token": "03ec85388a5d7971a6da7ef1546ea44d", "waymo_split": "test", "type": "image", "frame_index": 96, "question": "What situation might have occurred if the vehicle acted this way?", "category": "Counterfactual", "options": ["A. Risk of colliding with a scooter coming from behind if the vehicle attempted to change lanes to the left.", "B. Risk of colliding with a motorcycle in the blind spot if the vehicle attempted to change lanes to the right.", "C. Risk of colliding with a bus near the center line if the vehicle attempted to make a U-turn to the left.", "D. Concern of contact with a bicycle cutting in from the adjacent lane at the intersection if the vehicle accelerated straight."], "answer_index": 0}
{"token": "03ec85388a5d7971a6da7ef1546ea44d", "waymo_split": "test", "type": "image", "frame_index": 122, "question": "What is a safety-critical object?", "category": "Safety-critical Perception", "options": ["A. Motorcycle on the left rear", "B. Pedestrian in front", "C. Kickboard on the right front", "D. Kickboard on the left front"], "answer_index": 3}
{"token": "03ec85388a5d7971a6da7ef1546ea44d", "waymo_split": "test", "type": "image", "frame_index": 96, "question": "What are the new exposure risk candidates in the following section?", "category": "Safety-critical Prediction", "options": ["A. Between the waiting crowd at the front bus stop", "B. Between the parked cars on the right side", "C. Between the motorcycles parked on the left side", "D. Beyond the corner of the alley on the right"], "answer_index": 1}
{"token": "03ec85388a5d7971a6da7ef1546ea44d", "waymo_split": "test", "type": "image", "frame_index": 122, "question": "Which of the following is correct from the perspective of Safety-critical Frame regarding Image Caption?", "category": "Safety-critical scene caption", "options": ["A. The kickboard on the left side of my vehicle is overtaking me and is traveling on the lane marked on the ground. It is significantly faster than the surrounding vehicles that are already stuck in traffic.", "B. The kickboard on the right side of my vehicle is slowly moving inside the lane from behind me. Its speed is similar to that of the surrounding stationary vehicles, so there is no significant overtaking.", "C. The electric kickboard in front of my vehicle is stopped at the stop line in front of the crosswalk, waiting for the signal. The vehicles in front and behind are also stopped, so there is no relative speed difference.", "D. The bicycle on the left side of my vehicle is moving in and out along the shoulder. It is not faster than the blocked cars and is almost keeping up with the flow."], "answer_index": 0}
{"token": "03ec85388a5d7971a6da7ef1546ea44d", "waymo_split": "test", "type": "image", "frame_index": 96, "question": "What is the guideline for my vehicle's behavior in response to the behavior of a safety-critical object?", "category": "Safety-critical Planning", "options": ["A. If the safety-critical object slows down in front, my car should honk and overtake on the left.", "B. If the safety-critical object overtakes my car on the left, my car should maintain speed and proceed.", "C. If the safety-critical object overtakes my car on the left, my car should proceed slowly without changing lanes.", "D. If the safety-critical object overtakes my car on the right, my car should immediately change to the right lane."], "answer_index": 2}
{"token": "03ec85388a5d7971a6da7ef1546ea44d", "waymo_split": "test", "type": "image", "frame_index": 122, "question": "How do you think a safety-critical object will move?", "category": "Safety-critical Prediction", "options": ["A. It seems like it will try to cut in front of my car.", "B. It seems like it will change lanes to the right.", "C. It seems like it will maintain distance from my car and reduce speed.", "D. It seems like it will try to cut in behind my car."], "answer_index": 0}
{"token": "03ec85388a5d7971a6da7ef1546ea44d", "waymo_split": "test", "type": "image", "frame_index": 122, "question": "Is lane changing possible? Which is safer between slowing down and changing lanes?", "category": "Safety-critical Planning", "options": ["A. Changing to the right lane is safer", "B. Slowing down is safer", "C. Accelerating is safer", "D. Changing lanes is safer"], "answer_index": 1}
{"token": "03ec85388a5d7971a6da7ef1546ea44d", "waymo_split": "test", "type": "image", "frame_index": 122, "question": "How should I drive to solve the first risk while also addressing the second risk?", "category": "Safety-critical Planning", "options": ["A. I need to drive slowly to maintain a safe distance until the second scooter passes.", "B. I should stay close to the center of the road and overtake the second scooter.", "C. Once the first scooter passes, I need to accelerate quickly to get out.", "D. I should alert with the horn and high beams while maintaining my lane and continue straight."], "answer_index": 0}
{"token": "03ec85388a5d7971a6da7ef1546ea44d", "waymo_split": "test", "type": "image", "frame_index": 122, "question": "What is the correlation in safety-critical situations?", "category": "Safety-critical scene Understanding", "options": ["A. Car - Bicycle", "B. Motorcycle - Scooter", "C. Car - Scooter", "D. Car - Pedestrian"], "answer_index": 2}
{"token": "03ec85388a5d7971a6da7ef1546ea44d", "waymo_split": "test", "type": "image", "frame_index": 122, "question": "Is there any other safety-critical object besides the first safety-critical object? If so, how will it move?", "category": "Safety-critical Prediction", "options": ["A. A slow-moving kickboard is seen right in front. This kickboard will maintain its lane and go straight.", "B. There is a bicycle standing on the right shoulder. It will not enter the lane and will remain in place.", "C. A kickboard is following closely behind my car. This kickboard will also ride the left lane and overtake.", "D. A delivery motorcycle coming from behind will move to the right lane and soon make a right turn."], "answer_index": 2}
{"token": "03ec85388a5d7971a6da7ef1546ea44d", "waymo_split": "test", "type": "image", "frame_index": 122, "question": "What should I do to drive safely?", "category": "Safety-critical Planning", "options": ["A. Even if the bicycle on the right is close to my path, I should slightly accelerate and pass without changing lanes (since the signal will change soon).", "B. Even if pedestrians and scooters are close, I should alert them with a horn and maintain my speed (stopping in a narrow lane is more dangerous).", "C. I should slow down or almost stop to secure a safe distance according to the position change of the scooter on the left (since there are many surrounding vehicles).", "D. Even if there is a scooter on the left, I should maintain my speed to avoid disrupting the flow (since there are many vehicles behind me)."], "answer_index": 2}
{"token": "03ec85388a5d7971a6da7ef1546ea44d", "waymo_split": "test", "type": "image", "frame_index": 142, "question": "Based on the current appearance of the person/vehicle (two-wheeled), how do you intend to move?", "category": "Normal Perception & Prediction", "options": ["A. Stop and wait", "B. Slow right turn", "C. Change to the left lane", "D. Slow straight ahead"], "answer_index": 3}
{"token": "03ec85388a5d7971a6da7ef1546ea44d", "waymo_split": "test", "type": "image", "frame_index": 122, "question": "Where is the area that is hidden and conceals danger in the current frame?", "category": "Uncertainty", "options": ["A. Right corner of the bus stopped in front", "B. Between the vehicles parked on the right side", "C. Between the street trees and utility poles on the right sidewalk", "D. Between the vehicles parked parallel on the left side"], "answer_index": 1}
{"token": "03ec85388a5d7971a6da7ef1546ea44d", "waymo_split": "test", "type": "image", "frame_index": 142, "question": "What is a safety-critical object?", "category": "Safety-critical Perception", "options": ["A. A kickboard in front of my car", "B. A kickboard standing in the adjacent lane", "C. A bicycle behind my car", "D. A kickboard behind my car"], "answer_index": 3}
{"token": "03ec85388a5d7971a6da7ef1546ea44d", "waymo_split": "test", "type": "image", "frame_index": 142, "question": "How do you think safety-critical objects will move?", "category": "Safety-critical Prediction", "options": ["A. The bicycle seems like it will turn in front of my car and go behind it.", "B. The kickboard seems like it will stay close to the right edge of the road and go up onto the sidewalk.", "C. The kickboard seems like it will slow down in front of my car and let my car go first.", "D. The kickboard seems like it will overtake my car just like the kickboard in front of it."], "answer_index": 3}
{"token": "03ec85388a5d7971a6da7ef1546ea44d", "waymo_split": "test", "type": "image", "frame_index": 142, "question": "Is lane changing possible? Which is safer between slowing down and changing lanes?", "category": "Safety-critical Planning", "options": ["A. Changing lanes is safe (left space available)", "B. Maintaining speed is safe (matching the flow)", "C. Slowing down is safe (already at a slow speed)", "D. Accelerating is safe (avoiding rear-end collisions)"], "answer_index": 2}
{"token": "03ec85388a5d7971a6da7ef1546ea44d", "waymo_split": "test", "type": "image", "frame_index": 142, "question": "Which is correct as an Image Caption from a Safety-critical Frame perspective?", "category": "Safety-critical scene caption", "options": ["A. The leading scooter is slowly moving straight in the same lane as my car. The following scooter is maintaining distance while reducing speed from a distance.", "B. A pedestrian on the left is waiting for the signal at the crosswalk. The vehicle behind is following at a constant speed with sufficient distance.", "C. A bicycle on the right is proceeding slowly along the edge of the lane. There is no object approaching quickly behind my car.", "D. The leading scooter is crossing quickly in front of my car. Another scooter is approaching quickly right behind my car."], "answer_index": 3}
{"token": "03ec85388a5d7971a6da7ef1546ea44d", "waymo_split": "test", "type": "image", "frame_index": 142, "question": "What should I do to drive safely?", "category": "Safety-critical Planning", "options": ["A. Drive slowly to maintain a safe distance from the scooter behind.", "B. Increase speed immediately to overtake the bicycle next to me.", "C. Stay close to the scooter behind to avoid losing it.", "D. Honk the horn and pass closely to quickly get past the pedestrian in front."], "answer_index": 0}
{"token": "03ec85388a5d7971a6da7ef1546ea44d", "waymo_split": "test", "type": "image", "frame_index": 142, "question": "What is the correlation in safety-critical situations?", "category": "Safety-critical scene Understanding", "options": ["A. Person-Scooter", "B. Car-Bicycle", "C. Car-Motorcycle", "D. Car-Scooter"], "answer_index": 3}
{"token": "03ec85388a5d7971a6da7ef1546ea44d", "waymo_split": "test", "type": "image", "frame_index": 142, "question": "Where is the area that hides danger and is obscured in the current frame?", "category": "Uncertainty", "options": ["A. A blind spot that is not visible between the front bus and the billboard", "B. A blind spot that is not visible between the right-side parked car and the tree", "C. A blind spot that is not visible between the left-side parked car and the street tree", "D. A blind spot that is not visible between the rear alley entrance and the trash can"], "answer_index": 1}
{"token": "03ec85388a5d7971a6da7ef1546ea44d", "waymo_split": "test", "type": "image", "frame_index": 142, "question": "What situation would occur if the vehicle acted this way?", "category": "Counterfactual", "options": ["A. If the vehicle increases speed, it becomes dangerous with the scooter in front and has difficulty dealing with the scooter behind (such as merging).", "B. If the vehicle decreases speed, it can immediately overtake the scooter in front, and the scooter behind can maintain distance without any issues.", "C. If the vehicle increases speed, the gap with the scooter in front widens, and the merging of the scooter behind naturally disappears.", "D. If the vehicle moves to the left, the scooter in front quickly moves aside, and the scooter behind stops approaching, reducing the danger."], "answer_index": 0}
{"token": "03ec85388a5d7971a6da7ef1546ea44d", "waymo_split": "test", "type": "image", "frame_index": 142, "question": "Who is responsible in a safety-critical situation? What is the cause?", "category": "Safety-critical scene Understanding", "options": ["A. The driver of the front vehicle is responsible. They changed lanes suddenly without signaling.", "B. The road management authority is responsible. They left a deep pothole that caused a loss of balance.", "C. The kickboard right behind is responsible. They were moving on the road at high speed without wearing protective gear.", "D. The nearby pedestrian is responsible. They jumped into the road by jaywalking."], "answer_index": 2}
{"token": "03ec85388a5d7971a6da7ef1546ea44d", "waymo_split": "test", "type": "image", "frame_index": 142, "question": "What are the driving guidelines for my vehicle based on the behavior of a safety-critical object?", "category": "Safety-critical Planning", "options": ["A. If the safety-critical object suddenly decelerates, there is enough space ahead, so it is safe to continue driving.", "B. If the safety-critical object moves to the left, it is likely to stop to prioritize my vehicle.", "C. If the safety-critical object increases its speed, the gap will actually widen, allowing for safe passage.", "D. If the safety-critical object increases its speed, there is a risk of colliding with the rear of my vehicle or brushing past it from the side."], "answer_index": 3}
{"token": "048c25599526d75511bbe3712f3bcca2", "waymo_split": "test", "type": "video", "frame_index": null, "question": "Where is the safety-critical situation in the video?", "category": "Temporal Grounding", "options": ["A. 2/4", "B. 1/4", "C. 3/4", "D. 4/4"], "answer_index": 3}
{"token": "048c25599526d75511bbe3712f3bcca2", "waymo_split": "test", "type": "video", "frame_index": null, "question": "What are the classifications of scenes?", "category": "Normal scene Understanding", "options": ["A. Unpaved", "B. Urban", "C. Highway", "D. Residential area"], "answer_index": 3}
{"token": "048c25599526d75511bbe3712f3bcca2", "waymo_split": "test", "type": "video", "frame_index": null, "question": "Which of the following is a correct description of road alignment?", "category": "Normal Perception & Prediction", "options": ["A. Right turn followed by straight", "B. Straight followed by left turn", "C. Left turn followed by right turn", "D. Straight followed by right turn"], "answer_index": 3}
{"token": "048c25599526d75511bbe3712f3bcca2", "waymo_split": "test", "type": "video", "frame_index": null, "question": "Which of the following is a correct description of traffic density?", "category": "Normal scene Understanding", "options": ["A. Fast, many surrounding vehicles, flat road gradient", "B. Slow, few surrounding vehicles, flat road gradient", "C. Fast, few surrounding vehicles, downhill road gradient", "D. Slow, many surrounding vehicles, uphill road gradient"], "answer_index": 0}
{"token": "048c25599526d75511bbe3712f3bcca2", "waymo_split": "test", "type": "video", "frame_index": null, "question": "Is there a special situation?", "category": "Special Event", "options": ["A. School bus", "B. Rainwater drainage", "C. Fire truck", "D. None"], "answer_index": 3}
{"token": "048c25599526d75511bbe3712f3bcca2", "waymo_split": "test", "type": "video", "frame_index": null, "question": "What is correct regarding the Video Summary from the perspective of a Normal Scene?", "category": "Normal scene caption", "options": ["A. The vehicle is driving straight in the center lane of a road in a commercial area. There are a few vehicles slowly driving on the right, as well as in front and behind. The opposite lane is quiet. An intersection appears, but the vehicle continues straight through. At this time, the traffic light at the intersection is yellow.", "B. The vehicle is slowly driving in the left lane of a road in a residential area. Several buses and trucks are stopped on the left and right, as well as in front. There are almost no vehicles in the opposite lane. Upon reaching the intersection, the vehicle makes a left turn. At this time, the traffic light is red, so it stops briefly.", "C. The vehicle is driving straight in the far left lane of a road in a residential area. There are few vehicles on the right, as well as in front and behind, with wide gaps. Only a few cars are driving in the opposite lane. When the intersection comes up, the vehicle attempts a U-turn. At this time, the traffic light at the intersection is flashing.", "D. The vehicle is driving straight in the far right lane of a road in a residential area. Many vehicles are driving straight on the left, as well as in front and behind. There are also many cars in the opposite lane. As the intersection appears, the vehicle makes a right turn. At this time, the traffic light at the intersection is green."], "answer_index": 3}
{"token": "048c25599526d75511bbe3712f3bcca2", "waymo_split": "test", "type": "video", "frame_index": null, "question": "What is the description of a non-safety-critical object?", "category": "Normal Perception & Prediction", "options": ["A. Several surrounding vehicles are slowly driving along the edge while looking for an empty parking space. A delivery motorcycle is briefly stopped on the sidewalk behind your vehicle.", "B. Some vehicles in the opposite lane are preparing to make a U-turn, while vehicles in the same direction are slowing down to change lanes. A pedestrian pushing a stroller is moving near the crosswalk in front of your vehicle.", "C. Surrounding vehicles are also moving straight in the same direction as your vehicle or in the opposite direction in the opposite lane. A person is standing on the sidewalk to the right of your vehicle.", "D. Surrounding vehicles are waiting to turn left at the intersection or are gradually entering from the right. A person riding a bicycle is slowly passing by on the sidewalk to the left of your vehicle."], "answer_index": 2}
{"token": "048c25599526d75511bbe3712f3bcca2", "waymo_split": "test", "type": "video", "frame_index": null, "question": "Which of the following is a correct description of Spatial Relationship?", "category": "Spatial Relationship", "options": ["A. Vehicles traveling at high speed while maintaining a certain distance between them in a straight line. Vehicles proceed straight at an intersection according to the green traffic light.", "B. Two vehicles facing each other slow down near the center line and cross.", "C. Vehicles wait to turn left at an intersection according to the red traffic light before proceeding.", "D. Slow-moving vehicles change lanes while narrowing the gap and proceed to the right."], "answer_index": 0}
{"token": "048c25599526d75511bbe3712f3bcca2", "waymo_split": "test", "type": "video", "frame_index": null, "question": "Which of the following descriptions about the environment is correct?", "category": "Normal scene Understanding", "options": ["A. Cloudy, dark", "B. Clear, bright", "C. Fog, backlight", "D. Rainy, blurry"], "answer_index": 1}
{"token": "048c25599526d75511bbe3712f3bcca2", "waymo_split": "test", "type": "video", "frame_index": null, "question": "What is a safety-critical object?", "category": "Safety-critical Perception", "options": ["A. A motorcycle changing lanes from the right at an intersection", "B. A person standing in front of the crosswalk on the left at an intersection", "C. A person crossing at the crosswalk from the right at an intersection", "D. A bus stopped at a bus stop on the right at an intersection"], "answer_index": 2}
{"token": "048c25599526d75511bbe3712f3bcca2", "waymo_split": "test", "type": "video", "frame_index": null, "question": "What is the answer regarding parked vehicles on the shoulder, the presence of a center line, and Ego's encroachment on the center line?", "category": "Normal Perception & Prediction", "options": ["A. No center line, vehicle on the shoulder", "B. No center line, vehicle parked on the shoulder", "C. Center line present, vehicle parked on the shoulder", "D. Center line present, no vehicle on the shoulder"], "answer_index": 3}
{"token": "048c25599526d75511bbe3712f3bcca2", "waymo_split": "test", "type": "video", "frame_index": null, "question": "Which of the following is a correct description of traffic signals?", "category": "Traffic Signal", "options": ["A. Red light at the traffic signal in an intersection", "B. Yellow light at the traffic signal in a T-junction", "C. Green light at the traffic signal in an intersection", "D. Red pedestrian signal at the crosswalk"], "answer_index": 2}
{"token": "048c25599526d75511bbe3712f3bcca2", "waymo_split": "test", "type": "video", "frame_index": null, "question": "Is there a blind spot in your field of vision?", "category": "Uncertainty", "options": ["A. There is one on the left", "B. There is a slight one", "C. There is one", "D. There is none"], "answer_index": 3}
{"token": "048c25599526d75511bbe3712f3bcca2", "waymo_split": "test", "type": "video", "frame_index": null, "question": "What is the correlation in safety-critical situations?", "category": "Safety-critical scene Understanding", "options": ["A. Car - Two-wheeler", "B. Car - Car", "C. Car - Person", "D. Person - Two-wheeler"], "answer_index": 2}
{"token": "048c25599526d75511bbe3712f3bcca2", "waymo_split": "test", "type": "video", "frame_index": null, "question": "Summary of Ego (own vehicle) behavior before a safety-critical situation", "category": "Normal scene Understanding", "options": ["A. The own vehicle is going straight and attempting a left turn according to the intersection signal.", "B. The own vehicle is going straight and attempting a right turn according to the intersection signal.", "C. The own vehicle is going straight and only entering the right lane before the intersection.", "D. The own vehicle is going straight after waiting at the intersection signal."], "answer_index": 1}
{"token": "048c25599526d75511bbe3712f3bcca2", "waymo_split": "test", "type": "video", "frame_index": null, "question": "How did the safety-critical object move and how did the ego vehicle behave?", "category": "Safety-critical scene Understanding", "options": ["A. The ego vehicle made a right turn immediately after a person crossing the crosswalk towards the ego vehicle finished crossing. The ego vehicle slowed down for the turn, but not because of the crossing person.", "B. The ego vehicle made a right turn while a pedestrian who started crossing from the opposite side was still crossing. The ego vehicle significantly slowed down due to the pedestrian and only completed the turn after briefly stopping.", "C. After allowing a pedestrian crossing in the opposite direction of the ego vehicle to pass, the ego vehicle made a left turn. The ego vehicle slowed down sufficiently to protect the pedestrian before proceeding.", "D. There was a pedestrian crossing from the same side to the opposite side, and the ego vehicle passed through the intersection going straight. The ego vehicle proceeded at a constant speed without significant deceleration, independent of the pedestrian."], "answer_index": 0}
{"token": "048c25599526d75511bbe3712f3bcca2", "waymo_split": "test", "type": "video", "frame_index": null, "question": "What situations may potentially occur depending on the type/condition of the road?", "category": "Normal Perception & Prediction", "options": ["A. Lane reduction in construction zones", "B. Driving restrictions in unpaved areas", "C. Slipping due to icy road surfaces", "D. None"], "answer_index": 3}
{"token": "048c25599526d75511bbe3712f3bcca2", "waymo_split": "test", "type": "video", "frame_index": null, "question": "What situation might have occurred if the vehicle had acted this way?", "category": "Counterfactual", "options": ["A. If the vehicle suddenly braked at the stop line, oncoming vehicles could quickly pass, eliminating the risk of a collision.", "B. If the vehicle attempted a left turn more quickly, the flow of traffic in front would improve, potentially reducing the overall risk of an accident.", "C. If the vehicle attempted a right turn more quickly, a collision could occur if a pedestrian was at the crosswalk.", "D. If the vehicle increased speed while making a right turn, the pedestrian might yield, causing only a delay in crossing without any significant issues."], "answer_index": 2}
{"token": "048c25599526d75511bbe3712f3bcca2", "waymo_split": "test", "type": "image", "frame_index": 27, "question": "Which of the following is correct as an Image Caption from the perspective of a Normal Frame?", "category": "Normal scene caption", "options": ["A. Driving in the left turn lane. A person is visible on the left sidewalk.", "B. Driving in the straight lane. A person is visible on the right sidewalk.", "C. Crawling in a one-way single lane. No person is visible on the right sidewalk.", "D. Changing to the right turn lane. A person is waiting at the crosswalk."], "answer_index": 1}
{"token": "048c25599526d75511bbe3712f3bcca2", "waymo_split": "test", "type": "image", "frame_index": 27, "question": "Which is correct as an Image Caption from the perspective of Safety-critical Frame?", "category": "Safety-critical scene caption", "options": ["A. A person on the sidewalk to the right is looking across the lane and has their body turned towards the sidewalk.", "B. A person on the sidewalk to the left is looking towards the lane and has their body turned towards the lane.", "C. A person on the sidewalk to the right is looking towards the lane and has their body turned towards the lane.", "D. A person on the sidewalk to the right is facing away from the direction of vehicle movement and is looking in another direction."], "answer_index": 2}
{"token": "048c25599526d75511bbe3712f3bcca2", "waymo_split": "test", "type": "image", "frame_index": 27, "question": "Based on the current appearance of the person/vehicle (two-wheeled), how do you intend to move?", "category": "Normal Perception & Prediction", "options": ["A. Make a U-turn", "B. Go straight", "C. Turn right", "D. Turn left"], "answer_index": 1}
{"token": "048c25599526d75511bbe3712f3bcca2", "waymo_split": "test", "type": "image", "frame_index": 27, "question": "What is your plan for yielding when an ambulance/fire truck approaches?", "category": "Special Event", "options": ["A. Turn on the emergency lights and stop in place to wait for a signal", "B. Reduce speed to clear the space in front and yield", "C. Increase speed to pass through the intersection first", "D. Follow closely behind the ambulance and enter together"], "answer_index": 1}
{"token": "048c25599526d75511bbe3712f3bcca2", "waymo_split": "test", "type": "image", "frame_index": 27, "question": "Which of the following is a correct description of traffic density?", "category": "Normal scene Understanding", "options": ["A. There are many vehicles behind, slow", "B. There are many vehicles driving, fast", "C. There are few vehicles in the adjacent lane, fast", "D. There are few vehicles coming from the opposite direction, slow"], "answer_index": 1}
{"token": "048c25599526d75511bbe3712f3bcca2", "waymo_split": "test", "type": "image", "frame_index": 27, "question": "Which of the following descriptions about the environment is correct?", "category": "Normal scene Understanding", "options": ["A. Evening, cloudy, lighting on", "B. Day, clear, lighting off", "C. Night, rain, lighting on", "D. Dawn, fog, lighting on"], "answer_index": 1}
{"token": "048c25599526d75511bbe3712f3bcca2", "waymo_split": "test", "type": "image", "frame_index": 27, "question": "What is the description of a non-safety-critical object?", "category": "Normal Perception & Prediction", "options": ["A. Driving mainly on motorcycles, with many pedestrians on the sidewalk", "B. Many vehicles on the road, with a few people on the sidewalk", "C. Many parked vehicles, with few people on the sidewalk", "D. Few vehicles on the road, with many pedestrians visible on the sidewalk"], "answer_index": 1}
{"token": "048c25599526d75511bbe3712f3bcca2", "waymo_split": "test", "type": "image", "frame_index": 27, "question": "What are the classifications of scenes?", "category": "Normal scene Understanding", "options": ["A. Urban area", "B. Commercial area", "C. Residential area", "D. Unpaved"], "answer_index": 2}
{"token": "048c25599526d75511bbe3712f3bcca2", "waymo_split": "test", "type": "image", "frame_index": 27, "question": "Which of the following is a correct description of traffic signals?", "category": "Traffic Signal", "options": ["A. Left turn signal", "B. None", "C. Pedestrian signal", "D. Stop line marking"], "answer_index": 1}
{"token": "048c25599526d75511bbe3712f3bcca2", "waymo_split": "test", "type": "image", "frame_index": 27, "question": "What is a safety-critical object?", "category": "Safety-critical Perception", "options": ["A. No safety-critical object", "B. Pedestrian crossing ahead", "C. Bicycle approaching from the right", "D. Vehicle merging from the left lane"], "answer_index": 0}
{"token": "048c25599526d75511bbe3712f3bcca2", "waymo_split": "test", "type": "image", "frame_index": 27, "question": "What is the answer regarding parked vehicles on the shoulder, the presence of a center line, and whether Ego has crossed the center line?", "category": "Normal Perception & Prediction", "options": ["A. No center line", "B. Ego crossed the center line", "C. Center line exists", "D. Parking on the shoulder exists"], "answer_index": 2}
{"token": "048c25599526d75511bbe3712f3bcca2", "waymo_split": "test", "type": "image", "frame_index": 27, "question": "What should I do to drive safely?", "category": "Safety-critical Planning", "options": ["A. Safety-critical object left-side bicycle protrusion", "B. Safety-critical object pedestrian entry", "C. Safety-critical object stopped vehicle ahead", "D. Safety-critical object none"], "answer_index": 3}
{"token": "048c25599526d75511bbe3712f3bcca2", "waymo_split": "test", "type": "image", "frame_index": 27, "question": "How do you think a safety-critical object would be moved?", "category": "Safety-critical Prediction", "options": ["A. Entering the stroller lane", "B. Crossing the pedestrian crosswalk", "C. No safety-critical object", "D. Overtaking on the right side of the bicycle"], "answer_index": 2}
{"token": "048c25599526d75511bbe3712f3bcca2", "waymo_split": "test", "type": "image", "frame_index": 27, "question": "Is there any other safety-critical object besides the first safety-critical object? If so, how will it be moved?", "category": "Safety-critical Prediction", "options": ["A. There is a safety-critical object: slowly move the fire extinguisher along the left wall", "B. There is a safety-critical object: carefully move the oxygen tank in the opposite direction of entry", "C. There is a safety-critical object: move the first aid kit to the right along the edge of the corridor", "D. There is no safety-critical object"], "answer_index": 3}
{"token": "048c25599526d75511bbe3712f3bcca2", "waymo_split": "test", "type": "image", "frame_index": 27, "question": "What are the correlations in safety-critical situations?", "category": "Safety-critical scene Understanding", "options": ["A. Sudden deceleration of the vehicle in front", "B. Lateral proximity of a two-wheeler", "C. Pedestrian entering the road", "D. No safety-critical object"], "answer_index": 3}
{"token": "048c25599526d75511bbe3712f3bcca2", "waymo_split": "test", "type": "image", "frame_index": 27, "question": "How should I drive to address the first risk while also addressing the second risk?", "category": "Safety-critical Planning", "options": ["A. Prioritize dynamic objects", "B. There is a safety-critical object", "C. There is no safety-critical object", "D. Avoid left-side objects"], "answer_index": 2}
{"token": "048c25599526d75511bbe3712f3bcca2", "waymo_split": "test", "type": "image", "frame_index": 27, "question": "Who is responsible in safety-critical situations? What is the cause?", "category": "Safety-critical scene Understanding", "options": ["A. Pedestrian sudden entry", "B. Vehicle sensor malfunction", "C. No safety-critical object", "D. Driver negligence"], "answer_index": 2}
{"token": "048c25599526d75511bbe3712f3bcca2", "waymo_split": "test", "type": "image", "frame_index": 27, "question": "Where is the area that hides danger in the current frame?", "category": "Uncertainty", "options": ["A. Left alley entrance", "B. None", "C. Behind the truck in front", "D. Behind the right street tree"], "answer_index": 1}
{"token": "048c25599526d75511bbe3712f3bcca2", "waymo_split": "test", "type": "image", "frame_index": 27, "question": "What are the new exposure risk candidates in the following section?", "category": "Safety-critical Prediction", "options": ["A. Falling rocks", "B. Flooding", "C. None", "D. Sharp curve"], "answer_index": 2}
{"token": "048c25599526d75511bbe3712f3bcca2", "waymo_split": "test", "type": "image", "frame_index": 109, "question": "Based on the current appearance of the person/vehicle (two-wheeled), how do they intend to move?", "category": "Normal Perception & Prediction", "options": ["A. Turning left", "B. Stopping", "C. Turning right", "D. Going straight"], "answer_index": 3}
{"token": "048c25599526d75511bbe3712f3bcca2", "waymo_split": "test", "type": "image", "frame_index": 109, "question": "Which of the following is correct as an Image Caption from the perspective of a Normal Frame?", "category": "Normal scene caption", "options": ["A. The traffic light at the intersection is flashing. Pedestrians are seen standing at the left crosswalk. Leading vehicles are waiting to turn left.", "B. The traffic light at the intersection is recognized. A person is seen walking on the right sidewalk. Vehicles are continuing to drive straight.", "C. Detection of the entrance to the roundabout. No pedestrians on the sidewalk. Some vehicles are making a right turn.", "D. The T-intersection sign is recognized. A bicycle is riding at the edge of the road on the right. The vehicles in front are completely stopped at the stop line."], "answer_index": 1}
{"token": "048c25599526d75511bbe3712f3bcca2", "waymo_split": "test", "type": "image", "frame_index": 27, "question": "What situation might have occurred if the self-driving car acted this way?", "category": "Counterfactual", "options": ["A. Left lane merging occurred", "B. Right pedestrian entry detected", "C. No safety-critical object", "D. Obstacle in front detected"], "answer_index": 2}
{"token": "048c25599526d75511bbe3712f3bcca2", "waymo_split": "test", "type": "image", "frame_index": 27, "question": "What are the guidelines for the behavior of my vehicle based on the actions of a safety-critical object?", "category": "Safety-critical Planning", "options": ["A. No safety-critical object", "B. Safety-critical object turning right", "C. Sudden stop of the safety-critical object ahead", "D. There is a safety-critical object"], "answer_index": 0}
{"token": "048c25599526d75511bbe3712f3bcca2", "waymo_split": "test", "type": "image", "frame_index": 27, "question": "What is the method to avoid the blind spot next to a large vehicle?", "category": "Special Event", "options": ["A. Reduce speed", "B. Overtake on the left", "C. Pass on the right", "D. None"], "answer_index": 3}
{"token": "048c25599526d75511bbe3712f3bcca2", "waymo_split": "test", "type": "image", "frame_index": 109, "question": "What is the plan for yielding when an ambulance/fire truck approaches?", "category": "Special Event", "options": ["A. Stop in the center of the intersection", "B. Maintain speed and proceed", "C. Accelerate into the left lane", "D. Yield by driving slowly"], "answer_index": 3}
{"token": "048c25599526d75511bbe3712f3bcca2", "waymo_split": "test", "type": "image", "frame_index": 109, "question": "What are the behavioral restrictions in school zones/congested areas?", "category": "Special Event", "options": ["A. You will frequently honk your horn", "B. You will drive at low speeds", "C. You will have priority in passing", "D. You will frequently change lanes"], "answer_index": 1}
{"token": "048c25599526d75511bbe3712f3bcca2", "waymo_split": "test", "type": "image", "frame_index": 109, "question": "What are the classifications of scenes?", "category": "Normal scene Understanding", "options": ["A. Unpaved road", "B. Residential area", "C. Highway", "D. Urban area"], "answer_index": 1}
{"token": "048c25599526d75511bbe3712f3bcca2", "waymo_split": "test", "type": "image", "frame_index": 109, "question": "Which of the following is a correct description of traffic density?", "category": "Normal scene Understanding", "options": ["A. Few vehicles, fast", "B. Many vehicles, slow", "C. Many vehicles, fast", "D. Few vehicles, slow"], "answer_index": 2}
{"token": "048c25599526d75511bbe3712f3bcca2", "waymo_split": "test", "type": "image", "frame_index": 109, "question": "Which of the following is a correct description of the environment?", "category": "Normal scene Understanding", "options": ["A. Evening, fog", "B. Morning, cloudy", "C. Night, shower", "D. Day, clear"], "answer_index": 3}
{"token": "048c25599526d75511bbe3712f3bcca2", "waymo_split": "test", "type": "image", "frame_index": 109, "question": "What is the description of a non-safety-critical object?", "category": "Normal Perception & Prediction", "options": ["A. A person is pulling a bicycle across the right sidewalk while surrounding vehicles are making left turns at the intersection.", "B. A person is walking in the same direction as the vehicles on the right sidewalk, while surrounding vehicles are also going straight on the road.", "C. A person is briefly stopping in front of a bus stop on the left sidewalk, while surrounding vehicles are temporarily stopping on the shoulder.", "D. A person is walking against the direction of vehicle traffic on the left sidewalk, while surrounding vehicles are changing lanes and moving to the left."], "answer_index": 1}
{"token": "048c25599526d75511bbe3712f3bcca2", "waymo_split": "test", "type": "image", "frame_index": 109, "question": "Which of the following is a correct description of traffic signals?", "category": "Traffic Signal", "options": ["A. Yellow light at a three-way intersection traffic light", "B. Green light at a crosswalk traffic light", "C. Red light at a four-way intersection traffic light", "D. Green light at a four-way intersection traffic light"], "answer_index": 3}
{"token": "048c25599526d75511bbe3712f3bcca2", "waymo_split": "test", "type": "image", "frame_index": 109, "question": "What is the answer regarding the presence of a central line, the presence of parked vehicles on the shoulder, and Ego's encroachment on the central line?", "category": "Normal Perception & Prediction", "options": ["A. Central line present, no parked vehicles on the shoulder", "B. No central line, no parked vehicles on the shoulder", "C. No central line, parked vehicles on the shoulder", "D. Central line present, parked vehicles on the shoulder"], "answer_index": 0}
{"token": "048c25599526d75511bbe3712f3bcca2", "waymo_split": "test", "type": "image", "frame_index": 109, "question": "What is a safety-critical object?", "category": "Safety-critical Perception", "options": ["A. Collision avoidance sensor", "B. No safety-critical object", "C. Emergency stop switch", "D. Braking control module"], "answer_index": 1}
{"token": "048c25599526d75511bbe3712f3bcca2", "waymo_split": "test", "type": "image", "frame_index": 109, "question": "Is there a blind spot?", "category": "Uncertainty", "options": ["A. There is a right blind spot", "B. There is a blind spot", "C. There is a rear blind spot", "D. There is no blind spot"], "answer_index": 3}
{"token": "048c25599526d75511bbe3712f3bcca2", "waymo_split": "test", "type": "image", "frame_index": 109, "question": "How do you think a safety-critical object will be moved?", "category": "Safety-critical Prediction", "options": ["A. There is a safety-critical object", "B. Access to the safety-critical object", "C. There is no safety-critical object", "D. Detection of a safety-relevant object"], "answer_index": 2}
{"token": "048c25599526d75511bbe3712f3bcca2", "waymo_split": "test", "type": "image", "frame_index": 109, "question": "Are there any other safety-critical objects besides the first safety-critical object? If so, how will they be moved?", "category": "Safety-critical Prediction", "options": ["A. There is a fire extinguisher, move towards the wall", "B. There are no safety-critical objects", "C. There is a gas cylinder, move left with a cart", "D. There is an oxygen cylinder, move slowly towards the entrance"], "answer_index": 1}
{"token": "048c25599526d75511bbe3712f3bcca2", "waymo_split": "test", "type": "image", "frame_index": 109, "question": "What should be done to drive safely?", "category": "Safety-critical Planning", "options": ["A. Detect safety-critical objects ahead", "B. No safety-critical objects", "C. Pedestrian approaching in the left lane", "D. Bicycle proximity hazard on the right"], "answer_index": 1}
{"token": "048c25599526d75511bbe3712f3bcca2", "waymo_split": "test", "type": "image", "frame_index": 109, "question": "How should I drive to address the first risk while also resolving the second risk?", "category": "Safety-critical Planning", "options": ["A. Change to the left lane", "B. No safety-critical objects", "C. Slow down and stop", "D. Wait at the right edge"], "answer_index": 1}
{"token": "048c25599526d75511bbe3712f3bcca2", "waymo_split": "test", "type": "image", "frame_index": 109, "question": "Where is the area that hides danger in the current frame?", "category": "Uncertainty", "options": ["A. Behind the bus", "B. None", "C. Right side of the intersection", "D. Bottom left"], "answer_index": 1}
{"token": "048c25599526d75511bbe3712f3bcca2", "waymo_split": "test", "type": "image", "frame_index": 109, "question": "What is the correlation in a safety-critical situation?", "category": "Safety-critical scene Understanding", "options": ["A. There is a safety-critical object in the left lane motorcycle", "B. There is a safety-critical object in front of a pedestrian", "C. There is a safety-critical object in a nearby vehicle", "D. There is no safety-critical object"], "answer_index": 3}
{"token": "048c25599526d75511bbe3712f3bcca2", "waymo_split": "test", "type": "image", "frame_index": 109, "question": "Who is responsible in safety-critical situations? What is the cause?", "category": "Safety-critical scene Understanding", "options": ["A. Poor sensor calibration", "B. Driver distraction", "C. No safety-critical object", "D. Pedestrian jaywalking"], "answer_index": 2}
{"token": "048c25599526d75511bbe3712f3bcca2", "waymo_split": "test", "type": "image", "frame_index": 109, "question": "What are the potential new exposure risks in the following section?", "category": "Safety-critical Prediction", "options": ["A. There may be vehicles or pedestrians appearing from the right lane or sidewalk at the intersection.", "B. There may be motorcycles or bicycles appearing from the left lane or near the median at the intersection.", "C. There may be pedestrians or electric scooters suddenly coming out from the left alley or park entrance near the intersection.", "D. There may be vehicles or buses entering from the left turn lane or the opposite road at the intersection."], "answer_index": 0}
{"token": "048c25599526d75511bbe3712f3bcca2", "waymo_split": "test", "type": "image", "frame_index": 109, "question": "What situation might have occurred if the vehicle acted this way?", "category": "Counterfactual", "options": ["A. Close passing of a two-wheeled vehicle in the left lane", "B. Sudden entry of a pedestrian from the right", "C. No safety-critical objects", "D. Sudden braking of the vehicle ahead"], "answer_index": 2}
{"token": "048c25599526d75511bbe3712f3bcca2", "waymo_split": "test", "type": "image", "frame_index": 123, "question": "What is correct as an Image Caption from the perspective of Safety-critical Frame?", "category": "Safety-critical scene caption", "options": ["A. On the left, a pedestrian is just entering the crosswalk, moving away from our car.", "B. On the right, a person pushing a stroller is moving along the sidewalk towards the bus stop and has not crossed the crosswalk.", "C. In front, two pedestrians are waiting for the signal and have not yet entered the lane.", "D. On the right, a person crossing the street is crossing the crosswalk towards our car from the opposite side. They are almost across."], "answer_index": 3}
{"token": "048c25599526d75511bbe3712f3bcca2", "waymo_split": "test", "type": "image", "frame_index": 109, "question": "What are the guidelines for the behavior of my vehicle based on the actions of the safety-critical object?", "category": "Safety-critical Planning", "options": ["A. Deceleration of the safety-critical object", "B. Stop of the safety-critical object", "C. No safety-critical object", "D. Avoidance of the safety-critical object"], "answer_index": 2}
{"token": "048c25599526d75511bbe3712f3bcca2", "waymo_split": "test", "type": "image", "frame_index": 109, "question": "What potential situations could arise in the current scenario?", "category": "Counterfactual", "options": ["A. The traffic signal at the intersection may turn green, requiring vehicles to accelerate and pass through.", "B. Priority for right turns may be in effect, requiring a right turn without waiting for the signal.", "C. The left turn signal may be illuminated, requiring an immediate left turn instead of going straight.", "D. The traffic signal at the intersection may turn red, requiring vehicles to slow down and stop."], "answer_index": 3}
{"token": "048c25599526d75511bbe3712f3bcca2", "waymo_split": "test", "type": "image", "frame_index": 123, "question": "Based on the current appearance of the person/vehicle (two-wheeled), how do they intend to move?", "category": "Normal Perception & Prediction", "options": ["A. Can go straight or make a right turn; currently moving straight.", "B. Can stop or reverse; currently slowing down and preparing to stop.", "C. Can make a left turn or a U-turn; currently waiting to turn left.", "D. Can change lanes or enter from the left; currently moving to the left."], "answer_index": 0}
{"token": "048c25599526d75511bbe3712f3bcca2", "waymo_split": "test", "type": "image", "frame_index": 123, "question": "What is the plan for yielding when an ambulance/fire truck approaches?", "category": "Special Event", "options": ["A. Pull over to the center of the lane and stop to yield", "B. Move the car further to the right towards the shoulder and slow down to yield", "C. Move the car to the left lane and maintain speed to yield", "D. Move the car further to the left towards the center line and accelerate to yield"], "answer_index": 1}
{"token": "048c25599526d75511bbe3712f3bcca2", "waymo_split": "test", "type": "image", "frame_index": 123, "question": "Which of the following is a correct description of traffic density?", "category": "Normal scene Understanding", "options": ["A. There are sparse vehicles around, fast.", "B. There are almost no vehicles around, slow.", "C. There are somewhat congested vehicles around, slow.", "D. There are moderately many vehicles around, fast."], "answer_index": 3}
{"token": "048c25599526d75511bbe3712f3bcca2", "waymo_split": "test", "type": "image", "frame_index": 123, "question": "What are the restrictions on behavior in school zones/congested areas?", "category": "Special Event", "options": ["A. There may be situations where traffic becomes congested, preventing cars from crossing intersections in time.", "B. In school zones, the speed limit is lifted at night, allowing drivers to speed as usual.", "C. During school commute times, drivers can honk to alert pedestrians to clear the way.", "D. In congested areas, the signal cycle is longer for vehicles, allowing cars to pass before pedestrians."], "answer_index": 0}
{"token": "048c25599526d75511bbe3712f3bcca2", "waymo_split": "test", "type": "image", "frame_index": 123, "question": "Which of the following is a correct description of the environment?", "category": "Normal scene Understanding", "options": ["A. Cloudy, daytime", "B. Clear, daytime", "C. Rain, morning", "D. Clear, nighttime"], "answer_index": 1}
{"token": "048c25599526d75511bbe3712f3bcca2", "waymo_split": "test", "type": "image", "frame_index": 123, "question": "What are the classifications of scenes?", "category": "Normal scene Understanding", "options": ["A. Unpaved", "B. Commercial area", "C. Urban area", "D. Residential area"], "answer_index": 3}
{"token": "048c25599526d75511bbe3712f3bcca2", "waymo_split": "test", "type": "image", "frame_index": 123, "question": "Which of the following is a correct description of traffic signals?", "category": "Traffic Signal", "options": ["A. Green light at a T-intersection traffic signal", "B. Red light at an intersection traffic signal", "C. Green light at a left turn traffic signal", "D. Green light at an intersection traffic signal"], "answer_index": 3}
{"token": "048c25599526d75511bbe3712f3bcca2", "waymo_split": "test", "type": "image", "frame_index": 123, "question": "What is the description of a non-safety-critical object?", "category": "Normal Perception & Prediction", "options": ["A. T-intersection sign visible. Streetlight on the left. Surrounding cars waiting to turn left. Silver SUV stopped in the left turn lane.", "B. Unsignalized intersection. Streetlight towards the median. Surrounding cars changing lanes. Black sedan waiting in the left turn lane.", "C. Roundabout entry sign. Near the sidewalk across from the streetlight. Surrounding cars moving slowly and staying to the right. Blue van proceeding in the straight lane.", "D. Traffic light at the intersection. Streetlight on the right. Surrounding cars going straight. White van present in the right turn lane."], "answer_index": 3}
{"token": "048c25599526d75511bbe3712f3bcca2", "waymo_split": "test", "type": "image", "frame_index": 123, "question": "How do you think a safety-critical object will move?", "category": "Safety-critical Prediction", "options": ["A. It will turn right and enter the bike lane.", "B. It will turn left and cross the road.", "C. It will stop briefly and then turn back.", "D. It will continue straight and walk on the sidewalk."], "answer_index": 3}
{"token": "048c25599526d75511bbe3712f3bcca2", "waymo_split": "test", "type": "image", "frame_index": 123, "question": "Is there a blind spot?", "category": "Uncertainty", "options": ["A. There is a blind spot on the left", "B. There is no blind spot", "C. There is a blind spot", "D. There is a blind spot on the right rear"], "answer_index": 1}
{"token": "048c25599526d75511bbe3712f3bcca2", "waymo_split": "test", "type": "image", "frame_index": 123, "question": "What is a safety-critical object?", "category": "Safety-critical Perception", "options": ["A. A vehicle approaching from a distance in the opposite lane", "B. A bicycle waiting in front of a crosswalk on the road to turn right", "C. A person who has almost crossed the crosswalk on the road to turn right", "D. A delivery motorcycle temporarily stopped at the entrance of a right-side alley"], "answer_index": 2}
{"token": "048c25599526d75511bbe3712f3bcca2", "waymo_split": "test", "type": "image", "frame_index": 123, "question": "Is there any other safety-critical object besides the first safety-critical object? If so, how would you move past it?", "category": "Safety-critical Prediction", "options": ["A. There is an emergency stop button, stop in front and move to the left", "B. There is a fire hydrant, slightly detour to the right", "C. There are exposed wires, avoid and pass to the left", "D. None"], "answer_index": 3}
{"token": "048c25599526d75511bbe3712f3bcca2", "waymo_split": "test", "type": "image", "frame_index": 123, "question": "What is the answer regarding the presence of parked vehicles on the shoulder, the existence of a central line, and whether Ego has crossed the central line?", "category": "Normal Perception & Prediction", "options": ["A. No central line", "B. Parked vehicles on the shoulder exist", "C. Central line exists", "D. Ego has crossed the central line"], "answer_index": 2}
{"token": "048c25599526d75511bbe3712f3bcca2", "waymo_split": "test", "type": "image", "frame_index": 123, "question": "Is lane changing possible? Which is safer between deceleration and lane changing?", "category": "Safety-critical Planning", "options": ["A. Acceleration", "B. Maintaining speed", "C. Lane changing", "D. Deceleration"], "answer_index": 3}
{"token": "048c25599526d75511bbe3712f3bcca2", "waymo_split": "test", "type": "image", "frame_index": 123, "question": "What is the correlation in safety-critical situations?", "category": "Safety-critical scene Understanding", "options": ["A. Person - Two-wheeler", "B. Vehicle - Two-wheeler", "C. Vehicle - Vehicle", "D. Vehicle - Person"], "answer_index": 3}
{"token": "048c25599526d75511bbe3712f3bcca2", "waymo_split": "test", "type": "image", "frame_index": 123, "question": "How should I drive to solve the first risk while also addressing the second risk?", "category": "Safety-critical Planning", "options": ["A. None", "B. Proceed left turn", "C. Decelerate and go straight", "D. Wait for a right turn"], "answer_index": 0}
{"token": "048c25599526d75511bbe3712f3bcca2", "waymo_split": "test", "type": "image", "frame_index": 123, "question": "What is the safest choice just before entering a yellow signal: stop vs pass?", "category": "Special Event", "options": ["A. enter", "B. pass", "C. accelerate", "D. stop"], "answer_index": 3}
{"token": "048c25599526d75511bbe3712f3bcca2", "waymo_split": "test", "type": "image", "frame_index": 123, "question": "Who is responsible in a safety-critical situation? What is the cause?", "category": "Safety-critical scene Understanding", "options": ["A. It lies with the on-site safety personnel. They signaled the pedestrian to cross without ensuring safety, leading to a misjudgment of the vehicle's approach and distance.", "B. It lies with the person crossing at the crosswalk. There is a high possibility that the signal at the crosswalk does not permit pedestrians to cross, which could lead to a collision with vehicles.", "C. It lies with the driver operating the vehicle on the road. The pedestrian signal was active, but they entered without slowing down or paying attention, increasing the risk of collision due to delayed braking.", "D. It lies with the agency responsible for operating the intersection signals. The signals for pedestrians and vehicles were incorrectly set to operate simultaneously, causing confusion and dangerous situations on-site."], "answer_index": 1}
{"token": "048c25599526d75511bbe3712f3bcca2", "waymo_split": "test", "type": "image", "frame_index": 123, "question": "What are the new exposure risk candidates in the following interval?", "category": "Safety-critical Prediction", "options": ["A. Collision with the motorcycle in front", "B. Collision with the vehicle in front", "C. None", "D. Collision with the pedestrian behind"], "answer_index": 2}
{"token": "048c25599526d75511bbe3712f3bcca2", "waymo_split": "test", "type": "image", "frame_index": 123, "question": "Where is the area that hides danger in the current frame?", "category": "Uncertainty", "options": ["A. Blind spot behind a stationary bus", "B. None", "C. Behind the right-side tree", "D. Behind the left-bottom flower bed"], "answer_index": 1}
{"token": "048c25599526d75511bbe3712f3bcca2", "waymo_split": "test", "type": "image", "frame_index": 123, "question": "What situation might occur if the vehicle acted this way?", "category": "Counterfactual", "options": ["A. The possibility of a collision with an oncoming vehicle if the vehicle slows down and turns left.", "B. The possibility of a collision with a following motorcycle if the vehicle makes a sudden stop at the stop line.", "C. The possibility of a contact accident with a vehicle in the adjacent lane if the vehicle makes a sudden lane change in the straight lane.", "D. The possibility of a collision with a person crossing at the crosswalk if the vehicle speeds up and turns right."], "answer_index": 3}
{"token": "048c25599526d75511bbe3712f3bcca2", "waymo_split": "test", "type": "image", "frame_index": 142, "question": "Based on the current appearance of the person/vehicle (two-wheeled), how are they trying to move?", "category": "Normal Perception & Prediction", "options": ["A. Making a right turn", "B. Making a U-turn", "C. Making a left turn", "D. Going straight"], "answer_index": 0}
{"token": "048c25599526d75511bbe3712f3bcca2", "waymo_split": "test", "type": "image", "frame_index": 123, "question": "What potential situations could arise in the current scenario?", "category": "Counterfactual", "options": ["A. There may be vehicles proceeding from the right side of the intersection to the left.", "B. There may be vehicles making a left turn from the front of the intersection.", "C. There may be vehicles proceeding from the left side of the intersection to the right.", "D. There may be vehicles making a right turn and entering from the right side of the intersection."], "answer_index": 2}
{"token": "048c25599526d75511bbe3712f3bcca2", "waymo_split": "test", "type": "image", "frame_index": 142, "question": "Which of the following is correct as an Image Caption from a Safety-critical Frame perspective?", "category": "Safety-critical scene caption", "options": ["A. There is a bicycle trying to enter the crosswalk when turning left.", "B. There is a person who has just crossed the crosswalk when turning right.", "C. There is a person who has just started to cross the crosswalk when going straight.", "D. There is a pedestrian waiting in front of the crosswalk during the right turn."], "answer_index": 1}
{"token": "048c25599526d75511bbe3712f3bcca2", "waymo_split": "test", "type": "image", "frame_index": 142, "question": "What is your plan when an ambulance/fire truck approaches?", "category": "Special Event", "options": ["A. Plan to accelerate right after turning right", "B. Plan to stop at the intersection before turning right", "C. Plan to decelerate right after turning left", "D. Plan to decelerate right after turning right"], "answer_index": 3}
{"token": "048c25599526d75511bbe3712f3bcca2", "waymo_split": "test", "type": "image", "frame_index": 142, "question": "Which of the following is a correct description of traffic density?", "category": "Normal scene Understanding", "options": ["A. Fast, many vehicles in the adjacent lane", "B. Slow, many vehicles in front and behind", "C. Slow, almost no vehicles around", "D. Fast, few vehicles in front and behind"], "answer_index": 1}
{"token": "048c25599526d75511bbe3712f3bcca2", "waymo_split": "test", "type": "image", "frame_index": 123, "question": "What are the driving guidelines for my vehicle based on the behavior of a safety-critical object?", "category": "Safety-critical Planning", "options": ["A. If the safety-critical object has not completely crossed the crosswalk, I can make a right turn by staying close to the edge of the lane.", "B. If the safety-critical object is crossing the crosswalk slowly, I can make a right turn after honking to alert them and then proceed.", "C. If the safety-critical object has not completely crossed the crosswalk, I must wait for the safety-critical object to finish crossing before making a right turn.", "D. If the safety-critical object is lingering in the middle of the crosswalk, I can make a right turn slowly while looking for a clear space to pass through."], "answer_index": 2}
{"token": "048c25599526d75511bbe3712f3bcca2", "waymo_split": "test", "type": "image", "frame_index": 142, "question": "What are the classifications of scenes?", "category": "Normal scene Understanding", "options": ["A. Unpaved", "B. Highway", "C. Residential area", "D. City"], "answer_index": 2}
{"token": "048c25599526d75511bbe3712f3bcca2", "waymo_split": "test", "type": "image", "frame_index": 142, "question": "What are the restrictions on behavior in school zones/congested areas?", "category": "Special Event", "options": ["A. Stop temporarily", "B. None", "C. No right turn", "D. Dismount from bicycle"], "answer_index": 1}
{"token": "048c25599526d75511bbe3712f3bcca2", "waymo_split": "test", "type": "image", "frame_index": 142, "question": "Which of the following describes a non-safety-critical object?", "category": "Normal Perception & Prediction", "options": ["A. A vehicle going straight at an intersection ahead, a vehicle going straight from behind. A white vehicle parked on the side of the road for a right turn. A person standing at the corner of a block.", "B. A bus stopped in front of a crosswalk ahead, a vehicle gradually slowing down from behind. A gray sedan parked diagonally at the entrance of a left alley. A delivery person standing next to a street tree.", "C. A vehicle making a left turn at an intersection ahead, a vehicle changing lanes from behind. A black SUV double-parked next to the left turn lane. A person sitting at the corner of the right sidewalk.", "D. A vehicle making a U-turn at an intersection ahead, a vehicle waiting for a right turn signal from behind. A blue motorcycle parked on the shoulder of the straight lane. A person crossing the left block corner."], "answer_index": 0}
{"token": "048c25599526d75511bbe3712f3bcca2", "waymo_split": "test", "type": "image", "frame_index": 142, "question": "Which of the following is a correct description of the environment?", "category": "Normal scene Understanding", "options": ["A. Night, clear", "B. Day, clear", "C. Day, cloudy", "D. Morning, fog"], "answer_index": 1}
{"token": "048c25599526d75511bbe3712f3bcca2", "waymo_split": "test", "type": "image", "frame_index": 142, "question": "Are there any blind spots in your view?", "category": "Uncertainty", "options": ["A. Blind spot in front of a large bus in the left lane", "B. Blind spot behind a parked SUV on the roadside", "C. Blind spot next to a taxi near the center line", "D. Blind spot in front of a van parked on the side street"], "answer_index": 3}
{"token": "048c25599526d75511bbe3712f3bcca2", "waymo_split": "test", "type": "image", "frame_index": 142, "question": "Which of the following is a correct description of traffic signals?", "category": "Traffic Signal", "options": ["A. Flashing traffic light. The stop line on the road is thick and clearly visible.", "B. Green traffic light. The crosswalk on the road is faintly drawn.", "C. Yellow traffic light. A large right turn arrow is drawn on the road.", "D. Red traffic light. The crosswalk on the road is freshly painted and clearly visible."], "answer_index": 1}
{"token": "048c25599526d75511bbe3712f3bcca2", "waymo_split": "test", "type": "image", "frame_index": 142, "question": "How do you think safety-critical objects will move?", "category": "Safety-critical Prediction", "options": ["A. The person standing in front of the crosswalk will turn back.", "B. The pedestrian who just crossed the signal will enter the sidewalk store.", "C. The person who just crossed the crosswalk will immediately turn left.", "D. The person who just crossed the crosswalk will continue walking straight."], "answer_index": 3}
{"token": "048c25599526d75511bbe3712f3bcca2", "waymo_split": "test", "type": "image", "frame_index": 142, "question": "What should I do to drive safely?", "category": "Safety-critical Planning", "options": ["A. The waiting person at the crosswalk was judged to have no impact on the progress, so I should have passed without slowing down, and I should continue to turn left at a constant speed now.", "B. The passengers just getting off the bus from the opposite side have no relation to our lane, so there is no hindrance to driving, and I should maintain a straight path while alerting with the horn now.", "C. I have just confirmed a person who has just crossed the crosswalk, so I should have slowed down until then, and I should continue to turn right while slowing down now.", "D. The pedestrian is still far away and the vehicle signal takes priority, so there is no need to stop, and I should quickly finish the right turn while maintaining speed now."], "answer_index": 2}
{"token": "048c25599526d75511bbe3712f3bcca2", "waymo_split": "test", "type": "image", "frame_index": 142, "question": "What is a safety-critical object?", "category": "Safety-critical Perception", "options": ["A. A person who just lined up at a bus stop", "B. A vehicle stopped on the shoulder next to an intersection", "C. A pedestrian going down to the entrance of an underpass", "D. A person who has just crossed the crosswalk"], "answer_index": 3}
{"token": "048c25599526d75511bbe3712f3bcca2", "waymo_split": "test", "type": "image", "frame_index": 142, "question": "How should I drive to resolve the first risk while also addressing the second risk?", "category": "Safety-critical Planning", "options": ["A. Decelerate and merge to the right", "B. Maintain speed after the warning sound", "C. Evade to the left edge", "D. None"], "answer_index": 3}
{"token": "048c25599526d75511bbe3712f3bcca2", "waymo_split": "test", "type": "image", "frame_index": 142, "question": "What is the correlation in safety-critical situations?", "category": "Safety-critical scene Understanding", "options": ["A. Car-Car", "B. Car-Person", "C. Car-Two-wheeler", "D. Person-Two-wheeler"], "answer_index": 1}
{"token": "048c25599526d75511bbe3712f3bcca2", "waymo_split": "test", "type": "image", "frame_index": 142, "question": "Are there any other safety-critical objects besides the first safety-critical object? If so, how would you move them?", "category": "Safety-critical Prediction", "options": ["A. Gas cylinder - push while standing", "B. Fire extinguisher - carry", "C. None", "D. Oxygen tank - move with a cart"], "answer_index": 2}
{"token": "048c25599526d75511bbe3712f3bcca2", "waymo_split": "test", "type": "image", "frame_index": 142, "question": "Is lane changing possible? Which is safer between slowing down and changing lanes?", "category": "Safety-critical Planning", "options": ["A. Turning right while slowing down", "B. Changing lanes while accelerating", "C. Changing lanes while maintaining speed", "D. Changing lanes without slowing down"], "answer_index": 0}
{"token": "048c25599526d75511bbe3712f3bcca2", "waymo_split": "test", "type": "image", "frame_index": 142, "question": "What is the safest choice when approaching a yellow signal: stop vs proceed?", "category": "Special Event", "options": ["A. proceed", "B. emergency braking", "C. turn right", "D. come to a complete stop"], "answer_index": 0}
{"token": "048c25599526d75511bbe3712f3bcca2", "waymo_split": "test", "type": "image", "frame_index": 142, "question": "Who is responsible in a safety-critical situation? What is the cause?", "category": "Safety-critical scene Understanding", "options": ["A. Bicycle user. The bicycle may have suddenly entered the pedestrian area.", "B. Traffic light management. The pedestrian signal may have malfunctioned, causing the green light to turn on.", "C. Crossing person. The pedestrian signal may have been red.", "D. Driver. The vehicle's signal may have been red."], "answer_index": 2}
{"token": "048c25599526d75511bbe3712f3bcca2", "waymo_split": "test", "type": "image", "frame_index": 142, "question": "What are the new exposure risk candidates in the following section?", "category": "Safety-critical Prediction", "options": ["A. A motorcycle may cut in from the left alley entrance.", "B. A bicycle may suddenly emerge from behind the left black SUV.", "C. A bus may suddenly depart in front of the bus stop ahead.", "D. A person may suddenly appear in front of the right white van."], "answer_index": 3}
{"token": "048c25599526d75511bbe3712f3bcca2", "waymo_split": "test", "type": "image", "frame_index": 142, "question": "Where is the area that hides danger in the current frame?", "category": "Uncertainty", "options": ["A. In front of the right white van", "B. Behind the left gray van", "C. Behind the right blue bus", "D. Next to the central black sedan"], "answer_index": 0}
{"token": "048c25599526d75511bbe3712f3bcca2", "waymo_split": "test", "type": "image", "frame_index": 142, "question": "What are the potential situations that could arise in the current circumstances?", "category": "Counterfactual", "options": ["A. Minor conflict", "B. Slight delay", "C. None", "D. Temporary confusion"], "answer_index": 2}
{"token": "048c25599526d75511bbe3712f3bcca2", "waymo_split": "test", "type": "image", "frame_index": 142, "question": "What is the method to avoid the blind spot next to a large vehicle?", "category": "Special Event", "options": ["A. Proceed straight while honking the horn, and accelerate immediately after passing the van.", "B. Make a left turn at a normal speed, and accelerate when passing next to the white van.", "C. Make a right turn at a low speed, and decelerate until passing the white van.", "D. Complete the right turn without decelerating, and maintain speed when passing the van."], "answer_index": 2}
{"token": "048c25599526d75511bbe3712f3bcca2", "waymo_split": "test", "type": "image", "frame_index": 142, "question": "What is the guideline for the vehicle's behavior based on the actions of the safety-critical object?", "category": "Safety-critical Planning", "options": ["A. If the safety-critical object steps back one step, the vehicle should change lanes to avoid it.", "B. If the safety-critical object moves to the opposite side of the sidewalk, the vehicle should honk and pass through.", "C. If the safety-critical object returns to the crosswalk, the vehicle should make an emergency stop.", "D. If the safety-critical object retreats to the edge of the road, the vehicle should continue driving without slowing down."], "answer_index": 2}
{"token": "048c25599526d75511bbe3712f3bcca2", "waymo_split": "test", "type": "image", "frame_index": 57, "question": "Based on the current appearance of the person/vehicle (two-wheeled), how do you intend to move?", "category": "Normal Perception & Prediction", "options": ["A. Go straight", "B. Turn left", "C. Stop", "D. Turn right"], "answer_index": 0}
{"token": "048c25599526d75511bbe3712f3bcca2", "waymo_split": "test", "type": "image", "frame_index": 57, "question": "Which of the following is correct from the perspective of a Normal Frame Image Caption?", "category": "Normal scene caption", "options": ["A. While moving along the left turn lane, a person is seen on the front left sidewalk, not the rear right, the traffic light at the intersection is yellow, and only a bicycle is passing on the right front sidewalk.", "B. Driving in the straight lane. A person is seen on the rear right sidewalk. The traffic light at the intersection is visible in the distance (green light). There is no one on the right front sidewalk.", "C. Entering the right turn lane, no one is seen on the rear right sidewalk, the traffic light at the intersection is seen as red in the distance, and a pedestrian is standing on the right front sidewalk.", "D. Stopped at the stop line in front of the intersection, instead of a person, an empty bicycle is seen on the rear right sidewalk, the traffic light in the distance has not yet been confirmed, and two people are moving on the right front sidewalk."], "answer_index": 1}
{"token": "048c25599526d75511bbe3712f3bcca2", "waymo_split": "test", "type": "image", "frame_index": 57, "question": "Which of the following is a correct description of traffic density?", "category": "Normal scene Understanding", "options": ["A. Few vehicles on the road, fast", "B. Many vehicles on the road, slow", "C. Many vehicles on the road, fast", "D. Few surrounding vehicles, slow"], "answer_index": 2}
{"token": "048c25599526d75511bbe3712f3bcca2", "waymo_split": "test", "type": "image", "frame_index": 57, "question": "Which of the following is correct as an Image Caption from a safety-critical frame perspective?", "category": "Safety-critical scene caption", "options": ["A. The driver is steering with one hand while looking at a smartphone", "B. A vehicle violating the signal brushes past a pedestrian", "C. None", "D. A bicycle is going the wrong way and urgently merges into the lane"], "answer_index": 2}
{"token": "048c25599526d75511bbe3712f3bcca2", "waymo_split": "test", "type": "image", "frame_index": 57, "question": "What is the plan for yielding when an ambulance/fire truck approaches?", "category": "Special Event", "options": ["A. Reduce speed to clear the space in front and yield.", "B. Turn on the emergency lights and use the horn to signal your position while continuing to move forward.", "C. Maintain speed and stay in your lane to pass through.", "D. At intersections, move towards the center line to create space on both sides."], "answer_index": 0}
{"token": "048c25599526d75511bbe3712f3bcca2", "waymo_split": "test", "type": "image", "frame_index": 57, "question": "What are the divisions of a scene?", "category": "Normal scene Understanding", "options": ["A. Commercial district", "B. Residential area", "C. City center", "D. Highway"], "answer_index": 1}
{"token": "048c25599526d75511bbe3712f3bcca2", "waymo_split": "test", "type": "image", "frame_index": 57, "question": "What are the restrictions on behavior in school zones/congested areas?", "category": "Special Event", "options": ["A. In congested areas, driving on the shoulder is temporarily allowed for the purpose of alleviating congestion.", "B. In congested areas, there are restrictions on lane changes or slow driving due to congestion.", "C. In school zones, speed limit relaxation measures are applied during school hours.", "D. In school zones, vehicles are guaranteed priority passage at intersections."], "answer_index": 1}
{"token": "048c25599526d75511bbe3712f3bcca2", "waymo_split": "test", "type": "image", "frame_index": 57, "question": "Which of the following is a correct description of the environment?", "category": "Normal scene Understanding", "options": ["A. Day, clear, no lighting", "B. Dusk, cloudy, lighting on", "C. Morning, light fog, backlighting", "D. Night, light rain, indirect lighting"], "answer_index": 0}
{"token": "048c25599526d75511bbe3712f3bcca2", "waymo_split": "test", "type": "image", "frame_index": 57, "question": "Which of the following is a correct description of traffic signals?", "category": "Traffic Signal", "options": ["A. Pedestrian signal", "B. None", "C. Left turn signal", "D. Stop sign"], "answer_index": 1}
{"token": "048c25599526d75511bbe3712f3bcca2", "waymo_split": "test", "type": "image", "frame_index": 57, "question": "What is the description of a non-safety-critical object?", "category": "Normal Perception & Prediction", "options": ["A. Many driving vehicles, few people on the sidewalk", "B. The road is quiet, many people waiting at the bus stop", "C. Few driving vehicles, many pedestrians on the sidewalk", "D. Many parked vehicles, few cyclists"], "answer_index": 0}
{"token": "048c25599526d75511bbe3712f3bcca2", "waymo_split": "test", "type": "image", "frame_index": 57, "question": "What is a safety-critical object?", "category": "Safety-critical Perception", "options": ["A. Safety-critical object emergency stop button", "B. Safety-critical object power cut-off switch", "C. No safety-critical object", "D. Safety-critical object pressure relief valve"], "answer_index": 2}
{"token": "048c25599526d75511bbe3712f3bcca2", "waymo_split": "test", "type": "image", "frame_index": 57, "question": "How do you think a safety-critical object will be moved?", "category": "Safety-critical Prediction", "options": ["A. Safety-critical right turn", "B. Approaching safety-critical object", "C. Safety-critical left turn", "D. No safety-critical object"], "answer_index": 3}
{"token": "048c25599526d75511bbe3712f3bcca2", "waymo_split": "test", "type": "image", "frame_index": 57, "question": "What is the answer regarding parked vehicles on the shoulder, the presence of a center line, and whether Ego has crossed the center line?", "category": "Normal Perception & Prediction", "options": ["A. Crossing the center line with my vehicle", "B. No center line", "C. Parking on the shoulder exists", "D. Center line exists"], "answer_index": 3}
{"token": "048c25599526d75511bbe3712f3bcca2", "waymo_split": "test", "type": "image", "frame_index": 57, "question": "Are there any safety-critical objects other than the first safety-critical object? If so, how will you move?", "category": "Safety-critical Prediction", "options": ["A. No safety-critical objects", "B. Construction sign detected, change to the left lane", "C. Yield to the ambulance on the rear, move to the right", "D. Stop in front of the pedestrian"], "answer_index": 0}
{"token": "048c25599526d75511bbe3712f3bcca2", "waymo_split": "test", "type": "image", "frame_index": 57, "question": "Is there a blind spot?", "category": "Uncertainty", "options": ["A. Rear right", "B. Rear left", "C. Front left", "D. None"], "answer_index": 3}
{"token": "048c25599526d75511bbe3712f3bcca2", "waymo_split": "test", "type": "image", "frame_index": 57, "question": "What should I do to drive safely?", "category": "Safety-critical Planning", "options": ["A. Bicycle in the right lane", "B. Vehicles merging from the left", "C. No safety-critical objects", "D. Pedestrians suddenly entering ahead"], "answer_index": 2}
{"token": "048c25599526d75511bbe3712f3bcca2", "waymo_split": "test", "type": "image", "frame_index": 57, "question": "How should I drive to address the first risk while also resolving the second risk?", "category": "Safety-critical Planning", "options": ["A. Speed reduction needed", "B. No safety-critical objects", "C. Be cautious of left-side pedestrians", "D. Yield right-of-way"], "answer_index": 1}
{"token": "048c25599526d75511bbe3712f3bcca2", "waymo_split": "test", "type": "image", "frame_index": 57, "question": "What is the correlation in a safety-critical situation?", "category": "Safety-critical scene Understanding", "options": ["A. Left lane encroachment by a two-wheeled vehicle", "B. Entry into the right pedestrian lane", "C. Signs of sudden braking by the vehicle ahead", "D. No safety-critical object"], "answer_index": 3}
{"token": "048c25599526d75511bbe3712f3bcca2", "waymo_split": "test", "type": "image", "frame_index": 57, "question": "What is the safer choice just before entering a yellow signal: stop vs proceed?", "category": "Special Event", "options": ["A. proceed", "B. slow down", "C. stop", "D. pass through"], "answer_index": 2}
{"token": "048c25599526d75511bbe3712f3bcca2", "waymo_split": "test", "type": "image", "frame_index": 57, "question": "Who is responsible in safety-critical situations? What is the cause?", "category": "Safety-critical scene Understanding", "options": ["A. Driver negligence - failure to pay attention ahead", "B. Sensor malfunction - false positive", "C. Pedestrian fault - jaywalking on the left", "D. No safety-critical object"], "answer_index": 3}
{"token": "048c25599526d75511bbe3712f3bcca2", "waymo_split": "test", "type": "image", "frame_index": 57, "question": "Is lane changing possible? Which is safer between slowing down and changing lanes?", "category": "Safety-critical Planning", "options": ["A. Maintain the right lane", "B. Slowing down is safer", "C. Lane changing is not possible", "D. Lane changing is possible"], "answer_index": 3}
{"token": "048c25599526d75511bbe3712f3bcca2", "waymo_split": "test", "type": "image", "frame_index": 57, "question": "Where is the area that hides danger in the current frame?", "category": "Uncertainty", "options": ["A. Behind the A-pillar", "B. In front of the hood", "C. Bottom left", "D. None"], "answer_index": 3}
{"token": "048c25599526d75511bbe3712f3bcca2", "waymo_split": "test", "type": "image", "frame_index": 57, "question": "What situation might have occurred if the self-driving car acted this way?", "category": "Counterfactual", "options": ["A. Pedestrian suddenly entering the road", "B. There is a stopped vehicle ahead", "C. An emergency vehicle with sirens approaching", "D. No safety-critical objects"], "answer_index": 3}
{"token": "048c25599526d75511bbe3712f3bcca2", "waymo_split": "test", "type": "image", "frame_index": 57, "question": "What are the guidelines for the behavior of the vehicle based on the actions of the safety-critical object?", "category": "Safety-critical Planning", "options": ["A. No safety-critical object", "B. Notify safety-critical object manager", "C. Emergency stop of safety-critical object", "D. Manual switch of safety-critical object"], "answer_index": 0}
{"token": "048c25599526d75511bbe3712f3bcca2", "waymo_split": "test", "type": "image", "frame_index": 57, "question": "What are the new exposure risk candidates in the following section?", "category": "Safety-critical Prediction", "options": ["A. None", "B. Freezing", "C. Falling", "D. Rockfall"], "answer_index": 0}
{"token": "048c25599526d75511bbe3712f3bcca2", "waymo_split": "test", "type": "image", "frame_index": 57, "question": "What is the method to avoid the blind spot next to a large vehicle?", "category": "Special Event", "options": ["A. Side of the large vehicle", "B. No large vehicle", "C. Behind the truck", "D. Right side of the large vehicle"], "answer_index": 1}
{"token": "048c25599526d75511bbe3712f3bcca2", "waymo_split": "test", "type": "image", "frame_index": 57, "question": "What potential situations could occur in the current scenario?", "category": "Counterfactual", "options": ["A. A pedestrian at the crosswalk may attempt to rush into the lane, ignoring the signal.", "B. A motorcycle driving on the right may suddenly try to merge into your lane.", "C. A vehicle driving on the left may suddenly try to merge into your lane.", "D. A vehicle in the opposite lane may attempt to cross the center line and enter your lane."], "answer_index": 2}
{"token": "04a5ceae782b7f5ec6ac06f1af981ad6", "waymo_split": "test", "type": "video", "frame_index": null, "question": "What are the classifications of scenes?", "category": "Normal scene Understanding", "options": ["A. Unpaved", "B. Residential area", "C. City", "D. Highway"], "answer_index": 2}
{"token": "04a5ceae782b7f5ec6ac06f1af981ad6", "waymo_split": "test", "type": "video", "frame_index": null, "question": "Where is the safety-critical situation in the video?", "category": "Temporal Grounding", "options": ["A. 4/4", "B. 2/4", "C. 1/4", "D. 3/4"], "answer_index": 0}
{"token": "04a5ceae782b7f5ec6ac06f1af981ad6", "waymo_split": "test", "type": "video", "frame_index": null, "question": "Is there a special situation?", "category": "Special Event", "options": ["A. Fire truck passing by", "B. Blocked by rainwater", "C. None", "D. School bus stopping"], "answer_index": 2}
{"token": "04a5ceae782b7f5ec6ac06f1af981ad6", "waymo_split": "test", "type": "video", "frame_index": null, "question": "Which of the following is a correct description of traffic density?", "category": "Normal scene Understanding", "options": ["A. The straight urban section has a relatively low number of vehicles. The slope is slightly uphill. Driving at a constant speed (faster than usual).", "B. After passing the intersection, the straight section has a relatively low number of vehicles. The slope is a gentle uphill. Gradually accelerating (normal speed).", "C. At the intersection, the number of vehicles is sparse. The slope is a gentle downhill. Proceeding with the flow (relatively fast).", "D. At the intersection, the number of vehicles is moderately high. The slope is flat. Starting from a stop (relatively slow)."], "answer_index": 3}
{"token": "04a5ceae782b7f5ec6ac06f1af981ad6", "waymo_split": "test", "type": "video", "frame_index": null, "question": "Which of the following is a correct description of road alignment?", "category": "Normal Perception & Prediction", "options": ["A. It is a section where straight and right turns are restricted at an intersection with a no-protected left turn sign.", "B. It is a connection point of a minor road where only straight and right turns are possible at a T-intersection.", "C. It is an intersection of a major road where straight, left, and right turns are all possible at a four-way intersection.", "D. It is a straight section with two lanes in each direction where overtaking is allowed and left turns are prohibited."], "answer_index": 2}
{"token": "04a5ceae782b7f5ec6ac06f1af981ad6", "waymo_split": "test", "type": "video", "frame_index": null, "question": "Which of the following is a correct description of the environment?", "category": "Normal scene Understanding", "options": ["A. Cloudy, daytime", "B. Clear and bright, noon", "C. Thick fog, dawn", "D. Rainy, evening"], "answer_index": 0}
{"token": "04a5ceae782b7f5ec6ac06f1af981ad6", "waymo_split": "test", "type": "video", "frame_index": null, "question": "What is the answer regarding parked vehicles on the shoulder, the presence of a center line, and whether Ego crosses the center line?", "category": "Normal Perception & Prediction", "options": ["A. The center line is not visible", "B. The center line is clearly visible", "C. The center line is faintly visible", "D. The center line is obscured by the shoulder vehicle"], "answer_index": 1}
{"token": "04a5ceae782b7f5ec6ac06f1af981ad6", "waymo_split": "test", "type": "video", "frame_index": null, "question": "Is there a blind spot in your field of vision?", "category": "Uncertainty", "options": ["A. There is one on the right", "B. None", "C. Yes", "D. Partially"], "answer_index": 1}
{"token": "04a5ceae782b7f5ec6ac06f1af981ad6", "waymo_split": "test", "type": "video", "frame_index": null, "question": "Which of the following is a correct description of traffic signals?", "category": "Traffic Signal", "options": ["A. The road markings are clear, and the current vehicle standard is a straight arrow.", "B. The traffic light is clear, and the current vehicle standard is a green signal.", "C. The traffic light is clear, and the current vehicle standard is a red signal.", "D. The traffic light is clear, and the current vehicle standard is a left turn signal."], "answer_index": 2}
{"token": "04a5ceae782b7f5ec6ac06f1af981ad6", "waymo_split": "test", "type": "video", "frame_index": null, "question": "What is the correlation in safety-critical situations?", "category": "Safety-critical scene Understanding", "options": ["A. Car and car", "B. Car and two-wheeler", "C. Person and two-wheeler", "D. Car and person"], "answer_index": 0}
{"token": "04a5ceae782b7f5ec6ac06f1af981ad6", "waymo_split": "test", "type": "video", "frame_index": null, "question": "What is a safety-critical object?", "category": "Safety-critical Perception", "options": ["A. A vehicle rapidly entering from left to right despite a red light", "B. A vehicle slowly proceeding from left to right on a green light", "C. A bus waiting in the right lane at the stop line for a red light", "D. A pedestrian crossing from right to left in accordance with the pedestrian signal"], "answer_index": 0}
{"token": "04a5ceae782b7f5ec6ac06f1af981ad6", "waymo_split": "test", "type": "video", "frame_index": null, "question": "How did the safety-critical object move and how did the Ego vehicle behave?", "category": "Safety-critical scene Understanding", "options": ["A. Stopped at the crosswalk in accordance with the pedestrian signal (no movement from right to left based on the front camera). The Ego vehicle is stopped waiting for a left turn signal.", "B. Passed through the intersection at a slow speed while obeying the signal (moving from right to left based on the front camera). The Ego vehicle is changing lanes to enter the right turn lane.", "C. Slowed down at the yellow signal and stopped in front of the stop line (no movement from left to right based on the front camera). The Ego vehicle is temporarily stopped in front of the pedestrian crosswalk.", "D. Moved quickly through the crosswalk while violating the red signal (moving from left to right based on the front camera). The Ego vehicle is proceeding straight according to the green signal, regardless of this."], "answer_index": 3}
{"token": "04a5ceae782b7f5ec6ac06f1af981ad6", "waymo_split": "test", "type": "video", "frame_index": null, "question": "What situations may potentially occur depending on the type/state of the road?", "category": "Normal Perception & Prediction", "options": ["A. None", "B. Flooding", "C. Construction", "D. Icing"], "answer_index": 0}
{"token": "04a5ceae782b7f5ec6ac06f1af981ad6", "waymo_split": "test", "type": "video", "frame_index": null, "question": "What situation might have occurred if the vehicle had acted this way?", "category": "Counterfactual", "options": ["A. If the vehicle had not increased its speed, it could have prevented or avoided a collision with the vehicle moving from left to right.", "B. If the vehicle had increased its speed, it could have prevented or avoided a collision with the vehicle moving from left to right.", "C. If the vehicle had not increased its speed, it could not have avoided a collision with the vehicle entering from right to left.", "D. If the vehicle had braked suddenly, it could not have prevented contact with the pedestrian crossing from left to right."], "answer_index": 0}
{"token": "04a5ceae782b7f5ec6ac06f1af981ad6", "waymo_split": "test", "type": "video", "frame_index": null, "question": "Who is responsible in a safety-critical situation? What is the cause?", "category": "Safety-critical scene Understanding", "options": ["A. The vehicle speeding from left to right while ignoring the signal is responsible, as it was speeding through the crosswalk while ignoring the signal.", "B. The vehicle that was driving slowly from right to left is responsible, as it passed through the center of the intersection without stopping at the yellow light.", "C. The pedestrian who illegally entered the crosswalk is responsible, as they jumped in without checking left or right.", "D. The taxi that suddenly started from the left turn waiting line is responsible, as it changed lanes without signaling and passed in front of the crosswalk."], "answer_index": 0}
{"token": "04a5ceae782b7f5ec6ac06f1af981ad6", "waymo_split": "test", "type": "video", "frame_index": null, "question": "Summary of Ego (own vehicle) behavior before a safety-critical situation", "category": "Normal scene Understanding", "options": ["A. Maintain a stop in accordance with the pedestrian signal", "B. Enter the right lane for a right turn", "C. Start to proceed slowly as the vehicle in front departs", "D. Start driving as the signal changes"], "answer_index": 3}
{"token": "04a5ceae782b7f5ec6ac06f1af981ad6", "waymo_split": "test", "type": "image", "frame_index": 34, "question": "Based on the current appearance of the person/car (two-wheeled), how are they trying to move?", "category": "Normal Perception & Prediction", "options": ["A. The vehicle at the intersection is in the right turn lane and is trying to make a right turn without stopping.", "B. The vehicle at the intersection has a green light for going straight and is trying to pass through.", "C. The vehicle at the intersection has a red light, so it is waiting for the signal.", "D. The vehicle at the intersection has a left turn arrow illuminated and is trying to join the left turn queue to move."], "answer_index": 2}
{"token": "04a5ceae782b7f5ec6ac06f1af981ad6", "waymo_split": "test", "type": "image", "frame_index": 34, "question": "Which of the following is a correct description of traffic density?", "category": "Normal scene Understanding", "options": ["A. Fast, many surrounding vehicles", "B. Fast, few surrounding vehicles", "C. Slow, many surrounding vehicles", "D. Slow, few surrounding vehicles"], "answer_index": 0}
{"token": "04a5ceae782b7f5ec6ac06f1af981ad6", "waymo_split": "test", "type": "image", "frame_index": 34, "question": "What is the plan for yielding when an ambulance/fire truck approaches?", "category": "Special Event", "options": ["A. Since the fire truck is far away, maintain speed and pass through the intersection first. Then gradually move to the right.", "B. There are no vehicles in the right lane, so the fire truck can enter from that side. You do not need to move your vehicle.", "C. If you turn on your hazard lights and stop in the center of the lane, the fire truck can pass on the left. Your vehicle must stop first to control the traffic.", "D. Since the left lane is empty, move your vehicle to that side to create a path. The fire truck can detour through the center lane."], "answer_index": 1}
{"token": "04a5ceae782b7f5ec6ac06f1af981ad6", "waymo_split": "test", "type": "image", "frame_index": 34, "question": "Which of the following is correct from the perspective of Safety-critical Frame regarding Image Caption?", "category": "Safety-critical scene caption", "options": ["A. None", "B. A scene where a vehicle suddenly drives onto a sidewalk with a stroller", "C. A pedestrian crossing the crosswalk on a red light", "D. A worker handling electrical wires at the top of a ladder without a safety helmet"], "answer_index": 0}
{"token": "04a5ceae782b7f5ec6ac06f1af981ad6", "waymo_split": "test", "type": "image", "frame_index": 34, "question": "What are the restrictions on behavior in school zones/congested areas?", "category": "Special Event", "options": ["A. No left turn", "B. Stop", "C. None", "D. Obligation to slow down"], "answer_index": 2}
{"token": "04a5ceae782b7f5ec6ac06f1af981ad6", "waymo_split": "test", "type": "image", "frame_index": 34, "question": "What are the classifications of scenes?", "category": "Normal scene Understanding", "options": ["A. Highway", "B. City", "C. Unpaved", "D. Residential area"], "answer_index": 1}
{"token": "04a5ceae782b7f5ec6ac06f1af981ad6", "waymo_split": "test", "type": "image", "frame_index": 34, "question": "What is the description of non-safety-critical objects?", "category": "Normal Perception & Prediction", "options": ["A. Vehicles moving from right to left at the intersection", "B. Vehicles entering while making a left turn at the intersection", "C. Vehicles moving from left to right at the intersection", "D. Pedestrians crossing from left to right at the intersection"], "answer_index": 2}
{"token": "04a5ceae782b7f5ec6ac06f1af981ad6", "waymo_split": "test", "type": "image", "frame_index": 34, "question": "Is there a blind spot?", "category": "Uncertainty", "options": ["A. Exists when driving at high speed", "B. Exists", "C. Does not exist", "D. There is a blind spot on the right rear side"], "answer_index": 2}
{"token": "04a5ceae782b7f5ec6ac06f1af981ad6", "waymo_split": "test", "type": "image", "frame_index": 34, "question": "Which of the following is a correct description of the environment?", "category": "Normal scene Understanding", "options": ["A. Cloudy, night", "B. Cloudy, day", "C. Clear, day", "D. Foggy, day"], "answer_index": 1}
{"token": "04a5ceae782b7f5ec6ac06f1af981ad6", "waymo_split": "test", "type": "image", "frame_index": 34, "question": "Which of the following is a correct description of traffic signals?", "category": "Traffic Signal", "options": ["A. There is a small sign indicating 'ONE WAY' attached to the traffic light on the left side of the vehicle, in the direction of travel.", "B. There is a small 'NO LEFT TURN' sign set up in front of the straight lane at the central divider of the intersection.", "C. On the left traffic light pole of the vehicle, there is a 'RIGHT ONLY' sign along with a right turn arrow.", "D. There is a small 'ONE WAY' sign attached to the traffic light on the right side of the vehicle, indicating the direction of a right turn."], "answer_index": 0}
{"token": "04a5ceae782b7f5ec6ac06f1af981ad6", "waymo_split": "test", "type": "image", "frame_index": 34, "question": "What is a safety-critical object?", "category": "Safety-critical Perception", "options": ["A. No safety-critical object", "B. Safety-critical brake controller", "C. There is a safety-critical object", "D. Safety-critical sensor module"], "answer_index": 0}
{"token": "04a5ceae782b7f5ec6ac06f1af981ad6", "waymo_split": "test", "type": "image", "frame_index": 34, "question": "What is the answer regarding parked vehicles on the shoulder, the presence of a center line, and whether Ego has crossed the center line?", "category": "Normal Perception & Prediction", "options": ["A. Ego crossed the center line", "B. No center line", "C. There is a center line", "D. No parking on the shoulder"], "answer_index": 2}
{"token": "04a5ceae782b7f5ec6ac06f1af981ad6", "waymo_split": "test", "type": "image", "frame_index": 34, "question": "How should I drive to solve the first risk while also addressing the second risk?", "category": "Safety-critical Planning", "options": ["A. No safety-critical objects", "B. There are safety-critical objects", "C. Entering a safety-critical pedestrian lane", "D. Approaching a safety-critical vehicle from the left"], "answer_index": 0}
{"token": "04a5ceae782b7f5ec6ac06f1af981ad6", "waymo_split": "test", "type": "image", "frame_index": 34, "question": "Are there any other safety-critical objects besides the first safety-critical object? If so, how will they be moved?", "category": "Safety-critical Prediction", "options": ["A. There is an oxygen cylinder, secured on a cart and moved to the side bay.", "B. There is a fire extinguisher, moved to the end of the hallway with the pin locked.", "C. There is a sharp waste container, moved to the disposal area with the lid secured.", "D. There are no safety-critical objects."], "answer_index": 3}
{"token": "04a5ceae782b7f5ec6ac06f1af981ad6", "waymo_split": "test", "type": "image", "frame_index": 34, "question": "How do you think safety-critical objects will move?", "category": "Safety-critical Prediction", "options": ["A. There is a safety-critical object", "B. Safety-critical pedestrian approach", "C. Safety-critical lane change", "D. There is no safety-critical object"], "answer_index": 3}
{"token": "04a5ceae782b7f5ec6ac06f1af981ad6", "waymo_split": "test", "type": "image", "frame_index": 34, "question": "Is lane change possible? Which is safer between slowing down and changing lanes?", "category": "Safety-critical Planning", "options": ["A. Slowing down is safer right now", "B. Neither is possible", "C. Entering the right lane is possible", "D. Changing to the left lane is safe"], "answer_index": 1}
{"token": "04a5ceae782b7f5ec6ac06f1af981ad6", "waymo_split": "test", "type": "image", "frame_index": 34, "question": "What is the correlation in safety-critical situations?", "category": "Safety-critical scene Understanding", "options": ["A. Safety-critical left-turning vehicle", "B. Safety-critical pedestrian crossing", "C. Safety-critical approaching motorcycle", "D. No safety-critical object"], "answer_index": 3}
{"token": "04a5ceae782b7f5ec6ac06f1af981ad6", "waymo_split": "test", "type": "image", "frame_index": 34, "question": "What is the safest choice when approaching a yellow signal: stop vs. proceed?", "category": "Special Event", "options": ["A. It is a red signal, so I am stopping.", "B. I am proceeding because a vehicle is approaching from behind.", "C. I am proceeding, anticipating a signal change.", "D. I am proceeding because it is a yellow signal."], "answer_index": 0}
{"token": "04a5ceae782b7f5ec6ac06f1af981ad6", "waymo_split": "test", "type": "image", "frame_index": 34, "question": "Where is the area that hides danger behind the current frame?", "category": "Uncertainty", "options": ["A. Behind the right street tree", "B. None", "C. Behind the left van", "D. In front of the bus blind spot"], "answer_index": 1}
{"token": "04a5ceae782b7f5ec6ac06f1af981ad6", "waymo_split": "test", "type": "image", "frame_index": 34, "question": "Who is responsible in a safety-critical situation? What is the cause?", "category": "Safety-critical scene Understanding", "options": ["A. Lane recognition model bug", "B. Lidar calibration error", "C. No safety-critical object", "D. Driver negligence"], "answer_index": 2}
{"token": "04a5ceae782b7f5ec6ac06f1af981ad6", "waymo_split": "test", "type": "image", "frame_index": 34, "question": "What are the new exposure risk candidates in the following section?", "category": "Safety-critical Prediction", "options": ["A. Slippery", "B. Steep slope", "C. None", "D. Falling rocks"], "answer_index": 2}
{"token": "04a5ceae782b7f5ec6ac06f1af981ad6", "waymo_split": "test", "type": "image", "frame_index": 34, "question": "What is the method to avoid blind spots when passing large vehicles?", "category": "Special Event", "options": ["A. Passing beside the bus", "B. Getting close to the large vehicle", "C. Overtaking slowly", "D. No large vehicle"], "answer_index": 3}
{"token": "04a5ceae782b7f5ec6ac06f1af981ad6", "waymo_split": "test", "type": "image", "frame_index": 34, "question": "What situation might occur if the self-driving car behaved like this?", "category": "Counterfactual", "options": ["A. If the self-driving car accelerates without waiting for the signal, it could collide with vehicles moving from left to right at the intersection. (There are no people at the crosswalk right in front.)", "B. If the self-driving car accelerates without waiting for the signal, vehicles moving from right to left are stopped and can exit without collision (but it may collide with pedestrians at the crosswalk in front).", "C. If the self-driving car ignores the signal and starts moving, there is a slight risk of colliding with the vehicle directly in front since the straight lane is empty (its path does not overlap with the flow of traffic at the intersection).", "D. If the self-driving car continues to accelerate, it could face a head-on collision with an oncoming vehicle (vehicles on the left and right at the intersection are all stopped by the signal)."], "answer_index": 0}
{"token": "04a5ceae782b7f5ec6ac06f1af981ad6", "waymo_split": "test", "type": "image", "frame_index": 34, "question": "What are the guidelines for the behavior of my vehicle in response to the behavior of a safety-critical object?", "category": "Safety-critical Planning", "options": ["A. No safety-critical object", "B. Prioritize avoiding the safety-critical object", "C. Warn and then decelerate for the safety-critical object", "D. Stop immediately for the safety-critical object"], "answer_index": 0}
{"token": "04a5ceae782b7f5ec6ac06f1af981ad6", "waymo_split": "test", "type": "image", "frame_index": 34, "question": "What situations could potentially occur in the current scenario?", "category": "Counterfactual", "options": ["A. The traffic light turns green, allowing the vehicle to proceed.", "B. The left turn arrow signal lights up, allowing a left turn.", "C. The red signal remains, causing all vehicles at the intersection to stop.", "D. The pedestrian signal turns green, allowing pedestrians to cross."], "answer_index": 0}
{"token": "04a5ceae782b7f5ec6ac06f1af981ad6", "waymo_split": "test", "type": "image", "frame_index": 68, "question": "Based on the current appearance of the person/vehicle (two-wheeled), how do you intend to move?", "category": "Normal Perception & Prediction", "options": ["A. Going straight", "B. Waiting for a signal", "C. Changing lanes", "D. Entering a right turn"], "answer_index": 1}
{"token": "04a5ceae782b7f5ec6ac06f1af981ad6", "waymo_split": "test", "type": "image", "frame_index": 68, "question": "Which of the following is correct as an Image Caption from a Safety-critical Frame perspective?", "category": "Safety-critical scene caption", "options": ["A. None", "B. Right sudden stop", "C. Left turn signal violation", "D. Jaywalking ahead"], "answer_index": 0}
{"token": "04a5ceae782b7f5ec6ac06f1af981ad6", "waymo_split": "test", "type": "image", "frame_index": 68, "question": "What are the restrictions on behavior in school zones/congested areas?", "category": "Special Event", "options": ["A. Movement restrictions", "B. Time restrictions", "C. Entry prohibited", "D. None"], "answer_index": 3}
{"token": "04a5ceae782b7f5ec6ac06f1af981ad6", "waymo_split": "test", "type": "image", "frame_index": 68, "question": "What are the classifications of scenes?", "category": "Normal scene Understanding", "options": ["A. Unpaved", "B. Urban", "C. Residential area", "D. Highway"], "answer_index": 1}
{"token": "04a5ceae782b7f5ec6ac06f1af981ad6", "waymo_split": "test", "type": "image", "frame_index": 68, "question": "Which of the following is a correct description of traffic density?", "category": "Normal scene Understanding", "options": ["A. Almost no vehicles", "B. Sparse with few vehicles", "C. Moderately many vehicles", "D. Very congested and slow"], "answer_index": 2}
{"token": "04a5ceae782b7f5ec6ac06f1af981ad6", "waymo_split": "test", "type": "image", "frame_index": 68, "question": "What is your plan for yielding when an ambulance/fire truck approaches?", "category": "Special Event", "options": ["A. Yield by maintaining a slow speed", "B. Yield by moving to the left", "C. Yield by accelerating to get out first", "D. Yield by maintaining a stop"], "answer_index": 3}
{"token": "04a5ceae782b7f5ec6ac06f1af981ad6", "waymo_split": "test", "type": "image", "frame_index": 68, "question": "What is the description of non-safety-critical objects?", "category": "Normal Perception & Prediction", "options": ["A. Vehicles parked parallel in front", "B. People standing in front of the traffic light across the street", "C. Vehicles parked at the rear. People crossing the crosswalk towards the traffic light across the street. Vehicles moving from right to left", "D. Vehicles moving from left to right"], "answer_index": 2}
{"token": "04a5ceae782b7f5ec6ac06f1af981ad6", "waymo_split": "test", "type": "image", "frame_index": 68, "question": "Which of the following is a correct description of the environment?", "category": "Normal scene Understanding", "options": ["A. Clear, evening", "B. Rain, dawn", "C. Snow, night", "D. Cloudy, daytime"], "answer_index": 3}
{"token": "04a5ceae782b7f5ec6ac06f1af981ad6", "waymo_split": "test", "type": "image", "frame_index": 68, "question": "Which of the following is a correct description of traffic signals?", "category": "Traffic Signal", "options": ["A. Green traffic light", "B. Left turn road sign", "C. Stop sign", "D. Red traffic light"], "answer_index": 3}
{"token": "04a5ceae782b7f5ec6ac06f1af981ad6", "waymo_split": "test", "type": "image", "frame_index": 68, "question": "What is a safety-critical object?", "category": "Safety-critical Perception", "options": ["A. Emergency stop button module", "B. Brake control unit", "C. No safety-critical object", "D. Main power cutoff switch"], "answer_index": 2}
{"token": "04a5ceae782b7f5ec6ac06f1af981ad6", "waymo_split": "test", "type": "image", "frame_index": 68, "question": "How do you think safety-critical objects will be moved?", "category": "Safety-critical Prediction", "options": ["A. Detection of safety-critical object ahead", "B. No safety-critical objects", "C. Safety-critical hazards approaching from the left", "D. Multiple safety-critical objects on the right"], "answer_index": 1}
{"token": "04a5ceae782b7f5ec6ac06f1af981ad6", "waymo_split": "test", "type": "image", "frame_index": 68, "question": "Is there a blind spot in your field of vision?", "category": "Uncertainty", "options": ["A. There is a rear blind spot", "B. There is no blind spot", "C. There is no left blind spot", "D. There is a right blind spot"], "answer_index": 1}
{"token": "04a5ceae782b7f5ec6ac06f1af981ad6", "waymo_split": "test", "type": "image", "frame_index": 68, "question": "Is there any other safety-critical object besides the first safety-critical object? If so, how will it be moved?", "category": "Safety-critical Prediction", "options": ["A. There is a first aid kit, proceed slowly ahead", "B. There is an emergency stop button, proceed to the right", "C. There is a fire extinguisher, detour to the left", "D. There are no safety-critical objects"], "answer_index": 3}
{"token": "04a5ceae782b7f5ec6ac06f1af981ad6", "waymo_split": "test", "type": "image", "frame_index": 68, "question": "What should be done to drive safely?", "category": "Safety-critical Planning", "options": ["A. No safety-critical objects", "B. Safety-critical object detected", "C. There is a safety-critical pedestrian in the left lane", "D. A high-risk cyclist is approaching from the right"], "answer_index": 0}
{"token": "04a5ceae782b7f5ec6ac06f1af981ad6", "waymo_split": "test", "type": "image", "frame_index": 68, "question": "How should I drive to resolve the first risk while also addressing the second risk?", "category": "Safety-critical Planning", "options": ["A. Emergency avoidance to the right shoulder", "B. No safety-critical objects", "C. Conservative full stop and then restart", "D. Avoidance by changing to the left lane"], "answer_index": 1}
{"token": "04a5ceae782b7f5ec6ac06f1af981ad6", "waymo_split": "test", "type": "image", "frame_index": 68, "question": "Is lane changing possible? Which is safer between deceleration and lane changing?", "category": "Safety-critical Planning", "options": ["A. Deceleration is the safer option", "B. Both are not possible. No safety-critical objects", "C. There is space on the left, lane changing is safer", "D. Both are possible, but deceleration is prioritized"], "answer_index": 1}
{"token": "04a5ceae782b7f5ec6ac06f1af981ad6", "waymo_split": "test", "type": "image", "frame_index": 68, "question": "What is the correlation in a safety-critical situation?", "category": "Safety-critical scene Understanding", "options": ["A. No safety-critical objects", "B. Detection of a safety-critical object", "C. Pedestrian entering from the left lane", "D. Cut-in of a two-wheeled vehicle from the right"], "answer_index": 0}
{"token": "04a5ceae782b7f5ec6ac06f1af981ad6", "waymo_split": "test", "type": "image", "frame_index": 68, "question": "What is the safest choice just before entering a yellow signal: stop or proceed?", "category": "Special Event", "options": ["A. Entering the intersection following the car in front", "B. Proceeding slowly due to the yellow signal", "C. Stopping according to the red signal", "D. Passing through immediately as the left lane is empty"], "answer_index": 2}
{"token": "04a5ceae782b7f5ec6ac06f1af981ad6", "waymo_split": "test", "type": "image", "frame_index": 68, "question": "Who is responsible in safety-critical situations? What is the cause?", "category": "Safety-critical scene Understanding", "options": ["A. Delay in response by the human operator", "B. Misidentification of the safety-critical object", "C. False negative of the perception module", "D. No safety-critical object"], "answer_index": 3}
{"token": "04a5ceae782b7f5ec6ac06f1af981ad6", "waymo_split": "test", "type": "image", "frame_index": 68, "question": "What are the new exposure risk candidates in the following section?", "category": "Safety-critical Prediction", "options": ["A. Right merge", "B. Construction zone", "C. Rockfall risk", "D. None"], "answer_index": 3}
{"token": "04a5ceae782b7f5ec6ac06f1af981ad6", "waymo_split": "test", "type": "image", "frame_index": 68, "question": "Where is the area that hides danger in the current frame?", "category": "Uncertainty", "options": ["A. Front right", "B. Bottom left", "C. None", "D. Behind the bus"], "answer_index": 2}
{"token": "04a5ceae782b7f5ec6ac06f1af981ad6", "waymo_split": "test", "type": "image", "frame_index": 116, "question": "Which of the following is correct as an Image Caption from the perspective of a Normal Frame?", "category": "Normal scene caption", "options": ["A. The traffic light turns red. The vehicle is passing through the intersection.", "B. The traffic light turns green. The vehicle is stopped at the intersection.", "C. The traffic light is yellow. The vehicle is making a right turn to enter.", "D. The pedestrian signal is green. The vehicle is slowing down in front of the crosswalk."], "answer_index": 1}
{"token": "04a5ceae782b7f5ec6ac06f1af981ad6", "waymo_split": "test", "type": "image", "frame_index": 68, "question": "What is the method to avoid the blind spot next to a large vehicle?", "category": "Special Event", "options": ["A. Pass on the right side of the large vehicle", "B. Pass on the left side of the large vehicle", "C. No large vehicle", "D. Wait behind the large vehicle"], "answer_index": 2}
{"token": "04a5ceae782b7f5ec6ac06f1af981ad6", "waymo_split": "test", "type": "image", "frame_index": 116, "question": "Which of the following is correct as an Image Caption from a Safety-critical Frame perspective?", "category": "Safety-critical scene caption", "options": ["A. Ambulance approaching from the front", "B. Electric scooter fallen on the road", "C. No safety-critical objects", "D. Pedestrian detected on the lane"], "answer_index": 2}
{"token": "04a5ceae782b7f5ec6ac06f1af981ad6", "waymo_split": "test", "type": "image", "frame_index": 116, "question": "What are the classifications of scenes?", "category": "Normal scene Understanding", "options": ["A. Unpaved", "B. Highway", "C. Residential area", "D. City"], "answer_index": 3}
{"token": "04a5ceae782b7f5ec6ac06f1af981ad6", "waymo_split": "test", "type": "image", "frame_index": 116, "question": "Based on the current appearance of the person/vehicle (two-wheeled), how do you intend to move?", "category": "Normal Perception & Prediction", "options": ["A. Maintain a stop as the traffic light turns red", "B. Cross on foot when the pedestrian signal turns on", "C. Reduce speed and attempt a U-turn at the designated U-turn area", "D. Start driving as the traffic light turns green"], "answer_index": 3}
{"token": "04a5ceae782b7f5ec6ac06f1af981ad6", "waymo_split": "test", "type": "image", "frame_index": 116, "question": "What is the plan for yielding when an ambulance/fire truck approaches?", "category": "Special Event", "options": ["A. Move to the center of the intersection to clear the way", "B. Turn on the emergency lights and continue driving", "C. Maintain a slow speed when starting to drive", "D. Drive along the center line to create space"], "answer_index": 2}
{"token": "04a5ceae782b7f5ec6ac06f1af981ad6", "waymo_split": "test", "type": "image", "frame_index": 116, "question": "Which of the following is a correct description of the environment?", "category": "Normal scene Understanding", "options": ["A. Fog, dawn", "B. Clear, night", "C. Rain, evening", "D. Cloudy, daytime"], "answer_index": 3}
{"token": "04a5ceae782b7f5ec6ac06f1af981ad6", "waymo_split": "test", "type": "image", "frame_index": 116, "question": "What is a safety-critical object?", "category": "Safety-critical Perception", "options": ["A. Emergency stop button", "B. No safety-critical object", "C. Driving control module", "D. Forward collision detector"], "answer_index": 1}
{"token": "04a5ceae782b7f5ec6ac06f1af981ad6", "waymo_split": "test", "type": "image", "frame_index": 116, "question": "What is the description of non-safety-critical objects?", "category": "Normal Perception & Prediction", "options": ["A. Vehicles parked on the rear side. Vehicles moving left and right at the intersection.", "B. Motorcycles parked on the front side of the road. Pedestrians waiting at the crosswalks on both sides of the intersection.", "C. A taxi temporarily stopped in the left alley. One vehicle making a U-turn on the right side of the intersection.", "D. A delivery vehicle parked on the right shoulder. A bus going straight ahead at the intersection."], "answer_index": 0}
{"token": "04a5ceae782b7f5ec6ac06f1af981ad6", "waymo_split": "test", "type": "image", "frame_index": 116, "question": "How do you think a safety-critical object will be moved?", "category": "Safety-critical Prediction", "options": ["A. No safety-critical object", "B. Safety-critical object is in front", "C. Approaching a safety-critical object", "D. There is a safety-critical object"], "answer_index": 0}
{"token": "04a5ceae782b7f5ec6ac06f1af981ad6", "waymo_split": "test", "type": "image", "frame_index": 116, "question": "How should one drive to address the first hazard while also resolving the second hazard?", "category": "Safety-critical Planning", "options": ["A. No safety-critical objects", "B. Handle the second hazard first", "C. Prioritize avoiding non-critical objects", "D. There are safety-critical objects"], "answer_index": 0}
{"token": "04a5ceae782b7f5ec6ac06f1af981ad6", "waymo_split": "test", "type": "image", "frame_index": 116, "question": "Which of the following is a correct description of traffic signals?", "category": "Traffic Signal", "options": ["A. Red traffic light", "B. Green traffic light", "C. Left turn signal", "D. Stop sign"], "answer_index": 1}
{"token": "04a5ceae782b7f5ec6ac06f1af981ad6", "waymo_split": "test", "type": "image", "frame_index": 116, "question": "What should be done to drive safely?", "category": "Safety-critical Planning", "options": ["A. Wait at the crosswalk", "B. Detect safety-critical objects", "C. No safety-critical objects", "D. Emergency vehicle approaching in the right lane"], "answer_index": 2}
{"token": "04a5ceae782b7f5ec6ac06f1af981ad6", "waymo_split": "test", "type": "image", "frame_index": 116, "question": "Are there any safety-critical objects other than the first safety-critical object? If so, how will they be moved?", "category": "Safety-critical Prediction", "options": ["A. No safety-critical objects", "B. There is a safety-critical fire extinguisher, moving it towards the aisle", "C. There is a safety-critical AED, relocating it near the entrance", "D. There is a safety-critical high-pressure gas cylinder, chaining it and moving it to the right"], "answer_index": 0}
{"token": "04a5ceae782b7f5ec6ac06f1af981ad6", "waymo_split": "test", "type": "image", "frame_index": 116, "question": "Is lane changing possible? Which is safer between slowing down and changing lanes?", "category": "Safety-critical Planning", "options": ["A. Lane changing is preferable, but slowing down disrupts traffic flow.", "B. Lane changing is more straightforward, and the left blind spot is clear.", "C. Slowing down is safe, but there are no safety-critical objects.", "D. Lane changing is safe, and there are safety-critical objects present."], "answer_index": 2}
{"token": "04a5ceae782b7f5ec6ac06f1af981ad6", "waymo_split": "test", "type": "image", "frame_index": 116, "question": "What is the correlation in safety-critical situations?", "category": "Safety-critical scene Understanding", "options": ["A. No safety-critical objects", "B. Vehicle-pedestrian near-miss situation", "C. Close encounter with oncoming vehicle", "D. Occupying motorcycle blind spot"], "answer_index": 0}
{"token": "04a5ceae782b7f5ec6ac06f1af981ad6", "waymo_split": "test", "type": "image", "frame_index": 116, "question": "Who is responsible in safety-critical situations? What is the cause?", "category": "Safety-critical scene Understanding", "options": ["A. System responsibility, sensor misinterpretation", "B. Map data error, partner side", "C. No safety-critical object", "D. Driver responsibility, lack of attention to the front"], "answer_index": 2}
{"token": "04a5ceae782b7f5ec6ac06f1af981ad6", "waymo_split": "test", "type": "image", "frame_index": 149, "question": "Which of the following is correct as an Image Caption from the perspective of Normal Frame?", "category": "Normal scene caption", "options": ["A. It is a T-junction, the traffic lights are somewhat obscured, and there are people trying to cross the crosswalk from the right.", "B. It is an intersection, the traffic lights are quite clear, and there are people crossing the crosswalk from the left.", "C. It is a one-way intersection, the traffic lights are not very visible, and there are people waiting for the signal from the right.", "D. It is a narrow intersection, the traffic lights are somewhat blurry, and there are people crossing diagonally from the right."], "answer_index": 1}
{"token": "04a5ceae782b7f5ec6ac06f1af981ad6", "waymo_split": "test", "type": "image", "frame_index": 149, "question": "Which of the following is a correct description of the environment?", "category": "Normal scene Understanding", "options": ["A. Fog, dawn", "B. Clear, night", "C. Rain, evening", "D. Cloudy, day"], "answer_index": 3}
{"token": "04a5ceae782b7f5ec6ac06f1af981ad6", "waymo_split": "test", "type": "image", "frame_index": 149, "question": "What are the classifications of scenes?", "category": "Normal scene Understanding", "options": ["A. City", "B. Unpaved", "C. Residential area", "D. Highway"], "answer_index": 0}
{"token": "04a5ceae782b7f5ec6ac06f1af981ad6", "waymo_split": "test", "type": "image", "frame_index": 149, "question": "Based on the current appearance of the person/vehicle (two-wheeled), how do they intend to move?", "category": "Normal Perception & Prediction", "options": ["A. I intend to pull over to the right edge and stop for a moment.", "B. I intend to turn right at the signal and head into the alley.", "C. I intend to go straight at the traffic light.", "D. I intend to turn left at the left turn signal."], "answer_index": 2}
{"token": "04a5ceae782b7f5ec6ac06f1af981ad6", "waymo_split": "test", "type": "image", "frame_index": 149, "question": "Which of the following describes a non-safety-critical object?", "category": "Normal Perception & Prediction", "options": ["A. Pedestrians crossing the crosswalk ahead", "B. Delivery motorcycles temporarily parked on the right shoulder", "C. City bus moving slowly in the left lane", "D. Vehicles stopped in accordance with the signal on the left or right"], "answer_index": 3}
{"token": "04a5ceae782b7f5ec6ac06f1af981ad6", "waymo_split": "test", "type": "image", "frame_index": 149, "question": "Which of the following statements about traffic signals is correct?", "category": "Traffic Signal", "options": ["A. The traffic light for my vehicle is red.", "B. The pedestrian traffic light is green.", "C. The traffic light for the opposite lane is green.", "D. The traffic light for my vehicle is green."], "answer_index": 3}
{"token": "04a5ceae782b7f5ec6ac06f1af981ad6", "waymo_split": "test", "type": "image", "frame_index": 149, "question": "Is there a blind spot in your field of vision?", "category": "Uncertainty", "options": ["A. There is one when turning right", "B. There is one", "C. It is on the left", "D. There is none"], "answer_index": 3}
{"token": "04a5ceae782b7f5ec6ac06f1af981ad6", "waymo_split": "test", "type": "image", "frame_index": 149, "question": "How do you think safety-critical objects will move?", "category": "Safety-critical Prediction", "options": ["A. The vehicle will turn right, and people will continue to cross the crosswalk according to the signal.", "B. The vehicle will stop at the stop line, and people will hurry to cross when the black car stops.", "C. The vehicle will turn left, and people will slow down to avoid a collision with a bicycle while crossing the crosswalk.", "D. The vehicle will go straight, and people will stop to avoid a collision with the black car while crossing the crosswalk."], "answer_index": 3}
{"token": "04a5ceae782b7f5ec6ac06f1af981ad6", "waymo_split": "test", "type": "image", "frame_index": 149, "question": "What is a safety-critical object?", "category": "Safety-critical Perception", "options": ["A. A blue SUV slowly changing lanes from right to left. Two bicycles waiting at the crosswalk in front of this vehicle.", "B. A black vehicle speeding straight from left to right, violating the signal. People crossing the crosswalk in front of this vehicle according to the signal.", "C. A white vehicle slowly making a right turn from left to right according to the signal. Pedestrians waiting on the sidewalk next to this vehicle.", "D. A gray sedan stopped at the stop line. An electric scooter parked at the edge of the opposite lane from this vehicle."], "answer_index": 1}
{"token": "04a5ceae782b7f5ec6ac06f1af981ad6", "waymo_split": "test", "type": "image", "frame_index": 149, "question": "What is the correlation in safety-critical situations?", "category": "Safety-critical scene Understanding", "options": ["A. Two-wheeler - person", "B. Car - person", "C. Car - two-wheeler", "D. Car - car"], "answer_index": 3}
{"token": "04a5ceae782b7f5ec6ac06f1af981ad6", "waymo_split": "test", "type": "image", "frame_index": 149, "question": "What should I do to drive safely?", "category": "Safety-critical Planning", "options": ["A. Since the vehicle on the right is close, I need to speed up and pass first.", "B. The speed of that car is high, so I need to brake suddenly.", "C. Since the distance to the car in front is close, I need to change lanes quickly.", "D. Since the road surface is wet, I should drive while pressing the brake."], "answer_index": 1}
{"token": "04a5ceae782b7f5ec6ac06f1af981ad6", "waymo_split": "test", "type": "image", "frame_index": 149, "question": "How should I drive to address the first risk while also resolving the second risk?", "category": "Safety-critical Planning", "options": ["A. Detour", "B. Stop", "C. None", "D. Slow down"], "answer_index": 2}
{"token": "04a5ceae782b7f5ec6ac06f1af981ad6", "waymo_split": "test", "type": "image", "frame_index": 149, "question": "Is there any other safety-critical object besides the first safety-critical object? If so, how will it be moved?", "category": "Safety-critical Prediction", "options": ["A. Yes", "B. Yes, move slowly with a forklift", "C. Yes, transfer to the right", "D. No"], "answer_index": 3}
{"token": "04a5ceae782b7f5ec6ac06f1af981ad6", "waymo_split": "test", "type": "image", "frame_index": 149, "question": "Is lane changing possible? Which is safer between deceleration and lane changing?", "category": "Safety-critical Planning", "options": ["A. Acceleration", "B. Overtaking", "C. Deceleration", "D. Lane changing"], "answer_index": 2}
{"token": "04a5ceae782b7f5ec6ac06f1af981ad6", "waymo_split": "test", "type": "image", "frame_index": 149, "question": "Who is responsible in a safety-critical situation? What is the cause?", "category": "Safety-critical scene Understanding", "options": ["A. The white SUV that was moving slowly from right to left is responsible. It changed lanes abruptly without signaling.", "B. The pedestrian who jumped into the left crosswalk is responsible. They entered beyond the stop line without permission.", "C. The silver sedan that was turning left from the front is responsible. It accelerated on a yellow signal and cut in.", "D. The black vehicle that was moving quickly from left to right is responsible. It is driving at high speed and violating the signal."], "answer_index": 3}
{"token": "04a5ceae782b7f5ec6ac06f1af981ad6", "waymo_split": "test", "type": "image", "frame_index": 141, "question": "Based on the current appearance of the person/vehicle (two-wheeled), how do you intend to move?", "category": "Normal Perception & Prediction", "options": ["A. Turn right", "B. Go straight", "C. Stop", "D. Turn left"], "answer_index": 1}
{"token": "04a5ceae782b7f5ec6ac06f1af981ad6", "waymo_split": "test", "type": "image", "frame_index": 141, "question": "Which of the following is correct as an Image Caption from the perspective of a Normal Frame?", "category": "Normal scene caption", "options": ["A. A car waiting to turn left at a red light, with vehicles turning left from the intersection passing from right to left, and pedestrians standing on the sidewalk waiting for the white sedan in the first lane to get a signal.", "B. A car gradually slowing down as the light turns yellow, vehicles turning right to avoid the intersection from south to north, and a silver SUV in the third lane slowly approaching and preparing to stop, with people just waiting at the crosswalk.", "C. A car slowly turning in accordance with the protected left turn signal, vehicles going straight on the right passing through on a green light, and a black van in the second lane with its turn signal on, stopped, while pedestrians have not yet started to cross.", "D. A car going straight as the light turns green. Vehicles coming straight from the left to the right stopping at a red light at the intersection. However, a black van in the second lane approaching quickly without stopping. People starting to cross the crosswalk."], "answer_index": 3}
{"token": "04a5ceae782b7f5ec6ac06f1af981ad6", "waymo_split": "test", "type": "image", "frame_index": 141, "question": "What is the plan for yielding when an ambulance/fire truck approaches?", "category": "Special Event", "options": ["A. Accelerate and pass", "B. Decelerate and yield", "C. Proceed with emergency lights on", "D. Stop after entering the intersection"], "answer_index": 1}
{"token": "04a5ceae782b7f5ec6ac06f1af981ad6", "waymo_split": "test", "type": "image", "frame_index": 141, "question": "Which of the following is a correct description of traffic density?", "category": "Normal scene Understanding", "options": ["A. A moderate number of vehicles", "B. Sparsely visible vehicles", "C. Almost no vehicles", "D. Vehicles densely packed"], "answer_index": 0}
{"token": "04a5ceae782b7f5ec6ac06f1af981ad6", "waymo_split": "test", "type": "image", "frame_index": 141, "question": "What are the classifications of scenes?", "category": "Normal scene Understanding", "options": ["A. Unpaved", "B. Residential area", "C. Highway", "D. City"], "answer_index": 3}
{"token": "04a5ceae782b7f5ec6ac06f1af981ad6", "waymo_split": "test", "type": "image", "frame_index": 141, "question": "Which of the following is correct as an Image Caption from a Safety-critical Frame perspective?", "category": "Safety-critical scene caption", "options": ["A. A gray SUV vehicle in the first lane, moving away from the right to the left.", "B. A white small truck in the third lane, changing lanes to the left from the front.", "C. A silver sedan vehicle in the central lane, slowly approaching from the left to the right.", "D. A black van in the second lane, approaching quickly from the left to the right without stopping."], "answer_index": 3}
{"token": "04a5ceae782b7f5ec6ac06f1af981ad6", "waymo_split": "test", "type": "image", "frame_index": 141, "question": "Which of the following is a correct description of traffic signals?", "category": "Traffic Signal", "options": ["A. Clarity of traffic lights", "B. Brightness of traffic lights", "C. Clarity of road markings", "D. Readability of signs"], "answer_index": 0}
{"token": "04a5ceae782b7f5ec6ac06f1af981ad6", "waymo_split": "test", "type": "image", "frame_index": 141, "question": "Which of the following is a correct description of the environment?", "category": "Normal scene Understanding", "options": ["A. Fog, daytime", "B. Cloudy, daytime", "C. Clear, daytime", "D. Cloudy, nighttime"], "answer_index": 1}
{"token": "04a5ceae782b7f5ec6ac06f1af981ad6", "waymo_split": "test", "type": "image", "frame_index": 141, "question": "What is the description of a non-safety-critical object?", "category": "Normal Perception & Prediction", "options": ["A. A situation where a motorcycle and a taxi are approaching from the opposite direction of our vehicle, passing through an intersection while the yellow flashing signal indicates to slow down.", "B. Vehicles on a diagonal to our vehicle's direction, meaning they are turning right from the left and gradually approaching our lane with their turn signals on.", "C. Vehicles that are parallel to our vehicle's direction, meaning they are maintaining speed as the traffic light is green, existing in front and behind while passing through the intersection.", "D. Vehicles that are perpendicular to our vehicle's direction, meaning they are slowing down as the traffic light is red, stopping just before the crosswalk on the left and right."], "answer_index": 3}
{"token": "04a5ceae782b7f5ec6ac06f1af981ad6", "waymo_split": "test", "type": "image", "frame_index": 141, "question": "What is a safety-critical object?", "category": "Safety-critical Perception", "options": ["A. A gray delivery truck in the third lane, maintaining distance while decelerating from left to right.", "B. A black van in the second lane, approaching quickly from left to right without stopping.", "C. A white sedan in the first lane, moving away slowly from right to left.", "D. A silver SUV in the second lane, stopped in front, waiting for a signal."], "answer_index": 1}
{"token": "04a5ceae782b7f5ec6ac06f1af981ad6", "waymo_split": "test", "type": "image", "frame_index": 141, "question": "Is there a blind spot in your field of vision?", "category": "Uncertainty", "options": ["A. There is a slight blind spot", "B. There is none", "C. There is a blind spot", "D. There is a blind spot when turning right"], "answer_index": 1}
{"token": "04a5ceae782b7f5ec6ac06f1af981ad6", "waymo_split": "test", "type": "image", "frame_index": 141, "question": "What should I do to drive safely?", "category": "Safety-critical Planning", "options": ["A. Monitor the speed of the vehicle and reduce speed to avoid a collision.", "B. Use the horn and high beams to alert and make the other vehicle reduce speed first.", "C. Accelerate to match the speed of the vehicle and quickly overtake to get out of the danger zone.", "D. Change lanes before the vehicle in front to cut in and lead the flow."], "answer_index": 0}
{"token": "04a5ceae782b7f5ec6ac06f1af981ad6", "waymo_split": "test", "type": "image", "frame_index": 141, "question": "Are there any other safety-critical objects besides the first safety-critical object? If so, how would you move them?", "category": "Safety-critical Prediction", "options": ["A. Fire extinguisher, to the right along the wall.", "B. None", "C. Fuel drum, to the center without shaking.", "D. High-pressure gas cylinder, slowly retreating with a cart."], "answer_index": 1}
{"token": "04a5ceae782b7f5ec6ac06f1af981ad6", "waymo_split": "test", "type": "image", "frame_index": 141, "question": "How do you think a safety-critical object would move?", "category": "Safety-critical Prediction", "options": ["A. It seems like it would move diagonally up to the right in accordance with the signal, slowing down near the center of the intersection.", "B. It seems like it would go straight from left to right, ignoring the signal, possibly speeding past the crosswalk.", "C. It seems like it would slowly move from right to left while observing the signal, likely stopping in front of the crosswalk.", "D. It seems like it would briefly turn left and move in a curve, traveling at the edge of the lane."], "answer_index": 1}
{"token": "04a5ceae782b7f5ec6ac06f1af981ad6", "waymo_split": "test", "type": "image", "frame_index": 141, "question": "What is the correlation in safety-critical situations?", "category": "Safety-critical scene Understanding", "options": ["A. Two-wheeler to two-wheeler", "B. Car to car", "C. Car to person", "D. Car to two-wheeler"], "answer_index": 1}
{"token": "04a5ceae782b7f5ec6ac06f1af981ad6", "waymo_split": "test", "type": "image", "frame_index": 141, "question": "Is lane changing possible? Which is safer between slowing down and changing lanes?", "category": "Safety-critical Planning", "options": ["A. Maintain speed", "B. Change lanes", "C. Accelerate", "D. Slow down"], "answer_index": 3}
{"token": "04a5ceae782b7f5ec6ac06f1af981ad6", "waymo_split": "test", "type": "image", "frame_index": 141, "question": "What is the method to avoid the blind spot next to a large vehicle?", "category": "Special Event", "options": ["A. Pass on the right", "B. Pass slowly", "C. Turn on hazard lights", "D. No large vehicle"], "answer_index": 3}
{"token": "04a5ceae782b7f5ec6ac06f1af981ad6", "waymo_split": "test", "type": "image", "frame_index": 141, "question": "What is the safest choice just before entering a yellow signal: stop vs. pass?", "category": "Special Event", "options": ["A. Slowing down is safe", "B. Accelerating is safe", "C. Turning right is safe", "D. Stopping is safe"], "answer_index": 3}
{"token": "04a5ceae782b7f5ec6ac06f1af981ad6", "waymo_split": "test", "type": "image", "frame_index": 141, "question": "What is the guideline for my vehicle's behavior based on the actions of a safety-critical object?", "category": "Safety-critical Planning", "options": ["A. If the safety-critical object continues to drive at the same speed, I should slow down or brake hard to avoid a collision.", "B. If the safety-critical object is slowly decelerating ahead, I should keep the steering steady and maintain my cruise speed to avoid overtaking.", "C. If the safety-critical object continues to drive at the same speed, I should accelerate to maintain the flow and close the gap.", "D. If the safety-critical object slightly crosses the lane, I should just honk the horn and maintain my speed."], "answer_index": 0}
{"token": "04a5ceae782b7f5ec6ac06f1af981ad6", "waymo_split": "test", "type": "image", "frame_index": 141, "question": "What situation might have occurred if the vehicle had acted this way?", "category": "Counterfactual", "options": ["A. If the vehicle had honked, the car in front could have stopped first.", "B. If the vehicle had slowed down, a collision could have been avoided.", "C. If the vehicle had turned right, traffic congestion at the intersection could have been avoided.", "D. If the vehicle had accelerated, changing lanes might have been safer."], "answer_index": 1}
{"token": "04a5ceae782b7f5ec6ac06f1af981ad6", "waymo_split": "test", "type": "image", "frame_index": 141, "question": "What are the potentially occurring situations in the current scenario?", "category": "Counterfactual", "options": ["A. Collision with a safety-critical object or sudden braking of the vehicle to avoid it", "B. Normal stop due to waiting for a signal ahead or waiting for a scheduled left turn", "C. Minor contact with a vehicle in the adjacent lane or gentle deceleration of the vehicle to avoid it", "D. Unnecessary lane change or route recalculation due to road sign recognition error"], "answer_index": 0}
{"token": "05019aad63090c9c1833c945592b4a31", "waymo_split": "test", "type": "video", "frame_index": null, "question": "Where is the safety-critical situation in the video?", "category": "Temporal Grounding", "options": ["A. 2/4", "B. 4/4", "C. 1/4", "D. 3/4"], "answer_index": 0}
{"token": "05019aad63090c9c1833c945592b4a31", "waymo_split": "test", "type": "video", "frame_index": null, "question": "Is there a special situation?", "category": "Special Event", "options": ["A. A situation where an emergency vehicle with sirens is approaching from behind", "B. A situation where the right lane is blocked by construction cones and you need to detour", "C. A characteristic of a two-lane road like a rural road without a central line", "D. A situation where both directions must stop due to a stationary school bus"], "answer_index": 2}
{"token": "05019aad63090c9c1833c945592b4a31", "waymo_split": "test", "type": "video", "frame_index": null, "question": "What is the classification of the scene?", "category": "Normal scene Understanding", "options": ["A. It seems like an unpaved country road.", "B. It seems like a road in the middle of the city.", "C. It seems like a highway section.", "D. It seems like a paved road, but not in a city."], "answer_index": 3}
{"token": "05019aad63090c9c1833c945592b4a31", "waymo_split": "test", "type": "video", "frame_index": null, "question": "Which of the following is a correct description of traffic density?", "category": "Normal scene Understanding", "options": ["A. Speed is moderate with almost no surrounding vehicles", "B. Speed is slightly slow with quite a few surrounding vehicles on a gentle downhill", "C. Speed is fast with many surrounding vehicles", "D. Speed is slow with a normal number of surrounding vehicles on a slight uphill"], "answer_index": 0}
{"token": "05019aad63090c9c1833c945592b4a31", "waymo_split": "test", "type": "video", "frame_index": null, "question": "Which of the following is a correct description of road alignment?", "category": "Normal Perception & Prediction", "options": ["A. Overtaking", "B. Going straight", "C. Right turn", "D. Left turn"], "answer_index": 1}
{"token": "05019aad63090c9c1833c945592b4a31", "waymo_split": "test", "type": "video", "frame_index": null, "question": "What is the description of a non-safety-critical object?", "category": "Normal Perception & Prediction", "options": ["A. It looks like parked cars.", "B. It looks like a few bicycles parked on the sidewalk.", "C. It looks like the signs of stores across the street.", "D. It looks like only street trees and flower pots."], "answer_index": 0}
{"token": "05019aad63090c9c1833c945592b4a31", "waymo_split": "test", "type": "video", "frame_index": null, "question": "Which of the following is a correct description of the environment?", "category": "Normal scene Understanding", "options": ["A. Cloudy, night", "B. Clear, day", "C. Rain, evening", "D. Fog, dawn"], "answer_index": 1}
{"token": "05019aad63090c9c1833c945592b4a31", "waymo_split": "test", "type": "video", "frame_index": null, "question": "Which of the following is a correct description of Spatial Relationship?", "category": "Spatial Relationship", "options": ["A. None", "B. Next to", "C. Contact", "D. Overlap"], "answer_index": 0}
{"token": "05019aad63090c9c1833c945592b4a31", "waymo_split": "test", "type": "video", "frame_index": null, "question": "Is there a blind spot in your field of vision?", "category": "Uncertainty", "options": ["A. There is a slight blind spot", "B. There is none", "C. There is a blind spot", "D. There is one on the right"], "answer_index": 1}
{"token": "05019aad63090c9c1833c945592b4a31", "waymo_split": "test", "type": "video", "frame_index": null, "question": "What is the answer regarding parked vehicles on the shoulder, the presence of a central line, and whether Ego crosses the central line?", "category": "Normal Perception & Prediction", "options": ["A. There is no central line and parked vehicles on the shoulder are rare.", "B. There is a central line and Ego is driving while crossing the central line.", "C. There is a central line and parked vehicles on the shoulder are rare.", "D. There is no central line and parked vehicles on the shoulder are frequently seen."], "answer_index": 0}
{"token": "05019aad63090c9c1833c945592b4a31", "waymo_split": "test", "type": "video", "frame_index": null, "question": "What is a safety-critical object?", "category": "Safety-critical Perception", "options": ["A. A gray SUV moving slowly in the center lane", "B. A white vehicle driving at a constant speed in the right lane", "C. A silver van with its hazard lights on in the shoulder", "D. A red vehicle driving against traffic in the left lane"], "answer_index": 3}
{"token": "05019aad63090c9c1833c945592b4a31", "waymo_split": "test", "type": "video", "frame_index": null, "question": "What is the correlation in safety-critical situations?", "category": "Safety-critical scene Understanding", "options": ["A. Car - Two-wheeler", "B. Car - Car", "C. Car - Person", "D. Person - Two-wheeler"], "answer_index": 1}
{"token": "05019aad63090c9c1833c945592b4a31", "waymo_split": "test", "type": "video", "frame_index": null, "question": "Summary of Ego (self-vehicle) behavior before a safety-critical situation", "category": "Normal scene Understanding", "options": ["A. Changing lanes (to the left)", "B. Driving while turning right (decelerating)", "C. Driving straight (without speed change)", "D. Waiting to turn left (at a stop)"], "answer_index": 2}
{"token": "05019aad63090c9c1833c945592b4a31", "waymo_split": "test", "type": "video", "frame_index": null, "question": "How did the safety-critical object move and how did the ego vehicle behave?", "category": "Safety-critical scene Understanding", "options": ["A. A white vehicle that was driving normally in the right lane suddenly cut in front of the ego vehicle, which then braked hard to maintain a safe distance.", "B. A red vehicle driving against traffic in the left lane was approaching the ego vehicle quickly. Meanwhile, the ego vehicle in the second lane continued to drive straight.", "C. A black SUV making a U-turn near the center line slowly merged in. At this time, the ego vehicle in the second lane slightly swerved to the right to pass.", "D. A red vehicle driving in the same direction in the left lane gradually slowed down. At this time, the ego vehicle in the second lane reduced its speed and changed lanes to the left."], "answer_index": 1}
{"token": "05019aad63090c9c1833c945592b4a31", "waymo_split": "test", "type": "video", "frame_index": null, "question": "Who is responsible in a safety-critical situation? What is the cause?", "category": "Safety-critical scene Understanding", "options": ["A. The parked vehicle on the shoulder is responsible. Since the parked vehicle is the direct cause of the reduced space, the passing vehicle can drive as usual, and even if there is contact, the fault of the parked vehicle applies first.", "B. Both are responsible. If there is a parked vehicle on the shoulder of a two-lane road without a central line, both parties should slow down from the moment they approach each other to avoid collisions or scraping.", "C. The responsibility lies with the small vehicle. In a situation where a large vehicle occupies a wide lane, the passage of the large vehicle takes priority, so the small vehicle must stop and wait, and there is no need to reduce speed even when they start to face each other.", "D. The responsibility lies with the oncoming vehicle. If there is a parked vehicle on the shoulder in a narrow two-lane road without a central line, my lane's progress takes priority, so the oncoming vehicle must stop first to clear the way, and it is safer for me to pass without slowing down."], "answer_index": 1}
{"token": "05019aad63090c9c1833c945592b4a31", "waymo_split": "test", "type": "image", "frame_index": 9, "question": "Based on the current appearance of the person/vehicle (two-wheeled), how do you intend to move?", "category": "Normal Perception & Prediction", "options": ["A. Make a U-turn", "B. Turn left", "C. Go straight", "D. Turn right"], "answer_index": 2}
{"token": "05019aad63090c9c1833c945592b4a31", "waymo_split": "test", "type": "video", "frame_index": null, "question": "What situation might have occurred if the self-driving car acted this way?", "category": "Counterfactual", "options": ["A. If the self-driving car had increased its speed, it would have been a safer situation.", "B. If the self-driving car had only honked, it would have been a safer situation.", "C. If the self-driving car had made a sudden lane change, it could have avoided an accident.", "D. If the self-driving car had reduced its speed, it would have been a safer situation."], "answer_index": 3}
{"token": "05019aad63090c9c1833c945592b4a31", "waymo_split": "test", "type": "image", "frame_index": 9, "question": "Which of the following is correct as an Image Caption from the perspective of a Normal Frame?", "category": "Normal scene caption", "options": ["A. A wide straight road section with several commercial buildings on both sides (a glass-fronted building at the left corner), a few vehicles waiting at the traffic light at the intersection ahead, and sparse street trees.", "B. A city intersection with multi-story buildings densely packed on all sides (many commercial signs on the right), almost no parked vehicles, but steady traffic in both directions, with very little greenery.", "C. A T-shaped road with low houses attached to the left front corner and sparse trees, a city bus passing ahead, and one or two bicycles visible.", "D. A small intersection-shaped road with almost no buildings around (one exists at the right front corner). There are many trees, and almost no parked vehicles except for one or two visible ahead. There are no moving vehicles."], "answer_index": 3}
{"token": "05019aad63090c9c1833c945592b4a31", "waymo_split": "test", "type": "image", "frame_index": 9, "question": "What are the behavioral restrictions in school zones/congested areas?", "category": "Special Event", "options": ["A. In pedestrian-dense areas, you should attract attention with honking and high beams while maintaining the center of the lane.", "B. You should slow down and drive carefully because there are few signs or lane markings on the road.", "C. In congested areas, you should accelerate to match the flow and frequently change lanes to exit quickly.", "D. In school zones, there are many guide signs and good visibility, so you should pass through at your usual speed."], "answer_index": 1}
{"token": "05019aad63090c9c1833c945592b4a31", "waymo_split": "test", "type": "image", "frame_index": 9, "question": "What is the classification of the scene?", "category": "Normal scene Understanding", "options": ["A. Unpaved rural road section", "B. Main highway section", "C. Residential back road section", "D. Paved road not in a residential area"], "answer_index": 3}
{"token": "05019aad63090c9c1833c945592b4a31", "waymo_split": "test", "type": "image", "frame_index": 9, "question": "Which of the following is a correct description of the environment?", "category": "Normal scene Understanding", "options": ["A. Afternoon shower", "B. Clear daytime", "C. Foggy dawn", "D. Cloudy evening"], "answer_index": 1}
{"token": "05019aad63090c9c1833c945592b4a31", "waymo_split": "test", "type": "image", "frame_index": 9, "question": "What is the description of a non-safety-critical object?", "category": "Normal Perception & Prediction", "options": ["A. There are lawns and small fountains instead of sidewalk blocks. In front, vehicles parked at right angles on both sides and a bus waiting at a signal are visible.", "B. There are small shrubs sparsely located towards the road median. In the front lane, a vehicle parked close to the shoulder and a vehicle moving away are visible.", "C. Instead of a road, there are palm trees densely packed on the block. In the front road, there are vehicles parked far away and vehicles that seem to be approaching.", "D. Instead of palm trees, cherry trees are sparsely planted along the street. In the front road, a few bicycles are passing slowly, and there are hardly any parked cars."], "answer_index": 2}
{"token": "05019aad63090c9c1833c945592b4a31", "waymo_split": "test", "type": "image", "frame_index": 9, "question": "Which of the following is a correct description of traffic signals?", "category": "Traffic Signal", "options": ["A. None", "B. Left turn only", "C. Red signal", "D. Stop"], "answer_index": 0}
{"token": "05019aad63090c9c1833c945592b4a31", "waymo_split": "test", "type": "image", "frame_index": 9, "question": "What is a safety-critical object?", "category": "Safety-critical Perception", "options": ["A. Safety-critical object emergency stop button", "B. Safety-critical object power cut switch", "C. Safety-critical object door sensor", "D. No safety-critical object"], "answer_index": 3}
{"token": "05019aad63090c9c1833c945592b4a31", "waymo_split": "test", "type": "image", "frame_index": 9, "question": "Where is the area that is hidden and concealing danger in the current frame?", "category": "Uncertainty", "options": ["A. The road on the right is blocked by a tree and is not visible", "B. The central lane is blocked by a truck and is not visible", "C. The crosswalk in front is blocked by a bus and is not visible", "D. The left alley is blocked by the corner of a building and is not visible"], "answer_index": 0}
{"token": "05019aad63090c9c1833c945592b4a31", "waymo_split": "test", "type": "image", "frame_index": 9, "question": "What are the newly exposed risk candidates in the following section?", "category": "Safety-critical Prediction", "options": ["A. At the front signal intersection, the signal is short, causing vehicles to brake suddenly or cut in.", "B. In the section where the left alley opens, pedestrians or bicycles may suddenly appear.", "C. On the right side, vehicles or motorcycles may approach quickly from a spot obscured by trees.", "D. From behind, a motorcycle may change lanes and approach quickly."], "answer_index": 2}
{"token": "05019aad63090c9c1833c945592b4a31", "waymo_split": "test", "type": "image", "frame_index": 44, "question": "What are the classifications of scenes?", "category": "Normal scene Understanding", "options": ["A. Highway section", "B. Paved road", "C. Residential alley", "D. Unpaved road"], "answer_index": 1}
{"token": "05019aad63090c9c1833c945592b4a31", "waymo_split": "test", "type": "image", "frame_index": 44, "question": "Which of the following is a correct description of traffic density?", "category": "Normal scene Understanding", "options": ["A. Slow, surrounding vehicles are four", "B. Fast, surrounding vehicles are one", "C. Fast, surrounding vehicles are three", "D. Slow, surrounding vehicles are two"], "answer_index": 2}
{"token": "05019aad63090c9c1833c945592b4a31", "waymo_split": "test", "type": "image", "frame_index": 44, "question": "Based on the current appearance of the person/vehicle (two-wheeled), how do you intend to move?", "category": "Normal Perception & Prediction", "options": ["A. Turn left", "B. Make a U-turn", "C. Turn right", "D. Go straight"], "answer_index": 3}
{"token": "05019aad63090c9c1833c945592b4a31", "waymo_split": "test", "type": "image", "frame_index": 44, "question": "What is correct as an Image Caption from the perspective of Safety-critical Frame?", "category": "Safety-critical scene caption", "options": ["A. A red vehicle is approaching from the left opposite lane. This vehicle must navigate around parked cars on the shoulder in a narrow lane, but it is moving at a high speed. It needs to pass through a narrow two-lane road in the opposite direction of my vehicle.", "B. A white SUV is seen parked on the left shoulder. This vehicle is stationary with its hazard lights on, so it does not obstruct the flow of moving vehicles, and the surrounding speed is stable. My vehicle only needs to maintain a straight path in the same lane.", "C. A blue vehicle is seen ahead in the same lane on the right. This vehicle is moving slowly with a gap from the car in front in a wide lane, and its speed is low. My vehicle needs to follow along a gentle two-lane road in the same direction.", "D. A white vehicle is approaching slowly in the right opposite lane. This vehicle is passing slowly behind a construction vehicle near the center line, causing a slow flow. My vehicle needs to pass through a spacious two-lane road in the opposite direction."], "answer_index": 0}
{"token": "05019aad63090c9c1833c945592b4a31", "waymo_split": "test", "type": "image", "frame_index": 44, "question": "Which of the following is a correct description of the environment?", "category": "Normal scene Understanding", "options": ["A. Clear, daytime", "B. Clear, nighttime", "C. Rain, dawn", "D. Cloudy, afternoon"], "answer_index": 0}
{"token": "05019aad63090c9c1833c945592b4a31", "waymo_split": "test", "type": "image", "frame_index": 44, "question": "Which description is not safety-critical?", "category": "Normal Perception & Prediction", "options": ["A. Bicycles slowly passing on the right. Low shrubs next to the sidewalk.", "B. Vehicles parked on the shoulder to the left. Palm trees along the roadside.", "C. Vehicles parked on the shoulder to the right. Streetlight poles along the roadside.", "D. Motorcycles temporarily stopped on the left. Maple trees along the roadside."], "answer_index": 1}
{"token": "05019aad63090c9c1833c945592b4a31", "waymo_split": "test", "type": "image", "frame_index": 44, "question": "Is there a blind spot?", "category": "Uncertainty", "options": ["A. No blind spot", "B. There is a blind spot", "C. Left blind spot", "D. Right blind spot"], "answer_index": 0}
{"token": "05019aad63090c9c1833c945592b4a31", "waymo_split": "test", "type": "image", "frame_index": 44, "question": "What is a safety-critical object?", "category": "Safety-critical Perception", "options": ["A. A red vehicle stopped on the right shoulder with its hazard lights on", "B. A red vehicle waiting to turn left at an intersection", "C. A red vehicle driving slowly in the same direction as my vehicle in the left lane", "D. A red vehicle approaching my vehicle head-on at a high speed"], "answer_index": 3}
{"token": "05019aad63090c9c1833c945592b4a31", "waymo_split": "test", "type": "image", "frame_index": 44, "question": "Which of the following is a correct description of traffic signals?", "category": "Traffic Signal", "options": ["A. Stop line", "B. Left turn signal", "C. Pedestrian signal", "D. None"], "answer_index": 3}
{"token": "05019aad63090c9c1833c945592b4a31", "waymo_split": "test", "type": "image", "frame_index": 44, "question": "What is the correlation in safety-critical situations?", "category": "Safety-critical scene Understanding", "options": ["A. Car - Two-wheeler", "B. Person - Two-wheeler", "C. Car - Car", "D. Car - Person"], "answer_index": 2}
{"token": "05019aad63090c9c1833c945592b4a31", "waymo_split": "test", "type": "image", "frame_index": 44, "question": "Is lane changing possible? Which is safer between slowing down and changing lanes?", "category": "Safety-critical Planning", "options": ["A. Slowing down", "B. Overtaking", "C. Accelerating", "D. Changing lanes"], "answer_index": 0}
{"token": "05019aad63090c9c1833c945592b4a31", "waymo_split": "test", "type": "image", "frame_index": 44, "question": "How do you think a safety-critical object will move?", "category": "Safety-critical Prediction", "options": ["A. It will move backward", "B. It will move straight", "C. It will turn right", "D. It will turn left"], "answer_index": 1}
{"token": "05019aad63090c9c1833c945592b4a31", "waymo_split": "test", "type": "image", "frame_index": 44, "question": "Is there any other safety-critical object besides the first safety-critical object? If so, how will it move?", "category": "Safety-critical Prediction", "options": ["A. Yes, moving forward", "B. Yes, approaching from the left", "C. No", "D. Yes, moving slowly to the right"], "answer_index": 2}
{"token": "05019aad63090c9c1833c945592b4a31", "waymo_split": "test", "type": "image", "frame_index": 44, "question": "What are the new exposure risk candidates in the following section?", "category": "Safety-critical Prediction", "options": ["A. None", "B. Falling rocks", "C. Slipping", "D. Falling"], "answer_index": 0}
{"token": "05019aad63090c9c1833c945592b4a31", "waymo_split": "test", "type": "image", "frame_index": 44, "question": "What should I do to drive safely?", "category": "Safety-critical Planning", "options": ["A. Since my vehicle has the right of way, I should maintain my speed and go straight (the red car must stop).", "B. Before the red vehicle arrives, I should slightly accelerate to get out first (hesitating is more dangerous).", "C. I should change lanes to an empty lane and pass the red vehicle (turn on hazard lights and pass quickly).", "D. My vehicle should slow down until the red vehicle passes. (The red car should also slow down.)"], "answer_index": 3}
{"token": "05019aad63090c9c1833c945592b4a31", "waymo_split": "test", "type": "image", "frame_index": 44, "question": "Where is the area that is hidden and conceals danger in the current frame?", "category": "Uncertainty", "options": ["A. None", "B. Behind the right flower bed", "C. Behind the front corner", "D. Behind the left truck"], "answer_index": 0}
{"token": "05019aad63090c9c1833c945592b4a31", "waymo_split": "test", "type": "image", "frame_index": 44, "question": "What situation might occur if the self-driving car behaved this way?", "category": "Counterfactual", "options": ["A. If the self-driving car slows down, a situation may be created where both vehicles can safely avoid each other as the red vehicle approaches.", "B. If the self-driving car moves closer to the center line, the red vehicle may automatically back off, creating space for both.", "C. If the self-driving car speeds up, it can pass through the intersection before the red vehicle arrives and become safe.", "D. If the self-driving car turns on its horn and hazard lights and continues forward, the red vehicle may naturally slow down and move aside."], "answer_index": 0}
{"token": "05019aad63090c9c1833c945592b4a31", "waymo_split": "test", "type": "image", "frame_index": 44, "question": "What are the potential situations that could occur in the current scenario?", "category": "Counterfactual", "options": ["A. The red vehicle turns left while my car makes a right turn.", "B. The red vehicle and my car pass each other while going straight.", "C. The red vehicle and my car yield to each other and stop briefly.", "D. The red vehicle stops and my car changes lanes to overtake."], "answer_index": 1}
{"token": "05019aad63090c9c1833c945592b4a31", "waymo_split": "test", "type": "image", "frame_index": 44, "question": "Who is responsible in a safety-critical situation? What is the cause?", "category": "Safety-critical scene Understanding", "options": ["A. It is the responsibility of the following vehicle. Only the rear vehicle should slow down on a gentle curve.", "B. It is the responsibility of the motorcycle. Since it used the overtaking lane, the car should pass first.", "C. It is the responsibility of the opposing vehicle. The principle of right-hand traffic applies on a straight two-lane road, but it blocked the road.", "D. It is the responsibility of both. Both should slow down on a narrow two-lane road."], "answer_index": 3}
{"token": "05019aad63090c9c1833c945592b4a31", "waymo_split": "test", "type": "image", "frame_index": 58, "question": "Based on the current appearance of the person/vehicle (two-wheeled), how do they intend to move?", "category": "Normal Perception & Prediction", "options": ["A. turn left", "B. go straight", "C. turn right", "D. make a U-turn"], "answer_index": 1}
{"token": "05019aad63090c9c1833c945592b4a31", "waymo_split": "test", "type": "image", "frame_index": 58, "question": "What is the plan for yielding when an ambulance/fire truck approaches?", "category": "Special Event", "options": ["A. Pull over to the right shoulder and stop", "B. Increase speed and go ahead to clear the way", "C. Stick to the left shoulder and proceed", "D. Stop in the middle of the intersection to yield"], "answer_index": 0}
{"token": "05019aad63090c9c1833c945592b4a31", "waymo_split": "test", "type": "image", "frame_index": 58, "question": "Which is correct as an Image Caption from the perspective of Normal Frame?", "category": "Normal scene caption", "options": ["A. A vehicle waiting at the stop line of an intersection. A bus stop on the sidewalk.", "B. A vehicle making a left turn on a three-lane road. A streetlight by the roadside.", "C. A vehicle driving on a one-way two-lane curved road. A pine tree next to the guardrail.", "D. A vehicle going straight on a two-lane road. A palm tree by the roadside."], "answer_index": 3}
{"token": "05019aad63090c9c1833c945592b4a31", "waymo_split": "test", "type": "image", "frame_index": 58, "question": "Which of the following is a correct description of traffic density?", "category": "Normal scene Understanding", "options": ["A. Fast, including 5 vehicles with personal car", "B. Fast, including 3 vehicles with personal car", "C. Slow, including 4 vehicles with personal car", "D. Fast, including 7 vehicles with personal car"], "answer_index": 0}
{"token": "05019aad63090c9c1833c945592b4a31", "waymo_split": "test", "type": "image", "frame_index": 58, "question": "Which of the following is correct from the perspective of Safety-critical Frame regarding Image Caption?", "category": "Safety-critical scene caption", "options": ["A. The red vehicle is moving straight ahead in the same direction as my vehicle. There is a parked vehicle on the left side based on the direction of the red vehicle. Although it is a two-lane road, there is enough space on the shoulder for three vehicles to pass simultaneously without issue. The central line is clearly marked with a solid line.", "B. The red vehicle is preparing to turn left at an intersection. There are no parked vehicles on either side of the direction of travel. The road is wide enough to allow for mutual passage without any issues. A dashed line is visible for the central line.", "C. The red vehicle is entering while making a right turn from the opposite lane. There is only a sidewalk on the right side of the red vehicle, with no parked vehicles. Although it is a two-lane road, the lane width is sufficient for three vehicles to pass each other. The central line is clearly marked with a yellow solid line.", "D. The red vehicle is moving straight in the opposite direction of my vehicle. Based on the direction of the red vehicle, there is a parked vehicle on the right side. Due to the characteristics of the two-lane road, it is narrow for three vehicles (the parked vehicle, the red vehicle, and my vehicle) to pass together. There is no central line marking."], "answer_index": 3}
{"token": "05019aad63090c9c1833c945592b4a31", "waymo_split": "test", "type": "image", "frame_index": 58, "question": "Which of the following is a correct description of the environment?", "category": "Normal scene Understanding", "options": ["A. Clear, daytime", "B. Cloudy, nighttime", "C. Fog, dawn", "D. Rain, evening"], "answer_index": 0}
{"token": "05019aad63090c9c1833c945592b4a31", "waymo_split": "test", "type": "image", "frame_index": 58, "question": "What are the classifications of scenes?", "category": "Normal scene Understanding", "options": ["A. Paved road", "B. Residential alley", "C. Highway section", "D. Unpaved road"], "answer_index": 0}
{"token": "05019aad63090c9c1833c945592b4a31", "waymo_split": "test", "type": "image", "frame_index": 58, "question": "What is the description of a non-safety-critical object?", "category": "Normal Perception & Prediction", "options": ["A. Two cars parked on the left side. A palm tree by the roadside.", "B. One motorcycle parked on the right side. A maple tree by the curb.", "C. One taxi stopped in front. A streetlight next to the sidewalk.", "D. Two bicycles parked in the back. A flowerpot at the alley entrance."], "answer_index": 0}
{"token": "05019aad63090c9c1833c945592b4a31", "waymo_split": "test", "type": "image", "frame_index": 58, "question": "What are the restrictions on behavior in school zones/congested areas?", "category": "Special Event", "options": ["A. Right turn priority", "B. Parking allowed", "C. Accelerated driving", "D. Decelerated driving"], "answer_index": 3}
{"token": "05019aad63090c9c1833c945592b4a31", "waymo_split": "test", "type": "image", "frame_index": 58, "question": "Is there a blind spot?", "category": "Uncertainty", "options": ["A. Left blind spot yes", "B. No blind spot", "C. Right blind spot yes", "D. Blind spot yes"], "answer_index": 1}
{"token": "05019aad63090c9c1833c945592b4a31", "waymo_split": "test", "type": "image", "frame_index": 58, "question": "Which of the following is a correct description of traffic signals?", "category": "Traffic Signal", "options": ["A. Right turn sign", "B. None", "C. Red signal", "D. Stop line present"], "answer_index": 1}
{"token": "05019aad63090c9c1833c945592b4a31", "waymo_split": "test", "type": "image", "frame_index": 58, "question": "What is a safety-critical object?", "category": "Safety-critical Perception", "options": ["A. A blue pedestrian waiting for a signal on the sidewalk", "B. A red vehicle approaching directly towards your car", "C. A black motorcycle moving away from your car from behind", "D. A gray truck parked on the shoulder"], "answer_index": 1}
{"token": "05019aad63090c9c1833c945592b4a31", "waymo_split": "test", "type": "image", "frame_index": 58, "question": "What is the answer regarding the parked vehicle on the shoulder, the presence of a center line, and whether Ego crosses the center line?", "category": "Normal Perception & Prediction", "options": ["A. The parked vehicle on the shoulder is on the left. There is a center line. My vehicle does not cross the center line.", "B. The parked vehicle on the shoulder is on the right. There is a center line. My vehicle crosses the center line.", "C. The parked vehicle on the shoulder is on the left. There is no center line. My vehicle does not cross the center line.", "D. The parked vehicle on the shoulder is on the right. There is no center line. My vehicle crosses the center line."], "answer_index": 0}
{"token": "05019aad63090c9c1833c945592b4a31", "waymo_split": "test", "type": "image", "frame_index": 58, "question": "How do you think a safety-critical object will move?", "category": "Safety-critical Prediction", "options": ["A. It will likely stop briefly and then reverse.", "B. It will likely change to the right lane and accelerate.", "C. It will likely turn left slowly while decelerating.", "D. It will likely continue straight but not decelerate."], "answer_index": 3}
{"token": "05019aad63090c9c1833c945592b4a31", "waymo_split": "test", "type": "image", "frame_index": 58, "question": "Are there any other safety-critical objects besides the first safety-critical object? If so, how would they move?", "category": "Safety-critical Prediction", "options": ["A. A vehicle going straight", "B. A vehicle turning right", "C. None", "D. A motorcycle making a U-turn"], "answer_index": 2}
{"token": "05019aad63090c9c1833c945592b4a31", "waymo_split": "test", "type": "image", "frame_index": 58, "question": "What should I do to drive safely?", "category": "Safety-critical Planning", "options": ["A. Since the red car is not slowing down and the current road is close to a bottleneck state, slow down to avoid collisions or brushes. There is no need to move the car further to the right as it seems to be already closely aligned to the right side of the lane.", "B. Even if the lane appears somewhat narrow, maintain speed and proceed as far to the right as possible without slowing down (staying close to the outer line reduces interference with oncoming vehicles).", "C. Even if the gap with the car in front is short, stop briefly and then pass through at the right timing (by using hazard lights to indicate willingness to yield, both can pass quickly without misunderstanding).", "D. Since the blue car has already slowed down and there is some space ahead, accelerate to maintain the flow (moving slightly to the left will make it safer as the left side view is clear)."], "answer_index": 0}
{"token": "05019aad63090c9c1833c945592b4a31", "waymo_split": "test", "type": "image", "frame_index": 58, "question": "What is the correlation in safety-critical situations?", "category": "Safety-critical scene Understanding", "options": ["A. car-person", "B. car-two-wheeler", "C. car-car", "D. person-two-wheeler"], "answer_index": 2}
{"token": "05019aad63090c9c1833c945592b4a31", "waymo_split": "test", "type": "image", "frame_index": 75, "question": "Which of the following is correct from the perspective of Safety-critical Frame regarding Image Caption?", "category": "Safety-critical scene caption", "options": ["A. A safety-critical blue vehicle is merging from the side, and a safety-critical situation has just occurred.", "B. A safety-critical red vehicle has passed, and the safety-critical situation has been resolved earlier.", "C. A safety-critical red vehicle is stopped in front of the intersection, and the safety-critical situation has not yet been resolved.", "D. A safety-critical motorcycle is approaching in the wrong direction, and the safety-critical situation is ongoing."], "answer_index": 1}
{"token": "05019aad63090c9c1833c945592b4a31", "waymo_split": "test", "type": "image", "frame_index": 75, "question": "Which of the following is correct as an Image Caption from the perspective of a Normal Frame?", "category": "Normal scene caption", "options": ["A. Vehicles waiting for a signal are visible at the intersection ahead.", "B. Only empty lanes are visible in a one-way alley.", "C. Vehicles parked on the shoulder are visible on a two-lane road.", "D. A bus is visible on the left side of a four-lane road with a median."], "answer_index": 2}
{"token": "05019aad63090c9c1833c945592b4a31", "waymo_split": "test", "type": "image", "frame_index": 75, "question": "Based on the current appearance of the person/vehicle (two-wheeled), how do you intend to move?", "category": "Normal Perception & Prediction", "options": ["A. I will turn right", "B. I will go straight", "C. I will turn left", "D. I will make a U-turn"], "answer_index": 1}
{"token": "05019aad63090c9c1833c945592b4a31", "waymo_split": "test", "type": "image", "frame_index": 58, "question": "Is lane changing possible? Which is safer between deceleration and lane changing?", "category": "Safety-critical Planning", "options": ["A. Lane changing", "B. Acceleration", "C. Deceleration", "D. Right lane changing"], "answer_index": 2}
{"token": "05019aad63090c9c1833c945592b4a31", "waymo_split": "test", "type": "image", "frame_index": 75, "question": "What is the plan for yielding when an ambulance/fire truck approaches?", "category": "Special Event", "options": ["A. Slightly pull over to the center line and stop", "B. Slightly park on the shoulder towards the right sidewalk", "C. Slightly increase speed to pass behind the car in front", "D. Slightly move to the left lane and wait"], "answer_index": 1}
{"token": "05019aad63090c9c1833c945592b4a31", "waymo_split": "test", "type": "image", "frame_index": 75, "question": "What is the classification of the scene?", "category": "Normal scene Understanding", "options": ["A. three-lane highway", "B. one-lane unpaved road", "C. two-lane paved road", "D. residential back road"], "answer_index": 2}
{"token": "05019aad63090c9c1833c945592b4a31", "waymo_split": "test", "type": "image", "frame_index": 75, "question": "What is the description of a non-safety-critical object?", "category": "Normal Perception & Prediction", "options": ["A. A gray van moving away in the same direction", "B. A parked vehicle on the shoulder. A red vehicle that has already passed in the opposite direction", "C. A taxi stopped next to the central divider", "D. A silver SUV approaching from the opposite side"], "answer_index": 1}
{"token": "05019aad63090c9c1833c945592b4a31", "waymo_split": "test", "type": "image", "frame_index": 75, "question": "Which of the following is a correct description of traffic density?", "category": "Normal scene Understanding", "options": ["A. Slow, no parked vehicles on the shoulder, and one white vehicle visible on the left ahead.", "B. Normal, two vehicles are lined up in the right lane, and a black SUV is approaching from behind.", "C. Fast, one or two parked vehicles on the shoulder, and a red vehicle is visible behind that has already passed.", "D. Fast, almost no surrounding vehicles, and a blue vehicle is just overtaking from the left rear."], "answer_index": 2}
{"token": "05019aad63090c9c1833c945592b4a31", "waymo_split": "test", "type": "image", "frame_index": 75, "question": "What are the behavioral restrictions in school zones/congested areas?", "category": "Special Event", "options": ["A. Reduce speed", "B. Accelerate", "C. Pass quickly", "D. Overtaking allowed"], "answer_index": 0}
{"token": "05019aad63090c9c1833c945592b4a31", "waymo_split": "test", "type": "image", "frame_index": 75, "question": "Which of the following is a correct description of the environment?", "category": "Normal scene Understanding", "options": ["A. Afternoon shower", "B. Clear daytime", "C. Cloudy evening", "D. Foggy morning"], "answer_index": 1}
{"token": "05019aad63090c9c1833c945592b4a31", "waymo_split": "test", "type": "image", "frame_index": 75, "question": "What is a safety-critical object?", "category": "Safety-critical Perception", "options": ["A. There is currently no safety-critical object", "B. The current safety-critical object is the main power relay", "C. The current safety-critical object is the emergency stop button", "D. The current safety-critical object is the door interlock sensor"], "answer_index": 0}
{"token": "05019aad63090c9c1833c945592b4a31", "waymo_split": "test", "type": "image", "frame_index": 75, "question": "How do you think a safety-critical object will move?", "category": "Safety-critical Prediction", "options": ["A. A safety-critical object is entering the lane.", "B. A safety-critical object is approaching from the left.", "C. There is currently no safety-critical object.", "D. A safety-critical object is moving slowly forward."], "answer_index": 2}
{"token": "05019aad63090c9c1833c945592b4a31", "waymo_split": "test", "type": "image", "frame_index": 75, "question": "Where is the area that hides danger in the current frame?", "category": "Uncertainty", "options": ["A. Behind the bus parked on the shoulder in the front right", "B. Inside the construction barrier on the right front", "C. Blind spot of the cargo truck in the right lane", "D. Behind the vehicle parked on the shoulder in the left front"], "answer_index": 3}
{"token": "05019aad63090c9c1833c945592b4a31", "waymo_split": "test", "type": "image", "frame_index": 75, "question": "Are there any other safety-critical objects besides the first safety-critical object? If so, how would you move them?", "category": "Safety-critical Prediction", "options": ["A. High voltage cable, move to the left", "B. Fire extinguisher, move to the right", "C. Gas valve, move backward", "D. None"], "answer_index": 3}
{"token": "05019aad63090c9c1833c945592b4a31", "waymo_split": "test", "type": "image", "frame_index": 75, "question": "What should I do to drive safely?", "category": "Safety-critical Planning", "options": ["A. Focus on the brake lights of the car in front of you rather than pedestrians, maintain your speed, and pass through without swaying.", "B. When there are many parked cars, move towards the center line to change lanes and overtake quickly.", "C. Since the shoulder has a clear view and less danger, maintain your speed and drive straight while looking far ahead.", "D. Drive straight while being cautious of people or objects that may pop out between parked cars on the shoulder."], "answer_index": 3}
{"token": "05019aad63090c9c1833c945592b4a31", "waymo_split": "test", "type": "image", "frame_index": 123, "question": "Which of the following is correct as an Image Caption from a safety-critical Frame perspective?", "category": "Safety-critical scene caption", "options": ["A. Danger", "B. None", "C. Stop", "D. Failure"], "answer_index": 1}
{"token": "05019aad63090c9c1833c945592b4a31", "waymo_split": "test", "type": "image", "frame_index": 123, "question": "Based on the current appearance of the person/vehicle (two-wheeled), how do you intend to move?", "category": "Normal Perception & Prediction", "options": ["A. Maintain a stop or attempt to park", "B. Wait at the pedestrian crossing or enter the sidewalk", "C. Drive straight or make left or right turns", "D. Reverse or attempt a U-turn"], "answer_index": 2}
{"token": "05019aad63090c9c1833c945592b4a31", "waymo_split": "test", "type": "image", "frame_index": 75, "question": "What are the potential new exposure risks in the following section?", "category": "Safety-critical Prediction", "options": ["A. There may be people or objects emerging from behind parked vehicles on the left shoulder.", "B. There may be someone suddenly opening a car door in front of parked vehicles on the right shoulder.", "C. A bus may change lanes and cut in abruptly from the left rear.", "D. The vehicle in front may suddenly stop upon seeing a construction sign in the center lane ahead."], "answer_index": 0}
{"token": "05019aad63090c9c1833c945592b4a31", "waymo_split": "test", "type": "image", "frame_index": 123, "question": "What is the plan for yielding when an ambulance/fire truck approaches?", "category": "Special Event", "options": ["A. Pull over to the side of the center line and stop briefly", "B. Yield by moving to the right shoulder", "C. Yield by moving to the left shoulder", "D. Increase speed to pass between the cars in front"], "answer_index": 1}
{"token": "05019aad63090c9c1833c945592b4a31", "waymo_split": "test", "type": "image", "frame_index": 123, "question": "Which of the following is correct from the perspective of a Normal Frame regarding Image Caption?", "category": "Normal scene caption", "options": ["A. A T-intersection is visible right ahead. The left and right roads appear narrower than the two-lane straight road. A few slow-moving vehicles pass by, and there are almost no parked cars in front or behind.", "B. A small roundabout is nearby. The left and right lanes appear about one lane narrower than the central straight lane. A bus is approaching from the opposite direction, and the shoulders in the back and front are empty.", "C. An intersection is visible right in front. The left and right roads are relatively wide compared to the two-lane straight road. No moving vehicles are currently visible, and parked cars are seen in front and behind.", "D. A long straight road continues ahead. The left and right alleys are narrow like dead ends. A motorcycle and a passenger car pass by in succession, and there are almost no parked vehicles along the roadside."], "answer_index": 2}
{"token": "05019aad63090c9c1833c945592b4a31", "waymo_split": "test", "type": "image", "frame_index": 123, "question": "What are the behavioral restrictions in school zones/congested areas?", "category": "Special Event", "options": ["A. Drive slowly and be aware of whether there are many cars on the left and right roads and if it is dangerous.", "B. Use the horn and lights to alert others and maintain the center of the lane.", "C. Stay close to the right edge, reduce the distance between cars, and match the flow.", "D. Maintain a constant speed, keep an eye on the front, and pass through the area quickly."], "answer_index": 0}
{"token": "05019aad63090c9c1833c945592b4a31", "waymo_split": "test", "type": "image", "frame_index": 123, "question": "Which of the following is a correct description of the environment?", "category": "Normal scene Understanding", "options": ["A. Rain, night", "B. Clear, day", "C. Fog, dawn", "D. Cloudy, evening"], "answer_index": 1}
{"token": "05019aad63090c9c1833c945592b4a31", "waymo_split": "test", "type": "image", "frame_index": 123, "question": "What is the classification of the scene?", "category": "Normal scene Understanding", "options": ["A. Residential road", "B. Unpaved road", "C. Highway", "D. Paved road"], "answer_index": 3}
{"token": "05019aad63090c9c1833c945592b4a31", "waymo_split": "test", "type": "image", "frame_index": 123, "question": "Which of the following is a correct description of traffic signals?", "category": "Traffic Signal", "options": ["A. Pedestrian signal", "B. Red signal", "C. Left turn signal", "D. No signal"], "answer_index": 3}
{"token": "05019aad63090c9c1833c945592b4a31", "waymo_split": "test", "type": "image", "frame_index": 123, "question": "What is the description of a non-safety-critical object?", "category": "Normal Perception & Prediction", "options": ["A. In front, there are construction barriers and safety fences, and several motorcycles are parked on the right side. The intersection is a block behind, so it is currently a straight section. There are no palm trees along the road, and metasequoias are lined up.", "B. Vehicles parked on the side are visible in the front and rear. Other than that, there are almost no residential areas at each corner block, and an open view of an intersection is in front. There are many palm trees on the road.", "C. Vehicles parked on the side are only visible in the left front, and the rear is quiet. Each corner has dense low-rise houses and walls, making the intersection feel cramped. The street trees are cherry blossom trees with low-hanging branches.", "D. There are almost no parked vehicles on the shoulder, and only moving vehicles are visible in both the front and rear. Instead of an intersection, there is a small roundabout right in front. The road has zelkova trees instead of palm trees."], "answer_index": 1}
{"token": "05019aad63090c9c1833c945592b4a31", "waymo_split": "test", "type": "image", "frame_index": 123, "question": "What is the answer regarding the parked vehicle on the shoulder, the presence of a center line, and whether Ego has crossed the center line?", "category": "Normal Perception & Prediction", "options": ["A. There is no parked vehicle on the shoulder. There is a center line. It appears to have crossed the center line.", "B. There is a parked vehicle on the shoulder. There is no center line. It does not seem to have crossed the center line.", "C. There is no parked vehicle on the shoulder. There is a center line. It does not seem to have crossed the center line.", "D. There is a parked vehicle on the shoulder. There is a center line. It seems to have slightly crossed the center line."], "answer_index": 1}
{"token": "05019aad63090c9c1833c945592b4a31", "waymo_split": "test", "type": "image", "frame_index": 123, "question": "Is there a blind spot in the field of view?", "category": "Uncertainty", "options": ["A. The area obscured by the left palm tree is a blind spot", "B. The area obscured by the right palm tree is a blind spot", "C. The area obscured by the right bus is a blind spot", "D. The area obscured by the central divider is a blind spot"], "answer_index": 1}
{"token": "05019aad63090c9c1833c945592b4a31", "waymo_split": "test", "type": "image", "frame_index": 123, "question": "What is a safety-critical object?", "category": "Safety-critical Perception", "options": ["A. The power management unit is safety-critical.", "B. The main control module is safety-critical.", "C. The brake sensor is safety-critical.", "D. It is a safety-critical object."], "answer_index": 3}
{"token": "05019aad63090c9c1833c945592b4a31", "waymo_split": "test", "type": "image", "frame_index": 123, "question": "Are there any other safety-critical objects besides the first safety-critical object? If so, how will they move?", "category": "Safety-critical Prediction", "options": ["A. One pedestrian slowly crossing from the left sidewalk to the right", "B. No safety-critical objects", "C. One bicycle moving diagonally from the right shoulder into the lane", "D. One ambulance approaching from the rear to the front with sirens on"], "answer_index": 1}
{"token": "05019aad63090c9c1833c945592b4a31", "waymo_split": "test", "type": "image", "frame_index": 123, "question": "What potential situations could occur in the current scenario?", "category": "Counterfactual", "options": ["A. A car could suddenly emerge from the left or right side or appear at high speed.", "B. A parked truck on the right shoulder could back into the lane.", "C. A pedestrian could suddenly dash into the crosswalk, ignoring the signal.", "D. A vehicle from the opposite lane could cross the center line and slowly enter our lane."], "answer_index": 0}
{"token": "058432e7f5272981a3b59ea0b92fca11", "waymo_split": "test", "type": "video", "frame_index": null, "question": "Is there a special situation?", "category": "Special Event", "options": ["A. The school bus is temporarily stopped on the road while students are getting off.", "B. There are construction cones present and many safety facilities are set up.", "C. An emergency vehicle is temporarily parked on the shoulder.", "D. A fire truck is passing through the intersection with its siren on."], "answer_index": 1}
{"token": "058432e7f5272981a3b59ea0b92fca11", "waymo_split": "test", "type": "video", "frame_index": null, "question": "What are the classifications of scenes?", "category": "Normal scene Understanding", "options": ["A. Paved roads, urban areas", "B. Highways, suburbs", "C. Unpaved roads, residential areas", "D. Rural highways, farmland"], "answer_index": 0}
{"token": "058432e7f5272981a3b59ea0b92fca11", "waymo_split": "test", "type": "video", "frame_index": null, "question": "Which of the following is a correct description of road alignment?", "category": "Normal Perception & Prediction", "options": ["A. Intersection, left turn", "B. Intersection, right turn", "C. T-junction, straight", "D. Intersection, straight"], "answer_index": 3}
{"token": "058432e7f5272981a3b59ea0b92fca11", "waymo_split": "test", "type": "video", "frame_index": null, "question": "Which of the following is a correct description of traffic density?", "category": "Normal scene Understanding", "options": ["A. Vehicles are concentrated in the left lane, and there is some space behind. The road is a gentle downhill, so speed is increasing.", "B. There are many vehicles behind, and there are few vehicles in front. There seems to be a curve in front, possibly due to road construction.", "C. There are many vehicles in front, and few vehicles can be seen behind. The road is flat, with no signs of construction.", "D. There are almost no cars behind, and congestion starts ahead. It is not an uphill section, and the road surface is smooth."], "answer_index": 1}
{"token": "058432e7f5272981a3b59ea0b92fca11", "waymo_split": "test", "type": "video", "frame_index": null, "question": "What is correct regarding Video Summary from a Safety-critical Scene perspective?", "category": "Safety-critical scene caption", "options": ["A. Turning left at an intersection without a signal, trying to move to the right lane to match the speed limit sign ahead, letting a motorcycle approaching quickly from the right go first and then entering behind it, slightly easing off the accelerator instead of braking to decelerate, feeling only a slight vibration while passing over a drainage ditch.", "B. Going straight through an intersection, changing lanes to the left due to the presence of safety facilities. However, there is a vehicle passing quickly on the left, so I let that vehicle go first and then try to change lanes behind it. At this time, I decelerate while changing lanes, and the road has curves causing some jolting.", "C. Going straight through an intersection, trying to change lanes to the right due to a construction sign, there is a slow truck on the right, so I pass that truck first and then slightly accelerate while moving to the right, the road is flat with almost no shaking.", "D. After going straight through a merging section, moving from the bus lane to the general lane according to the bus lane termination sign, there are no vehicles approaching from the left, so I attempt to change lanes immediately and maintain speed while entering, feeling almost no difference in road level since I am on a bridge."], "answer_index": 1}
{"token": "058432e7f5272981a3b59ea0b92fca11", "waymo_split": "test", "type": "video", "frame_index": null, "question": "Which of the following descriptions about the environment is correct?", "category": "Normal scene Understanding", "options": ["A. dawn, shower", "B. dusk, fog", "C. daytime, clear", "D. night, cloudy"], "answer_index": 2}
{"token": "058432e7f5272981a3b59ea0b92fca11", "waymo_split": "test", "type": "video", "frame_index": null, "question": "Which of the following is a correct description of traffic signals?", "category": "Traffic Signal", "options": ["A. Only flashing signals are present, signs are obscured, and road arrows and lanes are newly painted.", "B. Temporary construction signals are placed, signs are absent, and road guide lines and stop lines are clear.", "C. There are no traffic lights, signs are visible, but road lanes are clear.", "D. Traffic lights and signs are present, but many road lanes are faded."], "answer_index": 3}
{"token": "058432e7f5272981a3b59ea0b92fca11", "waymo_split": "test", "type": "video", "frame_index": null, "question": "What is the description of a non-safety-critical object?", "category": "Normal Perception & Prediction", "options": ["A. There is a traffic light at the intersection. There are construction cones and safety facilities, so it is necessary to pay attention to the road or change lanes.", "B. There is a T-intersection sign. The park fence and flower beds along the roadside are long, so it is necessary to proceed comfortably while maintaining the center of the lane.", "C. There is a bicycle lane marking. Shared bicycle racks and low bollards are arranged in a row, so it is necessary to drive with some space on the right.", "D. There is an entrance guide for the underpass. The bus stop canopy and advertising signboard are close to the edge of the road, which may narrow the field of vision, so it is necessary to adjust the speed."], "answer_index": 0}
{"token": "058432e7f5272981a3b59ea0b92fca11", "waymo_split": "test", "type": "video", "frame_index": null, "question": "Which of the following is a correct description of Spatial Relationship?", "category": "Spatial Relationship", "options": ["A. People who are stopped in front of the crosswalk while the pedestrian signal is still waiting.", "B. Several vehicles that are moving straight ahead behind my car as the traffic light changes to green. People crossing the road in accordance with the traffic signal.", "C. Several vehicles located to the right front of my car that are slowing down and moving into the right turn lane as the light turns yellow.", "D. A passenger car trying to complete a left turn while remaining in the center of the intersection at a red light, followed at a distance by a motorcycle."], "answer_index": 1}
{"token": "058432e7f5272981a3b59ea0b92fca11", "waymo_split": "test", "type": "video", "frame_index": null, "question": "What is a safety-critical object?", "category": "Safety-critical Perception", "options": ["A. A white SUV entering the lane from the front", "B. A motorcycle approaching quickly from the rear", "C. A gray sedan driving alongside your car on the right", "D. A black vehicle driving alongside your car on the left"], "answer_index": 3}
{"token": "058432e7f5272981a3b59ea0b92fca11", "waymo_split": "test", "type": "video", "frame_index": null, "question": "What is the correlation in safety-critical situations?", "category": "Safety-critical scene Understanding", "options": ["A. car-person", "B. two-wheeler-person", "C. car-two-wheeler", "D. car-car"], "answer_index": 3}
{"token": "058432e7f5272981a3b59ea0b92fca11", "waymo_split": "test", "type": "video", "frame_index": null, "question": "Summary of Ego (own vehicle) behavior before a safety-critical situation", "category": "Normal scene Understanding", "options": ["A. Decelerating before entering the intersection", "B. Driving straight after passing the intersection", "C. Changing lanes to the right turn lane", "D. Making a left turn at the intersection"], "answer_index": 1}
{"token": "058432e7f5272981a3b59ea0b92fca11", "waymo_split": "test", "type": "video", "frame_index": null, "question": "Who is responsible in a safety-critical situation? What is the cause?", "category": "Safety-critical scene Understanding", "options": ["A. The responsibility for the danger lies with the following driver, as the situation arose from attempting to overtake at high speed without a lane change signal, and we should have maintained our straight path.", "B. There is no responsibility for the danger. Changing lanes was unavoidable due to road construction, and it was only necessary to slow down and change lanes while being cautious of the vehicles on the left.", "C. The responsibility for the danger lies with the vehicle in the left lane, as our vehicle had the right of way in the merging area but did not yield, and we should have maintained our speed after signaling with the horn.", "D. The responsibility for the danger lies with the road management agency, as there were insufficient signs and guiding markings in the construction area, leading to lane confusion, and the driver should have stopped and waited for guidance."], "answer_index": 1}
{"token": "058432e7f5272981a3b59ea0b92fca11", "waymo_split": "test", "type": "image", "frame_index": 51, "question": "What is correct as an Image Caption from the perspective of Safety-critical Frame?", "category": "Safety-critical scene caption", "options": ["A. If you go straight towards the intersection, the opposite straight lane is completely open, and you only need to pay attention to the signals, with no obstacles blocking the lane in sight.", "B. When going straight ahead, only the left turn lane on the opposite side of the intersection is partially controlled by safety cones, and the current lane seems to have no issues for straight progress.", "C. There are safety facilities installed in the center of the intersection ahead, but they only mark the lane boundaries, and it seems that the straight path in the current lane is still secured.", "D. When going straight ahead, it is visible that safety facilities are blocking the current lane at the place where you need to go straight on the opposite side of the intersection."], "answer_index": 3}
{"token": "058432e7f5272981a3b59ea0b92fca11", "waymo_split": "test", "type": "video", "frame_index": null, "question": "What situations may potentially arise depending on the type/condition of the road?", "category": "Normal Perception & Prediction", "options": ["A. On an unpaved gravel road, increasing tire pressure may improve traction, making it more likely to navigate corners stably.", "B. When the road is wet, applying the brakes hard may increase friction, making it possible to stop in a shorter distance than usual.", "C. On an icy road, even if speed is increased and sharp steering is performed, it may be possible for the tires to grip the surface firmly, preventing the body from swaying.", "D. Depending on the construction situation of the road, if you change lanes quickly or cannot avoid it, there is a possibility of colliding with safety facilities at the construction site."], "answer_index": 3}
{"token": "058432e7f5272981a3b59ea0b92fca11", "waymo_split": "test", "type": "image", "frame_index": 51, "question": "Based on the current appearance of the person/vehicle (two-wheeled), how do they intend to move?", "category": "Normal Perception & Prediction", "options": ["A. Making a U-turn at the intersection", "B. Turning left at the intersection", "C. Driving straight through the intersection", "D. Making a right turn at the intersection"], "answer_index": 2}
{"token": "058432e7f5272981a3b59ea0b92fca11", "waymo_split": "test", "type": "image", "frame_index": 51, "question": "Which of the following is correct as an Image Caption from the perspective of a Normal Frame?", "category": "Normal scene caption", "options": ["A. Turning left at an intersection according to the left turn signal. Construction signs are sparsely placed only in front. A bus is approaching from a distance behind. The left crosswalk appears empty with no pedestrians visible. The left lane is empty, and only the lane markings are clear.", "B. Going straight at an intersection according to the green light. Construction cones and safety facilities are present on the left, right, front, and back. There are many cars behind my vehicle. On the left, people are crossing the road along the crosswalk in accordance with the pedestrian signal. The front of a black vehicle is visible in the left lane.", "C. Stopped at an intersection at a red light, waiting to turn right. Construction cones and safety facilities are sparsely visible only on the right side. The back is clear with almost no vehicles behind my car. On the right, pedestrians are waiting for the signal while standing at the edge of the sidewalk. The back of a white SUV is slightly visible in the right lane.", "D. Passing through a three-way intersection at a slow speed according to the flashing signal. Cones and safety fences are mainly placed in the back and on the right side. Only one motorcycle is following my vehicle from behind. A person is seen crossing the right crosswalk while pushing a bicycle. The side of a red sedan brushes past in the left lane."], "answer_index": 1}
{"token": "058432e7f5272981a3b59ea0b92fca11", "waymo_split": "test", "type": "image", "frame_index": 51, "question": "Which of the following is a correct description of traffic density?", "category": "Normal scene Understanding", "options": ["A. The left lane is congested", "B. The flow is fast and sparse", "C. There are many vehicles behind", "D. There are many vehicles ahead"], "answer_index": 2}
{"token": "058432e7f5272981a3b59ea0b92fca11", "waymo_split": "test", "type": "image", "frame_index": 51, "question": "Which of the following is a correct description of the environment?", "category": "Normal scene Understanding", "options": ["A. Dawn, fog", "B. Night, light rain", "C. Day, clear", "D. Dusk, cloudy"], "answer_index": 2}
{"token": "058432e7f5272981a3b59ea0b92fca11", "waymo_split": "test", "type": "image", "frame_index": 51, "question": "What is the plan for yielding when an ambulance/fire truck approaches?", "category": "Special Event", "options": ["A. Maintain the flow by going straight in the same lane when approached from the side.", "B. If seen head-on, gather in the center lane and use high beams to guide the way.", "C. Accelerate to quickly move aside when approached from behind and pass through the intersection first.", "D. Turn on hazard lights and slow down to secure space according to the direction of the vehicle's approach."], "answer_index": 3}
{"token": "058432e7f5272981a3b59ea0b92fca11", "waymo_split": "test", "type": "image", "frame_index": 51, "question": "Which of the following is a correct description of traffic signals?", "category": "Traffic Signal", "options": ["A. No traffic lights. Lane markings and arrows are clear and easy to identify.", "B. Traffic lights are present. Road signs or lane markings are available but unclear and cannot be identified.", "C. Controlled by signs. Road guidance lines are clear, making the direction of travel obvious.", "D. Flashing signal area. Stop lines and lane markings are clearly visible."], "answer_index": 1}
{"token": "058432e7f5272981a3b59ea0b92fca11", "waymo_split": "test", "type": "image", "frame_index": 51, "question": "What is the description of a non-safety-critical object?", "category": "Normal Perception & Prediction", "options": ["A. Several taxis are parked in front, with a gray barrier and scaffolding installed next to the left lane. A person is seen running in the rear left.", "B. There are multiple vehicles in the rear, with construction cones and safety facilities (orange) visible in the back. People are crossing the street on the left front according to the signal.", "C. There is a bicycle rack and shared bicycles on the left front, with a large bus proceeding in the central lane. The crosswalk on the rear right appears to be empty.", "D. There are a few vehicles in front, with a green construction fence and guidance signs visible ahead. Pedestrians are waiting on the right front according to the signal."], "answer_index": 1}
{"token": "058432e7f5272981a3b59ea0b92fca11", "waymo_split": "test", "type": "image", "frame_index": 51, "question": "What is the classification of the scene?", "category": "Normal scene Understanding", "options": ["A. a rural unpaved farm road and residential area", "B. a paved road or a road under construction and urban", "C. a highway or an outer industrial area and suburban", "D. an unpaved road or a quiet residential area and suburban"], "answer_index": 1}
{"token": "058432e7f5272981a3b59ea0b92fca11", "waymo_split": "test", "type": "image", "frame_index": 51, "question": "What are the behavioral restrictions in school zones/congested areas?", "category": "Special Event", "options": ["A. Move while paying close attention to the movement of surrounding vehicles (especially at intersections, to the left and right).", "B. At intersections, prioritize right-side traffic and proceed as is.", "C. Quickly pass through while only checking the situation ahead (judging left and right by signals).", "D. Move while observing the flow of pedestrians (vehicles are secondary)."], "answer_index": 0}
{"token": "058432e7f5272981a3b59ea0b92fca11", "waymo_split": "test", "type": "image", "frame_index": 51, "question": "What is the answer regarding parked vehicles on the shoulder, the presence of a center line, and whether Ego crosses the center line?", "category": "Normal Perception & Prediction", "options": ["A. Clear center line, no Ego crossing (shoulder parking present)", "B. Distinct center line, slight Ego crossing (2-lane situation)", "C. Clear lanes (2-lane situation)", "D. Lanes present but not clearly visible (not a 2-lane situation)"], "answer_index": 3}
{"token": "058432e7f5272981a3b59ea0b92fca11", "waymo_split": "test", "type": "image", "frame_index": 51, "question": "What is a safety-critical object?", "category": "Safety-critical Perception", "options": ["A. A cargo truck parked on the right front shoulder partially occupies the lane (straight driving is possible, but caution is needed for detours)", "B. A yellow safety cone is partially fallen in the left front lane (making it difficult to enter the left lane)", "C. A construction sign on the central divider is narrowing the lane (requiring merging to the right)", "D. An orange safety facility visible ahead is blocking the roadway (making straight driving impossible)"], "answer_index": 3}
{"token": "058432e7f5272981a3b59ea0b92fca11", "waymo_split": "test", "type": "image", "frame_index": 51, "question": "How should I drive to solve the first risk while also addressing the second risk?", "category": "Safety-critical Planning", "options": ["A. Accelerate to quickly enter in front of the black vehicle on the left, and lead the flow by entering the left lane before that vehicle.", "B. Observe the speed of the black vehicle on the left and change to the left lane after letting that vehicle pass, slowing down to make the lane change.", "C. First, change to the right lane by observing the gap with the white vehicle on the right, then maintain speed while passing the black vehicle.", "D. Maintain the current lane without slowing down, only checking the distance to the black vehicle, and it is safest to go straight until both risks pass."], "answer_index": 1}
{"token": "058432e7f5272981a3b59ea0b92fca11", "waymo_split": "test", "type": "image", "frame_index": 51, "question": "Are there any other safety-critical objects besides the first safety-critical object? If so, how would they move?", "category": "Safety-critical Prediction", "options": ["A. A gray SUV approaching from the front", "B. A red bus approaching from the rear", "C. A black vehicle driving on the left", "D. A white vehicle moving slowly on the right"], "answer_index": 2}
{"token": "058432e7f5272981a3b59ea0b92fca11", "waymo_split": "test", "type": "image", "frame_index": 51, "question": "What is the correlation in safety-critical situations?", "category": "Safety-critical scene Understanding", "options": ["A. car-person", "B. car-two-wheeler", "C. car-structure", "D. two-wheeler-structure"], "answer_index": 2}
{"token": "058432e7f5272981a3b59ea0b92fca11", "waymo_split": "test", "type": "image", "frame_index": 51, "question": "Is lane changing possible? Which is safer between slowing down and changing lanes?", "category": "Safety-critical Planning", "options": ["A. Just change to the left lane.", "B. Both slowing down and changing lanes are necessary.", "C. Just slowing down is enough.", "D. You need to accelerate to merge quickly."], "answer_index": 1}
{"token": "058432e7f5272981a3b59ea0b92fca11", "waymo_split": "test", "type": "image", "frame_index": 51, "question": "How do you think a safety-critical object would move?", "category": "Safety-critical Prediction", "options": ["A. Moved slowly forward", "B. Slightly rotated to the right", "C. Came to a stop", "D. Was pushed to the left by the wind"], "answer_index": 2}
{"token": "058432e7f5272981a3b59ea0b92fca11", "waymo_split": "test", "type": "image", "frame_index": 51, "question": "What should I do to drive safely?", "category": "Safety-critical Planning", "options": ["A. You should attempt to change lanes to the left after passing the intersection.", "B. You should attempt to change lanes to the left before passing the intersection.", "C. You should attempt to change lanes to the right while crossing the intersection.", "D. You should attempt to change lanes to the left while crossing the intersection."], "answer_index": 3}
{"token": "058432e7f5272981a3b59ea0b92fca11", "waymo_split": "test", "type": "image", "frame_index": 51, "question": "Who is responsible in a safety-critical situation? What is the cause?", "category": "Safety-critical scene Understanding", "options": ["A. The responsibility lies with the contracting agency. They failed to secure detours and allocate control personnel during the construction planning phase.", "B. There is no responsibility. The road was blocked due to the structure related to the road construction site.", "C. The responsibility lies with the driver of the vehicle. They failed to pay attention to the front and missed the temporary lane guidance.", "D. The responsibility lies with the on-site safety manager. The installation of construction zone guidance signs was insufficient, causing confusion for drivers."], "answer_index": 1}
{"token": "058432e7f5272981a3b59ea0b92fca11", "waymo_split": "test", "type": "image", "frame_index": 51, "question": "Where is the area that is hidden and conceals danger in the current frame?", "category": "Uncertainty", "options": ["A. Right alley", "B. Behind the bus", "C. Bottom left", "D. None"], "answer_index": 3}
{"token": "058432e7f5272981a3b59ea0b92fca11", "waymo_split": "test", "type": "image", "frame_index": 51, "question": "What situation would occur if the self-driving car behaved like this?", "category": "Counterfactual", "options": ["A. If the self-driving car ignores and continues straight, it will collide with a construction safety structure.", "B. If the self-driving car changes to the left lane, it will avoid the construction area and pass through immediately.", "C. If the self-driving car slightly turns to the right, it will enter the empty shoulder and pass safely.", "D. If the self-driving car slows down and stops, the flow of the cars behind will clear the road quickly."], "answer_index": 0}
{"token": "058432e7f5272981a3b59ea0b92fca11", "waymo_split": "test", "type": "image", "frame_index": 51, "question": "What is the safest choice just before entering a yellow signal: stop vs go?", "category": "Special Event", "options": ["A. go", "B. wait", "C. slow down", "D. stop"], "answer_index": 0}
{"token": "058432e7f5272981a3b59ea0b92fca11", "waymo_split": "test", "type": "image", "frame_index": 78, "question": "Based on the current appearance of the person/vehicle (two-wheeled), how do you intend to move?", "category": "Normal Perception & Prediction", "options": ["A. Change to the left lane", "B. Turn right", "C. Go straight", "D. Turn left"], "answer_index": 2}
{"token": "058432e7f5272981a3b59ea0b92fca11", "waymo_split": "test", "type": "image", "frame_index": 78, "question": "What are the classifications of scenes?", "category": "Normal scene Understanding", "options": ["A. Highway", "B. Residential area", "C. Unpaved", "D. City"], "answer_index": 3}
{"token": "058432e7f5272981a3b59ea0b92fca11", "waymo_split": "test", "type": "image", "frame_index": 78, "question": "Which of the following is a correct description of the environment?", "category": "Normal scene Understanding", "options": ["A. Clear", "B. Fog", "C. Cloudy", "D. Snowfall"], "answer_index": 0}
{"token": "058432e7f5272981a3b59ea0b92fca11", "waymo_split": "test", "type": "image", "frame_index": 78, "question": "Which of the following describes a non-safety-critical object?", "category": "Normal Perception & Prediction", "options": ["A. Crosswalk sign, café with rounded corners. People waiting in line on the right for the signal.", "B. Bus stop, office building with glass exterior. A person crossing the intersection on a bicycle in front.", "C. Traffic light, building with a corner block. People crossing the street on the left according to the signal.", "D. Construction barrier, low-rise house with a brick exterior. People walking along the sidewalk with their dogs on the left."], "answer_index": 2}
{"token": "058432e7f5272981a3b59ea0b92fca11", "waymo_split": "test", "type": "image", "frame_index": 78, "question": "Which of the following is correct from the perspective of Safety-critical Frame regarding Image Caption?", "category": "Safety-critical scene caption", "options": ["A. A slow-moving road cleaning vehicle is blocking one lane of the straight lane ahead, so a lane change to the right is necessary, but a white SUV is not yielding and continues to drive.", "B. The left lane is blocked by construction barricades, allowing only a left turn. Therefore, a right turn is necessary, but the silver sedan in front is slowly yielding.", "C. A construction safety structure is blocking the straight lane ahead. Therefore, a lane change to the left is necessary, but a black vehicle is obstructing this.", "D. A broken-down vehicle with its hazard lights on is stopped ahead, blocking the straight lane. Therefore, a right turn is necessary, but a blue vehicle suddenly accelerates and cuts in."], "answer_index": 2}
{"token": "058432e7f5272981a3b59ea0b92fca11", "waymo_split": "test", "type": "image", "frame_index": 78, "question": "Is there a blind spot in your field of vision?", "category": "Uncertainty", "options": ["A. Partially present", "B. Present", "C. Not present", "D. On the right"], "answer_index": 2}
{"token": "058432e7f5272981a3b59ea0b92fca11", "waymo_split": "test", "type": "image", "frame_index": 78, "question": "What is a safety-critical object?", "category": "Safety-critical Perception", "options": ["A. Side safety structure", "B. Front safety structure", "C. Rear safety structure", "D. Front billboard"], "answer_index": 1}
{"token": "058432e7f5272981a3b59ea0b92fca11", "waymo_split": "test", "type": "image", "frame_index": 78, "question": "What should I do to drive safely?", "category": "Safety-critical Planning", "options": ["A. Do not reduce speed and maintain direction while going straight.", "B. Maintain distance from safety structures and change to the right lane.", "C. Change to the left lane to avoid safety structures.", "D. Turn on hazard lights and stop in front of safety structures."], "answer_index": 2}
{"token": "058432e7f5272981a3b59ea0b92fca11", "waymo_split": "test", "type": "image", "frame_index": 78, "question": "Which of the following is a correct description of traffic density?", "category": "Normal scene Understanding", "options": ["A. Moderate", "B. Sparse", "C. Congested", "D. Smooth"], "answer_index": 0}
{"token": "058432e7f5272981a3b59ea0b92fca11", "waymo_split": "test", "type": "image", "frame_index": 78, "question": "Is there any other safety-critical object besides the first safety-critical object? If so, how will it move?", "category": "Safety-critical Prediction", "options": ["A. Gray SUV merging into the left lane", "B. Black vehicle driving in the left lane", "C. White vehicle driving in the right lane", "D. Red sedan overtaking in the center lane"], "answer_index": 1}
{"token": "058432e7f5272981a3b59ea0b92fca11", "waymo_split": "test", "type": "image", "frame_index": 78, "question": "How do you think safety-critical objects will move?", "category": "Safety-critical Prediction", "options": ["A. The guardrail is slightly pushed to the side", "B. The sign shakes and moves back", "C. The safety structure remains still", "D. The safety structure slides forward"], "answer_index": 2}
{"token": "058432e7f5272981a3b59ea0b92fca11", "waymo_split": "test", "type": "image", "frame_index": 78, "question": "What are the correlations in safety-critical situations?", "category": "Safety-critical scene Understanding", "options": ["A. Vehicle-structure. Vehicle-vehicle", "B. Two-wheeler-structure", "C. Vehicle-person", "D. Two-wheeler-vehicle"], "answer_index": 0}
{"token": "058432e7f5272981a3b59ea0b92fca11", "waymo_split": "test", "type": "image", "frame_index": 78, "question": "How should I drive to resolve the first risk while also addressing the second risk?", "category": "Safety-critical Planning", "options": ["A. Since the white vehicle on the right is in a hurry, maintain speed to close the gap and block entry, then change lanes before the black vehicle.", "B. Since the black vehicle is in the path of the lane change, let it go first and slow down to change lanes.", "C. Since there is sufficient distance from the black vehicle, proceed at the current speed without slowing down and maintain the lane immediately.", "D. Since the black vehicle is hesitant to merge, we should accelerate first to get ahead and secure the space, then change lanes immediately."], "answer_index": 1}
{"token": "058432e7f5272981a3b59ea0b92fca11", "waymo_split": "test", "type": "image", "frame_index": 78, "question": "Who is responsible in a safety-critical situation? What is the cause?", "category": "Safety-critical scene Understanding", "options": ["A. The cause is pedestrian negligence due to slippery road conditions from rain.", "B. The cause is driver negligence due to insufficient lighting at night.", "C. The cause is confusion at the intersection due to traffic light malfunction.", "D. The cause is that it is a construction site, which is not a typical road situation."], "answer_index": 3}
{"token": "058432e7f5272981a3b59ea0b92fca11", "waymo_split": "test", "type": "image", "frame_index": 78, "question": "Where is the area that hides danger in the current frame?", "category": "Uncertainty", "options": ["A. None", "B. Inside the corner", "C. Bottom left", "D. Behind the truck"], "answer_index": 0}
{"token": "058432e7f5272981a3b59ea0b92fca11", "waymo_split": "test", "type": "image", "frame_index": 78, "question": "Is lane changing possible? Which is safer between slowing down and changing lanes?", "category": "Safety-critical Planning", "options": ["A. Both slowing down and changing lanes", "B. Both accelerating and changing lanes", "C. Both stopping and changing lanes", "D. Both slowing down and maintaining the lane"], "answer_index": 0}
{"token": "058432e7f5272981a3b59ea0b92fca11", "waymo_split": "test", "type": "image", "frame_index": 98, "question": "Based on the current appearance of the person/vehicle (two-wheeled), how do you intend to move?", "category": "Normal Perception & Prediction", "options": ["A. Maintain straight driving", "B. Prepare to turn right", "C. Attempt to change to the right lane", "D. Attempt to change to the left lane"], "answer_index": 3}
{"token": "058432e7f5272981a3b59ea0b92fca11", "waymo_split": "test", "type": "image", "frame_index": 98, "question": "Which of the following is a correct description of traffic density?", "category": "Normal scene Understanding", "options": ["A. Sparsity", "B. Moderate", "C. Congestion", "D. Overcrowding"], "answer_index": 1}
{"token": "058432e7f5272981a3b59ea0b92fca11", "waymo_split": "test", "type": "image", "frame_index": 98, "question": "Which of the following is correct from the perspective of Safety-critical Frame regarding Image Caption?", "category": "Safety-critical scene caption", "options": ["A. The vehicle has already changed to the left lane. A white vehicle is following at a distance in the left lane. The vehicle is passing over a speed bump, and the vibrations are settling down.", "B. The vehicle is attempting to change to the right lane. There is plenty of space in the right lane. The road surface is smooth, and the vehicle is almost not shaking.", "C. The vehicle is maintaining a straight path. The left lane is empty, allowing for immediate entry. The road is wet from light raindrops, so caution is advised due to slipperiness.", "D. The vehicle is changing to the left lane. At this time, there is already a black vehicle in the left lane. The road is curved, causing the vehicle to jolt."], "answer_index": 3}
{"token": "058432e7f5272981a3b59ea0b92fca11", "waymo_split": "test", "type": "image", "frame_index": 98, "question": "What are the classifications of scenes?", "category": "Normal scene Understanding", "options": ["A. Paved road, city", "B. Unpaved road, residential area", "C. Highway, suburb", "D. National road, agricultural land"], "answer_index": 0}
{"token": "058432e7f5272981a3b59ea0b92fca11", "waymo_split": "test", "type": "image", "frame_index": 78, "question": "What is the safest choice just before entering a yellow signal: stop vs proceed?", "category": "Special Event", "options": ["A. proceed", "B. slow down", "C. stop", "D. decelerate"], "answer_index": 0}
{"token": "058432e7f5272981a3b59ea0b92fca11", "waymo_split": "test", "type": "image", "frame_index": 98, "question": "Which is correct as an Image Caption from the perspective of a Normal Frame?", "category": "Normal scene caption", "options": ["A. U-turn lane. A temporary barrier is placed in the rear lane. There are no traffic lights, and the sign is located on the side.", "B. Straight lane. Construction structures exist in the forward straight lane. Both traffic lights and signs are present above.", "C. Right turn lane. There are no construction structures in the forward straight lane. Only the sign is installed above.", "D. Left turn lane. Construction structures are located at the edge of the left lane. Only traffic lights exist at the top."], "answer_index": 1}
{"token": "058432e7f5272981a3b59ea0b92fca11", "waymo_split": "test", "type": "image", "frame_index": 98, "question": "Is there a blind spot?", "category": "Uncertainty", "options": ["A. There is a right blind spot", "B. There is a blind spot", "C. There is a partial blind spot", "D. There is no blind spot"], "answer_index": 3}
{"token": "058432e7f5272981a3b59ea0b92fca11", "waymo_split": "test", "type": "image", "frame_index": 98, "question": "Which of the following is a correct description of traffic signals?", "category": "Traffic Signal", "options": ["A. Traffic light yellow. Road sign pedestrian crossing", "B. Traffic light flashing yellow. Road sign left turn arrow", "C. Traffic light red. Road sign straight arrow", "D. Traffic light green. No road sign"], "answer_index": 3}
{"token": "058432e7f5272981a3b59ea0b92fca11", "waymo_split": "test", "type": "image", "frame_index": 98, "question": "Which of the following is a correct description of the environment?", "category": "Normal scene Understanding", "options": ["A. Clear", "B. Rain", "C. Fog", "D. Cloudy"], "answer_index": 0}
{"token": "058432e7f5272981a3b59ea0b92fca11", "waymo_split": "test", "type": "image", "frame_index": 98, "question": "What is a safety-critical object?", "category": "Safety-critical Perception", "options": ["A. A black vehicle going straight in the left lane", "B. A black sedan turning left from the left lane", "C. A white vehicle going straight in the right lane", "D. A gray SUV going straight in the center lane"], "answer_index": 0}
{"token": "058432e7f5272981a3b59ea0b92fca11", "waymo_split": "test", "type": "image", "frame_index": 98, "question": "What is the correlation in safety-critical situations?", "category": "Safety-critical scene Understanding", "options": ["A. car-car", "B. person-two-wheeler", "C. two-wheeler-car", "D. car-person"], "answer_index": 0}
{"token": "058432e7f5272981a3b59ea0b92fca11", "waymo_split": "test", "type": "image", "frame_index": 98, "question": "What should I do to drive safely?", "category": "Safety-critical Planning", "options": ["A. Due to the safety structure directly ahead, it's difficult to drive straight, so I need to change to the left lane. I should slow down and change lanes after the black vehicle going straight in the left lane passes.", "B. Due to the safety structure directly ahead, it's difficult to drive straight, so I need to change to the right lane. If I see a white SUV merging into the right lane, I should accelerate to enter before that vehicle while changing lanes.", "C. Due to the safety structure directly ahead, progress is blocked, so I should turn on my hazard lights, move to the shoulder, and then bypass the safety structure on the right while continuing in the direction of my destination.", "D. There is a gap between the safety structures directly ahead for one car to pass, so I should maintain my speed and drive straight through the gap without slowing down."], "answer_index": 0}
{"token": "058432e7f5272981a3b59ea0b92fca11", "waymo_split": "test", "type": "image", "frame_index": 98, "question": "Is lane changing possible? Which is safer between slowing down and changing lanes?", "category": "Safety-critical Planning", "options": ["A. Slowing down and changing lanes at the same time", "B. Prioritize slowing down only", "C. Slow down after changing lanes", "D. Change lanes after slowing down"], "answer_index": 0}
{"token": "058432e7f5272981a3b59ea0b92fca11", "waymo_split": "test", "type": "image", "frame_index": 98, "question": "Is there any other safety-critical object besides the first safety-critical object? If so, how will it be moved?", "category": "Safety-critical Prediction", "options": ["A. There is a fire extinguisher, move to the right wall", "B. There is an AED, move to the front cart", "C. None", "D. There is a gas cylinder, transport to the left safety zone"], "answer_index": 2}
{"token": "058432e7f5272981a3b59ea0b92fca11", "waymo_split": "test", "type": "image", "frame_index": 98, "question": "How do you think a safety-critical object will move?", "category": "Safety-critical Prediction", "options": ["A. The black vehicle in the left lane is making a right turn", "B. The black vehicle in the left lane is making a left turn", "C. The black vehicle in the left lane is going straight", "D. The black vehicle in the left lane is changing lanes to the right"], "answer_index": 2}
{"token": "058432e7f5272981a3b59ea0b92fca11", "waymo_split": "test", "type": "image", "frame_index": 98, "question": "Where is the area that hides danger in the current frame?", "category": "Uncertainty", "options": ["A. Left of the black vehicle on the left", "B. Left of the white vehicle on the right", "C. Behind the black vehicle on the left", "D. Right of the bus in front"], "answer_index": 0}
{"token": "058432e7f5272981a3b59ea0b92fca11", "waymo_split": "test", "type": "image", "frame_index": 106, "question": "Which of the following is correct as an Image Caption from the perspective of the Normal Frame?", "category": "Normal scene caption", "options": ["A. Left turn lane. Construction structures exist in the front left turn lane.", "B. Straight lane. Construction structures exist in the front straight lane.", "C. Bus-only lane. Construction barricades exist in the front bus-only lane.", "D. Right turn lane. Construction equipment exists in the front right turn lane."], "answer_index": 1}
{"token": "058432e7f5272981a3b59ea0b92fca11", "waymo_split": "test", "type": "image", "frame_index": 106, "question": "Which of the following is correct as an Image Caption from a Safety-critical Frame perspective?", "category": "Safety-critical scene caption", "options": ["A. A vehicle changing lanes to the left, with a silver SUV approaching from behind in the left lane.", "B. A vehicle changing lanes to the left, with a black SUV driving ahead in the left lane.", "C. A vehicle changing lanes to the right, with a white sedan driving ahead in the right lane.", "D. A vehicle driving straight, with a gray hatchback driving ahead in the left lane."], "answer_index": 1}
{"token": "058432e7f5272981a3b59ea0b92fca11", "waymo_split": "test", "type": "image", "frame_index": 106, "question": "Based on the current appearance of the person/vehicle (two-wheeled), how are they trying to move?", "category": "Normal Perception & Prediction", "options": ["A. Changing to the right lane", "B. Driving straight", "C. Changing to the left lane", "D. Preparing to turn right"], "answer_index": 2}
{"token": "058432e7f5272981a3b59ea0b92fca11", "waymo_split": "test", "type": "image", "frame_index": 98, "question": "What is the guideline for my vehicle's behavior based on the actions of a safety-critical object?", "category": "Safety-critical Planning", "options": ["A. If the safety-critical object is moving straight ahead faster, I can move to the right shoulder and stop temporarily.", "B. If the safety-critical object is moving straight ahead faster, I can slowly change lanes to the empty right lane and proceed.", "C. If the safety-critical object is moving straight ahead faster, I can safely change lanes to the empty left lane space.", "D. If the safety-critical object is moving straight ahead faster, I can match my speed in the same lane and follow steadily."], "answer_index": 2}
{"token": "058432e7f5272981a3b59ea0b92fca11", "waymo_split": "test", "type": "image", "frame_index": 106, "question": "What are the behavioral restrictions in school zones/congested areas?", "category": "Special Event", "options": ["A. Vehicles must be prioritized over pedestrians.", "B. Accelerate to pass through quickly.", "C. Honk the horn to warn in congested areas.", "D. Must move at a reduced speed."], "answer_index": 3}
{"token": "058432e7f5272981a3b59ea0b92fca11", "waymo_split": "test", "type": "image", "frame_index": 106, "question": "What are the classifications of scenes?", "category": "Normal scene Understanding", "options": ["A. City", "B. Unpaved", "C. Highway", "D. Residential area"], "answer_index": 0}
{"token": "058432e7f5272981a3b59ea0b92fca11", "waymo_split": "test", "type": "image", "frame_index": 106, "question": "Which of the following is a correct description of traffic density?", "category": "Normal scene Understanding", "options": ["A. There are many cars in front, but few behind.", "B. There are many cars behind, but few in front.", "C. The left lane is congested, but the right lane is relatively empty.", "D. There are few surrounding vehicles, and the flow is relatively fast."], "answer_index": 1}
{"token": "058432e7f5272981a3b59ea0b92fca11", "waymo_split": "test", "type": "image", "frame_index": 106, "question": "Which of the following is a correct description of the environment?", "category": "Normal scene Understanding", "options": ["A. drizzle", "B. cloudy", "C. backlight", "D. clear"], "answer_index": 3}
{"token": "058432e7f5272981a3b59ea0b92fca11", "waymo_split": "test", "type": "image", "frame_index": 106, "question": "Which of the following is a correct description of traffic signals?", "category": "Traffic Signal", "options": ["A. There are road surface arrows", "B. There are crosswalk markings", "C. There are no road surface signs", "D. There are stop line markings"], "answer_index": 2}
{"token": "058432e7f5272981a3b59ea0b92fca11", "waymo_split": "test", "type": "image", "frame_index": 106, "question": "Do you have any blind spots in your vision?", "category": "Uncertainty", "options": ["A. There is a blind spot in the right visual field", "B. There is no blind spot in the left visual field", "C. There is a blind spot in the front visual field", "D. There are no blind spots in the visual field"], "answer_index": 3}
{"token": "058432e7f5272981a3b59ea0b92fca11", "waymo_split": "test", "type": "image", "frame_index": 106, "question": "What is the description of a non-safety-critical object?", "category": "Normal Perception & Prediction", "options": ["A. On the right, instead of a construction site, there are trees behind a low fence, and a bicycle path runs outside with a clearly painted blue sign.", "B. On the left, inside a construction safety fence, materials are neatly stacked and scaffolding is visible. Outside, the sidewalk continues, and tactile paving is clearly laid.", "C. On the right, a safety barrier completely covers the interior, making the contents invisible. Outside, there is a bus-only lane with thick yellow letters prominently displayed.", "D. On the right, inside a construction safety structure, dirt and the construction site are visible. Outside, there is a roadway, and lane markings are faintly written on the surface."], "answer_index": 3}
{"token": "058432e7f5272981a3b59ea0b92fca11", "waymo_split": "test", "type": "image", "frame_index": 106, "question": "What is the correlation in safety-critical situations?", "category": "Safety-critical scene Understanding", "options": ["A. Person - Two-wheeler", "B. Vehicle - Two-wheeler", "C. Vehicle - Vehicle", "D. Vehicle - Person"], "answer_index": 2}
{"token": "058432e7f5272981a3b59ea0b92fca11", "waymo_split": "test", "type": "image", "frame_index": 106, "question": "How do you think a safety-critical object will move?", "category": "Safety-critical Prediction", "options": ["A. The safety-critical object will stop to wait for a signal (already decelerating)", "B. The safety-critical object will move to the right lane (slightly accelerating)", "C. The safety-critical object will turn left (speed is gradually decreasing)", "D. The safety-critical object will continue straight (speed is constant)"], "answer_index": 3}
{"token": "058432e7f5272981a3b59ea0b92fca11", "waymo_split": "test", "type": "image", "frame_index": 106, "question": "Is lane changing possible? Which is safer between slowing down and changing lanes?", "category": "Safety-critical Planning", "options": ["A. You should change lanes while accelerating.", "B. You should change lanes while slowing down.", "C. You should maintain speed and enter directly.", "D. You should change lanes before a curve."], "answer_index": 1}
{"token": "058432e7f5272981a3b59ea0b92fca11", "waymo_split": "test", "type": "image", "frame_index": 106, "question": "What should I do to drive safely?", "category": "Safety-critical Planning", "options": ["A. You should yield to safety-critical objects and change lanes immediately. To do this, maintain or slightly increase your speed compared to the safety-critical object, and change lanes immediately if a gap appears.", "B. You should match your speed with the safety-critical object and change lanes simultaneously. To do this, maintain the same speed as the safety-critical object and change lanes when the gap narrows.", "C. You should let the safety-critical object go first and then change lanes. To do this, reduce your speed compared to the safety-critical object and then change lanes.", "D. You should change lanes while going ahead of the safety-critical object. To do this, accelerate compared to the safety-critical object and change lanes proactively when a gap appears."], "answer_index": 2}
{"token": "058432e7f5272981a3b59ea0b92fca11", "waymo_split": "test", "type": "image", "frame_index": 106, "question": "What is a safety-critical object?", "category": "Safety-critical Perception", "options": ["A. A white sedan vehicle that is already driving ahead in the lane where a right lane change is intended.", "B. A red delivery motorcycle that is moving slowly in the lane near the center line.", "C. A black SUV vehicle that is already driving ahead in the lane where a left lane change is intended.", "D. A silver pickup truck that is rapidly approaching from behind in the left lane."], "answer_index": 2}
{"token": "058432e7f5272981a3b59ea0b92fca11", "waymo_split": "test", "type": "image", "frame_index": 106, "question": "Are there any other safety-critical objects besides the first safety-critical object? If so, how will they be moved?", "category": "Safety-critical Prediction", "options": ["A. None", "B. Yes, move to the right isolation area", "C. Yes, move to the rear disposal area", "D. Yes, move to the front safety zone"], "answer_index": 0}
{"token": "058432e7f5272981a3b59ea0b92fca11", "waymo_split": "test", "type": "image", "frame_index": 106, "question": "If the autonomous vehicle behaved this way, what situation might have occurred?", "category": "Counterfactual", "options": ["A. If the autonomous vehicle changes lanes without decelerating, it could collide with a safety-critical object on the left.", "B. If the autonomous vehicle changes lanes without decelerating, it could smoothly enter the empty lane on the right.", "C. If the autonomous vehicle maintains its lane while accelerating, the distance to the safety-critical object on the left is sufficient, reducing the risk of collision.", "D. If the autonomous vehicle stops briefly and then immediately changes lanes, it can quickly increase the distance from the vehicle in front and merge smoothly."], "answer_index": 0}
{"token": "058432e7f5272981a3b59ea0b92fca11", "waymo_split": "test", "type": "image", "frame_index": 141, "question": "What is correct as an Image Caption from the perspective of a Normal Frame?", "category": "Normal scene caption", "options": ["A. Clouds are covering the sky, spreading light and softly blurring the view. A delivery motorcycle is temporarily stopped on the road in front of the construction site on the left.", "B. A deep shadow is cast between the buildings on the right, blocking the view in that direction. Inside the safety fence on the right, there are only piles of materials, and no equipment vehicles.", "C. Dust is slightly stirred up by the wind between the buildings on the left, making the view hazy. Workers are moving on the sidewalk outside the left safety structure, and no vehicles are visible.", "D. Strong sunlight is shining through the gap between the buildings on the left, obscuring the view in that direction. There is a construction vehicle operating in the construction site to the right of the left safety structure."], "answer_index": 3}
{"token": "058432e7f5272981a3b59ea0b92fca11", "waymo_split": "test", "type": "image", "frame_index": 141, "question": "Based on the current appearance of the person/vehicle (two-wheeled), how do you intend to move?", "category": "Normal Perception & Prediction", "options": ["A. Proceeding to the left", "B. Attempting a U-turn", "C. Driving straight", "D. Entering to the right"], "answer_index": 2}
{"token": "058432e7f5272981a3b59ea0b92fca11", "waymo_split": "test", "type": "image", "frame_index": 141, "question": "Which of the following is correct from the perspective of Safety-critical Frame regarding Image Caption?", "category": "Safety-critical scene caption", "options": ["A. Immediately after completing the left lane change, the slow-moving black vehicle completed a right lane change and continued driving straight while moving one lane apart.", "B. Even immediately after completing the left lane change, the slow-moving black vehicle maintained its speed in the same lane without changing lanes and continued driving straight.", "C. Immediately after completing the right lane change, the slow-moving black vehicle also completed a right lane change and continued driving straight while moving one lane in the same direction.", "D. Immediately after completing the left lane change, the slow-moving black vehicle also completed a left lane change and continued driving straight while moving one lane apart."], "answer_index": 3}
{"token": "058432e7f5272981a3b59ea0b92fca11", "waymo_split": "test", "type": "image", "frame_index": 141, "question": "What are the behavioral restrictions in school zones/congested areas?", "category": "Special Event", "options": ["A. In narrow alleys, pass by widening the lane while keeping to the center line, or proceed at a steady speed without stopping in congested areas.", "B. Quickly exit narrow roads or carefully slow down in congested areas to assess the presence of potential hazards.", "C. In child protection zones, exceed the speed limit slightly to exit quickly, and in congested areas, turn on hazard lights to prioritize passage.", "D. In school zones, occasionally honk to signal pedestrians, and in congested areas, actively attempt to overtake to match the flow."], "answer_index": 1}
{"token": "058432e7f5272981a3b59ea0b92fca11", "waymo_split": "test", "type": "image", "frame_index": 141, "question": "What is the plan for yielding when an ambulance/fire truck approaches?", "category": "Special Event", "options": ["A. Move to the left lane and guide in front of the ambulance", "B. Turn on hazard lights and stop in the middle of the lane to wait", "C. Indicate willingness to yield with the horn and high beams while maintaining speed", "D. Yield the driving lane to the fire/ambulance by slowing down or speeding up"], "answer_index": 3}
{"token": "058432e7f5272981a3b59ea0b92fca11", "waymo_split": "test", "type": "image", "frame_index": 141, "question": "What are the classifications of scenes?", "category": "Normal scene Understanding", "options": ["A. Unpaved", "B. Residential area", "C. Highway", "D. City"], "answer_index": 3}
{"token": "058432e7f5272981a3b59ea0b92fca11", "waymo_split": "test", "type": "image", "frame_index": 141, "question": "Which of the following is a correct description of traffic density?", "category": "Normal scene Understanding", "options": ["A. slow", "B. high", "C. fast", "D. congestion"], "answer_index": 2}
{"token": "058432e7f5272981a3b59ea0b92fca11", "waymo_split": "test", "type": "image", "frame_index": 141, "question": "Which of the following is a correct description of the environment?", "category": "Normal scene Understanding", "options": ["A. Fog, dawn", "B. Rain, night", "C. Cloudy, afternoon", "D. Clear, daytime"], "answer_index": 3}
{"token": "058432e7f5272981a3b59ea0b92fca11", "waymo_split": "test", "type": "image", "frame_index": 141, "question": "Which of the following is a correct description of traffic signals?", "category": "Traffic Signal", "options": ["A. Red traffic light", "B. Stop line marking", "C. No traffic light", "D. Green pedestrian signal"], "answer_index": 2}
{"token": "058432e7f5272981a3b59ea0b92fca11", "waymo_split": "test", "type": "image", "frame_index": 141, "question": "What is the description of a non-safety-critical object?", "category": "Normal Perception & Prediction", "options": ["A. A black pickup truck attempting to change lanes in front of the left lane. A mobile electronic sign vehicle stopped next to the right sidewalk.", "B. A white SUV following behind in the left lane. A construction equipment operating vehicle (like a forklift) across from the right safety structure.", "C. A red hatchback exiting a front intersection. A road management patrol car stopped beyond the central divider.", "D. A silver sedan moving slowly in the right lane. A material transport truck in front of the left construction fence."], "answer_index": 1}
{"token": "058432e7f5272981a3b59ea0b92fca11", "waymo_split": "test", "type": "image", "frame_index": 141, "question": "What is the answer regarding parked vehicles on the shoulder, the presence of a center line, and whether Ego crosses the center line?", "category": "Normal Perception & Prediction", "options": ["A. It is not a two-lane situation, there are no parked vehicles on the shoulder, and the lane markings on the road appear faint.", "B. It is a two-lane situation with one passenger car stopped on the shoulder, the center line is clear, and Ego does not cross the center line.", "C. It is a two-lane situation with a bus briefly stopped on the shoulder, there is no center line, and Ego maintains the lane.", "D. It is indeed a two-lane situation with a delivery truck parked on the shoulder, the center line is clearly dashed, and Ego slightly crosses the center line while overtaking."], "answer_index": 0}
{"token": "058432e7f5272981a3b59ea0b92fca11", "waymo_split": "test", "type": "image", "frame_index": 141, "question": "Is there a blind spot in your field of vision?", "category": "Uncertainty", "options": ["A. In front of the construction equipment operating vehicle (e.g., loader) in front of the right safety structure", "B. To the left of the dump truck across the central divider", "C. To the left of the pedestrian inside the right safety structure", "D. To the right of the construction equipment operating vehicle (like a backhoe) across from the right safety structure"], "answer_index": 3}
{"token": "058432e7f5272981a3b59ea0b92fca11", "waymo_split": "test", "type": "image", "frame_index": 141, "question": "Are there any safety-critical objects other than the first safety-critical object? If so, how will you move?", "category": "Safety-critical Prediction", "options": ["A. There is a safety-critical object: move slowly to the left", "B. Detected a safety-critical object: detour to the right to avoid the front", "C. There are no safety-critical objects", "D. A safety-critical object exists: stop briefly and reverse to move to a safe area"], "answer_index": 2}
{"token": "058432e7f5272981a3b59ea0b92fca11", "waymo_split": "test", "type": "image", "frame_index": 141, "question": "What is a safety-critical object?", "category": "Safety-critical Perception", "options": ["A. Safety-critical object: lithium-ion battery pack", "B. Safety-critical object: robotic arm in operation", "C. No safety-critical object", "D. Safety-critical object: high-pressure valve"], "answer_index": 2}
{"token": "058432e7f5272981a3b59ea0b92fca11", "waymo_split": "test", "type": "image", "frame_index": 141, "question": "How do you think a safety-critical object will move?", "category": "Safety-critical Prediction", "options": ["A. There is a safety-critical object.", "B. There is no safety-critical object.", "C. It seems to merge towards the center of the lane.", "D. It seems to move slowly to the right."], "answer_index": 1}
{"token": "064d39a83e0f26a577b607e4d45cb412", "waymo_split": "test", "type": "video", "frame_index": null, "question": "Where is the safety-critical situation in the video?", "category": "Temporal Grounding", "options": ["A. 2/4", "B. 3/4", "C. 4/4", "D. 1/4"], "answer_index": 0}
{"token": "064d39a83e0f26a577b607e4d45cb412", "waymo_split": "test", "type": "video", "frame_index": null, "question": "What are the classifications of scenes?", "category": "Normal scene Understanding", "options": ["A. Highway", "B. Residential area", "C. Unpaved", "D. Urban area"], "answer_index": 1}
{"token": "064d39a83e0f26a577b607e4d45cb412", "waymo_split": "test", "type": "video", "frame_index": null, "question": "Are there any special circumstances?", "category": "Special Event", "options": ["A. Narrow two-lane residential intersection due to emergency vehicles", "B. Bottleneck caused by a school bus stopping in a single lane school zone", "C. Need to clear the right lane for an emergency vehicle approaching from behind", "D. One lane of a two-lane road is blocked due to cones set up in front of a construction site"], "answer_index": 0}
{"token": "064d39a83e0f26a577b607e4d45cb412", "waymo_split": "test", "type": "video", "frame_index": null, "question": "Which of the following is a correct description of road alignment?", "category": "Normal Perception & Prediction", "options": ["A. Straight", "B. Overtaking", "C. Right turn", "D. Left turn"], "answer_index": 2}
{"token": "064d39a83e0f26a577b607e4d45cb412", "waymo_split": "test", "type": "video", "frame_index": null, "question": "Which of the following is a correct description of traffic density?", "category": "Normal scene Understanding", "options": ["A. Fast. Almost no surrounding vehicles. An upward slope continues ahead from before the right turn.", "B. Slow. Many surrounding vehicles. The road after the right turn has a downward slope ahead.", "C. Fast. Few surrounding vehicles. The road after the left turn has a gentle upward slope ahead.", "D. Normal. Sparse surrounding vehicles. The road after the right turn is flat ahead."], "answer_index": 1}
{"token": "064d39a83e0f26a577b607e4d45cb412", "waymo_split": "test", "type": "video", "frame_index": null, "question": "Which of the following is a correct description of the environment?", "category": "Normal scene Understanding", "options": ["A. Rainy dawn", "B. Foggy morning", "C. Clear afternoon", "D. Cloudy evening"], "answer_index": 2}
{"token": "064d39a83e0f26a577b607e4d45cb412", "waymo_split": "test", "type": "video", "frame_index": null, "question": "What is the answer regarding parked vehicles on the shoulder, the presence of a center line, and whether Ego crosses the center line?", "category": "Normal Perception & Prediction", "options": ["A. Double center line. No parked vehicles on the shoulder.", "B. Center line present. Few parked vehicles on the shoulder.", "C. No center line. Many parked vehicles on the shoulder.", "D. Solid center line. Almost no parked vehicles on the shoulder."], "answer_index": 2}
{"token": "064d39a83e0f26a577b607e4d45cb412", "waymo_split": "test", "type": "video", "frame_index": null, "question": "What is the description of a non-safety-critical object?", "category": "Normal Perception & Prediction", "options": ["A. A low median strip in the center of the road", "B. Motorcycles parked on the sidewalk", "C. Utility poles and wires. STOP pavement markings on the ground. A number of vehicles parked on the side", "D. SLOW pavement markings on the ground"], "answer_index": 2}
{"token": "064d39a83e0f26a577b607e4d45cb412", "waymo_split": "test", "type": "video", "frame_index": null, "question": "Is there a blind spot in your field of vision?", "category": "Uncertainty", "options": ["A. There is a blind spot between parked vehicles.", "B. There is no blind spot as the right-side street parking is organized.", "C. There is no blind spot as visibility is clear in front of the bus stop.", "D. There is a blind spot only towards the left alley exit."], "answer_index": 0}
{"token": "064d39a83e0f26a577b607e4d45cb412", "waymo_split": "test", "type": "video", "frame_index": null, "question": "Which of the following statements about traffic signals is correct?", "category": "Traffic Signal", "options": ["A. The yield sign is on the right just before the right turn. There is no STOP written on the road, only SLOW in the center of the vehicle's direction.", "B. The STOP sign is on the left after the right turn. There are only arrows for the right turn lane on the road without a stop line.", "C. The green arrow is lit at the traffic light just before the right turn. The STOP marking on the road is only visible in the straight lane in the same direction as the vehicle.", "D. The STOP sign is on the right just before the right turn. The STOP marking on the road is written in such a way that it can be seen from the opposite direction right after the right turn."], "answer_index": 3}
{"token": "064d39a83e0f26a577b607e4d45cb412", "waymo_split": "test", "type": "video", "frame_index": null, "question": "What is the correlation in safety-critical situations?", "category": "Safety-critical scene Understanding", "options": ["A. car-car", "B. car-two-wheeler", "C. car-person", "D. person-two-wheeler"], "answer_index": 0}
{"token": "064d39a83e0f26a577b607e4d45cb412", "waymo_split": "test", "type": "video", "frame_index": null, "question": "What is a safety-critical object?", "category": "Safety-critical Perception", "options": ["A. A pickup truck standing in the center of a straight lane (a man is getting out from the passenger side to check the cargo bed)", "B. A sedan stopped at the edge of the same lane just before a left turn (a woman is getting out from the passenger side to close the trunk)", "C. A delivery motorcycle stopped at the end of a crosswalk before a right turn (the driver starts immediately when the signal changes)", "D. An SUV standing in the opposite lane right after a right turn (a man is getting out from behind this SUV to get into the driver's seat)"], "answer_index": 3}
{"token": "064d39a83e0f26a577b607e4d45cb412", "waymo_split": "test", "type": "video", "frame_index": null, "question": "How did the safety-critical object move and how did the ego vehicle behave?", "category": "Safety-critical scene Understanding", "options": ["A. After the person got out of the vehicle, it moved slowly forward. The ego vehicle checked for other vehicles after making a left turn, proceeded slowly, and continued on right after the person finished getting out.", "B. The person did not get in, and an empty vehicle rolled slowly down the hill. The ego vehicle attempted to make a U-turn but stopped at the right edge upon seeing this, then resumed after the vehicle passed.", "C. A vehicle with a person and luggage was moving forward slowly. The ego vehicle noticed this while going straight, yielded momentarily, slowed down, and passed through without stopping.", "D. Only the person was in the vehicle, which remained stationary. The ego vehicle stopped after making a right turn upon seeing the vehicle, and then continued driving right after seeing that the person was on board."], "answer_index": 3}
{"token": "064d39a83e0f26a577b607e4d45cb412", "waymo_split": "test", "type": "video", "frame_index": null, "question": "Summary of Ego (own vehicle) behavior before a safety-critical situation", "category": "Normal scene Understanding", "options": ["A. Made a right turn at the intersection and stopped immediately after the turn", "B. Went straight at the intersection and stopped immediately after passing through", "C. Made a U-turn at the T-intersection and stopped immediately after the turn", "D. Made a left turn at the intersection and slowed down immediately after the turn"], "answer_index": 0}
{"token": "064d39a83e0f26a577b607e4d45cb412", "waymo_split": "test", "type": "video", "frame_index": null, "question": "What situation might have occurred if the self-driving car acted this way?", "category": "Counterfactual", "options": ["A. If the self-driving car accelerated without stopping, it might have passed through without any pedestrians.", "B. If the self-driving car maintained its speed, it could have passed smoothly next to the safety-critical object.", "C. If the self-driving car slightly turned left, it could have continued without interfering with the car behind.", "D. If the self-driving car accelerated without stopping, it might have collided with a person coming out from behind the safety-critical object."], "answer_index": 3}
{"token": "064d39a83e0f26a577b607e4d45cb412", "waymo_split": "test", "type": "image", "frame_index": 112, "question": "Based on the current appearance of the person/vehicle (two-wheeled), how do you think they will move?", "category": "Normal Perception & Prediction", "options": ["A. It seems they will proceed slowly and go straight.", "B. It seems they will accelerate and turn right.", "C. It seems they will change to the left lane.", "D. It seems they will stop and turn left."], "answer_index": 0}
{"token": "064d39a83e0f26a577b607e4d45cb412", "waymo_split": "test", "type": "image", "frame_index": 112, "question": "What is the plan for yielding when an ambulance/fire truck approaches?", "category": "Special Event", "options": ["A. Yield after passing the intersection", "B. Yield after moving to the left", "C. Yield after coming to a stop", "D. Yield while maintaining slow speed"], "answer_index": 2}
{"token": "064d39a83e0f26a577b607e4d45cb412", "waymo_split": "test", "type": "image", "frame_index": 112, "question": "Which of the following is correct as an Image Caption from a Safety-critical Frame perspective?", "category": "Safety-critical scene caption", "options": ["A. A person is in the passenger seat of a vehicle that is moving slowly in the same lane on the right, and the passenger door is completely closed.", "B. No one is visible in the vehicle that is stopped on the left shoulder, and the driver's window is only halfway open.", "C. The driver has already exited the vehicle that is stopped in the opposite lane on the left, and the driver's door is completely closed.", "D. A person is in the driver's seat of a vehicle that is stopped in the opposite lane on the left. The driver's door is not yet completely closed."], "answer_index": 3}
{"token": "064d39a83e0f26a577b607e4d45cb412", "waymo_split": "test", "type": "image", "frame_index": 112, "question": "Which of the following is a correct description of traffic density?", "category": "Normal scene Understanding", "options": ["A. Fast, many vehicles (mixed buses and trucks)", "B. Fast, few vehicles (almost no parking on the side streets)", "C. Slow, few vehicles (shoulder mostly empty)", "D. Slow, many vehicles (many parked cars on the side streets)"], "answer_index": 3}
{"token": "064d39a83e0f26a577b607e4d45cb412", "waymo_split": "test", "type": "image", "frame_index": 112, "question": "Which of the following is a correct description of the environment?", "category": "Normal scene Understanding", "options": ["A. Day, clear", "B. Evening, rain", "C. Night, fog", "D. Morning, cloudy"], "answer_index": 0}
{"token": "064d39a83e0f26a577b607e4d45cb412", "waymo_split": "test", "type": "image", "frame_index": 112, "question": "Which of the following is a correct description of traffic signals?", "category": "Traffic Signal", "options": ["A. There is a stop sign", "B. The traffic light is red", "C. Left turn only arrow", "D. No signal or sign"], "answer_index": 3}
{"token": "064d39a83e0f26a577b607e4d45cb412", "waymo_split": "test", "type": "image", "frame_index": 112, "question": "What is the description of a non-safety-critical object?", "category": "Normal Perception & Prediction", "options": ["A. There is a low flower bed connected to the central divider, a suspension bridge passes low overhead, and a large supermarket parking lot and utility poles are visible on the right.", "B. There are parked cars on the side street. The elevated road in front is far away. There are sidewalks, houses, and trees on both sides of the road.", "C. Motorcycles are parked on the shoulder, the entrance to an underpass is visible ahead, and there are commercial buildings and bus stops on both sides of the road.", "D. There is a long line of bicycle racks on the sidewalk, a small bridge connects ahead, and there is a construction fence and crane on the left side of the road."], "answer_index": 1}
{"token": "064d39a83e0f26a577b607e4d45cb412", "waymo_split": "test", "type": "image", "frame_index": 112, "question": "What are the classifications of scenes?", "category": "Normal scene Understanding", "options": ["A. Highway", "B. Residential area", "C. Unpaved", "D. City"], "answer_index": 1}
{"token": "064d39a83e0f26a577b607e4d45cb412", "waymo_split": "test", "type": "image", "frame_index": 112, "question": "How do you think a safety-critical object would move?", "category": "Safety-critical Prediction", "options": ["A. Moving forward while rotating", "B. Maintaining a stationary position for a short time", "C. Moving in small circles", "D. Sliding slowly to the right"], "answer_index": 1}
{"token": "064d39a83e0f26a577b607e4d45cb412", "waymo_split": "test", "type": "image", "frame_index": 112, "question": "Are there any blind spots in your field of vision?", "category": "Uncertainty", "options": ["A. Good visibility on the right shoulder, no blind spots", "B. No blind spots due to visibility ahead of the intersection", "C. Blind spots exist between parked vehicles on the side street", "D. Blind spots exist behind the left bus stop"], "answer_index": 2}
{"token": "064d39a83e0f26a577b607e4d45cb412", "waymo_split": "test", "type": "image", "frame_index": 112, "question": "What is the answer regarding parked vehicles on the shoulder, the presence of a center line, and whether Ego has crossed the center line?", "category": "Normal Perception & Prediction", "options": ["A. Parked vehicles on the shoulder are rare. Center line confirmed.", "B. Parked vehicles on the shoulder are many. No center line.", "C. No parked vehicles on the shoulder. Center line present.", "D. Few parked vehicles on the shoulder. Center line present."], "answer_index": 1}
{"token": "064d39a83e0f26a577b607e4d45cb412", "waymo_split": "test", "type": "image", "frame_index": 112, "question": "What is a safety-critical object?", "category": "Safety-critical Perception", "options": ["A. A taxi in the opposite lane with a passenger getting in (in the back seat)", "B. A vehicle in the opposite lane with a driver getting in (in the driver's seat)", "C. A cargo truck on the left shoulder with a worker unloading (in the process of getting off)", "D. A vehicle in the same lane on the right with a passenger getting off (in the front passenger seat)"], "answer_index": 1}
{"token": "064d39a83e0f26a577b607e4d45cb412", "waymo_split": "test", "type": "image", "frame_index": 112, "question": "Are there any other safety-critical objects besides the first safety-critical object? If so, how would you move?", "category": "Safety-critical Prediction", "options": ["A. Yes — slowly proceed straight while keeping the area in front of the fire hydrant clear", "B. Yes — move cautiously through the left aisle near the oxygen tank", "C. Yes — detour to the right in the high voltage panel area", "D. No"], "answer_index": 3}
{"token": "064d39a83e0f26a577b607e4d45cb412", "waymo_split": "test", "type": "image", "frame_index": 112, "question": "What should I do to drive safely?", "category": "Safety-critical Planning", "options": ["A. When the lane is narrow, I should slightly cross the center line and quickly overtake into the opposite lane (it's safe if I can't see oncoming cars).", "B. I should slow down to pass carefully when the driver's door is closing (it's a narrow two-lane road because there are parked cars).", "C. I should pass as quickly as possible while keeping a close distance to parked cars (taking up less space makes it easier to encounter oncoming vehicles).", "D. Even if I see a car with its door open, I should just honk briefly and maintain my speed to pass straight through (slowing down unnecessarily increases the risk of a rear-end collision)."], "answer_index": 1}
{"token": "064d39a83e0f26a577b607e4d45cb412", "waymo_split": "test", "type": "image", "frame_index": 112, "question": "Is lane changing possible? Which is safer between deceleration and lane changing?", "category": "Safety-critical Planning", "options": ["A. Acceleration", "B. Deceleration", "C. Constant speed", "D. Overtaking"], "answer_index": 1}
{"token": "064d39a83e0f26a577b607e4d45cb412", "waymo_split": "test", "type": "image", "frame_index": 112, "question": "What are the new potential hazards that may be exposed in the following area?", "category": "Safety-critical Prediction", "options": ["A. A person or bicycle that may appear among parked vehicles.", "B. An electric scooter suddenly cutting in from a blind spot at the alley exit.", "C. A delivery motorcycle going against traffic over the center line from the opposite alley.", "D. A car merging into the lane without using turn signals."], "answer_index": 0}
{"token": "064d39a83e0f26a577b607e4d45cb412", "waymo_split": "test", "type": "image", "frame_index": 112, "question": "Where is the area that hides danger in the current frame?", "category": "Uncertainty", "options": ["A. Between the bushes of the median strip", "B. Behind the bus stop shelter", "C. Between the parked cars on the side", "D. Behind the large truck"], "answer_index": 2}
{"token": "064d39a83e0f26a577b607e4d45cb412", "waymo_split": "test", "type": "image", "frame_index": 11, "question": "Based on the current appearance of the person/vehicle (two-wheeled), how are they trying to move?", "category": "Normal Perception & Prediction", "options": ["A. Going straight", "B. Making a U-turn", "C. Turning left", "D. Turning right"], "answer_index": 3}
{"token": "064d39a83e0f26a577b607e4d45cb412", "waymo_split": "test", "type": "image", "frame_index": 112, "question": "What are the guidelines for my vehicle's behavior based on the actions of a safety-critical object?", "category": "Safety-critical Planning", "options": ["A. If the safety-critical object is stopped but the door is not fully closed and the surroundings are clear, I should overtake and proceed.", "B. If a person is still boarding the safety-critical object and the door is closing, I should pass through at a slow speed.", "C. If the person boarding the safety-critical object completes boarding quickly and the door does not close, I should continue to stop.", "D. If the person boarding the safety-critical object signals me to proceed while the door is open, I should proceed cautiously."], "answer_index": 2}
{"token": "064d39a83e0f26a577b607e4d45cb412", "waymo_split": "test", "type": "image", "frame_index": 11, "question": "Which of the following is correct as an Image Caption from a safety-critical Frame perspective?", "category": "Safety-critical scene caption", "options": ["A. Exposed wires", "B. Ignoring signal vehicles", "C. None", "D. Not wearing a helmet"], "answer_index": 2}
{"token": "064d39a83e0f26a577b607e4d45cb412", "waymo_split": "test", "type": "image", "frame_index": 11, "question": "What is the plan for yielding when an ambulance/fire truck approaches?", "category": "Special Event", "options": ["A. Turn on emergency lights and proceed slowly", "B. Stop first and yield", "C. Move to the left lane", "D. Pass through the intersection first"], "answer_index": 1}
{"token": "064d39a83e0f26a577b607e4d45cb412", "waymo_split": "test", "type": "image", "frame_index": 11, "question": "What are the classifications of scenes?", "category": "Normal scene Understanding", "options": ["A. Urban area", "B. Highway", "C. Residential area", "D. Unpaved"], "answer_index": 2}
{"token": "064d39a83e0f26a577b607e4d45cb412", "waymo_split": "test", "type": "image", "frame_index": 11, "question": "Which of the following is a correct description of traffic density?", "category": "Normal scene Understanding", "options": ["A. Fast, many surrounding vehicles (highway merge point)", "B. Fast, few surrounding vehicles (quiet straight section)", "C. Slow, many surrounding vehicles (cars parked on the side street)", "D. Slow, few surrounding vehicles (quiet residential alley)"], "answer_index": 2}
{"token": "064d39a83e0f26a577b607e4d45cb412", "waymo_split": "test", "type": "image", "frame_index": 11, "question": "Which of the following describes a non-safety-critical object?", "category": "Normal Perception & Prediction", "options": ["A. The speed limit sign of 30 on the central divider", "B. The YIELD sign on the left", "C. The utility pole and the wires connecting it. The STOP sign on the right", "D. The streetlight and the banner hanging from it"], "answer_index": 2}
{"token": "064d39a83e0f26a577b607e4d45cb412", "waymo_split": "test", "type": "image", "frame_index": 11, "question": "Which of the following descriptions about the environment is correct?", "category": "Normal scene Understanding", "options": ["A. Dusk, light rain", "B. Night, cloudy", "C. Day, clear", "D. Dawn, light fog"], "answer_index": 2}
{"token": "064d39a83e0f26a577b607e4d45cb412", "waymo_split": "test", "type": "image", "frame_index": 11, "question": "Which of the following is a correct description of traffic signals?", "category": "Traffic Signal", "options": ["A. The STOP sign on the right", "B. The YIELD sign on the left", "C. The red light of the traffic signal ahead", "D. The left turn guide markings on the road"], "answer_index": 0}
{"token": "064d39a83e0f26a577b607e4d45cb412", "waymo_split": "test", "type": "image", "frame_index": 11, "question": "What is the answer regarding parked vehicles on the shoulder, the presence of a center line, and whether Ego crosses the center line?", "category": "Normal Perception & Prediction", "options": ["A. About 1-2 parked vehicles on the shoulder in a straight two-lane section. There is a center line.", "B. There are many parked vehicles on the shoulder at each road of the intersection. There is no center line.", "C. There are almost no parked vehicles on the shoulder, so there is no disruption to the flow of traffic. The center line is clear.", "D. A few parked vehicles are scattered at the entrance of the intersection. There is a center line."], "answer_index": 1}
{"token": "064d39a83e0f26a577b607e4d45cb412", "waymo_split": "test", "type": "image", "frame_index": 11, "question": "Is there a blind spot in your field of vision?", "category": "Uncertainty", "options": ["A. The view is clear in the right alley", "B. The view is clear on the right road", "C. The view is not clear on the right road", "D. The view is not clear on the left road"], "answer_index": 2}
{"token": "064d39a83e0f26a577b607e4d45cb412", "waymo_split": "test", "type": "image", "frame_index": 11, "question": "Are there any other safety-critical objects besides the first safety-critical object? If so, how will you move?", "category": "Safety-critical Prediction", "options": ["A. Safety-critical object in front of the intersection, resume going straight after stopping", "B. Safety-critical object in the right lane, change to the left lane", "C. No safety-critical objects", "D. Safety-critical object on the front left, evade to the right"], "answer_index": 2}
{"token": "064d39a83e0f26a577b607e4d45cb412", "waymo_split": "test", "type": "image", "frame_index": 11, "question": "What is a safety-critical object?", "category": "Safety-critical Perception", "options": ["A. Safety-critical emergency stop button", "B. Safety-critical brake control module", "C. No safety-critical object", "D. Safety-critical power cut-off switch"], "answer_index": 2}
{"token": "064d39a83e0f26a577b607e4d45cb412", "waymo_split": "test", "type": "image", "frame_index": 11, "question": "What should I do to drive safely?", "category": "Safety-critical Planning", "options": ["A. Make a left turn at low speed (approaching oncoming straight vehicles)", "B. Make a right turn at high speed (approaching a safety-critical object)", "C. Make a right turn at low speed (no safety-critical objects)", "D. Accelerate and go straight (red signal ahead)"], "answer_index": 2}
{"token": "064d39a83e0f26a577b607e4d45cb412", "waymo_split": "test", "type": "image", "frame_index": 11, "question": "How do you think a safety-critical object will move?", "category": "Safety-critical Prediction", "options": ["A. Approach towards the vehicle in front", "B. Merge slowly to the left", "C. Slow drift to the right edge", "D. No safety-critical object"], "answer_index": 3}
{"token": "064d39a83e0f26a577b607e4d45cb412", "waymo_split": "test", "type": "image", "frame_index": 11, "question": "Is lane changing possible? Which is safer between slowing down and changing lanes?", "category": "Safety-critical Planning", "options": ["A. Lane change (avoiding slow vehicle ahead)", "B. Lane change (smooth flow in the left lane)", "C. Slowing down (no safety-critical objects)", "D. Lane change (plenty of space in the right lane, no approaching vehicles from behind)"], "answer_index": 2}
{"token": "064d39a83e0f26a577b607e4d45cb412", "waymo_split": "test", "type": "image", "frame_index": 11, "question": "How should I drive to address the first risk while also resolving the second risk?", "category": "Safety-critical Planning", "options": ["A. Prioritize the merging vehicle on the left", "B. There is a safety-critical object", "C. There is no safety-critical object", "D. Avoid the pedestrian object ahead"], "answer_index": 2}
{"token": "064d39a83e0f26a577b607e4d45cb412", "waymo_split": "test", "type": "image", "frame_index": 11, "question": "Where is the area that hides danger in the current frame?", "category": "Uncertainty", "options": ["A. The view is blocked at both ends of the crosswalk ahead.", "B. The view is blocked in the direction of the left alley exit.", "C. The view is blocked on the right road when turning right.", "D. The view is blocked on the left road when turning left."], "answer_index": 2}
{"token": "064d39a83e0f26a577b607e4d45cb412", "waymo_split": "test", "type": "image", "frame_index": 38, "question": "Which of the following is correct from the perspective of Safety-critical Frame regarding Image Caption?", "category": "Safety-critical scene caption", "options": ["A. A gray van is parked on the right edge of the opposite lane in the right turn entry section (hazard lights on), and the vehicle in the same direction as my car is changing lanes.", "B. A black SUV in the left opposite lane is not stopped but is slowly rolling (turn signal on) while the vehicle in the same direction as my car is waiting for the signal.", "C. A white sedan is moving slowly in the left opposite lane of the right turn entry (left turn signal on), and the vehicle in the same direction as my car is making a right turn.", "D. A black SUV is not moving and is stopped in the left opposite lane of the road entering the right turn (no turn signal on). The vehicle in the same direction as my car is going straight."], "answer_index": 3}
{"token": "064d39a83e0f26a577b607e4d45cb412", "waymo_split": "test", "type": "image", "frame_index": 11, "question": "If the self-driving car behaved like this, what situation might have occurred?", "category": "Counterfactual", "options": ["A. If the self-driving car makes a high-speed right turn, there is a risk of collision if a person or car appears on the right road.", "B. If the self-driving car makes a high-speed left turn, there is almost no risk of collision even if a car comes out on the left road due to signal priority.", "C. If the self-driving car increases speed and makes a right turn from the ramp, it can sufficiently evade even if a merging vehicle appears on the right due to the wide lane.", "D. If the self-driving car makes a high-speed right turn, there is a low risk of collision even if there are pedestrians on the right road due to the wide turning radius."], "answer_index": 0}
{"token": "064d39a83e0f26a577b607e4d45cb412", "waymo_split": "test", "type": "image", "frame_index": 38, "question": "Based on the current appearance of the person/vehicle (two-wheeled), how do you intend to move?", "category": "Normal Perception & Prediction", "options": ["A. Turn right and then go straight or stop", "B. Make a U-turn and then stop or go straight", "C. Turn left and then go straight or stop", "D. Go straight and then turn right or stop"], "answer_index": 0}
{"token": "064d39a83e0f26a577b607e4d45cb412", "waymo_split": "test", "type": "image", "frame_index": 38, "question": "What are the behavior restrictions in school zones/congested areas?", "category": "Special Event", "options": ["A. Must drive slowly and only go straight at intersections", "B. Must drive slowly and make a U-turn at T-intersections", "C. Must drive slowly and turn left at intersections", "D. Must drive slowly and turn right at four-way intersections"], "answer_index": 3}
{"token": "064d39a83e0f26a577b607e4d45cb412", "waymo_split": "test", "type": "image", "frame_index": 38, "question": "What are the classifications of scenes?", "category": "Normal scene Understanding", "options": ["A. Unpaved", "B. Urban", "C. Highway", "D. Residential area"], "answer_index": 3}
{"token": "064d39a83e0f26a577b607e4d45cb412", "waymo_split": "test", "type": "image", "frame_index": 38, "question": "What is the plan for yielding when an ambulance/fire truck approaches?", "category": "Special Event", "options": ["A. Yield by moving to the left and proceeding slowly at intersections", "B. Stop first and yield if there are no vehicles behind", "C. Continue driving while maintaining the center of the lane even if you hear a siren", "D. Make a sudden stop to yield if there are vehicles behind"], "answer_index": 1}
{"token": "064d39a83e0f26a577b607e4d45cb412", "waymo_split": "test", "type": "image", "frame_index": 38, "question": "Which of the following is a correct description of traffic density?", "category": "Normal scene Understanding", "options": ["A. Slow, few surrounding vehicles", "B. Fast, only a few cars are present", "C. Fast, no surrounding vehicles", "D. Slow, many parked cars on the side streets"], "answer_index": 3}
{"token": "064d39a83e0f26a577b607e4d45cb412", "waymo_split": "test", "type": "image", "frame_index": 38, "question": "What is the description of a non-safety-critical object?", "category": "Normal Perception & Prediction", "options": ["A. The bus stop sign and bench are close to the road. Electric scooters are lined up next to the crosswalk.", "B. Utility poles and wires are on the sidewalk. There are many parked cars on both sides of the corner.", "C. Street trees and planters are placed in the center of the walkway. Taxis are lined up in front of the stop.", "D. Streetlights and banners are attached to the edge of the sidewalk. Parallel parked cars are only long on one side."], "answer_index": 1}
{"token": "064d39a83e0f26a577b607e4d45cb412", "waymo_split": "test", "type": "image", "frame_index": 38, "question": "Which of the following is a correct description of the environment?", "category": "Normal scene Understanding", "options": ["A. Cloudy during the day", "B. Clear during the day", "C. Evening rain", "D. Morning fog"], "answer_index": 1}
{"token": "064d39a83e0f26a577b607e4d45cb412", "waymo_split": "test", "type": "image", "frame_index": 38, "question": "What is a safety-critical object?", "category": "Safety-critical Perception", "options": ["A. A silver van stopped at an intersection", "B. A white sedan moving slowly in the right lane", "C. A gray pickup truck merging into the center lane", "D. A black SUV stopped in the left lane"], "answer_index": 3}
{"token": "064d39a83e0f26a577b607e4d45cb412", "waymo_split": "test", "type": "image", "frame_index": 38, "question": "How do you think a safety-critical object will move?", "category": "Safety-critical Prediction", "options": ["A. The black SUV in the left lane seems like it will reverse into the emergency lane.", "B. The black SUV that is stopped in the left lane seems like it will go forward.", "C. The black SUV in the left lane seems like it will gradually move to the right lane.", "D. The black SUV that is stopped in the left lane seems like it will remain stopped."], "answer_index": 3}
{"token": "064d39a83e0f26a577b607e4d45cb412", "waymo_split": "test", "type": "image", "frame_index": 38, "question": "What is the answer regarding the presence of a central line, parked vehicles on the shoulder, and Ego's encroachment on the central line?", "category": "Normal Perception & Prediction", "options": ["A. There is a central line. No parked vehicles on the shoulder.", "B. There is a central line. There are usually parked vehicles on the shoulder.", "C. There is a central line. There are few parked vehicles on the shoulder.", "D. There is no central line. There are many parked vehicles on the shoulder."], "answer_index": 3}
{"token": "064d39a83e0f26a577b607e4d45cb412", "waymo_split": "test", "type": "image", "frame_index": 38, "question": "Is there a blind spot in your field of vision?", "category": "Uncertainty", "options": ["A. It is on the left", "B. Yes, there is", "C. No, there isn't", "D. There is one when turning right"], "answer_index": 2}
{"token": "064d39a83e0f26a577b607e4d45cb412", "waymo_split": "test", "type": "image", "frame_index": 38, "question": "What should I do to drive safely?", "category": "Safety-critical Planning", "options": ["A. Enter first after signaling with high beams and honking the horn.", "B. Accelerating through is appropriate to predict the movement of the vehicle.", "C. You should continue to slow down or stop to observe the vehicle's stationary state.", "D. It is advisable to check for lateral clearance and attempt to overtake to continue driving."], "answer_index": 2}
{"token": "064d39a83e0f26a577b607e4d45cb412", "waymo_split": "test", "type": "image", "frame_index": 38, "question": "Is there any other safety-critical object besides the first safety-critical object? If so, how will it be moved?", "category": "Safety-critical Prediction", "options": ["A. Yes, reverse", "B. Yes, move to the left", "C. Yes, bypass to the right", "D. No"], "answer_index": 3}
{"token": "064d39a83e0f26a577b607e4d45cb412", "waymo_split": "test", "type": "image", "frame_index": 38, "question": "Where is the area that hides danger in the current frame?", "category": "Uncertainty", "options": ["A. Behind the city bus stopped at the bus stop", "B. Behind the white sedan stopped in the right lane", "C. Between and behind the illegally parked cars in front of the commercial building", "D. Behind the black SUV stopped in the left lane, among and behind the vehicles parked on the side street"], "answer_index": 3}
{"token": "064d39a83e0f26a577b607e4d45cb412", "waymo_split": "test", "type": "image", "frame_index": 38, "question": "Which of the following is a newly exposed risk candidate in the next section?", "category": "Safety-critical Prediction", "options": ["A. A motorcycle that was slowing down right next to the central divider, and a pedestrian coming out from the edge of the crosswalk.", "B. A passenger or bicycle coming out from behind a white sedan that is parked in the right lane, near the bus stop.", "C. A person or bicycle coming out from between and behind parked cars in the left lane, behind a stopped black SUV.", "D. An electric scooter coming out from the entrance of the right turn lane behind a delivery truck that is stopped before the merging point."], "answer_index": 2}
{"token": "064d39a83e0f26a577b607e4d45cb412", "waymo_split": "test", "type": "image", "frame_index": 38, "question": "Is lane changing possible? Which is safer between slowing down and changing lanes?", "category": "Safety-critical Planning", "options": ["A. Changing lanes", "B. Slowing down", "C. Accelerating", "D. Overtaking"], "answer_index": 1}
{"token": "064d39a83e0f26a577b607e4d45cb412", "waymo_split": "test", "type": "image", "frame_index": 140, "question": "What is correct as an Image Caption from the perspective of Safety-critical Frame?", "category": "Safety-critical scene caption", "options": ["A. A vehicle is stopped in the left opposing lane. This vehicle is currently being passed by my vehicle.", "B. A vehicle attempting to merge from the left alley is captured. My vehicle is slowing down and yielding to the entry.", "C. Many vehicles waiting to turn left at the intersection ahead. My vehicle is gradually stopping at the stop line.", "D. A slow-moving vehicle is present in the right same lane. My vehicle is following while maintaining a safe distance."], "answer_index": 0}
{"token": "064d39a83e0f26a577b607e4d45cb412", "waymo_split": "test", "type": "image", "frame_index": 140, "question": "What is the plan for yielding when an ambulance/fire truck approaches?", "category": "Special Event", "options": ["A. First stop and yield", "B. Move to the left lane and proceed", "C. Turn on hazard lights and drive slowly", "D. Increase speed and pass first"], "answer_index": 0}
{"token": "064d39a83e0f26a577b607e4d45cb412", "waymo_split": "test", "type": "image", "frame_index": 140, "question": "Based on the current appearance of the person/vehicle (two-wheeled), how do you think they will move?", "category": "Normal Perception & Prediction", "options": ["A. It seems they will turn right slowly.", "B. It seems they will go straight slowly.", "C. It seems they will turn left slowly.", "D. It seems they will make a U-turn slowly."], "answer_index": 1}
{"token": "064d39a83e0f26a577b607e4d45cb412", "waymo_split": "test", "type": "image", "frame_index": 140, "question": "What are the classifications of scenes?", "category": "Normal scene Understanding", "options": ["A. Residential area", "B. Unpaved", "C. City", "D. Highway"], "answer_index": 0}
{"token": "064d39a83e0f26a577b607e4d45cb412", "waymo_split": "test", "type": "image", "frame_index": 140, "question": "Which of the following is a correct description of traffic density?", "category": "Normal scene Understanding", "options": ["A. Fast, few vehicles (almost no street parking)", "B. Slow, few vehicles (some street parking)", "C. Fast, many vehicles (few street parking vehicles)", "D. Slow, many vehicles (many street parking vehicles)"], "answer_index": 3}
{"token": "064d39a83e0f26a577b607e4d45cb412", "waymo_split": "test", "type": "image", "frame_index": 140, "question": "Which of the following is a correct description of the environment?", "category": "Normal scene Understanding", "options": ["A. Day, clear", "B. Night, light rain", "C. Evening, cloudy", "D. Early morning, fog"], "answer_index": 0}
{"token": "064d39a83e0f26a577b607e4d45cb412", "waymo_split": "test", "type": "image", "frame_index": 140, "question": "What is the description of a non-safety-critical object?", "category": "Normal Perception & Prediction", "options": ["A. Parked vehicles on the side of the road. A distant overpass in front. Sidewalks, houses, and trees on both sides of the road. Power lines and utility poles.", "B. Electric scooter rental stations on the shoulder. A tunnel entrance is close ahead. Store signs and flower pots on both sides of the road. Only traffic lights and camera poles are visible.", "C. Taxis lined up at a taxi stand. A railroad crossing barrier is visible ahead. A school fence and playground on the side of the road, with a hospital across the street. No large street trees, only low bushes.", "D. Bus-only lane without on-street parking. A pedestrian overpass is directly ahead. One side of the road has shops, while the opposite side has a park and bike path. Only streetlights are present, and power lines are underground."], "answer_index": 0}
{"token": "064d39a83e0f26a577b607e4d45cb412", "waymo_split": "test", "type": "image", "frame_index": 140, "question": "Which of the following is a correct description of traffic signals?", "category": "Traffic Signal", "options": ["A. Red signal", "B. No signal or sign", "C. Left turn road sign", "D. Stop sign"], "answer_index": 1}
{"token": "064d39a83e0f26a577b607e4d45cb412", "waymo_split": "test", "type": "image", "frame_index": 140, "question": "How do you think a safety-critical object will move?", "category": "Safety-critical Prediction", "options": ["A. Advance slowly", "B. Maintain a stationary state", "C. Roll slowly", "D. Slide to the left"], "answer_index": 1}
{"token": "064d39a83e0f26a577b607e4d45cb412", "waymo_split": "test", "type": "image", "frame_index": 140, "question": "What is the answer regarding parked vehicles on the shoulder, the presence of a center line, and whether Ego crosses the center line?", "category": "Normal Perception & Prediction", "options": ["A. There are many parked vehicles on the shoulder. No center line.", "B. There are almost no parked vehicles on the shoulder. The center line is clearly visible.", "C. There are few parked vehicles on the shoulder. There is a center line.", "D. There are rarely parked vehicles on the shoulder. The center line is distinct."], "answer_index": 0}
{"token": "064d39a83e0f26a577b607e4d45cb412", "waymo_split": "test", "type": "image", "frame_index": 140, "question": "Is there a blind spot in your field of vision?", "category": "Uncertainty", "options": ["A. No blind spot towards the left alley merging point (from the driver's perspective)", "B. Existence of a blind spot behind the parked vehicles on the side street (from the driver's perspective)", "C. Existence of a blind spot in the lane in front of the right bus stop (from the driver's perspective)", "D. No blind spot in front of the parked vehicles on the side street (from the driver's perspective)"], "answer_index": 1}
{"token": "064d39a83e0f26a577b607e4d45cb412", "waymo_split": "test", "type": "image", "frame_index": 140, "question": "What should I do to drive safely?", "category": "Safety-critical Planning", "options": ["A. Do not pay attention to parked vehicles, just look at the signals ahead and drive straight at a constant speed.", "B. Since this is a two-lane road with parked vehicles on the side, it is narrow, so I should proceed slowly while carefully watching the parked vehicles in the left opposite lane.", "C. The left opposite lane looks clear, so I should cross the center line and overtake.", "D. Since the view is obstructed by parked vehicles, I should stick to the right lane, increase my speed, and pass quickly."], "answer_index": 1}
{"token": "064d39a83e0f26a577b607e4d45cb412", "waymo_split": "test", "type": "image", "frame_index": 140, "question": "Are there any other safety-critical objects besides the first safety-critical object? If so, how will you move?", "category": "Safety-critical Prediction", "options": ["A. Construction zone, slow down to pass", "B. None", "C. Pedestrians ahead, bypass to the right", "D. Obstacles on the left, move to the center"], "answer_index": 1}
{"token": "064d39a83e0f26a577b607e4d45cb412", "waymo_split": "test", "type": "image", "frame_index": 140, "question": "What is a safety-critical object?", "category": "Safety-critical Perception", "options": ["A. A vehicle moving slowly in the left opposite lane", "B. A vehicle parked in the left lane", "C. A vehicle parked in the left opposite lane", "D. A vehicle parked in the right opposite lane"], "answer_index": 2}
{"token": "064d39a83e0f26a577b607e4d45cb412", "waymo_split": "test", "type": "image", "frame_index": 140, "question": "Is lane changing possible? Which is safer between slowing down and changing lanes?", "category": "Safety-critical Planning", "options": ["A. Changing lanes", "B. Overtaking", "C. Accelerating", "D. Slowing down"], "answer_index": 3}
{"token": "064d39a83e0f26a577b607e4d45cb412", "waymo_split": "test", "type": "image", "frame_index": 140, "question": "Where is the area that hides danger in the current frame?", "category": "Uncertainty", "options": ["A. Entrance of the alley across", "B. Behind the parked bus", "C. Between parked cars on the side street", "D. Next to the median strip at the intersection"], "answer_index": 2}
{"token": "064d39a83e0f26a577b607e4d45cb412", "waymo_split": "test", "type": "image", "frame_index": 140, "question": "What are the potential situations that could arise in the current circumstances?", "category": "Counterfactual", "options": ["A. Delay", "B. None", "C. Error", "D. Confusion"], "answer_index": 1}
{"token": "064d39a83e0f26a577b607e4d45cb412", "waymo_split": "test", "type": "image", "frame_index": 140, "question": "What is the guideline for my vehicle's behavior based on the actions of a safety-critical object?", "category": "Safety-critical Planning", "options": ["A. If the safety-critical object slowly merges into my lane, I should maintain my path and slightly adjust the steering to give space while continuing to drive.", "B. If the safety-critical object enters from the right, I should quickly exit or stop to avoid a collision, as a collision may occur.", "C. If the safety-critical object is moving slowly in front of me, I should stay in my lane and proceed closely while alerting with the horn and lights.", "D. If the safety-critical object enters from the left, I have a low risk of collision, so I should maintain my speed or accelerate to pass quickly."], "answer_index": 1}
{"token": "064d39a83e0f26a577b607e4d45cb412", "waymo_split": "test", "type": "image", "frame_index": 140, "question": "What situation might occur if the self-driving car behaved this way?", "category": "Counterfactual", "options": ["A. If the self-driving car enters the left turn only lane and turns, there is less risk of encountering left-side vehicles; the other vehicle is stationary and the driver has exited.", "B. If the self-driving car maintains its lane and moves slowly, the likelihood of contact with adjacent vehicles is low; the other vehicle is under remote control.", "C. If the self-driving car encroaches into the left lane and goes straight or turns, there is a risk of colliding with left-side vehicles; the other vehicle has a driver on board.", "D. If the self-driving car moves straight or turns while staying close to the right lane, there is enough distance from the right-side vehicle, so the risk is not high; the other vehicle does not have a driver on board."], "answer_index": 2}
{"token": "0797c14632bb29039999d6a7b9d4242c", "waymo_split": "test", "type": "video", "frame_index": null, "question": "Where is the safety-critical situation in the video?", "category": "Temporal Grounding", "options": ["A. 1/4", "B. 3/4", "C. 4/4", "D. 2/4"], "answer_index": 2}
{"token": "0797c14632bb29039999d6a7b9d4242c", "waymo_split": "test", "type": "video", "frame_index": null, "question": "What is the classification of the scene?", "category": "Normal scene Understanding", "options": ["A. Residential area", "B. Highway", "C. City", "D. Suburb"], "answer_index": 2}
{"token": "0797c14632bb29039999d6a7b9d4242c", "waymo_split": "test", "type": "video", "frame_index": null, "question": "What is correct regarding Video Summary from a Safety-critical Scene perspective?", "category": "Safety-critical scene caption", "options": ["A. There is a road on the right, but a truck is slowly entering, so stopped vehicles are not visible. There is no STOP sign, only a speed limit sign is visible. The vehicle is already moving straight in the second lane and is not changing lanes. As a motorcycle comes out from behind the truck, the vehicle honks and maintains its straight path.", "B. A road appears on the left, and a sedan is stopped in front, providing relatively clear visibility. There is a YIELD sign, and yield markings are visible on the road. At this time, while maintaining the first lane, a person on a kickboard peeks out from behind the sedan on the left road. The vehicle then reduces speed with the brakes.", "C. A road appears on the right, but an SUV is parked right in front, obstructing visibility. There is a STOP sign and a STOP marking on the road. At this time, while changing to the second lane, a person on a bicycle appears in front of the stopped SUV from the right road. The vehicle then turns the steering wheel to the left.", "D. A right alley is visible, but there are no cars in front, providing clear visibility. There are no signs, and the road markings are faint. While driving in the second lane, the vehicle moves to the first lane to avoid a car waiting to turn right. At this time, as a pedestrian slowly walks out from the right alley, the vehicle slightly turns the steering wheel to the right for emergency evasion."], "answer_index": 2}
{"token": "0797c14632bb29039999d6a7b9d4242c", "waymo_split": "test", "type": "video", "frame_index": null, "question": "Is there a special situation?", "category": "Special Event", "options": ["A. None", "B. Loading and unloading passengers from the school bus in the front", "C. Lane control with construction cones", "D. Emergency vehicle approaching"], "answer_index": 0}
{"token": "0797c14632bb29039999d6a7b9d4242c", "waymo_split": "test", "type": "video", "frame_index": null, "question": "Which of the following is a correct description of road alignment?", "category": "Normal Perception & Prediction", "options": ["A. Unprotected left turn", "B. Left turn", "C. Straight", "D. Right turn"], "answer_index": 2}
{"token": "0797c14632bb29039999d6a7b9d4242c", "waymo_split": "test", "type": "video", "frame_index": null, "question": "Which of the following is a correct description of traffic density?", "category": "Normal scene Understanding", "options": ["A. Fast, many surrounding vehicles. Uphill slope", "B. Slow, many surrounding vehicles. Steep slope", "C. Normal, many surrounding vehicles. Downhill slope", "D. Fast, few surrounding vehicles. Flat slope"], "answer_index": 3}
{"token": "0797c14632bb29039999d6a7b9d4242c", "waymo_split": "test", "type": "video", "frame_index": null, "question": "What is the description of non-safety-critical objects?", "category": "Normal Perception & Prediction", "options": ["A. Trees along the sidewalk. Utility poles and power lines. A road that allows right turns appears, and a STOP sign is located to the right. The STOP sign is also present on the road surface.", "B. Only low shrubs and flower beds are visible at the edge of the sidewalk.", "C. A road that allows left turns appears, and the STOP sign is on the left, with a YIELD marking on the road surface.", "D. There are no utility poles, only streetlights, and power lines are not visible."], "answer_index": 0}
{"token": "0797c14632bb29039999d6a7b9d4242c", "waymo_split": "test", "type": "video", "frame_index": null, "question": "Which of the following is a correct description of the environment?", "category": "Normal scene Understanding", "options": ["A. Night cloudiness", "B. Daytime clarity", "C. Afternoon rain", "D. Dawn fog"], "answer_index": 1}
{"token": "0797c14632bb29039999d6a7b9d4242c", "waymo_split": "test", "type": "video", "frame_index": null, "question": "What is the answer regarding the parked vehicle on the shoulder, the presence of a center line, and whether Ego has crossed the center line?", "category": "Normal Perception & Prediction", "options": ["A. The parked vehicle on the shoulder is on the left. There is no center line and it does not cross.", "B. The parked vehicle on the shoulder is on the left. There is a center line and it does not cross.", "C. The parked vehicle on the shoulder is on the right. There is a center line and it crosses.", "D. The parked vehicle on the shoulder is on the right. There is a center line and it does not cross."], "answer_index": 3}
{"token": "0797c14632bb29039999d6a7b9d4242c", "waymo_split": "test", "type": "video", "frame_index": null, "question": "Is there a blind spot in your field of vision?", "category": "Uncertainty", "options": ["A. In a straight section without a right turn lane, even if there is a small sedan in the rightmost lane, visibility is possible for people or cars coming from the right alley.", "B. When a right turn lane appears, visibility is not possible for people or cars appearing from the right road due to an SUV in the third lane from the right.", "C. When a left turn lane appears, visibility is blocked for people or cars appearing from the left road due to a bus blocking the second lane from the left.", "D. In a section where the central divider continues without a right merge lane, there is no problem with visibility to the right even if there is a van in the second lane from the right."], "answer_index": 1}
{"token": "0797c14632bb29039999d6a7b9d4242c", "waymo_split": "test", "type": "video", "frame_index": null, "question": "Which of the following is a correct description of traffic signals?", "category": "Traffic Signal", "options": ["A. The STOP sign appears on the road surface towards the end of the video. There is no traffic light. A STOP sign is also present on the right sidewalk at the end of the video.", "B. At the beginning, the road surface STOP marking is faintly visible. The traffic light in front remains green. A small STOP sign briefly appears on the left sidewalk.", "C. The road surface only shows a deceleration arrow and a crosswalk. The traffic light is functioning normally. At the end of the video, there is only a no parking sign on the right sidewalk.", "D. The YIELD sign appears first on the road surface in the middle of the video. The intersection traffic light is flashing yellow. At the end of the video, there is no STOP sign visible on the right sidewalk."], "answer_index": 0}
{"token": "0797c14632bb29039999d6a7b9d4242c", "waymo_split": "test", "type": "video", "frame_index": null, "question": "What is a safety-critical object?", "category": "Safety-critical Perception", "options": ["A. A motorcycle appearing on a straight road", "B. A pedestrian appearing in a left turn lane", "C. An electric scooter appearing at a merging point", "D. A bicycle appearing on a right turn road"], "answer_index": 3}
{"token": "0797c14632bb29039999d6a7b9d4242c", "waymo_split": "test", "type": "video", "frame_index": null, "question": "Summary of Ego (self-vehicle) behavior before a safety-critical situation", "category": "Normal scene Understanding", "options": ["A. Was driving straight", "B. Was turning right", "C. Was stopped", "D. Was changing lanes"], "answer_index": 3}
{"token": "0797c14632bb29039999d6a7b9d4242c", "waymo_split": "test", "type": "video", "frame_index": null, "question": "What is the correlation in safety-critical situations?", "category": "Safety-critical scene Understanding", "options": ["A. Car - Bicycle", "B. Car - Pedestrian", "C. Car - Motorcycle", "D. Bus - Bicycle"], "answer_index": 0}
{"token": "0797c14632bb29039999d6a7b9d4242c", "waymo_split": "test", "type": "video", "frame_index": null, "question": "Who is responsible in a safety-critical situation? What is the cause?", "category": "Safety-critical scene Understanding", "options": ["A. Only the car. The car should have slowed down sufficiently and maintained its lane before the intersection was visible, but it accelerated suddenly and changed lanes abruptly. In contrast, the bicycle was going straight along the edge and obeying the signals.", "B. Only the bicycle. The bicycle should have stopped and checked left and right before entering the intersection, but it entered with a trajectory close to going against traffic. In contrast, the car was going straight within the speed limit and fulfilling its duty to pay attention.", "C. The road management authority. The intersection warning signs and road markings were worn and difficult to identify, and the broken streetlight limited visibility. As a result, both the car and the bicycle misjudged the situation while driving normally.", "D. Both. The car should have slowed down and changed lanes with caution when approaching the intersection, but it did not. Similarly, the bicycle that appeared at the intersection also needed to slow down and be cautious, but it failed to do so."], "answer_index": 3}
{"token": "0797c14632bb29039999d6a7b9d4242c", "waymo_split": "test", "type": "image", "frame_index": 25, "question": "Based on the current appearance of the person/vehicle (two-wheeled), how are they trying to move?", "category": "Normal Perception & Prediction", "options": ["A. Turning right", "B. Turning left", "C. Going straight", "D. Making a U-turn"], "answer_index": 1}
{"token": "0797c14632bb29039999d6a7b9d4242c", "waymo_split": "test", "type": "image", "frame_index": 25, "question": "Which of the following is correct as an Image Caption from a safety-critical frame perspective?", "category": "Safety-critical scene caption", "options": ["A. Pedestrian entering the road", "B. Traffic signal violation", "C. Sudden braking of the vehicle in front", "D. None"], "answer_index": 3}
{"token": "0797c14632bb29039999d6a7b9d4242c", "waymo_split": "test", "type": "video", "frame_index": null, "question": "What situation might have occurred if the vehicle had behaved this way?", "category": "Counterfactual", "options": ["A. The vehicle continued to change lanes without turning the steering wheel, which could lead to a collision with a bicycle.", "B. If the vehicle continued to accelerate without applying the brakes, it could collide with the car in front.", "C. If the vehicle suddenly turned the steering wheel to the right to evade, it could come into contact with pedestrians on the sidewalk.", "D. If the vehicle only turned on the left turn signal and stopped changing lanes, it could safely pass by maintaining distance from a motorcycle."], "answer_index": 0}
{"token": "0797c14632bb29039999d6a7b9d4242c", "waymo_split": "test", "type": "image", "frame_index": 25, "question": "Which of the following is a correct description of traffic density?", "category": "Normal scene Understanding", "options": ["A. Fast, few vehicles", "B. Fast, many vehicles", "C. Slow, many vehicles", "D. Slow, few vehicles"], "answer_index": 0}
{"token": "0797c14632bb29039999d6a7b9d4242c", "waymo_split": "test", "type": "image", "frame_index": 25, "question": "Which of the following is correct as an Image Caption from the perspective of a Normal Frame?", "category": "Normal scene caption", "options": ["A. Turning left on a main road (in the first lane of three). A overpass is visible in the rear and there are few cars behind. While turning left, cars are driving in the opposite lane on the left, and there is a STOP road sign in that lane. A car is parked on the shoulder on the right.", "B. Turning right on a main road (in the third lane of three). A tunnel entrance is visible in the rear and there are many cars behind. The opposite lane on the left is quiet and there is a yield sign on the road. On the right, a bicycle is riding on the bike lane.", "C. Going straight on a main road (maintaining the second lane of three). An overpass is visible ahead and there are many cars behind. There is a STOP road sign in the right turn lane, and the opposite lane is stopped at a traffic signal. A bus is stopped at the bus stop on the right.", "D. Making a U-turn at an intersection (choosing the outer lane). There is a long traffic jam behind and no overpass is visible. The opposite lane is empty with no stopped vehicles, and the STOP sign is in our lane. On the right, there is a construction area with cones lined up."], "answer_index": 0}
{"token": "0797c14632bb29039999d6a7b9d4242c", "waymo_split": "test", "type": "image", "frame_index": 25, "question": "What are the classifications of scenes?", "category": "Normal scene Understanding", "options": ["A. City road", "B. General road", "C. Residential road", "D. Unpaved road"], "answer_index": 1}
{"token": "0797c14632bb29039999d6a7b9d4242c", "waymo_split": "test", "type": "image", "frame_index": 25, "question": "What is the plan for yielding when an ambulance/fire truck approaches?", "category": "Special Event", "options": ["A. Evacuate to the left", "B. Slow down and yield", "C. Honk the horn to prioritize", "D. Accelerate to pass"], "answer_index": 1}
{"token": "0797c14632bb29039999d6a7b9d4242c", "waymo_split": "test", "type": "image", "frame_index": 25, "question": "What are the behavior restrictions in school zones/congested areas?", "category": "Special Event", "options": ["A. Must accelerate", "B. Parking is allowed", "C. Must drive slowly", "D. Must honk the horn"], "answer_index": 2}
{"token": "0797c14632bb29039999d6a7b9d4242c", "waymo_split": "test", "type": "image", "frame_index": 25, "question": "What is the description of non-safety-critical objects?", "category": "Normal Perception & Prediction", "options": ["A. Trees on the sidewalk. Power lines and utility poles. Vehicles driving in the opposite lane on the left. Vehicles stopped on the right shoulder.", "B. A bus moving slowly in the left lane.", "C. Guardrail of the central divider.", "D. Bus stop sign on the right sidewalk."], "answer_index": 0}
{"token": "0797c14632bb29039999d6a7b9d4242c", "waymo_split": "test", "type": "image", "frame_index": 25, "question": "Which of the following is a correct description of the environment?", "category": "Normal scene Understanding", "options": ["A. Dawn, fog", "B. Day, clear", "C. Evening, cloudy", "D. Morning, shower"], "answer_index": 1}
{"token": "0797c14632bb29039999d6a7b9d4242c", "waymo_split": "test", "type": "image", "frame_index": 25, "question": "Is there a blind spot in your field of vision?", "category": "Uncertainty", "options": ["A. There is no blind spot in front of the vehicle on the right shoulder.", "B. There is a blind spot in front of the vehicle on the right shoulder.", "C. There is a blind spot in front of the vehicle on the left shoulder.", "D. There is a blind spot behind the vehicle on the right shoulder."], "answer_index": 1}
{"token": "0797c14632bb29039999d6a7b9d4242c", "waymo_split": "test", "type": "image", "frame_index": 25, "question": "Which of the following is a correct description of traffic signals?", "category": "Traffic Signal", "options": ["A. The road sign 'STOP' on the left opposing lane", "B. The sign 'YIELD' on the right roadside", "C. The road sign 'SLOW' on the right lane", "D. The traffic light 'red' at the upcoming intersection"], "answer_index": 0}
{"token": "0797c14632bb29039999d6a7b9d4242c", "waymo_split": "test", "type": "image", "frame_index": 25, "question": "What is a safety-critical object?", "category": "Safety-critical Perception", "options": ["A. Battery management unit", "B. Robot emergency stop button", "C. Gas line shut-off valve", "D. No safety-critical object"], "answer_index": 3}
{"token": "0797c14632bb29039999d6a7b9d4242c", "waymo_split": "test", "type": "image", "frame_index": 25, "question": "How do you think a safety-critical object will move?", "category": "Safety-critical Prediction", "options": ["A. No safety-critical object", "B. Bicycle slowly merging to the left", "C. Slow drift towards the right side where pedestrians are", "D. Safety-critical pedestrian approaching"], "answer_index": 0}
{"token": "0797c14632bb29039999d6a7b9d4242c", "waymo_split": "test", "type": "image", "frame_index": 25, "question": "What is the answer regarding parked vehicles on the shoulder, the presence of a center line, and whether Ego has crossed the center line?", "category": "Normal Perception & Prediction", "options": ["A. Center line exists. No crossing.", "B. Center line exists. Crossing.", "C. No center line. No crossing.", "D. No center line. Partial crossing."], "answer_index": 0}
{"token": "0797c14632bb29039999d6a7b9d4242c", "waymo_split": "test", "type": "image", "frame_index": 25, "question": "Who is responsible in safety-critical situations? What is the cause?", "category": "Safety-critical scene Understanding", "options": ["A. Sensor time-sync mismatch", "B. No safety-critical object", "C. Misidentification of a safety-critical object", "D. Driver distraction"], "answer_index": 1}
{"token": "0797c14632bb29039999d6a7b9d4242c", "waymo_split": "test", "type": "image", "frame_index": 25, "question": "Are there any other safety-critical objects besides the first safety-critical object? If so, how would you move?", "category": "Safety-critical Prediction", "options": ["A. No safety-critical objects", "B. There is a fire extinguisher, move two steps forward and then to the left", "C. There is an emergency stop button, move one step to the right", "D. There is a high voltage panel, avoid the cables and move to the left corridor"], "answer_index": 0}
{"token": "0797c14632bb29039999d6a7b9d4242c", "waymo_split": "test", "type": "image", "frame_index": 25, "question": "Where is the area that hides danger in the current frame?", "category": "Uncertainty", "options": ["A. Right blind spot", "B. None", "C. Bottom left", "D. Behind the A-pillar"], "answer_index": 1}
{"token": "0797c14632bb29039999d6a7b9d4242c", "waymo_split": "test", "type": "image", "frame_index": 101, "question": "Based on the current appearance of the person/vehicle (two-wheeled), how are they trying to move?", "category": "Normal Perception & Prediction", "options": ["A. Moving straight", "B. Turning left", "C. Turning right", "D. Stopped"], "answer_index": 0}
{"token": "0797c14632bb29039999d6a7b9d4242c", "waymo_split": "test", "type": "image", "frame_index": 25, "question": "What are the guidelines for the behavior of my vehicle in response to the behavior of a safety-critical object?", "category": "Safety-critical Planning", "options": ["A. Stop immediately upon detecting a safety-critical object", "B. No safety-critical objects present", "C. Report safety-critical issues immediately", "D. Avoid upon discovering a safety-critical object"], "answer_index": 1}
{"token": "0797c14632bb29039999d6a7b9d4242c", "waymo_split": "test", "type": "image", "frame_index": 101, "question": "What are the behavior restrictions in school zones/congested areas?", "category": "Special Event", "options": ["A. Must accelerate", "B. Must honk", "C. Must overtake", "D. Must drive slowly"], "answer_index": 3}
{"token": "0797c14632bb29039999d6a7b9d4242c", "waymo_split": "test", "type": "image", "frame_index": 101, "question": "Which of the following is correct as an Image Caption from the perspective of a Normal Frame?", "category": "Normal scene caption", "options": ["A. Driving straight from the third lane to the first lane on a three-lane main road. A large truck is seen stopped in the third lane on the right. Several power lines and utility poles are visible. Vehicles are seen driving in the opposite lane on the left.", "B. Waiting to turn left from the second lane to the first lane on a two-lane road. A small truck is briefly parked on the right shoulder. Utility poles are sparse, and more building signs are visible. The opposite lane has few passing vehicles.", "C. Driving straight from the fourth lane to the third lane on a four-lane road. A city bus is seen stopped in the leftmost lane. Power lines are hardly visible, and there is a central median flower bed. Cars are seen quickly passing in the same direction in the right lane.", "D. Changing lanes from the third lane to the second lane on a three-lane main road. A medium-sized truck is seen driving slowly in the right second lane. A few streetlights and road signs are visible. Vehicles are stopped in the opposite lane waiting for a signal."], "answer_index": 0}
{"token": "0797c14632bb29039999d6a7b9d4242c", "waymo_split": "test", "type": "image", "frame_index": 101, "question": "What is correct as an Image Caption from the perspective of Safety-critical Frame?", "category": "Safety-critical scene caption", "options": ["A. A pedestrian may emerge from behind a car in the second lane in the center.", "B. A worker may enter the roadway through the construction area on the right shoulder.", "C. A motorcycle may cut in next to a bus that is moving slowly in the first lane on the left.", "D. A person or bicycle may appear in front of a large truck that is stopped in the third lane on the right."], "answer_index": 3}
{"token": "0797c14632bb29039999d6a7b9d4242c", "waymo_split": "test", "type": "image", "frame_index": 25, "question": "What is the method to avoid the blind spot next to a large vehicle?", "category": "Special Event", "options": ["A. Entering the blind spot", "B. Overtaking on the right", "C. Getting close to the large vehicle", "D. No large vehicle"], "answer_index": 3}
{"token": "0797c14632bb29039999d6a7b9d4242c", "waymo_split": "test", "type": "image", "frame_index": 101, "question": "Which of the following is a correct description of traffic density?", "category": "Normal scene Understanding", "options": ["A. Fast, many vehicles", "B. Fast, few vehicles", "C. Slow, many vehicles", "D. Slow, few vehicles"], "answer_index": 1}
{"token": "0797c14632bb29039999d6a7b9d4242c", "waymo_split": "test", "type": "image", "frame_index": 101, "question": "What are the classifications of scenes?", "category": "Normal scene Understanding", "options": ["A. Unpaved road", "B. Regular road", "C. Residential area", "D. Highway"], "answer_index": 1}
{"token": "0797c14632bb29039999d6a7b9d4242c", "waymo_split": "test", "type": "image", "frame_index": 101, "question": "Which of the following is a correct description of the environment?", "category": "Normal scene Understanding", "options": ["A. Night, rain", "B. Early morning, fog", "C. Day, clear", "D. Dusk, cloudy"], "answer_index": 2}
{"token": "0797c14632bb29039999d6a7b9d4242c", "waymo_split": "test", "type": "image", "frame_index": 101, "question": "What is a safety-critical object?", "category": "Safety-critical Perception", "options": ["A. A large truck parked in the third lane on the right", "B. A small passenger car moving slowly in the first lane on the left", "C. A bicycle waiting in front of the crosswalk", "D. A delivery motorcycle briefly stopped on the right shoulder"], "answer_index": 0}
{"token": "0797c14632bb29039999d6a7b9d4242c", "waymo_split": "test", "type": "image", "frame_index": 101, "question": "What is the answer regarding parked vehicles on the shoulder, the presence of a center line, and whether Ego has crossed the center line?", "category": "Normal Perception & Prediction", "options": ["A. Center line exists. No crossing.", "B. No center line. No crossing.", "C. Center line exists. Crossing.", "D. No center line. Crossing."], "answer_index": 0}
{"token": "0797c14632bb29039999d6a7b9d4242c", "waymo_split": "test", "type": "image", "frame_index": 101, "question": "What is the plan for yielding when an ambulance/fire truck approaches?", "category": "Special Event", "options": ["A. Accelerate and pass", "B. Slow down and yield", "C. Honk and go straight", "D. Turn right and pass"], "answer_index": 1}
{"token": "0797c14632bb29039999d6a7b9d4242c", "waymo_split": "test", "type": "image", "frame_index": 101, "question": "How do you think a safety-critical object will move?", "category": "Safety-critical Prediction", "options": ["A. Maintain a stop", "B. Proceed to the left", "C. Merge to the right", "D. Advance slowly"], "answer_index": 0}
{"token": "0797c14632bb29039999d6a7b9d4242c", "waymo_split": "test", "type": "image", "frame_index": 101, "question": "Are there any other safety-critical objects besides the first safety-critical object? If so, how will you move them?", "category": "Safety-critical Prediction", "options": ["A. Next (none)", "B. Next (gas cylinder, move to the right after securing the passage)", "C. Next (fire extinguisher, move along the left wall)", "D. Next (oxygen cylinder, load onto a cart and move forward)"], "answer_index": 0}
{"token": "0797c14632bb29039999d6a7b9d4242c", "waymo_split": "test", "type": "image", "frame_index": 101, "question": "What is the correlation in safety-critical situations?", "category": "Safety-critical scene Understanding", "options": ["A. car - motorcycle", "B. car - animal", "C. car - car", "D. car - person"], "answer_index": 2}
{"token": "0797c14632bb29039999d6a7b9d4242c", "waymo_split": "test", "type": "image", "frame_index": 101, "question": "Is lane changing possible? Which is safer between slowing down and changing lanes?", "category": "Safety-critical Planning", "options": ["A. Slowing down", "B. Accelerating", "C. Changing lanes", "D. Maintaining lane"], "answer_index": 0}
{"token": "0797c14632bb29039999d6a7b9d4242c", "waymo_split": "test", "type": "image", "frame_index": 101, "question": "What should I do to drive safely?", "category": "Safety-critical Planning", "options": ["A. Follow the movement of the car in front while continuing to accelerate to pass through the intersection", "B. Only check the situation behind the vehicle and slightly increase speed to drive straight", "C. Be cautious of any people or objects appearing in front of the vehicle and slightly reduce speed to drive straight", "D. Prioritize the flow of the adjacent lane over pedestrians and maintain speed to change lanes to the left"], "answer_index": 2}
{"token": "0797c14632bb29039999d6a7b9d4242c", "waymo_split": "test", "type": "image", "frame_index": 101, "question": "Where is the area that hides danger in the current frame?", "category": "Uncertainty", "options": ["A. Blind spot in front of a non-critical object", "B. Blind spot behind a safety-critical object", "C. Partial occlusion area on the side of a safety-critical object", "D. Blind spot in front of a safety-critical object"], "answer_index": 3}
{"token": "0797c14632bb29039999d6a7b9d4242c", "waymo_split": "test", "type": "image", "frame_index": 101, "question": "What are the new exposure risk candidates in the following section?", "category": "Safety-critical Prediction", "options": ["A. A pedestrian may enter the roadway in the blind spot adjacent to the right shoulder.", "B. A vehicle may suddenly merge in the blind spot of the left merging lane.", "C. A motorcycle may appear in the blind spot behind a safety-critical object.", "D. A person or object may appear in the blind spot in front of a safety-critical object."], "answer_index": 3}
{"token": "0797c14632bb29039999d6a7b9d4242c", "waymo_split": "test", "type": "image", "frame_index": 101, "question": "What are the driving guidelines for your vehicle based on the behavior of a safety-critical object?", "category": "Safety-critical Planning", "options": ["A. Right-side safety-critical object, turn right", "B. Rear safety-critical object, decelerate", "C. No safety-critical object", "D. Detect safety-critical object, stop"], "answer_index": 2}
{"token": "0797c14632bb29039999d6a7b9d4242c", "waymo_split": "test", "type": "image", "frame_index": 101, "question": "What is the method to avoid the blind spot next to a large vehicle?", "category": "Special Event", "options": ["A. Drive slightly into the opposite lane while notifying of your presence (using the horn)", "B. Proceed slowly while being careful of the blind spot in front of the safety-critical object (with turn signal on)", "C. Pass closely inside the blind spot by reducing the distance to the large vehicle (turn signal off)", "D. Accelerate from the rear blind spot to briefly overtake and return (check surroundings briefly)"], "answer_index": 1}
{"token": "0797c14632bb29039999d6a7b9d4242c", "waymo_split": "test", "type": "image", "frame_index": 123, "question": "Based on the current appearance of the person/vehicle (two-wheeled), how do they intend to move?", "category": "Normal Perception & Prediction", "options": ["A. Stopped", "B. Moving straight", "C. Turning left", "D. Turning right"], "answer_index": 1}
{"token": "0797c14632bb29039999d6a7b9d4242c", "waymo_split": "test", "type": "image", "frame_index": 123, "question": "What is correct from the perspective of Safety-critical Frame regarding Image Caption?", "category": "Safety-critical scene caption", "options": ["A. On the right, there is a road where a right turn is possible (intersection), and a stopped SUV in the third lane along with a STOP sign is visible. There is a small blind spot here, so caution is required.", "B. On the right, there is a narrow alley where left turns are prohibited (not an intersection), and only a bus stopped in the outermost fourth lane and a crosswalk sign are visible. The corner is gentle, so there is almost no blind spot.", "C. In front, there is a ramp merging straight ahead (fork in the road), and a small truck that has briefly stopped in the first lane of this entry point along with a speed limit sign is visible. The view is open, making it relatively easy to check the surroundings.", "D. On the left, there is a road where a left turn is possible (intersection), and a stopped hatchback in the second lane of this road along with a YIELD sign is visible. This section has a wide intersection, so there is almost no blind spot."], "answer_index": 0}
{"token": "0797c14632bb29039999d6a7b9d4242c", "waymo_split": "test", "type": "image", "frame_index": 123, "question": "What is the plan for yielding when an ambulance/fire truck approaches?", "category": "Special Event", "options": ["A. Maintain lane and proceed", "B. Drive while honking the horn", "C. Slow down and yield", "D. Accelerate and pass"], "answer_index": 2}
{"token": "0797c14632bb29039999d6a7b9d4242c", "waymo_split": "test", "type": "image", "frame_index": 123, "question": "Which of the following is a correct description of traffic density?", "category": "Normal scene Understanding", "options": ["A. Slow, many vehicles", "B. Fast, few vehicles", "C. Slow, few vehicles", "D. Fast, many vehicles"], "answer_index": 1}
{"token": "0797c14632bb29039999d6a7b9d4242c", "waymo_split": "test", "type": "image", "frame_index": 123, "question": "What are the behavior restrictions in school zones/congested areas?", "category": "Special Event", "options": ["A. Must honk", "B. Must drive slowly", "C. Must accelerate", "D. Must turn on high beams"], "answer_index": 1}
{"token": "0797c14632bb29039999d6a7b9d4242c", "waymo_split": "test", "type": "image", "frame_index": 123, "question": "What are the classifications of scenes?", "category": "Normal scene Understanding", "options": ["A. Unpaved road", "B. Residential alley", "C. City center", "D. Regular road"], "answer_index": 3}
{"token": "0797c14632bb29039999d6a7b9d4242c", "waymo_split": "test", "type": "image", "frame_index": 123, "question": "Which of the following is a correct description of the environment?", "category": "Normal scene Understanding", "options": ["A. Day, clear", "B. Evening, cloudy", "C. Dawn, foggy", "D. Night, raining"], "answer_index": 0}
{"token": "0797c14632bb29039999d6a7b9d4242c", "waymo_split": "test", "type": "image", "frame_index": 123, "question": "Which of the following is a correct description of traffic signals?", "category": "Traffic Signal", "options": ["A. STOP sign on the right side of the intersection", "B. Stop line in front of the crosswalk", "C. Red light at the traffic signal on the left side of the intersection", "D. No right turn sign across from the right side of the intersection"], "answer_index": 0}
{"token": "0797c14632bb29039999d6a7b9d4242c", "waymo_split": "test", "type": "image", "frame_index": 123, "question": "What is a safety-critical object?", "category": "Safety-critical Perception", "options": ["A. There is a road on the right where a right turn is possible (T-junction), and an SUV is stopped in the 3rd lane on this road.", "B. There is a road on the left where a left turn is possible (intersection), and a sedan is moving slowly in the 2nd lane on this road.", "C. There is a road on the right where a right turn is possible (T-junction), and a van is stopped in the 1st lane on the opposite road.", "D. There is a merging lane ahead (ramp section), and a bus is stopped in the 1st lane on this road."], "answer_index": 0}
{"token": "0797c14632bb29039999d6a7b9d4242c", "waymo_split": "test", "type": "image", "frame_index": 123, "question": "How do you think a safety-critical object will move?", "category": "Safety-critical Prediction", "options": ["A. Advance slowly", "B. Enter a right turn", "C. Maintain a stop", "D. Start reversing"], "answer_index": 2}
{"token": "0797c14632bb29039999d6a7b9d4242c", "waymo_split": "test", "type": "image", "frame_index": 123, "question": "What is the answer regarding parked vehicles on the shoulder, the presence of a center line, and whether Ego has crossed the center line?", "category": "Normal Perception & Prediction", "options": ["A. Center line exists. Crossed.", "B. No center line. Did not cross.", "C. Center line exists. Did not cross.", "D. Center line is faint. Slightly crossed."], "answer_index": 2}
{"token": "0797c14632bb29039999d6a7b9d4242c", "waymo_split": "test", "type": "image", "frame_index": 123, "question": "What is the correlation in safety-critical situations?", "category": "Safety-critical scene Understanding", "options": ["A. Car - Two-wheeled vehicle", "B. Person - Two-wheeled vehicle", "C. Car - Car", "D. Car - Person"], "answer_index": 2}
{"token": "0797c14632bb29039999d6a7b9d4242c", "waymo_split": "test", "type": "image", "frame_index": 123, "question": "Is lane changing possible? Which is safer between slowing down and changing lanes?", "category": "Safety-critical Planning", "options": ["A. Maintain", "B. Overtake", "C. Slow down", "D. Accelerate"], "answer_index": 2}
{"token": "0797c14632bb29039999d6a7b9d4242c", "waymo_split": "test", "type": "image", "frame_index": 123, "question": "Where is the area that hides danger in the current frame?", "category": "Uncertainty", "options": ["A. Blind spot next to a low-risk object", "B. Blind spot behind a safety-critical object", "C. Blind spot between the background buildings at the top of the frame", "D. Blind spot in front of a safety-critical object"], "answer_index": 3}
{"token": "0797c14632bb29039999d6a7b9d4242c", "waymo_split": "test", "type": "image", "frame_index": 123, "question": "What are the newly exposed risk candidates in the following section?", "category": "Safety-critical Prediction", "options": ["A. A person or object may appear in the blind spot in front of a safety-critical object.", "B. A bicycle or scooter may appear in the blind spot behind a safety-critical object.", "C. A small car may merge in the blind spot adjacent to the right merging lane.", "D. A pedestrian may cross in the blind spot near the gap between large vehicles."], "answer_index": 0}
{"token": "0797c14632bb29039999d6a7b9d4242c", "waymo_split": "test", "type": "image", "frame_index": 123, "question": "What is the method to avoid the blind spot when passing by a large vehicle?", "category": "Special Event", "options": ["A. If the blind spot is clear by only looking at the mirror, accelerate and overtake immediately.", "B. Be careful to see if you are coming out of the blind spot in front of the safety-critical object.", "C. Stay close to the side of the large vehicle to reduce the time in the dead zone while passing.", "D. You should pass while checking if you disappear from the blind spot behind the object."], "answer_index": 1}
{"token": "0797c14632bb29039999d6a7b9d4242c", "waymo_split": "test", "type": "image", "frame_index": 123, "question": "What are the potential situations that could occur in the current scenario?", "category": "Counterfactual", "options": ["A. A vehicle can enter behind the safety critical object", "B. A dog can approach from the opposite side of the safety critical object", "C. A person can appear in front of the safety critical object", "D. A bicycle can pass by the side of the safety critical object"], "answer_index": 2}
{"token": "0797c14632bb29039999d6a7b9d4242c", "waymo_split": "test", "type": "image", "frame_index": 123, "question": "What situation might occur if the self-driving car acted this way?", "category": "Counterfactual", "options": ["A. If the self-driving car swerves to the left lane, the safety critical object is already stopped, reducing the risk of collision.", "B. If the self-driving car yields and makes a right turn, the safety critical object is outside the lane, posing no danger.", "C. If the self-driving car ignores this and goes straight, a person may appear in front of the safety critical object, leading to a possible collision.", "D. If the self-driving car slows down and comes to a stop, there are no pedestrians, and only surrounding vehicles pass by, causing no issues."], "answer_index": 2}
{"token": "0797c14632bb29039999d6a7b9d4242c", "waymo_split": "test", "type": "image", "frame_index": 141, "question": "Based on the current appearance of the person/vehicle (two-wheeled), how are they trying to move?", "category": "Normal Perception & Prediction", "options": ["A. In the process of making a U-turn", "B. In the process of changing lanes", "C. Entering a left turn", "D. Maintaining a straight path"], "answer_index": 1}
{"token": "0797c14632bb29039999d6a7b9d4242c", "waymo_split": "test", "type": "image", "frame_index": 141, "question": "What are the behavioral restrictions in school zones/congested areas?", "category": "Special Event", "options": ["A. Must accelerate", "B. Must honk", "C. Must overtake", "D. Must drive slowly"], "answer_index": 3}
{"token": "0797c14632bb29039999d6a7b9d4242c", "waymo_split": "test", "type": "image", "frame_index": 141, "question": "Which of the following is a correct description of traffic density?", "category": "Normal scene Understanding", "options": ["A. Slow, few vehicles", "B. Slow, many vehicles", "C. Fast, few vehicles", "D. Fast, many vehicles"], "answer_index": 2}
{"token": "0797c14632bb29039999d6a7b9d4242c", "waymo_split": "test", "type": "image", "frame_index": 141, "question": "What is the plan for yielding when an ambulance/fire truck approaches?", "category": "Special Event", "options": ["A. Accelerate and go ahead", "B. Maintain the center of the lane", "C. Drive with only the hazard lights on", "D. Slow down and yield"], "answer_index": 3}
{"token": "0797c14632bb29039999d6a7b9d4242c", "waymo_split": "test", "type": "image", "frame_index": 141, "question": "What are the classifications of scenes?", "category": "Normal scene Understanding", "options": ["A. Urban road", "B. Regular road", "C. Unpaved road", "D. Residential road"], "answer_index": 1}
{"token": "0797c14632bb29039999d6a7b9d4242c", "waymo_split": "test", "type": "image", "frame_index": 141, "question": "Which of the following is a correct description of the environment?", "category": "Normal scene Understanding", "options": ["A. Day, clear", "B. Morning, cloudy", "C. Night, fog", "D. Evening, rain"], "answer_index": 0}
{"token": "0797c14632bb29039999d6a7b9d4242c", "waymo_split": "test", "type": "image", "frame_index": 141, "question": "Which of the following is a correct description of traffic signals?", "category": "Traffic Signal", "options": ["A. Temporary stop line marked on the right lane", "B. Yellow light illuminated at the traffic light ahead", "C. STOP sign at the right side of the intersection", "D. Yield sign at the entrance of the left intersection"], "answer_index": 2}
{"token": "0797c14632bb29039999d6a7b9d4242c", "waymo_split": "test", "type": "image", "frame_index": 141, "question": "Which of the following describes a non-safety-critical object?", "category": "Normal Perception & Prediction", "options": ["A. Streetlights and traffic lights", "B. Bicycles on the left sidewalk", "C. Vehicles driving in the same lane on the right", "D. Power lines and utility poles. Vehicles driving in the opposite lane on the left. A tree on the right sidewalk"], "answer_index": 3}
{"token": "0797c14632bb29039999d6a7b9d4242c", "waymo_split": "test", "type": "image", "frame_index": 141, "question": "How do you think a safety-critical object should be moved?", "category": "Safety-critical Prediction", "options": ["A. Reverse movement", "B. Slow forward movement", "C. Right turn", "D. Maintain stop"], "answer_index": 3}
{"token": "0797c14632bb29039999d6a7b9d4242c", "waymo_split": "test", "type": "image", "frame_index": 141, "question": "What is a safety-critical object?", "category": "Safety-critical Perception", "options": ["A. A road on the right where a right turn is possible (T-junction), with a vehicle stopped in the 3rd lane of this road.", "B. A signal intersection ahead (crossroad), with a passenger car waiting to make a U-turn in the 1st lane on the opposite side.", "C. A merging side road on the left (T-junction), with a truck moving slowly in the 2nd lane of this road.", "D. A bus stop on the right (stopping area), with a bus cutting into the 1st lane of this road."], "answer_index": 0}
{"token": "0797c14632bb29039999d6a7b9d4242c", "waymo_split": "test", "type": "image", "frame_index": 141, "question": "Is there any safety-critical object other than the first safety-critical object? If so, how will you move?", "category": "Safety-critical Prediction", "options": ["A. There is a next safety-critical object, slightly evade to the right", "B. There is a next safety-critical object, slowly back away", "C. There is no next safety-critical object", "D. There is a next safety-critical object, stop and detour to the left"], "answer_index": 2}
{"token": "0797c14632bb29039999d6a7b9d4242c", "waymo_split": "test", "type": "image", "frame_index": 141, "question": "What is the answer regarding parked vehicles on the shoulder, the presence of a center line, and whether Ego has crossed the center line?", "category": "Normal Perception & Prediction", "options": ["A. No center line. No violation", "B. Faint center line. Violation", "C. Center line present. No violation", "D. Center line present. Violation"], "answer_index": 2}
{"token": "0797c14632bb29039999d6a7b9d4242c", "waymo_split": "test", "type": "image", "frame_index": 141, "question": "What should I do to drive safely?", "category": "Safety-critical Planning", "options": ["A. While being careful of people or objects appearing in front of the vehicle, slightly reduce speed and drive straight.", "B. If the area in front of the vehicle appears clear for a while, slightly increase speed and pass quickly.", "C. If there is space next to the vehicle, slightly change lanes and drive according to the flow.", "D. While only watching for vehicles approaching from behind, maintain speed and continue driving straight."], "answer_index": 0}
{"token": "0797c14632bb29039999d6a7b9d4242c", "waymo_split": "test", "type": "image", "frame_index": 141, "question": "What is the correlation in safety-critical situations?", "category": "Safety-critical scene Understanding", "options": ["A. Person - Two-wheeler", "B. Car - Person", "C. Car - Car", "D. Car - Two-wheeler"], "answer_index": 2}
{"token": "0797c14632bb29039999d6a7b9d4242c", "waymo_split": "test", "type": "image", "frame_index": 141, "question": "How should I drive to address the first risk while also resolving the second risk?", "category": "Safety-critical Planning", "options": ["A. Need to decelerate for the next safety critical object", "B. Avoid to the left of the next safety critical object", "C. Wait to stop for the next safety critical object", "D. No next safety critical object"], "answer_index": 3}
{"token": "0797c14632bb29039999d6a7b9d4242c", "waymo_split": "test", "type": "image", "frame_index": 141, "question": "Is lane changing possible? Which is safer between slowing down and changing lanes?", "category": "Safety-critical Planning", "options": ["A. Left merge", "B. Right change", "C. Slowing down", "D. Changing lanes"], "answer_index": 2}
{"token": "0797c14632bb29039999d6a7b9d4242c", "waymo_split": "test", "type": "image", "frame_index": 141, "question": "What situations could potentially occur in the current scenario?", "category": "Counterfactual", "options": ["A. A bicycle could enter next to a safety critical object", "B. A person could appear in front of a safety critical object", "C. An obstacle could be created in front of a non-critical area", "D. A vehicle could appear from behind a safety critical object"], "answer_index": 1}
{"token": "0797c14632bb29039999d6a7b9d4242c", "waymo_split": "test", "type": "image", "frame_index": 141, "question": "What is the guideline for your vehicle's behavior in response to the behavior of a safety-critical object?", "category": "Safety-critical Planning", "options": ["A. If the safety-critical object starts driving and changes to the left lane, it is safe to immediately change to the right lane and increase speed to overtake it.", "B. If the safety-critical object starts driving and changes to the left lane, it is advantageous to accelerate quickly and pass it first to avoid unexpected congestion.", "C. If the safety-critical object starts driving and changes to the left lane, you should pay attention and slow down to prevent unexpected collision accidents.", "D. If the safety-critical object starts driving and changes to the left lane, it is sufficient to maintain your lane and speed while honking the horn to ensure safety."], "answer_index": 2}
{"token": "0797c14632bb29039999d6a7b9d4242c", "waymo_split": "test", "type": "image", "frame_index": 141, "question": "Where is the area that hides danger in the current frame?", "category": "Uncertainty", "options": ["A. Blind spot in front of a safety-critical object", "B. Blind spot next to a safety-critical object", "C. Blind spot in front of a non-critical object", "D. Blind spot behind a safety-critical object"], "answer_index": 0}
{"token": "0797c14632bb29039999d6a7b9d4242c", "waymo_split": "test", "type": "image", "frame_index": 141, "question": "What situation would occur if the self-driving car behaved like this?", "category": "Counterfactual", "options": ["A. If the self-driving car ignores this and goes straight, a person may appear in front of the safety critical object, leading to a potential collision.", "B. If the self-driving car slows down and veers to the right, the view behind the safety critical object opens up, allowing for a safe passage.", "C. If the self-driving car recognizes this and comes to a stop, the safety critical object will block the way, preventing any encounter with pedestrians.", "D. If the self-driving car ignores this and enters the left turn lane, only vehicles will pass by the safety critical object, reducing the risk of collision."], "answer_index": 0}
{"token": "0797c14632bb29039999d6a7b9d4242c", "waymo_split": "test", "type": "image", "frame_index": 148, "question": "Based on the current appearance of the person/vehicle (two-wheeled), how are they trying to move?", "category": "Normal Perception & Prediction", "options": ["A. Entering a right turn", "B. Changing lanes", "C. Maintaining a straight path", "D. Preparing to stop"], "answer_index": 1}
{"token": "0797c14632bb29039999d6a7b9d4242c", "waymo_split": "test", "type": "image", "frame_index": 148, "question": "What are the behavioral restrictions in school zones/congested areas?", "category": "Special Event", "options": ["A. Must accelerate", "B. Must honk", "C. Must turn on high beams", "D. Must drive slowly"], "answer_index": 3}
{"token": "0797c14632bb29039999d6a7b9d4242c", "waymo_split": "test", "type": "image", "frame_index": 148, "question": "Which of the following is a correct description of traffic density?", "category": "Normal scene Understanding", "options": ["A. Slow, many vehicles", "B. Fast, few vehicles", "C. Fast, many vehicles", "D. Slow, few vehicles"], "answer_index": 1}
{"token": "0797c14632bb29039999d6a7b9d4242c", "waymo_split": "test", "type": "image", "frame_index": 148, "question": "What is the plan for yielding when an ambulance/fire truck approaches?", "category": "Special Event", "options": ["A. Maintain the left lane", "B. Pass while maintaining speed", "C. Pass while honking the horn", "D. Slow down and yield"], "answer_index": 3}
{"token": "0797c14632bb29039999d6a7b9d4242c", "waymo_split": "test", "type": "image", "frame_index": 148, "question": "What are the classifications of scenes?", "category": "Normal scene Understanding", "options": ["A. Residential road", "B. Highway", "C. Regular road", "D. Unpaved road"], "answer_index": 2}
{"token": "0797c14632bb29039999d6a7b9d4242c", "waymo_split": "test", "type": "image", "frame_index": 148, "question": "Which of the following is a correct description of the environment?", "category": "Normal scene Understanding", "options": ["A. Dawn, light fog", "B. Night, light rain", "C. Evening, cloudy", "D. Day, clear"], "answer_index": 3}
{"token": "0797c14632bb29039999d6a7b9d4242c", "waymo_split": "test", "type": "image", "frame_index": 148, "question": "What is the description of non-safety-critical objects?", "category": "Normal Perception & Prediction", "options": ["A. Wires and CCTV poles. Vehicles waiting to turn left at an intersection. A bicycle rack on the right sidewalk. A 30 speed limit sign on the right.", "B. Wires and utility poles. Vehicles driving in the opposite lane on the left. A tree on the right sidewalk. A STOP sign on the right.", "C. Wires and streetlights. Vehicles moving slowly in the same lane on the left. A tree on the left sidewalk. A YIELD sign on the right.", "D. Wires and traffic light supports. Vehicles entering the right lane. A bench on the right sidewalk. A STOP sign on the left."], "answer_index": 1}
{"token": "0797c14632bb29039999d6a7b9d4242c", "waymo_split": "test", "type": "image", "frame_index": 148, "question": "Which of the following is a correct description of traffic signals?", "category": "Traffic Signal", "options": ["A. STOP sign at the right side of the intersection", "B. One-way sign at the entrance of the right alley", "C. Stop line marking on the road in front of the intersection", "D. YIELD sign at the left side of the intersection"], "answer_index": 0}
{"token": "0797c14632bb29039999d6a7b9d4242c", "waymo_split": "test", "type": "image", "frame_index": 148, "question": "How do you think a safety-critical object will move?", "category": "Safety-critical Prediction", "options": ["A. Entering the sidewalk", "B. Driving towards my vehicle", "C. Driving towards the opposite lane", "D. Moving away from my vehicle"], "answer_index": 1}
{"token": "0797c14632bb29039999d6a7b9d4242c", "waymo_split": "test", "type": "image", "frame_index": 148, "question": "What is the answer regarding parked vehicles on the shoulder, the presence of a center line, and whether Ego has crossed the center line?", "category": "Normal Perception & Prediction", "options": ["A. No center line. Has crossed.", "B. Center line exists. Has crossed.", "C. Center line exists. Has not crossed.", "D. No center line. Has not crossed."], "answer_index": 2}
{"token": "0797c14632bb29039999d6a7b9d4242c", "waymo_split": "test", "type": "image", "frame_index": 148, "question": "How should I drive to address the first risk while also resolving the second risk?", "category": "Safety-critical Planning", "options": ["A. Next safety critical object detected", "B. Next safety critical object not present", "C. Avoiding preceding safety critical object", "D. Approaching right-side safety critical object"], "answer_index": 1}
{"token": "0797c14632bb29039999d6a7b9d4242c", "waymo_split": "test", "type": "image", "frame_index": 148, "question": "What are the correlations in safety-critical situations?", "category": "Safety-critical scene Understanding", "options": ["A. Car - Bicycle", "B. Bus - Pedestrian", "C. Person - Bicycle", "D. Car - Motorcycle"], "answer_index": 0}
{"token": "0797c14632bb29039999d6a7b9d4242c", "waymo_split": "test", "type": "image", "frame_index": 148, "question": "What is a safety-critical object?", "category": "Safety-critical Perception", "options": ["A. A city bus that is stopped to pick up passengers in front of a stop line at an intersection", "B. A bicycle that appeared quickly moving towards my car on the right road", "C. A white sedan that is stopped with its hazard lights on on the right shoulder", "D. A motorcycle that is slowly moving in the opposite direction of my car in the left lane"], "answer_index": 1}
{"token": "0797c14632bb29039999d6a7b9d4242c", "waymo_split": "test", "type": "image", "frame_index": 148, "question": "Is there any other safety-critical object besides the first safety-critical object? If so, how should it be moved?", "category": "Safety-critical Prediction", "options": ["A. Carefully move the front gas cylinder backwards", "B. Slightly move the left fire extinguisher to the right", "C. There are no more safety-critical objects", "D. Move the oxygen tank to the left of the operating table"], "answer_index": 2}
{"token": "0797c14632bb29039999d6a7b9d4242c", "waymo_split": "test", "type": "image", "frame_index": 148, "question": "Is lane changing possible? Which is safer between slowing down and changing lanes?", "category": "Safety-critical Planning", "options": ["A. Must slow down and change to the first lane at the same time", "B. Must enter the second lane directly without slowing down", "C. Must change to the third lane while accelerating first", "D. Must maintain speed and continue driving in the current lane"], "answer_index": 0}
{"token": "0797c14632bb29039999d6a7b9d4242c", "waymo_split": "test", "type": "image", "frame_index": 148, "question": "Who is responsible in a safety-critical situation? What is the cause?", "category": "Safety-critical scene Understanding", "options": ["A. The passenger car that changed lanes abruptly without signaling is responsible. It suddenly swerved enough to block the approaching bicycle and did not slow down considering the speed difference with surrounding vehicles.", "B. The pedestrian who illegally entered the crosswalk is responsible. They ignored the signal and crossed the lane without checking left and right or slowing down, eliminating the escape space for surrounding vehicles.", "C. The bicycle that suddenly appeared from the right is responsible. The bicycle was moving fast and was also attempting to turn left, so it did not slow down to pay attention to the vehicles appearing in front.", "D. The electric scooter that cut in from the right at high speed is responsible. While making a right turn, it failed to signal and weaved between lanes, trying to overtake the vehicle in front without slowing down or being cautious."], "answer_index": 2}
{"token": "0797c14632bb29039999d6a7b9d4242c", "waymo_split": "test", "type": "image", "frame_index": 148, "question": "Where is the area that hides danger in the current frame?", "category": "Uncertainty", "options": ["A. Behind the right sidewalk utility pole", "B. In front of the parked vehicle on the right", "C. Behind the bus stop ahead", "D. Behind the parked vehicle on the left"], "answer_index": 1}
{"token": "0797c14632bb29039999d6a7b9d4242c", "waymo_split": "test", "type": "image", "frame_index": 148, "question": "What situation might occur if the self-driving car behaved this way?", "category": "Counterfactual", "options": ["A. If the self-driving car completes a lane change to the first lane and accelerates, it can pass without interfering with surrounding vehicles.", "B. If the self-driving car suddenly decelerates while maintaining its current lane, it may collide with following vehicles.", "C. If the self-driving car returns to the third lane and maintains its speed, it can secure distance from safety-critical objects.", "D. If the self-driving car continues to change lanes to the second lane without reducing speed, it may collide with safety-critical objects."], "answer_index": 3}
{"token": "0797c14632bb29039999d6a7b9d4242c", "waymo_split": "test", "type": "image", "frame_index": 148, "question": "What are the potential new hazards in the following area?", "category": "Safety-critical Prediction", "options": ["A. A person or object may appear in front of a vehicle parked on the left.", "B. A person or object may appear behind a vehicle parked on the right.", "C. A motorcycle may come out from the right alley entrance.", "D. A person or object may appear in front of a vehicle parked on the right."], "answer_index": 3}
{"token": "0797c14632bb29039999d6a7b9d4242c", "waymo_split": "test", "type": "image", "frame_index": 148, "question": "What are the driving guidelines for your vehicle based on the behavior of a safety-critical object?", "category": "Safety-critical Planning", "options": ["A. If the safety-critical object slows down just before making a left turn, accelerating quickly to overtake in the second lane is the best way to avoid a collision. Choosing to stop could cause a rear-end collision, so accelerating is preferable.", "B. If the safety-critical object reduces speed and begins to make a right turn, the movement will naturally separate from your vehicle, lowering the possibility of a collision. Considering this, you should maintain your speed in the current lane and proceed straight to pass without disrupting the flow.", "C. If the safety-critical object makes a left turn without reducing speed, a collision with your vehicle is expected. To avoid this, you should quickly move away from the bicycle, change to the first lane, and proceed straight to minimize the chance of a collision. Alternatively, you can brake hard in the current state to reduce the possibility of a collision.", "D. Even if the safety-critical object pushes into the center of the lane without a signal, the bicycle in front will create space, so urgent action is unnecessary. You should maintain your position behind the bicycle and gradually move forward to navigate the situation without unnecessary lane changes."], "answer_index": 2}
{"token": "0797c14632bb29039999d6a7b9d4242c", "waymo_split": "test", "type": "image", "frame_index": 148, "question": "What potential situations could arise in the current scenario?", "category": "Counterfactual", "options": ["A. A person may appear in front of the vehicle parked on the right.", "B. A bicycle may come out from behind the vehicle parked on the left.", "C. A taxi in the opposite lane may make a U-turn into our lane.", "D. A pet dog may suddenly appear near the central divider ahead."], "answer_index": 0}
{"token": "07f794452f2baef0e17c23ec3d2ac150", "waymo_split": "test", "type": "video", "frame_index": null, "question": "What are the classifications of scenes?", "category": "Normal scene Understanding", "options": ["A. Residential area", "B. Highway", "C. City", "D. Unpaved"], "answer_index": 2}
{"token": "07f794452f2baef0e17c23ec3d2ac150", "waymo_split": "test", "type": "video", "frame_index": null, "question": "Where is the safety-critical situation in the video?", "category": "Temporal Grounding", "options": ["A. 1/4", "B. 4/4", "C. 2/4", "D. 3/4"], "answer_index": 1}
{"token": "07f794452f2baef0e17c23ec3d2ac150", "waymo_split": "test", "type": "video", "frame_index": null, "question": "Which of the following is correct regarding Video Summary from a safety-critical scene perspective?", "category": "Safety-critical scene caption", "options": ["A. An electric scooter emerges from behind a stationary vehicle on the sidewalk and enters the roadway. The slow-moving vehicle and the scooter nearly collide while both are in the same lane, coming to a sudden stop just before contact.", "B. A pedestrian suddenly darts out between stationary vehicles on the shoulder, crossing in front of the vehicle. The vehicle urgently slows down and stops in front of the crosswalk, almost colliding.", "C. A person exits a stationary vehicle and walks out from behind it. As a result, the slow-moving vehicle comes right up behind the stationary vehicle, nearly causing a collision.", "D. The stationary vehicle in front suddenly begins to reverse without checking behind, pushing into the path of the vehicle. The vehicle comes to a sudden stop with the horn, getting dangerously close."], "answer_index": 2}
{"token": "07f794452f2baef0e17c23ec3d2ac150", "waymo_split": "test", "type": "video", "frame_index": null, "question": "Which of the following is a correct description of traffic density?", "category": "Normal scene Understanding", "options": ["A. Few vehicles and fast", "B. Few vehicles and slow", "C. Many vehicles and fast", "D. Many vehicles and slow"], "answer_index": 3}
{"token": "07f794452f2baef0e17c23ec3d2ac150", "waymo_split": "test", "type": "video", "frame_index": null, "question": "Which of the following is a correct description of road alignment?", "category": "Normal Perception & Prediction", "options": ["A. Left turn", "B. Right turn", "C. Overtaking", "D. Straight ahead"], "answer_index": 3}
{"token": "07f794452f2baef0e17c23ec3d2ac150", "waymo_split": "test", "type": "video", "frame_index": null, "question": "Which of the following is a correct description of the environment?", "category": "Normal scene Understanding", "options": ["A. Clear, daytime", "B. Fog, nighttime", "C. Cloudy, morning", "D. Rain, evening"], "answer_index": 0}
{"token": "07f794452f2baef0e17c23ec3d2ac150", "waymo_split": "test", "type": "video", "frame_index": null, "question": "Is there a special situation?", "category": "Special Event", "options": ["A. Many people are watching to see the building on the left.", "B. A fire truck is passing quickly with its siren on in the right lane.", "C. A school bus is stopped in front, and students are getting off with the guidance of safety personnel.", "D. Construction cones are lined up around the intersection ahead to direct detours."], "answer_index": 0}
{"token": "07f794452f2baef0e17c23ec3d2ac150", "waymo_split": "test", "type": "video", "frame_index": null, "question": "Which of the following is a correct description of Spatial Relationship?", "category": "Spatial Relationship", "options": ["A. A building on the left and a number of people standing to view it", "B. A sculpture on the right and a few bicycles passing by it", "C. A distant tower and tourists holding cameras facing that way", "D. A fountain in the center and pedestrians walking around it"], "answer_index": 0}
{"token": "07f794452f2baef0e17c23ec3d2ac150", "waymo_split": "test", "type": "video", "frame_index": null, "question": "Which of the following is a correct description of traffic signals?", "category": "Traffic Signal", "options": ["A. There is a road sign prohibiting bicycle traffic in the driving lane.", "B. There is a road sign allowing bicycle traffic in the opposite lane.", "C. The pedestrian signal at the crosswalk on the opposite side is green.", "D. There is a sign indicating the start of a bus-only lane in front of the right turn lane."], "answer_index": 1}
{"token": "07f794452f2baef0e17c23ec3d2ac150", "waymo_split": "test", "type": "video", "frame_index": null, "question": "Which description is not safety-critical?", "category": "Normal Perception & Prediction", "options": ["A. Several motorcycles parked by the roadside. One bicycle passing on the left sidewalk. Streetlights turned on the right sidewalk.", "B. A pile of construction materials stacked by the road. A person walking a dog on the left sidewalk. A stall displaying items on the right sidewalk.", "C. Multiple vehicles parked on the side street. Many people standing on the left sidewalk. Trees standing on the right sidewalk.", "D. Electric scooters parked in an alley. A few people sitting on the left sidewalk. A row of flower pots on the right sidewalk."], "answer_index": 2}
{"token": "07f794452f2baef0e17c23ec3d2ac150", "waymo_split": "test", "type": "video", "frame_index": null, "question": "What is the correlation in safety-critical situations?", "category": "Safety-critical scene Understanding", "options": ["A. Two-wheeler - Person", "B. Car - Two-wheeler", "C. Car - Person", "D. Car - Car"], "answer_index": 2}
{"token": "07f794452f2baef0e17c23ec3d2ac150", "waymo_split": "test", "type": "video", "frame_index": null, "question": "Is there a blind spot in your field of vision?", "category": "Uncertainty", "options": ["A. There is a blind spot between parked vehicles.", "B. There is a blind spot only behind the bus in front, the right side visibility is good.", "C. Visibility is good along the right guardrail, there are no blind spots.", "D. There is a blind spot between parked vehicles on the left."], "answer_index": 0}
{"token": "07f794452f2baef0e17c23ec3d2ac150", "waymo_split": "test", "type": "video", "frame_index": null, "question": "How did the safety-critical object move and how did the ego vehicle behave?", "category": "Safety-critical scene Understanding", "options": ["A. The bicycle moved diagonally across the front of the vehicle, and the ego vehicle only slowed down in advance without stopping.", "B. The motorcycle cut in straight from the left lane, and the ego vehicle maintained its lane while only reducing speed.", "C. A person walked out from behind a vehicle, and the ego vehicle was moving slowly right behind them, stopping when it got close to a collision with that person.", "D. A person slowly entered from the right sidewalk, and the ego vehicle passed through while maintaining a safe distance."], "answer_index": 2}
{"token": "07f794452f2baef0e17c23ec3d2ac150", "waymo_split": "test", "type": "video", "frame_index": null, "question": "What is a safety-critical object?", "category": "Safety-critical Perception", "options": ["A. A passenger who got off the bus in front enters diagonally into the lane instead of towards the bus stop.", "B. A black vehicle stopped in the right lane has its door opened, and a pedestrian rushes out towards the lane.", "C. A person who got off a white vehicle stopped in front walks out in front of that vehicle.", "D. A person who got off a white vehicle stopped in front walks out behind that vehicle."], "answer_index": 3}
{"token": "07f794452f2baef0e17c23ec3d2ac150", "waymo_split": "test", "type": "video", "frame_index": null, "question": "Summary of Ego (self-vehicle) behavior before safety-critical situations", "category": "Normal scene Understanding", "options": ["A. The self-vehicle was decelerating before the event and maintained speed during the event.", "B. The self-vehicle attempted to change lanes before the event and accelerated during the event.", "C. The self-vehicle was driving before the event and stopped during the event.", "D. The self-vehicle was stationary before the event and started moving during the event."], "answer_index": 2}
{"token": "07f794452f2baef0e17c23ec3d2ac150", "waymo_split": "test", "type": "video", "frame_index": null, "question": "Who is responsible in a safety-critical situation? What is the cause?", "category": "Safety-critical scene Understanding", "options": ["A. It is the responsibility of the autonomous driving system, as it could have slowed down or changed lanes to avoid the situation if the rear pedestrian detection and warning had worked properly.", "B. It is the responsibility of the vehicle, as it failed to consider the nearby pedestrian by maintaining speed without checking the rear situation.", "C. It is the responsibility of the person, as walking directly behind a moving vehicle on the road is a disruptive and threatening act to the vehicle in motion.", "D. It is the responsibility of the road management authority, as the faint boundary markings between the roadway and pedestrian space caused people to walk alongside the vehicle in the same direction."], "answer_index": 2}
{"token": "07f794452f2baef0e17c23ec3d2ac150", "waymo_split": "test", "type": "image", "frame_index": 21, "question": "Based on the current appearance of the person/vehicle (two-wheeled), how do you intend to move?", "category": "Normal Perception & Prediction", "options": ["A. Proceeding slowly straight", "B. Preparing to stop", "C. Proceeding slowly left turn", "D. Proceeding right turn"], "answer_index": 0}
{"token": "07f794452f2baef0e17c23ec3d2ac150", "waymo_split": "test", "type": "video", "frame_index": null, "question": "If the self-driving car acted like this, what situation might have occurred?", "category": "Counterfactual", "options": ["A. If the self-driving car had sounded a warning and stopped, the person would have crossed first.", "B. If the self-driving car had not seen or ignored the person and continued straight, it would have collided with the person.", "C. If the self-driving car had recognized the person and stopped in time, there would have been no accident.", "D. If the self-driving car had swerved left quickly, it would have made contact with the vehicle in the adjacent lane."], "answer_index": 1}
{"token": "07f794452f2baef0e17c23ec3d2ac150", "waymo_split": "test", "type": "image", "frame_index": 21, "question": "Which of the following is correct from the perspective of Safety-critical Frame regarding Image Caption?", "category": "Safety-critical scene caption", "options": ["A. A tree obscures the view just before the crosswalk, allowing pedestrians to continue crossing.", "B. There is a blind spot between parked cars on the right side, so a person could suddenly appear.", "C. The area near a large bus at the rear is a blind spot, so vehicles changing lanes may not see it.", "D. The area behind parked cars on the left side is a blind spot, so a bicycle could suddenly appear."], "answer_index": 1}
{"token": "07f794452f2baef0e17c23ec3d2ac150", "waymo_split": "test", "type": "image", "frame_index": 21, "question": "What is the plan for yielding when an ambulance/fire truck approaches?", "category": "Special Event", "options": ["A. First stop and yield", "B. Reduce speed and continue driving", "C. Stay close to the left and drive slowly", "D. Yield after passing through the intersection"], "answer_index": 0}
{"token": "07f794452f2baef0e17c23ec3d2ac150", "waymo_split": "test", "type": "image", "frame_index": 21, "question": "What are the classifications of scenes?", "category": "Normal scene Understanding", "options": ["A. Highway", "B. City", "C. Residential area", "D. Unpaved"], "answer_index": 1}
{"token": "07f794452f2baef0e17c23ec3d2ac150", "waymo_split": "test", "type": "image", "frame_index": 21, "question": "Which of the following is a correct description of traffic density?", "category": "Normal scene Understanding", "options": ["A. Fast, few surrounding vehicles", "B. Fast, many surrounding vehicles", "C. Slow, few surrounding vehicles", "D. Slow, many surrounding vehicles"], "answer_index": 3}
{"token": "07f794452f2baef0e17c23ec3d2ac150", "waymo_split": "test", "type": "image", "frame_index": 21, "question": "What is the description of a non-safety-critical object?", "category": "Normal Perception & Prediction", "options": ["A. Several motorcycles parked on the right shoulder, no pedestrians at the crosswalk in front, and flower beds and low shrubs continue on the left sidewalk.", "B. Construction materials piled up at the edge of the sidewalk, a person walking a dog visible in the rear alley, and utility poles and advertising banners lined up on the right in front.", "C. Many vehicles parked on the side street, people waiting at the traffic signal at the rear intersection, and trees lined up on the sidewalk in front on the right.", "D. A delivery vehicle stopped on the street, a couple of people standing with bicycles at the front intersection, and streetlights sparsely placed on the left sidewalk in front."], "answer_index": 2}
{"token": "07f794452f2baef0e17c23ec3d2ac150", "waymo_split": "test", "type": "image", "frame_index": 21, "question": "What is the answer regarding parked vehicles on the shoulder, the presence of a center line, and whether Ego crosses the center line?", "category": "Normal Perception & Prediction", "options": ["A. A parked vehicle on the shoulder is few. There is a center line. It crosses the center line.", "B. One or two parked vehicles on the shoulder. There is no center line. It crosses the center line.", "C. No parked vehicles on the shoulder. There is no center line. It does not cross the center line.", "D. Many parked vehicles on the shoulder. There is a center line. It does not cross the center line."], "answer_index": 3}
{"token": "07f794452f2baef0e17c23ec3d2ac150", "waymo_split": "test", "type": "image", "frame_index": 21, "question": "What are the behavior restrictions in school zones/congested areas?", "category": "Special Event", "options": ["A. Must drive slowly", "B. Must turn on hazard lights", "C. Must honk the horn", "D. Must come to a complete stop"], "answer_index": 0}
{"token": "07f794452f2baef0e17c23ec3d2ac150", "waymo_split": "test", "type": "image", "frame_index": 21, "question": "Which of the following descriptions about the environment is correct?", "category": "Normal scene Understanding", "options": ["A. Day, clear, no lighting", "B. Dawn, light fog, indirect lighting", "C. Dusk, slightly cloudy, supplementary lighting", "D. Night, clear, neon lighting"], "answer_index": 0}
{"token": "07f794452f2baef0e17c23ec3d2ac150", "waymo_split": "test", "type": "image", "frame_index": 21, "question": "Which of the following is a correct description of traffic signals?", "category": "Traffic Signal", "options": ["A. A three-way intersection with traffic lights behind", "B. A four-way intersection with traffic lights ahead", "C. A four-way intersection with traffic lights behind", "D. A four-way intersection with a sign installed behind"], "answer_index": 2}
{"token": "07f794452f2baef0e17c23ec3d2ac150", "waymo_split": "test", "type": "image", "frame_index": 21, "question": "What is a safety-critical object?", "category": "Safety-critical Perception", "options": ["A. Safety-critical object pedestrian", "B. No safety-critical object", "C. Safety-critical object emergency vehicle", "D. Safety-critical object traffic light"], "answer_index": 1}
{"token": "07f794452f2baef0e17c23ec3d2ac150", "waymo_split": "test", "type": "image", "frame_index": 21, "question": "How do you think a safety-critical object will move?", "category": "Safety-critical Prediction", "options": ["A. No safety-critical object", "B. Safety-critical object entering the right lane", "C. Safety-critical object expected to merge from the left", "D. Safety-critical object approaching from the front"], "answer_index": 0}
{"token": "07f794452f2baef0e17c23ec3d2ac150", "waymo_split": "test", "type": "image", "frame_index": 21, "question": "Are there any other safety-critical objects besides the first safety-critical object? If so, how will you move?", "category": "Safety-critical Prediction", "options": ["A. There is a stroller, slow down to pass", "B. There are no safety-critical objects", "C. There is a construction cone, detour to the right", "D. There is a pedestrian, avoid to the left"], "answer_index": 1}
{"token": "07f794452f2baef0e17c23ec3d2ac150", "waymo_split": "test", "type": "image", "frame_index": 21, "question": "Is there a blind spot?", "category": "Uncertainty", "options": ["A. Blind spot yes", "B. Left blind spot yes", "C. Right blind spot no", "D. Rear blind spot no"], "answer_index": 0}
{"token": "07f794452f2baef0e17c23ec3d2ac150", "waymo_split": "test", "type": "image", "frame_index": 21, "question": "How should I drive to address the first risk while also addressing the second risk?", "category": "Safety-critical Planning", "options": ["A. There is a safety-critical pedestrian", "B. There are no safety-critical objects", "C. A safety-critical object exists", "D. A safety-critical vehicle is nearby"], "answer_index": 1}
{"token": "07f794452f2baef0e17c23ec3d2ac150", "waymo_split": "test", "type": "image", "frame_index": 21, "question": "What should I do to drive safely?", "category": "Safety-critical Planning", "options": ["A. I should overtake frequently", "B. I should drive slowly", "C. I should reduce the distance", "D. I should turn on the high beams"], "answer_index": 1}
{"token": "07f794452f2baef0e17c23ec3d2ac150", "waymo_split": "test", "type": "image", "frame_index": 89, "question": "Based on the current appearance of the person/vehicle (two-wheeled), how do you intend to move?", "category": "Normal Perception & Prediction", "options": ["A. Slow right turn", "B. Stop", "C. Slow straight", "D. Waiting to turn left"], "answer_index": 2}
{"token": "07f794452f2baef0e17c23ec3d2ac150", "waymo_split": "test", "type": "image", "frame_index": 89, "question": "What is your plan to yield when an ambulance/fire truck approaches?", "category": "Special Event", "options": ["A. Maintain speed and pass through", "B. Stop first and yield", "C. Accelerate to the left lane", "D. Turn on hazard lights and proceed"], "answer_index": 1}
{"token": "07f794452f2baef0e17c23ec3d2ac150", "waymo_split": "test", "type": "image", "frame_index": 21, "question": "Who are the new potential hazards that will be exposed in the following area?", "category": "Safety-critical Prediction", "options": ["A. A person suddenly emerging from the blind spot between parked cars on the right side.", "B. A pet suddenly running out from the blind spot between the right-side street trees and utility poles.", "C. A bicycle suddenly emerging from the blind spot between parked cars on the left side.", "D. A motorcycle suddenly coming out from the blind spot at the corner of the alley ahead."], "answer_index": 0}
{"token": "07f794452f2baef0e17c23ec3d2ac150", "waymo_split": "test", "type": "image", "frame_index": 89, "question": "Which of the following is correct from the perspective of Safety-critical Frame regarding Image Caption?", "category": "Safety-critical scene caption", "options": ["A. The vehicle driving straight ahead has completed overtaking and returned to its lane. There are no pedestrians or passengers visible in front of the return point, and the space between lanes is clear. The flow of vehicles is steady, so the risk of sudden movement appears low.", "B. The vehicle driving straight ahead is attempting to overtake by using the left opposite lane. At this time, it seems that a person is getting out of the vehicle directly in front of it, and visibility in this space is obstructed. It is still difficult to predict where that person will move.", "C. The vehicle driving straight ahead is changing lanes to the right and attempting to exit. At this time, the distance between the vehicles ahead is wide, providing good visibility, and no passengers getting out are visible. The path is clear, making predictions relatively easy.", "D. The vehicle driving straight ahead has moved to the left, checked the behavior of the leading vehicle, and decided to give up overtaking. Only cargo placed around the leading vehicle is visible, and no passengers getting out or moving are observed. Forward visibility is secured, allowing for predictions about the direction of travel."], "answer_index": 1}
{"token": "07f794452f2baef0e17c23ec3d2ac150", "waymo_split": "test", "type": "image", "frame_index": 89, "question": "Which of the following is a correct description of traffic density?", "category": "Normal scene Understanding", "options": ["A. Fast, many surrounding vehicles", "B. Fast, few surrounding vehicles", "C. Slow, few surrounding vehicles", "D. Slow, many surrounding vehicles"], "answer_index": 3}
{"token": "07f794452f2baef0e17c23ec3d2ac150", "waymo_split": "test", "type": "image", "frame_index": 21, "question": "Where is the area that hides danger in the current frame?", "category": "Uncertainty", "options": ["A. Blind spot in front of the large truck", "B. Blind spot behind the right-side parked vehicle", "C. Blind spot between the right-side parked vehicles", "D. Blind spot between the left-side parked vehicles"], "answer_index": 2}
{"token": "07f794452f2baef0e17c23ec3d2ac150", "waymo_split": "test", "type": "image", "frame_index": 89, "question": "What are the behavior restrictions in school zones/congested areas?", "category": "Special Event", "options": ["A. Must turn on high beams", "B. Must drive slowly", "C. Must accelerate", "D. Must honk the horn"], "answer_index": 1}
{"token": "07f794452f2baef0e17c23ec3d2ac150", "waymo_split": "test", "type": "image", "frame_index": 89, "question": "What is the classification of the scene?", "category": "Normal scene Understanding", "options": ["A. Residential area", "B. City", "C. Unpaved", "D. Highway"], "answer_index": 1}
{"token": "07f794452f2baef0e17c23ec3d2ac150", "waymo_split": "test", "type": "image", "frame_index": 89, "question": "Which of the following is a correct description of the environment?", "category": "Normal scene Understanding", "options": ["A. Evening, cloudy, indirect lighting", "B. Night, rain, neon lighting", "C. Dawn, fog, weak backlight", "D. Day, clear, no lighting"], "answer_index": 3}
{"token": "07f794452f2baef0e17c23ec3d2ac150", "waymo_split": "test", "type": "image", "frame_index": 89, "question": "What is the answer regarding parked vehicles on the shoulder, the presence of a center line, and whether Ego has crossed the center line?", "category": "Normal Perception & Prediction", "options": ["A. Few parked vehicles on the shoulder. Center line exists. Temporary crossing of the center line.", "B. Many parked vehicles on the shoulder. Center line exists. No crossing of the center line.", "C. No parked vehicles on the shoulder. Center line exists. No crossing of the center line.", "D. Many parked vehicles on the shoulder. No center line. No crossing of the center line."], "answer_index": 1}
{"token": "07f794452f2baef0e17c23ec3d2ac150", "waymo_split": "test", "type": "image", "frame_index": 89, "question": "Which of the following descriptions about traffic signals is correct?", "category": "Traffic Signal", "options": ["A. There is a sign indicating entry to a roundabout behind, and a sign prohibiting bicycle riding on the left lane.", "B. A crosswalk with a flashing pedestrian signal is ahead on the right, and there is a no parking sign on the left shoulder.", "C. There is a traffic light at the intersection behind, and a sign allowing bicycle riding on the left opposing lane.", "D. There is a T-intersection without a traffic light ahead, and a bus-only lane sign on the right lane."], "answer_index": 2}
{"token": "07f794452f2baef0e17c23ec3d2ac150", "waymo_split": "test", "type": "image", "frame_index": 89, "question": "Are there any other safety-critical objects besides the first one? If so, how will you move?", "category": "Safety-critical Prediction", "options": ["A. Next safety-critical object: high-voltage cable present, pass with a 1m distance to the left", "B. No next safety-critical object", "C. Next safety-critical object: oxygen tank present, slowly move to a ventilated area", "D. Next safety-critical object: fire extinguisher present, carefully move towards the emergency exit"], "answer_index": 1}
{"token": "07f794452f2baef0e17c23ec3d2ac150", "waymo_split": "test", "type": "image", "frame_index": 89, "question": "How do you think you would move a safety-critical object?", "category": "Safety-critical Prediction", "options": ["A. I think I would carry it and walk.", "B. I think I would take a taxi instead.", "C. I think I would take the bus as is.", "D. I think I would transfer and take the subway."], "answer_index": 0}
{"token": "07f794452f2baef0e17c23ec3d2ac150", "waymo_split": "test", "type": "image", "frame_index": 89, "question": "What should I do to drive safely?", "category": "Safety-critical Planning", "options": ["A. Proceed straight as a priority and pass through, even if there are people, since the speed is slow, and the oncoming vehicles can be considered safe as long as they stay within the center line.", "B. Slightly accelerate and it's better to overtake immediately if the car in front moves aside, and pedestrians will hear the sound and move out of the way, so there's no need to check the oncoming lane too closely.", "C. You may need to drive slowly and overtake like the vehicle right in front of you, but you should consider the direction and speed of the person, and check if there are cars or people moving or driving in the oncoming lane.", "D. Indicate your presence with headlights or hazard lights and continue at a steady speed; if the car in front keeps going, there's no need for me to stop, and the signals will manage the situation on the opposite side."], "answer_index": 2}
{"token": "07f794452f2baef0e17c23ec3d2ac150", "waymo_split": "test", "type": "image", "frame_index": 89, "question": "Is there a blind spot in your field of vision?", "category": "Uncertainty", "options": ["A. Only a left blind spot", "B. There is a blind spot", "C. No blind spot", "D. No right blind spot"], "answer_index": 1}
{"token": "07f794452f2baef0e17c23ec3d2ac150", "waymo_split": "test", "type": "image", "frame_index": 89, "question": "What is a safety-critical object?", "category": "Safety-critical Perception", "options": ["A. A person getting out on the left side of the vehicle in front of the vehicle based on the driving lane of the vehicle.", "B. A person getting out on the right side of the vehicle directly in front of the vehicle based on the driving lane of the vehicle.", "C. A person getting out on the right side of the vehicle in front of the vehicle based on the driving lane of the vehicle.", "D. A person getting into the vehicle on the right side of the vehicle in front of the vehicle based on the driving lane of the vehicle."], "answer_index": 2}
{"token": "07f794452f2baef0e17c23ec3d2ac150", "waymo_split": "test", "type": "image", "frame_index": 89, "question": "What is the correlation in safety-critical situations?", "category": "Safety-critical scene Understanding", "options": ["A. Car - Two-wheeler", "B. Car - Car", "C. Two-wheeler - Person", "D. Car - Person"], "answer_index": 3}
{"token": "07f794452f2baef0e17c23ec3d2ac150", "waymo_split": "test", "type": "image", "frame_index": 89, "question": "Is lane changing possible? Which is safer, slowing down or changing lanes?", "category": "Safety-critical Planning", "options": ["A. Slowing down is safer.", "B. Changing lanes is safer.", "C. If there's a gap, enter immediately.", "D. Accelerate and get over quickly."], "answer_index": 0}
{"token": "07f794452f2baef0e17c23ec3d2ac150", "waymo_split": "test", "type": "image", "frame_index": 89, "question": "How should I drive to address the first risk while also resolving the second risk?", "category": "Safety-critical Planning", "options": ["A. Right-side parked vehicle door opening", "B. Next crosswalk has pedestrians", "C. Left-front vehicle cut-in", "D. No safety-critical objects ahead"], "answer_index": 3}
{"token": "07f794452f2baef0e17c23ec3d2ac150", "waymo_split": "test", "type": "image", "frame_index": 89, "question": "Who is responsible in safety-critical situations? What is the cause?", "category": "Safety-critical scene Understanding", "options": ["A. The responsibility lies with the road management authority, as inadequate boarding and alighting areas and safety signs make it difficult for drivers to determine stopping positions, resulting in lane departures and bottlenecks.", "B. The responsibility lies with the following vehicles, as even if the front vehicle temporarily stops on the road, they must maintain sufficient distance and reduce speed, and failure to do so causes sudden braking and confusion in the surrounding flow.", "C. The responsibility lies with the person. If a person is on the road after stopping and getting out of a vehicle on the currently driving road, it obstructs the movement of following and surrounding vehicles, including their own.", "D. The responsibility lies with the vehicle system, as inaccurate side and rear detection fails to properly warn of pedestrians or door opening situations, causing delayed avoidance timing and obstructing the flow of traffic."], "answer_index": 2}
{"token": "07f794452f2baef0e17c23ec3d2ac150", "waymo_split": "test", "type": "image", "frame_index": 89, "question": "Who are the new potential risks that will be exposed in the following area?", "category": "Safety-critical Prediction", "options": ["A. A person emerging from the blind spot between parked cars on the right side.", "B. A bicycle coming out from the blind spot at the left alley corner.", "C. A pedestrian coming out from the blind spot between the entrance doors on the right side.", "D. A child running out from the blind spot next to the bus in front."], "answer_index": 0}
{"token": "07f794452f2baef0e17c23ec3d2ac150", "waymo_split": "test", "type": "image", "frame_index": 89, "question": "Where is the area that hides danger in the current frame?", "category": "Uncertainty", "options": ["A. Blind spot between parked vehicles on the right side", "B. Blind spot between parked vehicles on the left side", "C. Blind spot under the front of a large truck on the right side", "D. Blind spot behind the bus stop in front"], "answer_index": 0}
{"token": "07f794452f2baef0e17c23ec3d2ac150", "waymo_split": "test", "type": "image", "frame_index": 128, "question": "Based on the current appearance of the person/vehicle (two-wheeled), how do they intend to move?", "category": "Normal Perception & Prediction", "options": ["A. Attempt to stop by decelerating towards the right edge", "B. Attempt to overtake by accelerating into the opposite lane", "C. Turn on the right blinker and enter the right turn", "D. Continue to accelerate straight while maintaining the lane"], "answer_index": 1}
{"token": "07f794452f2baef0e17c23ec3d2ac150", "waymo_split": "test", "type": "image", "frame_index": 128, "question": "What is correct as an Image Caption from the perspective of Safety-critical Frame?", "category": "Safety-critical scene caption", "options": ["A. The vehicle attempts to overtake using the opposite lane, and there is a person getting out of the vehicle currently driving right in front of it. There are currently no vehicles driving in the opposite direction in the opposite lane.", "B. The vehicle is following the line with the left turn signal on, and the distance to the vehicle in front makes it unclear whether anyone is getting out. There is a bus passing in the opposite direction in the opposite lane.", "C. The vehicle attempts to change to the right lane, and the vehicle in front has its brake lights on without anyone getting out. There is one vehicle approaching in the opposite direction in the opposite lane.", "D. The vehicle continues to drive without overtaking while maintaining its lane, and the vehicle directly in front is moving with its door closed. There are vehicles intermittently passing in the opposite direction in the opposite lane."], "answer_index": 0}
{"token": "07f794452f2baef0e17c23ec3d2ac150", "waymo_split": "test", "type": "image", "frame_index": 128, "question": "What is the plan for yielding when an ambulance/fire truck approaches?", "category": "Special Event", "options": ["A. Move to the left lane", "B. Maintain speed and proceed", "C. Stop first and yield", "D. Turn on hazard lights and drive slowly"], "answer_index": 2}
{"token": "07f794452f2baef0e17c23ec3d2ac150", "waymo_split": "test", "type": "image", "frame_index": 128, "question": "What are the divisions of a scene?", "category": "Normal scene Understanding", "options": ["A. Highway", "B. City", "C. Residential area", "D. Unpaved"], "answer_index": 1}
{"token": "07f794452f2baef0e17c23ec3d2ac150", "waymo_split": "test", "type": "image", "frame_index": 128, "question": "What are the behavior restrictions in school zones/congested areas?", "category": "Special Event", "options": ["A. Must honk the horn", "B. Must turn on high beams", "C. Must accelerate", "D. Must drive slowly"], "answer_index": 3}
{"token": "07f794452f2baef0e17c23ec3d2ac150", "waymo_split": "test", "type": "image", "frame_index": 128, "question": "Which of the following is a correct description of traffic density?", "category": "Normal scene Understanding", "options": ["A. Moderate speed with many surrounding vehicles", "B. Slow speed with few surrounding vehicles", "C. Fast speed with many surrounding vehicles", "D. Fast speed with few surrounding vehicles"], "answer_index": 0}
{"token": "07f794452f2baef0e17c23ec3d2ac150", "waymo_split": "test", "type": "image", "frame_index": 128, "question": "Which of the following is a correct description of the environment?", "category": "Normal scene Understanding", "options": ["A. Morning, fog, soft lighting", "B. Twilight, overcast, dim lighting", "C. Daytime, clear, no lighting", "D. Night, clear, streetlight lighting"], "answer_index": 2}
{"token": "07f794452f2baef0e17c23ec3d2ac150", "waymo_split": "test", "type": "image", "frame_index": 128, "question": "Which of the following statements about traffic signals is correct?", "category": "Traffic Signal", "options": ["A. An intersection ahead without traffic lights,", "B. An intersection with only a stop line on the left,", "C. An alley on the right with a stop sign,", "D. An intersection behind with traffic lights present,"], "answer_index": 3}
{"token": "07f794452f2baef0e17c23ec3d2ac150", "waymo_split": "test", "type": "image", "frame_index": 128, "question": "Is there a blind spot in your field of vision?", "category": "Uncertainty", "options": ["A. Front blind spot", "B. No blind spot", "C. Left blind spot", "D. Blind spot"], "answer_index": 3}
{"token": "07f794452f2baef0e17c23ec3d2ac150", "waymo_split": "test", "type": "image", "frame_index": 128, "question": "How do you think a safety-critical object will move?", "category": "Safety-critical Prediction", "options": ["A. I think it will move down and to the rear of the vehicle (moving to the lane in front of my vehicle)", "B. I think it will move down and to the front of the vehicle (going to the lane opposite the direction of my vehicle)", "C. I think it will move down and stand on the right sidewalk (moving away from my vehicle)", "D. I think it will move forward along the center of the lane without getting out (passing right in front of my vehicle)"], "answer_index": 0}
{"token": "07f794452f2baef0e17c23ec3d2ac150", "waymo_split": "test", "type": "image", "frame_index": 128, "question": "Are there any other safety-critical objects besides the first safety-critical object? If so, how will you move them?", "category": "Safety-critical Prediction", "options": ["A. There is an oxygen tank, keep it upright and move without impact", "B. There are no other safety-critical objects", "C. There is an AED, close the case and move without shaking", "D. There is a fire extinguisher, hold the handle and move slowly"], "answer_index": 1}
{"token": "07f794452f2baef0e17c23ec3d2ac150", "waymo_split": "test", "type": "image", "frame_index": 128, "question": "Is lane changing possible? Which is safer between slowing down and changing lanes?", "category": "Safety-critical Planning", "options": ["A. Changing lanes to overtake after slowing down in the opposite lane", "B. Attempting to overtake while accelerating in the same lane", "C. Changing to the right lane to overtake instead of slowing down", "D. Entering the opposite lane to immediately overtake without slowing down"], "answer_index": 0}
{"token": "07f794452f2baef0e17c23ec3d2ac150", "waymo_split": "test", "type": "image", "frame_index": 128, "question": "How should I drive to resolve the first hazard while also addressing the second hazard?", "category": "Safety-critical Planning", "options": ["A. Slow down and pull over to the right shoulder", "B. Immediately change to the left lane", "C. Overtake the vehicle in front and return", "D. There are no more safety-critical objects ahead"], "answer_index": 3}
{"token": "07f794452f2baef0e17c23ec3d2ac150", "waymo_split": "test", "type": "image", "frame_index": 128, "question": "What is a safety-critical object?", "category": "Safety-critical Perception", "options": ["A. A person getting on to the right side of the vehicle in front based on the driving road of the vehicle.", "B. A person getting off to the right side of the vehicle in front based on the driving road of the vehicle.", "C. A person getting off to the right side of the vehicle behind based on the driving road of the vehicle.", "D. A person getting off to the left side of the vehicle in front based on the driving road of the vehicle."], "answer_index": 1}
{"token": "07f794452f2baef0e17c23ec3d2ac150", "waymo_split": "test", "type": "image", "frame_index": 128, "question": "What is the correlation in safety-critical situations?", "category": "Safety-critical scene Understanding", "options": ["A. Truck-Bicycle", "B. Car-Person", "C. Car-Two-wheeler", "D. Two-wheeler-Person"], "answer_index": 1}
{"token": "07f794452f2baef0e17c23ec3d2ac150", "waymo_split": "test", "type": "image", "frame_index": 128, "question": "What is the answer regarding parked vehicles on the shoulder, the presence of a center line, and whether Ego has crossed the center line?", "category": "Normal Perception & Prediction", "options": ["A. One parked vehicle on the shoulder. Center line present. Completely crossed the center line (driving in the opposite lane)", "B. Multiple parked vehicles on the shoulder. Center line present. Attempting to cross the center line (to overtake)", "C. No parked vehicles on the shoulder. Center line present. Did not cross the center line (slowing down)", "D. Few parked vehicles on the shoulder. No center line. Did not cross the center line"], "answer_index": 1}
{"token": "07f794452f2baef0e17c23ec3d2ac150", "waymo_split": "test", "type": "image", "frame_index": 128, "question": "Where is the area that hides danger in the current frame?", "category": "Uncertainty", "options": ["A. The blind spot between the right bus stop advertisement board and the bench", "B. The blind spot between the front cargo truck and the median strip", "C. The blind spot between the right and left side parking vehicles", "D. The blind spot behind the protruding wall at the left alley corner"], "answer_index": 2}
{"token": "07f794452f2baef0e17c23ec3d2ac150", "waymo_split": "test", "type": "image", "frame_index": 128, "question": "Who is responsible in safety-critical situations? What is the cause?", "category": "Safety-critical scene Understanding", "options": ["A. The responsibility lies with the road management authority; if the bus stop and shoulder width are insufficient, it becomes unavoidable to stop in the lane, obstructing the view of following and surrounding vehicles, increasing danger.", "B. The responsibility lies with the vehicle manufacturer; if the exit warning and door open warning do not function properly, passengers may exit towards the lane, obstructing the movement of surrounding vehicles.", "C. The responsibility lies with the person; if someone is on the road after stopping on the currently driving road, it obstructs the movement of following and surrounding vehicles, including their own.", "D. The responsibility lies with the navigation service; if it guides temporary stopping on the side of the lane near the destination, following vehicles may have to brake suddenly or change lanes abruptly, creating danger."], "answer_index": 2}
{"token": "07f794452f2baef0e17c23ec3d2ac150", "waymo_split": "test", "type": "image", "frame_index": 128, "question": "Who are the new potential risks that will be exposed in the following area?", "category": "Safety-critical Prediction", "options": ["A. A person emerging from the blind spot between parked cars on the right side.", "B. A motorcycle quickly merging from the blind spot at the front alley exit.", "C. A vehicle reversing out from between parked cars on the right side.", "D. A pedestrian running out from the blind spot in front of a stopped bus at the left bus stop."], "answer_index": 0}
{"token": "07f794452f2baef0e17c23ec3d2ac150", "waymo_split": "test", "type": "image", "frame_index": 128, "question": "What situation might have occurred if the self-driving car acted like this?", "category": "Counterfactual", "options": ["A. If the self-driving car had gone straight, it might have collided with a person.", "B. If the self-driving car had changed lanes, it might have brushed against a motorcycle.", "C. If the self-driving car had made a sudden stop, the car behind might have rear-ended it.", "D. If the self-driving car had turned left, it might have made contact with the median barrier."], "answer_index": 0}
{"token": "07f794452f2baef0e17c23ec3d2ac150", "waymo_split": "test", "type": "image", "frame_index": 128, "question": "What is the method to avoid the blind spot next to a large vehicle?", "category": "Special Event", "options": ["A. Overtake on the left", "B. Stay close on the right", "C. No large vehicle", "D. Maintain low speed"], "answer_index": 2}
{"token": "07f794452f2baef0e17c23ec3d2ac150", "waymo_split": "test", "type": "image", "frame_index": 128, "question": "What is the guideline for my vehicle's behavior in response to the behavior of a safety-critical object?", "category": "Safety-critical Planning", "options": ["A. If the safety-critical object approaches my vehicle slowly, I should maintain my speed.", "B. If the safety-critical object stops in the middle of the lane, I should pass without changing lanes.", "C. If the safety-critical object approaches my vehicle quickly, I should only honk the horn.", "D. If the safety-critical object is moving quickly towards my vehicle, I should brake suddenly."], "answer_index": 3}
{"token": "07f794452f2baef0e17c23ec3d2ac150", "waymo_split": "test", "type": "image", "frame_index": 139, "question": "Based on the current appearance of the person/vehicle (two-wheeled), how do they intend to move?", "category": "Normal Perception & Prediction", "options": ["A. Attempting to overtake while accelerating in the opposite lane", "B. Stopping in front of the center line to make a left turn", "C. Slowing down and entering the right shoulder", "D. Changing to the right lane and proceeding slowly"], "answer_index": 0}
{"token": "07f794452f2baef0e17c23ec3d2ac150", "waymo_split": "test", "type": "image", "frame_index": 139, "question": "Which of the following is correct from the perspective of Safety-critical Frame regarding Image Caption?", "category": "Safety-critical scene caption", "options": ["A. The vehicle does not cross the center line, slows down within its lane, and is driving behind the vehicle in front. A person who got out of a parked vehicle is walking out in front of the vehicle and crossing the lane.", "B. The vehicle attempts to overtake using the opposite lane, similar to the overtaken vehicle (crossing the center line). A person who got out of the vehicle in front is moving behind that vehicle.", "C. The vehicle attempts to bypass the vehicle in front using the right shoulder (maintaining the center line). The vehicle ahead is not stopped but moving slowly, and a passenger is gesturing out of the window.", "D. The vehicle is waiting behind the vehicle in front without entering the opposite lane (no intention to overtake). A person who got out in front is opening the trunk to take out luggage and is moving to the sidewalk outside the road."], "answer_index": 1}
{"token": "07f794452f2baef0e17c23ec3d2ac150", "waymo_split": "test", "type": "image", "frame_index": 139, "question": "What are the behavior restrictions in school zones/congested areas?", "category": "Special Event", "options": ["A. Must drive slowly", "B. Must accelerate", "C. Must overtake", "D. Must change lanes"], "answer_index": 0}
{"token": "07f794452f2baef0e17c23ec3d2ac150", "waymo_split": "test", "type": "image", "frame_index": 139, "question": "Which of the following is correct as an Image Caption from the perspective of a Normal Frame?", "category": "Normal scene caption", "options": ["A. There are many parked cars on the left and right sides of a four-lane road with vehicles in motion. On the left side ahead, there are many people standing on the sidewalk looking at buildings. My car attempts to overtake using the opposite lane, having crossed the center line. A person who got off from a stopped vehicle ahead of my car is moving behind that vehicle.", "B. There is a guardrail in the center of a two-lane road, preventing entry into the opposite lane. Passengers are lined up at the bus stop on the right side ahead, while the left sidewalk is quiet. My car is moving slowly behind the vehicle in front and is not attempting to overtake. A person who got off from a stopped vehicle ahead is moving towards the front of the car.", "C. There is no on-street parking on a one-way three-lane road, and buses and taxis are continuously driving in the right lane. Only construction barriers are visible on the left sidewalk, and pedestrians are sparse. My car is preparing to change lanes from the left to the right (turn signal is on). A delivery vehicle is stopped on the shoulder ahead, and the driver is unloading cargo.", "D. On a one-way two-lane gently curved road, only shops are visible on both sides, and vehicles are relatively sparse. A few people are standing on the right sidewalk, pulling bicycles. My car is maintaining its lane while adjusting the distance from the vehicle in front (not crossing the center line). Instead of stopped vehicles ahead, pedestrians are waiting at the crosswalk."], "answer_index": 0}
{"token": "07f794452f2baef0e17c23ec3d2ac150", "waymo_split": "test", "type": "image", "frame_index": 128, "question": "What potential situations could arise in the current scenario?", "category": "Counterfactual", "options": ["A. A sudden reverse of the vehicle in front.", "B. A dog without a leash entering the road from the right sidewalk.", "C. A person who could emerge between vehicles on the left and right.", "D. A motorcycle entering from the left alley against traffic."], "answer_index": 2}
{"token": "07f794452f2baef0e17c23ec3d2ac150", "waymo_split": "test", "type": "image", "frame_index": 139, "question": "What is the plan for yielding when an ambulance/fire truck approaches?", "category": "Special Event", "options": ["A. Pass through the intersection first", "B. Accelerate to the left lane", "C. Stop first and yield", "D. Drive with hazard lights on"], "answer_index": 2}
{"token": "07f794452f2baef0e17c23ec3d2ac150", "waymo_split": "test", "type": "image", "frame_index": 139, "question": "What are the classifications of scenes?", "category": "Normal scene Understanding", "options": ["A. Unpaved", "B. Urban", "C. Residential area", "D. Highway"], "answer_index": 1}
{"token": "07f794452f2baef0e17c23ec3d2ac150", "waymo_split": "test", "type": "image", "frame_index": 139, "question": "Which of the following is a correct description of traffic density?", "category": "Normal scene Understanding", "options": ["A. Few vehicles at high speed", "B. Many vehicles at moderate speed", "C. Few vehicles at low speed", "D. Normal number of vehicles at high speed"], "answer_index": 1}
{"token": "07f794452f2baef0e17c23ec3d2ac150", "waymo_split": "test", "type": "image", "frame_index": 139, "question": "Which of the following descriptions about the environment is correct?", "category": "Normal scene Understanding", "options": ["A. Morning, light fog, backlight", "B. Day, clear, no lighting", "C. Dusk, cloudy, soft lighting", "D. Night, light rain, streetlight lighting"], "answer_index": 1}
{"token": "07f794452f2baef0e17c23ec3d2ac150", "waymo_split": "test", "type": "image", "frame_index": 139, "question": "What is the description of a non-safety-critical object?", "category": "Normal Perception & Prediction", "options": ["A. There are piles of items in front of shops along the road, infrequent roadside parking, bicycles and delivery motorcycles waiting at the signal at the upcoming intersection, and low shrubs lined up in the median strip.", "B. There are many vehicles parked on the side, people waiting at the signal at the rear intersection, and people crossing the crosswalk. Trees are lined up on the right side of the road. There are many people standing on the left side of the road.", "C. Illegal parking is hardly visible, the rear is quiet with no people or vehicles waiting at the intersection, on the right side of the front sidewalk, shop signs and awnings are lined up instead of street trees, and there are noticeable public bike racks and empty racks on the left road.", "D. Several motorcycles parked by the roadside, only vehicles are waiting at the signal at the front intersection, there are almost no pedestrians, streetlights and utility poles are lined up on the left sidewalk, and a few people are scattered on the right roadside talking on their phones."], "answer_index": 1}
{"token": "07f794452f2baef0e17c23ec3d2ac150", "waymo_split": "test", "type": "image", "frame_index": 139, "question": "What is the answer regarding parked vehicles on the shoulder, the presence of a center line, and whether Ego crosses the center line?", "category": "Normal Perception & Prediction", "options": ["A. No parked vehicles on the shoulder. Center line exists. No center line violation.", "B. Few parked vehicles on the shoulder. Center line exists. Center line violation.", "C. Many parked vehicles on the shoulder. No center line. No center line violation.", "D. Many parked vehicles on the shoulder. Center line exists. No center line violation."], "answer_index": 3}
{"token": "07f794452f2baef0e17c23ec3d2ac150", "waymo_split": "test", "type": "image", "frame_index": 139, "question": "Which of the following is a correct description of traffic signals?", "category": "Traffic Signal", "options": ["A. A right turn sign installed at the intersection ahead", "B. A left turn road marking existing in the same lane on the right", "C. A green arrow signal illuminated on the top signal light", "D. A right turn road marking existing in the opposite lane on the left"], "answer_index": 3}
{"token": "07f794452f2baef0e17c23ec3d2ac150", "waymo_split": "test", "type": "image", "frame_index": 139, "question": "How do you think a safety-critical object will move?", "category": "Safety-critical Prediction", "options": ["A. It seems like it will move to the rear of the vehicle and obstruct my vehicle's driving.", "B. It seems like it will slowly move to the right shoulder to allow my vehicle to drive smoothly.", "C. It seems like it will push ahead of the vehicle and pass before my vehicle.", "D. It seems like it will move to the left lane and yield to my vehicle's progress."], "answer_index": 0}
{"token": "07f794452f2baef0e17c23ec3d2ac150", "waymo_split": "test", "type": "image", "frame_index": 139, "question": "Is there a blind spot?", "category": "Uncertainty", "options": ["A. Blind spot no", "B. Left blind spot yes", "C. Rear blind spot no", "D. Blind spot yes"], "answer_index": 3}
{"token": "07f794452f2baef0e17c23ec3d2ac150", "waymo_split": "test", "type": "image", "frame_index": 139, "question": "What is a safety-critical object?", "category": "Safety-critical Perception", "options": ["A. A person getting off to the right of the vehicle in front on the driving road and walking onto the sidewalk.", "B. A person getting off to the left of the vehicle in front on the driving road and moving in front of that vehicle.", "C. A person getting off to the right of the vehicle in front on the driving road and then re-entering the vehicle.", "D. A person getting off to the right of the vehicle in front on the driving road and moving behind that vehicle."], "answer_index": 3}
{"token": "07f794452f2baef0e17c23ec3d2ac150", "waymo_split": "test", "type": "image", "frame_index": 139, "question": "Are there any other safety-critical objects besides the first safety-critical object? If so, how will you move them?", "category": "Safety-critical Prediction", "options": ["A. There is a chainsaw; unplug it, cover the blade, and move it under the workbench.", "B. There is an oxygen cylinder; secure it on a cart and move it towards the exit.", "C. There are no other safety-critical objects.", "D. There is a gas cylinder; close the valve and slowly move it towards the left wall."], "answer_index": 2}
{"token": "07f794452f2baef0e17c23ec3d2ac150", "waymo_split": "test", "type": "image", "frame_index": 139, "question": "What is the correlation in safety-critical situations?", "category": "Safety-critical scene Understanding", "options": ["A. Person - Two-wheeler", "B. Car - Car", "C. Car - Person", "D. Car - Two-wheeler"], "answer_index": 2}
{"token": "07f794452f2baef0e17c23ec3d2ac150", "waymo_split": "test", "type": "image", "frame_index": 139, "question": "How should I drive to address the first risk while also resolving the second risk?", "category": "Safety-critical Planning", "options": ["A. Be cautious of merging vehicles on the right", "B. Evade by driving in the left lane", "C. There is a safety-critical object ahead", "D. There are no safety-critical objects ahead"], "answer_index": 3}
{"token": "07f794452f2baef0e17c23ec3d2ac150", "waymo_split": "test", "type": "image", "frame_index": 139, "question": "Where is the area that hides danger in the current frame?", "category": "Uncertainty", "options": ["A. Blind spot inside the corner of the building at the left alley entrance", "B. Blind spot between the parked cars on the right and left", "C. Blind spot between the large bus on the front right and the bus stop fence", "D. Blind spot formed behind the central divider of the crosswalk ahead"], "answer_index": 1}
{"token": "07f794452f2baef0e17c23ec3d2ac150", "waymo_split": "test", "type": "image", "frame_index": 139, "question": "Who is responsible in safety-critical situations? What is the cause?", "category": "Safety-critical scene Understanding", "options": ["A. It lies with the road management authority, as the lack of space and signage for safely disembarking after stopping can lead pedestrians to enter the roadway, posing a risk to the driving of vehicles behind and around.", "B. It lies with the vehicle's auxiliary braking and warning systems, as the failure to activate hazard lights and rear warnings during stopping and disembarking can delay surrounding vehicles' awareness, creating a risk factor.", "C. It lies with the driver of the vehicle behind, as failing to anticipate pedestrians moving off the roadway can result in not slowing down or avoiding appropriately, posing a risk to the driving of their own vehicle and the one in front.", "D. It lies with the person. If a person disembarks and moves on the roadway after stopping on a currently active road, it poses a risk to the driving of surrounding vehicles, including their own."], "answer_index": 3}
{"token": "07f794452f2baef0e17c23ec3d2ac150", "waymo_split": "test", "type": "image", "frame_index": 139, "question": "Is lane changing possible? Which is safer between slowing down and changing lanes?", "category": "Safety-critical Planning", "options": ["A. Overtaking immediately into the opposite lane without slowing down", "B. Changing lanes to overtake in the same direction after accelerating", "C. Only slowing down while maintaining the lane", "D. Changing lanes to overtake into the opposite lane after slowing down"], "answer_index": 3}
{"token": "07f794452f2baef0e17c23ec3d2ac150", "waymo_split": "test", "type": "image", "frame_index": 139, "question": "Who are the new potential risks that will be exposed in the following area?", "category": "Safety-critical Prediction", "options": ["A. A person emerging from the blind spot between parked cars on the right side.", "B. A child emerging from the blind spot behind a bus that is stopped in front.", "C. A bicycle emerging from the blind spot at the left alley corner.", "D. An electric scooter emerging from the blind spot at the left store entrance."], "answer_index": 0}
{"token": "07f794452f2baef0e17c23ec3d2ac150", "waymo_split": "test", "type": "image", "frame_index": 139, "question": "What is the method to avoid the blind spot next to a large vehicle?", "category": "Special Event", "options": ["A. Right side of the large vehicle", "B. No large vehicle", "C. Rear of the large vehicle", "D. Front of the large vehicle"], "answer_index": 1}
{"token": "07f794452f2baef0e17c23ec3d2ac150", "waymo_split": "test", "type": "image", "frame_index": 139, "question": "What situation might have occurred if the vehicle had behaved this way?", "category": "Counterfactual", "options": ["A. If the vehicle changed to the left lane, it might have hit the median.", "B. If the vehicle slightly turned to the right, it might have collided with a bicycle.", "C. If the vehicle made a sudden stop, it might have been rear-ended by a car coming from behind.", "D. If the vehicle continued to drive straight, it might have collided with a person."], "answer_index": 3}
{"token": "07f794452f2baef0e17c23ec3d2ac150", "waymo_split": "test", "type": "image", "frame_index": 139, "question": "What are the potentially occurring situations in the current scenario?", "category": "Counterfactual", "options": ["A. A vehicle attempting a sharp U-turn at the intersection ahead", "B. A bus departing from the left bus stop", "C. A person who could suddenly emerge between vehicles on the left and right", "D. An ambulance approaching from behind with sirens blaring"], "answer_index": 2}
{"token": "07f794452f2baef0e17c23ec3d2ac150", "waymo_split": "test", "type": "image", "frame_index": 139, "question": "What is the guideline for my vehicle's behavior in response to the behavior of a safety-critical object?", "category": "Safety-critical Planning", "options": ["A. If a safety-critical object suddenly enters the lane, I should only honk the horn and continue driving.", "B. If a safety-critical object is stopped ahead, I should change lanes to the left quickly.", "C. If a safety-critical object is approaching my vehicle slowly, I should maintain my speed.", "D. If a safety-critical object is moving quickly towards my vehicle, I should brake suddenly."], "answer_index": 3}
{"token": "07f794452f2baef0e17c23ec3d2ac150", "waymo_split": "test", "type": "image", "frame_index": 148, "question": "Which of the following is a correct description of traffic density?", "category": "Normal scene Understanding", "options": ["A. Slow speed with few surrounding vehicles", "B. Fast speed with almost no surrounding vehicles", "C. Moderate speed with many surrounding vehicles", "D. Fast speed with few surrounding vehicles"], "answer_index": 2}
{"token": "07f794452f2baef0e17c23ec3d2ac150", "waymo_split": "test", "type": "image", "frame_index": 148, "question": "Which of the following is correct from the perspective of Safety-critical Frame regarding Image Caption?", "category": "Safety-critical scene caption", "options": ["A. The vehicle maintains speed in the same lane without crossing the center line while attempting to overtake a leading vehicle (no entry into the opposite lane). A person who got out of a vehicle that briefly stopped on the shoulder in front of the vehicle is moving towards the sidewalk on the opposite side (no entry into the lane). At this time, the vehicle only warns of the surrounding situation and continues to accelerate.", "B. The vehicle changes lanes to the right and drives at a constant speed while passing between passenger cars (no approach to the center line). A cyclist merges into the center of the lane from behind a truck ahead and exits to the left. At this time, the vehicle slightly increases speed to pass through the situation quickly without overtaking.", "C. The vehicle attempts to overtake using the opposite lane, similar to the overtaken vehicle (in a state of crossing the center line). A person who got out of a vehicle that is stopped on the driving road in front of the vehicle is walking behind that vehicle, moving in the direction the vehicle is overtaking. At this time, the vehicle slows down to avoid a collision with that person while in the state of acceleration during overtaking.", "D. The vehicle stops overtaking and returns to its original lane to maintain a safe distance (in a state of giving up overtaking). A pedestrian steps into the lane in front of a stopped vehicle but quickly moves out in front of the vehicle, moving in the opposite direction to the vehicle. At this time, the vehicle briefly brakes and then accelerates again."], "answer_index": 2}
{"token": "07f794452f2baef0e17c23ec3d2ac150", "waymo_split": "test", "type": "image", "frame_index": 148, "question": "Based on the current appearance of the person/vehicle (two-wheeled), how are they trying to move?", "category": "Normal Perception & Prediction", "options": ["A. Preparing to stop by moving into the shoulder", "B. Slowing down while attempting to overtake in the opposite lane", "C. Maintaining speed while trying to change to the right lane", "D. Waiting after moving towards the center line to make a left turn"], "answer_index": 1}
{"token": "07f794452f2baef0e17c23ec3d2ac150", "waymo_split": "test", "type": "image", "frame_index": 148, "question": "What is the plan for yielding when an ambulance/fire truck approaches?", "category": "Special Event", "options": ["A. Stop in the center of the lane, turn on hazard lights, and wait", "B. Enter the intersection and stop to clear the passage", "C. Move towards the left median to create space", "D. Move towards the right side vehicles to create space"], "answer_index": 3}
{"token": "07f794452f2baef0e17c23ec3d2ac150", "waymo_split": "test", "type": "image", "frame_index": 148, "question": "What are the classifications of scenes?", "category": "Normal scene Understanding", "options": ["A. Unpaved", "B. Residential area", "C. City", "D. Highway"], "answer_index": 2}
{"token": "07f794452f2baef0e17c23ec3d2ac150", "waymo_split": "test", "type": "image", "frame_index": 148, "question": "Which of the following is a correct description of traffic signals?", "category": "Traffic Signal", "options": ["A. Straight road marking drawn in the center of the front lane", "B. Right turn road marking located in the left opposite lane", "C. Left turn road marking displayed in the right same lane", "D. Left turn traffic light illuminated at the top of the intersection"], "answer_index": 1}
{"token": "07f794452f2baef0e17c23ec3d2ac150", "waymo_split": "test", "type": "image", "frame_index": 148, "question": "What is the description of a non-safety-critical object?", "category": "Normal Perception & Prediction", "options": ["A. Instead of a parking area, a bus-only lane continues, and buses pass by in succession. The rear looks quiet with few pedestrians, and only the waiting line for the crosswalk is visible on the front right, while the sidewalk is empty. Construction materials are placed on the left road, and a few workers are moving.", "B. There are a few parked cars on both sides of the alley, and only vehicles waiting at the traffic light are visible at the intersection ahead. The right sidewalk is blocked by a construction fence with no trees, and only a few bicycles are standing on the left road.", "C. There are many parked cars. People waiting at the traffic light at the intersection behind and people crossing the crosswalk. Trees are lined up on the right side of the sidewalk ahead. There are many people standing on the left road.", "D. There are almost no parked cars along the road and many empty spaces. The traffic light at the crosswalk behind has changed, and pedestrians have already passed. Store signs are lined up on the left sidewalk ahead, with sparse street trees, and a few delivery motorcycles are temporarily stopped in the right lane."], "answer_index": 2}
{"token": "07f794452f2baef0e17c23ec3d2ac150", "waymo_split": "test", "type": "image", "frame_index": 148, "question": "Which of the following descriptions about the environment is correct?", "category": "Normal scene Understanding", "options": ["A. Evening, cloudy, with lighting", "B. Night, rain, bright lighting", "C. Day, clear, without lighting", "D. Morning, fog, weak lighting"], "answer_index": 2}
{"token": "07f794452f2baef0e17c23ec3d2ac150", "waymo_split": "test", "type": "image", "frame_index": 148, "question": "What are the restrictions on behavior in school zones/congested areas?", "category": "Special Event", "options": ["A. Must turn right", "B. Must accelerate", "C. Must drive slowly", "D. Must stop"], "answer_index": 2}
{"token": "07f794452f2baef0e17c23ec3d2ac150", "waymo_split": "test", "type": "image", "frame_index": 148, "question": "What is the answer regarding parked vehicles on the shoulder, the presence of a center line, and whether Ego is crossing the center line?", "category": "Normal Perception & Prediction", "options": ["A. No parked vehicles on the shoulder. Center line exists. Not crossing the center line.", "B. A few parked vehicles on the shoulder. No center line. Not crossing the center line.", "C. Many parked vehicles on the shoulder. Center line exists. Crossing the center line.", "D. One or two parked vehicles on the shoulder. Center line exists. Not crossing the center line."], "answer_index": 2}
{"token": "07f794452f2baef0e17c23ec3d2ac150", "waymo_split": "test", "type": "image", "frame_index": 148, "question": "How do you think a safety-critical object will move?", "category": "Safety-critical Prediction", "options": ["A. It seems to stop in place, and if the vehicle adjusts its speed, it can pass without issue.", "B. It will move towards the direction of the vehicle, potentially causing a collision or a near miss.", "C. It will slowly drift towards the opposite lane, reducing the likelihood of a direct collision with the vehicle.", "D. It will slightly veer into the adjacent lane, which may cause interference with the vehicle rather than with the adjacent vehicle."], "answer_index": 1}
{"token": "07f794452f2baef0e17c23ec3d2ac150", "waymo_split": "test", "type": "image", "frame_index": 148, "question": "Is there a blind spot?", "category": "Uncertainty", "options": ["A. No blind spot", "B. Left blind spot", "C. There is a blind spot", "D. Front blind spot"], "answer_index": 2}
{"token": "07f794452f2baef0e17c23ec3d2ac150", "waymo_split": "test", "type": "image", "frame_index": 148, "question": "Is there any Safety-critical object other than the first one? If so, how will you move?", "category": "Safety-critical Prediction", "options": ["A. There is a next Safety-critical object, proceed slowly while avoiding the center line and go straight.", "B. There is no next Safety-critical object.", "C. There is a next Safety-critical object, slow down and move to the right lane.", "D. There is a next Safety-critical object, stop and then move to the left."], "answer_index": 1}
{"token": "07f794452f2baef0e17c23ec3d2ac150", "waymo_split": "test", "type": "image", "frame_index": 148, "question": "What should I do to drive safely?", "category": "Safety-critical Planning", "options": ["A. Since the vehicle is moving in the same direction as the person, you should slow down and overtake.", "B. Since the vehicle is moving in the opposite direction to the person, you should accelerate and pass quickly.", "C. Since the vehicle drives with the person on the left side, you should stay close to the right side to overtake.", "D. Since the vehicle is moving in the same direction as the person, you should maintain speed to overtake."], "answer_index": 0}
{"token": "07f794452f2baef0e17c23ec3d2ac150", "waymo_split": "test", "type": "image", "frame_index": 148, "question": "What is a safety-critical object?", "category": "Safety-critical Perception", "options": ["A. An electric scooter slowly driving alongside the front vehicle, inside the guardrail separated from the driving road.", "B. A motorcycle that has already overtaken the vehicle and is accelerating, moving away in the left lane based on the vehicle's driving lane.", "C. A person moving to the left from behind the vehicle, getting off to the right of the vehicle in front based on the driving road.", "D. A person standing in the opposite direction of the vehicle moving to the right, getting off to the left of the vehicle behind based on the driving road."], "answer_index": 2}
{"token": "07f794452f2baef0e17c23ec3d2ac150", "waymo_split": "test", "type": "image", "frame_index": 148, "question": "Is lane changing possible? Which is safer between deceleration and lane changing?", "category": "Safety-critical Planning", "options": ["A. Immediately enter the opposite lane to overtake without deceleration", "B. Accelerate and immediately change to the left lane", "C. Move to the right shoulder instead of decelerating to attempt overtaking", "D. Change lanes to overtake in the opposite lane after deceleration"], "answer_index": 3}
{"token": "07f794452f2baef0e17c23ec3d2ac150", "waymo_split": "test", "type": "image", "frame_index": 148, "question": "What is the correlation in safety-critical situations?", "category": "Safety-critical scene Understanding", "options": ["A. Person - Two-wheeler", "B. Car - Car", "C. Car - Person", "D. Car - Two-wheeler"], "answer_index": 2}
{"token": "07f794452f2baef0e17c23ec3d2ac150", "waymo_split": "test", "type": "image", "frame_index": 148, "question": "How should I drive to address the first risk while also resolving the second risk?", "category": "Safety-critical Planning", "options": ["A. There is a next safety-critical object.", "B. There is no next safety-critical object.", "C. Need to yield to the pedestrian ahead.", "D. Slowly merge into the left lane."], "answer_index": 1}
{"token": "07f794452f2baef0e17c23ec3d2ac150", "waymo_split": "test", "type": "image", "frame_index": 148, "question": "What are the new exposure risk candidates in the following area?", "category": "Safety-critical Prediction", "options": ["A. A bicycle emerging from the blind spot between parked cars on the left side.", "B. A person emerging from the blind spot between parked cars on the right side.", "C. A motorcycle coming out from the blind spot behind a bus stopped at the bus stop ahead.", "D. A child running into the street at the end of the crosswalk on the opposite sidewalk."], "answer_index": 1}
{"token": "07f794452f2baef0e17c23ec3d2ac150", "waymo_split": "test", "type": "image", "frame_index": 148, "question": "Who is responsible in a safety-critical situation? What is the cause?", "category": "Safety-critical scene Understanding", "options": ["A. The responsibility lies with the driver of the rear vehicle, as they failed to slow down and maintain a safe distance considering the possibility of pedestrians around the stopped vehicle, and did not adequately respond to the approach of their vehicle due to insufficient visibility.", "B. The responsibility lies with the vehicle's driving assistance system, which should have recognized the situation of a passenger entering the roadway and performed avoidance or braking, but failed to secure a safety margin for the vehicle and the rear vehicles due to inadequate detection and judgment.", "C. The responsibility lies with the road management authority, as there are insufficient safe boarding and alighting points and signage in that section, leading pedestrian flow towards the roadway, and the lane width and shoulder conditions increase the risk.", "D. The responsibility lies with the person. If a person exits a stopped vehicle on the roadway and moves towards the roadway, especially towards their own vehicle, it poses a risk to the driving of the vehicle and surrounding vehicles, including the rear ones."], "answer_index": 3}
{"token": "07f794452f2baef0e17c23ec3d2ac150", "waymo_split": "test", "type": "image", "frame_index": 148, "question": "Where is the area that hides danger in the current frame?", "category": "Uncertainty", "options": ["A. Blind spot behind the front crosswalk edge sign", "B. Blind spot on the outer lane at the entrance of the right alley", "C. Blind spot between parked cars on the right and left", "D. Blind spot behind the stopped bus at the left bus stop"], "answer_index": 2}
{"token": "07f794452f2baef0e17c23ec3d2ac150", "waymo_split": "test", "type": "image", "frame_index": 148, "question": "What is the method to avoid passing through the blind spot of a large vehicle?", "category": "Special Event", "options": ["A. No large vehicle", "B. Close to the large vehicle", "C. Entering the blind spot", "D. Overtaking on the right"], "answer_index": 0}
{"token": "07f794452f2baef0e17c23ec3d2ac150", "waymo_split": "test", "type": "image", "frame_index": 148, "question": "What is the guideline for my vehicle's behavior in response to the behavior of a safety-critical object?", "category": "Safety-critical Planning", "options": ["A. If a safety-critical object shows signs of cutting into my lane from the opposite lane, I should slightly move into the opposite lane to avoid it.", "B. If a safety-critical object suddenly appears in the lane ahead, I should just proceed while turning on the horn and hazard lights.", "C. If a safety-critical object is slowly approaching my vehicle, I should accelerate and pass by quickly.", "D. If a safety-critical object is moving quickly towards my vehicle, I should make a sudden stop."], "answer_index": 3}
{"token": "07f794452f2baef0e17c23ec3d2ac150", "waymo_split": "test", "type": "image", "frame_index": 148, "question": "What are the potential situations that could occur in the current scenario?", "category": "Counterfactual", "options": ["A. A pedestrian suddenly running onto the crosswalk", "B. A bus making a sudden stop at the left bus stop", "C. A motorcycle coming in the wrong direction from the right alley", "D. A person who could suddenly emerge between vehicles on the left and right"], "answer_index": 3}
{"token": "08413cc49674a273394e7a88ff7d1e31", "waymo_split": "test", "type": "video", "frame_index": null, "question": "Where is the safety-critical situation in the video?", "category": "Temporal Grounding", "options": ["A. 2/4", "B. 3/4", "C. 4/4", "D. 1/4"], "answer_index": 2}
{"token": "08413cc49674a273394e7a88ff7d1e31", "waymo_split": "test", "type": "video", "frame_index": null, "question": "What is the classification of the scene?", "category": "Normal scene Understanding", "options": ["A. Looks like a section of a highway on the outskirts of the city", "B. Looks like an unpaved road or a residential area", "C. Looks like a paved road or a commercial area", "D. Looks like an intersection in the city center"], "answer_index": 1}
{"token": "08413cc49674a273394e7a88ff7d1e31", "waymo_split": "test", "type": "video", "frame_index": null, "question": "Which of the following is a correct description of road alignment?", "category": "Normal Perception & Prediction", "options": ["A. Straight", "B. Right turn", "C. Overtaking", "D. Left turn"], "answer_index": 0}
{"token": "08413cc49674a273394e7a88ff7d1e31", "waymo_split": "test", "type": "video", "frame_index": null, "question": "Which of the following is a correct description of traffic density?", "category": "Normal scene Understanding", "options": ["A. Few vehicles on the main road, steep incline, fast speed", "B. Many vehicles on side roads, flat road, average speed", "C. Normal number of vehicles near intersections, downhill slope, fast speed", "D. Few vehicles on side roads, steep incline, slow speed"], "answer_index": 1}
{"token": "08413cc49674a273394e7a88ff7d1e31", "waymo_split": "test", "type": "video", "frame_index": null, "question": "Is there a special situation?", "category": "Special Event", "options": ["A. A stopped school bus and students getting off", "B. A camera stained with raindrops and a dark night", "C. A fogged lens due to humidity and early dawn", "D. A narrowed lane due to construction cones and a detour"], "answer_index": 1}
{"token": "08413cc49674a273394e7a88ff7d1e31", "waymo_split": "test", "type": "video", "frame_index": null, "question": "Which of the following is a correct description of traffic signals?", "category": "Traffic Signal", "options": ["A. Left turn signal", "B. Red signal", "C. Pedestrian signal", "D. No signal"], "answer_index": 3}
{"token": "08413cc49674a273394e7a88ff7d1e31", "waymo_split": "test", "type": "video", "frame_index": null, "question": "Which of the following descriptions about the environment is correct?", "category": "Normal scene Understanding", "options": ["A. It was a slightly rainy weather at night, with streetlights lit up sporadically.", "B. It was an early evening after the rain, with light fog and occasional lights from house windows.", "C. It was a dawn with small snowflakes falling, with bright lights from neon signs and shops.", "D. It was a clear day with no clouds, during the day, with unlit streetlights lined up."], "answer_index": 0}
{"token": "08413cc49674a273394e7a88ff7d1e31", "waymo_split": "test", "type": "video", "frame_index": null, "question": "What is the description of non-safety-critical objects?", "category": "Normal Perception & Prediction", "options": ["A. Terrace chairs placed in front of the cafe, event posters stuck on the walls, and flower pots lined up on the sidewalk.", "B. Electric scooters parked at the edge of the sidewalk, shop signs that are occasionally lit, and small shrubs at the edge of the flower bed.", "C. Cars parked on the side of the road, sporadically visible streetlights, and trees standing along the surrounding roads.", "D. Bicycles lined up at the bike rack, neon signs reflected in the shop window, and a small trash can placed next to the bench."], "answer_index": 2}
{"token": "08413cc49674a273394e7a88ff7d1e31", "waymo_split": "test", "type": "video", "frame_index": null, "question": "What is the answer regarding parked vehicles on the shoulder, the presence of a center line, and whether Ego is crossing the center line?", "category": "Normal Perception & Prediction", "options": ["A. It is a two-lane road with many parked vehicles on both sides of the shoulder. There is no center line, and my vehicle is slightly crossing the center line while going straight.", "B. It is a two-lane road with a few parked vehicles on one side of the shoulder. There is a center line, and my vehicle is going straight without crossing the center line.", "C. It is a two-lane road with many parked vehicles only on the left side of the shoulder. The center line is clear, and my vehicle is moving slowly without crossing the center line.", "D. It is a two-lane road with almost no parked vehicles on the shoulder. There is no center line, and my vehicle is going straight close to the right lane."], "answer_index": 0}
{"token": "08413cc49674a273394e7a88ff7d1e31", "waymo_split": "test", "type": "video", "frame_index": null, "question": "What is the correlation in safety-critical situations?", "category": "Safety-critical scene Understanding", "options": ["A. car-person", "B. person-two-wheeler", "C. car-car", "D. car-two-wheeler"], "answer_index": 2}
{"token": "08413cc49674a273394e7a88ff7d1e31", "waymo_split": "test", "type": "video", "frame_index": null, "question": "Is there a blind spot in your field of vision?", "category": "Uncertainty", "options": ["A. There is only congestion from a large vehicle on the left, and the right side is clear with no blind spot.", "B. The streetlights are bright and the shop signs provide enough light, so the right side is good, with no blind spot.", "C. It is a bright day and there is no on-street parking, so there is no blind spot on the right.", "D. There is a blind spot due to the darkness of night and parked vehicles on the side streets."], "answer_index": 3}
{"token": "08413cc49674a273394e7a88ff7d1e31", "waymo_split": "test", "type": "video", "frame_index": null, "question": "What is a safety-critical object?", "category": "Safety-critical Perception", "options": ["A. A vehicle that has stopped on the shoulder with its hazard lights on.", "B. A vehicle driving in the opposite direction with its headlights on while going straight.", "C. A vehicle making a right turn with only its turn signal on, exiting the intersection.", "D. A vehicle driving straight with its headlights off while moving slowly in the same direction."], "answer_index": 1}
{"token": "08413cc49674a273394e7a88ff7d1e31", "waymo_split": "test", "type": "video", "frame_index": null, "question": "How did the safety-critical object move and how did the Ego vehicle behave?", "category": "Safety-critical scene Understanding", "options": ["A. Moved slowly in the same lane in the same direction as the Ego vehicle. The Ego vehicle maintained distance without significantly reducing speed.", "B. Cut in diagonally from the right lane and moved away. The Ego vehicle slightly accelerated to secure space ahead.", "C. Turned left in the opposite direction of the Ego vehicle at the intersection and exited. The Ego vehicle passed through without stopping, following the signal.", "D. Drove towards the Ego vehicle from the opposite side. The Ego vehicle slowed down and stopped as it got closer to the other vehicle."], "answer_index": 3}
{"token": "08413cc49674a273394e7a88ff7d1e31", "waymo_split": "test", "type": "video", "frame_index": null, "question": "Who is responsible in a safety-critical situation? What is the cause?", "category": "Safety-critical scene Understanding", "options": ["A. The responsibility lies with the road management authority, and the cause is the lack of guidance signs and lane markings in a construction zone, which led to increased confusion.", "B. The responsibility lies with the pedestrian, and the cause is crossing in a non-crosswalk area while unable to see the surroundings due to an umbrella and earphones on a rainy day on a two-lane road.", "C. There is no responsibility assigned to anyone, and the cause is the dark environment at night, along with many parked cars on the unpaved two-lane road, making it necessary for everyone to be cautious in the narrow passage.", "D. The responsibility lies with the driver, and the cause is creating danger through speeding, lack of attention to the front, and smartphone use on a two-lane paved road during the day when visibility was sufficient."], "answer_index": 2}
{"token": "08413cc49674a273394e7a88ff7d1e31", "waymo_split": "test", "type": "video", "frame_index": null, "question": "Summary of Ego (self-vehicle) behavior before safety-critical situations", "category": "Normal scene Understanding", "options": ["A. Lane change", "B. Right turn driving", "C. Waiting to turn left", "D. Driving straight"], "answer_index": 3}
{"token": "08413cc49674a273394e7a88ff7d1e31", "waymo_split": "test", "type": "image", "frame_index": 10, "question": "Based on the current appearance of the person/vehicle (two-wheeled), how do they intend to move?", "category": "Normal Perception & Prediction", "options": ["A. Change to the first lane", "B. Go straight on the second lane road", "C. Enter the left turn lane", "D. Turn right at the intersection"], "answer_index": 1}
{"token": "08413cc49674a273394e7a88ff7d1e31", "waymo_split": "test", "type": "video", "frame_index": null, "question": "What situation might have occurred if the vehicle had behaved this way?", "category": "Counterfactual", "options": ["A. If the vehicle had braked suddenly and stopped, there could have been a rear-end collision with the following vehicle.", "B. If the vehicle had entered a left turn, there could have been a collision with the median barrier.", "C. If the vehicle had slowed down and moved to the right, it is possible that the other vehicle passed first without an accident.", "D. If the vehicle had continued straight at the same speed without stopping, there could have been a collision while passing by the other vehicle."], "answer_index": 3}
{"token": "08413cc49674a273394e7a88ff7d1e31", "waymo_split": "test", "type": "image", "frame_index": 10, "question": "What is the plan for yielding when an ambulance/fire truck approaches?", "category": "Special Event", "options": ["A. Stop after entering the intersection", "B. Stop first and then yield", "C. Maintain speed and pass through", "D. Proceed with emergency lights on"], "answer_index": 1}
{"token": "08413cc49674a273394e7a88ff7d1e31", "waymo_split": "test", "type": "image", "frame_index": 10, "question": "What is correct as an Image Caption from the perspective of Safety-critical Frame?", "category": "Safety-critical scene caption", "options": ["A. It is dusk, and the visibility is poor due to the sudden change in brightness at the tunnel exit.", "B. It is early morning, and the visibility is poor due to thick fog.", "C. It is daytime, and the visibility is poor due to flare from backlighting.", "D. It is night, and there are water droplet marks on the camera screen, making visibility poor."], "answer_index": 3}
{"token": "08413cc49674a273394e7a88ff7d1e31", "waymo_split": "test", "type": "image", "frame_index": 10, "question": "Which of the following is a correct description of traffic density?", "category": "Normal scene Understanding", "options": ["A. Fast, few vehicles on the main road", "B. Slow, almost no surrounding vehicles", "C. Fast, few waiting vehicles at intersections", "D. Slow, many parked vehicles on side streets"], "answer_index": 3}
{"token": "08413cc49674a273394e7a88ff7d1e31", "waymo_split": "test", "type": "image", "frame_index": 10, "question": "What is the classification of the scene?", "category": "Normal scene Understanding", "options": ["A. Unpaved urban two-lane road", "B. Unpaved residential two-lane road", "C. Unpaved residential four-lane road", "D. Paved residential two-lane road"], "answer_index": 1}
{"token": "08413cc49674a273394e7a88ff7d1e31", "waymo_split": "test", "type": "image", "frame_index": 10, "question": "What are the behavioral restrictions in school zones/congested areas?", "category": "Special Event", "options": ["A. In congested areas, you must honk frequently to alert pedestrians.", "B. You must overtake the car in front in school zones for traffic flow.", "C. At night, due to lack of visibility, you must drive slowly without exception.", "D. During the day, since visibility is good, you should pass through as quickly as possible."], "answer_index": 2}
{"token": "08413cc49674a273394e7a88ff7d1e31", "waymo_split": "test", "type": "image", "frame_index": 10, "question": "What is the description of a non-safety-critical object?", "category": "Normal Perception & Prediction", "options": ["A. There is only one bus stopped in front of the bus stop on a road with a bus-only lane / The sidewalk has utility poles and streetlights at regular intervals.", "B. It is a one-way alley with almost no parked cars on the road / The sidewalk has benches and flower beds, and streetlights are not visible.", "C. There is a no-parking rule on a four-lane road, so the shoulder is empty / The sidewalk only has street trees, and streetlights are densely placed.", "D. There are many cars parked on the side of the road in a two-lane area. Streetlights are sparse on the surrounding sidewalk."], "answer_index": 3}
{"token": "08413cc49674a273394e7a88ff7d1e31", "waymo_split": "test", "type": "image", "frame_index": 10, "question": "Which of the following is a correct description of traffic signals?", "category": "Traffic Signal", "options": ["A. No signal", "B. Red signal", "C. Left turn signal", "D. Stop line present"], "answer_index": 0}
{"token": "08413cc49674a273394e7a88ff7d1e31", "waymo_split": "test", "type": "image", "frame_index": 10, "question": "Which of the following descriptions about the environment is correct?", "category": "Normal scene Understanding", "options": ["A. Lighting is sparse with streetlights. Dark and cloudy weather (poor visibility)", "B. Lighting is bright with closely spaced streetlights. Clear and dry weather (good visibility)", "C. Lighting is mainly from neon signs. Strong sunlight in the afternoon (good visibility)", "D. Lighting is sufficient from store signs and window displays. Clear night after the rain (fair visibility)"], "answer_index": 0}
{"token": "08413cc49674a273394e7a88ff7d1e31", "waymo_split": "test", "type": "image", "frame_index": 10, "question": "What is a safety-critical object?", "category": "Safety-critical Perception", "options": ["A. No safety-critical object", "B. Fuel shutoff valve", "C. Brake control module", "D. Emergency stop button"], "answer_index": 0}
{"token": "08413cc49674a273394e7a88ff7d1e31", "waymo_split": "test", "type": "image", "frame_index": 10, "question": "How do you think safety-critical objects will be moved?", "category": "Safety-critical Prediction", "options": ["A. Approaching a safety-critical object", "B. There is a safety-critical object", "C. There is no safety-critical object", "D. Moving the safety-critical object to the left"], "answer_index": 2}
{"token": "08413cc49674a273394e7a88ff7d1e31", "waymo_split": "test", "type": "image", "frame_index": 10, "question": "What is the answer regarding parked vehicles on the shoulder, the presence of a central line, and whether Ego has crossed the central line?", "category": "Normal Perception & Prediction", "options": ["A. Many parked vehicles on the shoulder. There is a central line. Slightly encroaching on the center while driving.", "B. Many parked vehicles on the shoulder. There is no central line. In a state of encroachment on the center (even without a line).", "C. A few parked vehicles on the shoulder. There is a central line. Driving straight without crossing the central line.", "D. Many parked vehicles on the shoulder. There is no central line. Avoiding by sticking to the right (not crossing the center)."], "answer_index": 1}
{"token": "08413cc49674a273394e7a88ff7d1e31", "waymo_split": "test", "type": "image", "frame_index": 10, "question": "Is there any other safety-critical object besides the first safety-critical item? If so, how would you move it?", "category": "Safety-critical Prediction", "options": ["A. There are glass shards on the floor, pick them up with tongs and move them to the left disposal bin.", "B. There is a cutter on the workbench, put it in the sheath and move it to the front tray.", "C. There is a lithium battery pack, move it towards the right ventilation area.", "D. There are no safety-critical objects."], "answer_index": 3}
{"token": "08413cc49674a273394e7a88ff7d1e31", "waymo_split": "test", "type": "image", "frame_index": 10, "question": "What should I do to drive safely?", "category": "Safety-critical Planning", "options": ["A. If it rains, I need to increase my speed", "B. I should keep my high beams on at night", "C. I need to drive slowly while ensuring visibility", "D. I should frequently change lanes to match the flow"], "answer_index": 2}
{"token": "08413cc49674a273394e7a88ff7d1e31", "waymo_split": "test", "type": "image", "frame_index": 10, "question": "What are the newly exposed risk candidates in the following section?", "category": "Safety-critical Prediction", "options": ["A. Risk of a head-on collision with an oncoming vehicle crossing the center line.", "B. Risk of colliding with a person or object appearing in the blind spot between parked cars on the left and right.", "C. Risk of colliding with a motorcycle suddenly entering from the right alley ahead.", "D. Risk of contact and sudden stop with pedestrians crossing in front of a stopped bus."], "answer_index": 1}
{"token": "08413cc49674a273394e7a88ff7d1e31", "waymo_split": "test", "type": "image", "frame_index": 70, "question": "Based on the current appearance of the person/vehicle (two-wheeled), how do they intend to move?", "category": "Normal Perception & Prediction", "options": ["A. Left turn at the intersection (slow)", "B. Going straight on a two-lane road (slow)", "C. Right turn on a two-lane road (decelerate)", "D. Going straight on a one-lane road (accelerate)"], "answer_index": 1}
{"token": "08413cc49674a273394e7a88ff7d1e31", "waymo_split": "test", "type": "image", "frame_index": 10, "question": "What is the method to avoid the blind spot next to a large vehicle?", "category": "Special Event", "options": ["A. Following a large vehicle", "B. No large vehicle", "C. Maintaining position next to a large vehicle", "D. Entering the blind spot"], "answer_index": 1}
{"token": "08413cc49674a273394e7a88ff7d1e31", "waymo_split": "test", "type": "image", "frame_index": 10, "question": "Where is the area that hides danger in the current frame?", "category": "Uncertainty", "options": ["A. Blind spot at the corner of the left shopping center parking lot entrance", "B. Blind spot between parked cars on the left and right sides", "C. Blind spot at the corner wall of the right alley exit", "D. Blind spot behind the stopped bus in front of the crosswalk"], "answer_index": 1}
{"token": "08413cc49674a273394e7a88ff7d1e31", "waymo_split": "test", "type": "image", "frame_index": 70, "question": "Which of the following is correct as an Image Caption from a safety-critical Frame perspective?", "category": "Safety-critical scene caption", "options": ["A. The light rain has stopped, and it is clearly visible without any wiper marks. A safety-critical object is a vehicle parked at the edge of the road.", "B. It is night, and there are water spots on the camera screen, making visibility poor. There are no safety-critical objects.", "C. It is dusk, there are no raindrops, and the road reflection is not significant, so visibility is fair. A safety-critical object is one motorcycle going the wrong way.", "D. It is daytime, and the lens is clean, providing relatively good forward visibility. A safety-critical object is one pedestrian crossing the street."], "answer_index": 1}
{"token": "08413cc49674a273394e7a88ff7d1e31", "waymo_split": "test", "type": "image", "frame_index": 70, "question": "What are the behavioral restrictions in school zones/congested areas?", "category": "Special Event", "options": ["A. In congested areas, you must keep honking the horn.", "B. During the day, visibility is good, so you should increase your speed.", "C. At night, visibility is poor, so you must drive slowly.", "D. If there are no pedestrians, you can ignore the signals."], "answer_index": 2}
{"token": "08413cc49674a273394e7a88ff7d1e31", "waymo_split": "test", "type": "image", "frame_index": 70, "question": "What is the classification of the scene?", "category": "Normal scene Understanding", "options": ["A. Paved residential area with a one-lane road", "B. Urban commercial area with a four-lane road", "C. Main highway with a three-lane road", "D. Unpaved residential area with a two-lane road"], "answer_index": 3}
{"token": "08413cc49674a273394e7a88ff7d1e31", "waymo_split": "test", "type": "image", "frame_index": 70, "question": "Which of the following is a correct description of traffic density?", "category": "Normal scene Understanding", "options": ["A. Fast, few vehicles parked on side streets", "B. Slow, many vehicles parked on side streets", "C. Fast, few vehicles on main roads", "D. Fast, few surrounding vehicles"], "answer_index": 1}
{"token": "08413cc49674a273394e7a88ff7d1e31", "waymo_split": "test", "type": "image", "frame_index": 70, "question": "What is the plan for yielding when an ambulance/fire truck approaches?", "category": "Special Event", "options": ["A. Pass through the intersection first", "B. Just reduce speed to yield", "C. Stop at the left edge", "D. Stop first and then yield"], "answer_index": 3}
{"token": "08413cc49674a273394e7a88ff7d1e31", "waymo_split": "test", "type": "image", "frame_index": 70, "question": "Which of the following is a correct description of traffic signals?", "category": "Traffic Signal", "options": ["A. Left turn signal", "B. Red signal", "C. No signal", "D. Pedestrian signal"], "answer_index": 2}
{"token": "08413cc49674a273394e7a88ff7d1e31", "waymo_split": "test", "type": "image", "frame_index": 70, "question": "What is the description of a non-safety-critical object?", "category": "Normal Perception & Prediction", "options": ["A. It is a two-lane road with a wide shoulder, allowing smooth traffic without parking. There are low bollard lights along the sidewalk towards the central divider. The lighting is good on both sides as you approach the intersection, so it is not dark.", "B. There are many parked cars on the side street. Streetlights are sparse on the left side of the sidewalk. There is a sidewalk on the right, but it is very dark as there are no lights.", "C. It is a one-way single-lane road with no parked cars visible on the edges. There are only street trees on the left sidewalk, and streetlights are not noticeable. The right sidewalk is quite bright with shop signs and streetlights.", "D. It is a two-lane road, but there are almost no parked cars on the street. The streetlights on the surrounding sidewalk are relatively dense on the right side. The left sidewalk has lighting, making it overall bright."], "answer_index": 1}
{"token": "08413cc49674a273394e7a88ff7d1e31", "waymo_split": "test", "type": "image", "frame_index": 70, "question": "Which of the following descriptions about the environment is correct?", "category": "Normal scene Understanding", "options": ["A. Lighting is sparse with streetlights. Dark and cloudy weather (poor visibility)", "B. Lighting is evenly lit with streetlights and shop signs. Clear and dry night (good visibility)", "C. Lighting is provided by traffic lights and neon signs at intersections. Clear night with gentle moonlight (no visibility issues)", "D. Lighting is densely arranged along park walkways. Clear weather with only a light breeze (good visibility)"], "answer_index": 0}
{"token": "08413cc49674a273394e7a88ff7d1e31", "waymo_split": "test", "type": "image", "frame_index": 70, "question": "How do you think safety-critical objects will be moved?", "category": "Safety-critical Prediction", "options": ["A. Entering from the left side of the safety-critical vehicle", "B. Approaching from the right side of the safety-critical pedestrian", "C. No safety-critical objects", "D. There are safety-critical objects"], "answer_index": 2}
{"token": "08413cc49674a273394e7a88ff7d1e31", "waymo_split": "test", "type": "image", "frame_index": 70, "question": "What is a safety-critical object?", "category": "Safety-critical Perception", "options": ["A. Safety-critical object: Emergency stop switch", "B. Safety-critical object: Power control board", "C. No safety-critical object", "D. Safety-critical object: Main brake module"], "answer_index": 2}
{"token": "08413cc49674a273394e7a88ff7d1e31", "waymo_split": "test", "type": "image", "frame_index": 70, "question": "Are there any blind spots in your field of vision?", "category": "Uncertainty", "options": ["A. The right side is bright, and there are many streetlights, so there are almost no blind spots.", "B. The left side is dark, and there are delivery vehicles, causing intermittent blind spots.", "C. The right side is clear, and there are no illegal parking, so blind spots are rare.", "D. The right side is dark, and there are many blind spots due to parked vehicles on the side street."], "answer_index": 3}
{"token": "08413cc49674a273394e7a88ff7d1e31", "waymo_split": "test", "type": "image", "frame_index": 70, "question": "What is the answer regarding parked vehicles on the shoulder, the presence of a center line, and whether Ego has crossed the center line?", "category": "Normal Perception & Prediction", "options": ["A. There are almost no parked vehicles on the shoulder. There is a center line. It has not crossed into the center (no violation).", "B. There are one or two vehicles parked on the shoulder. The center line is dashed. It is proceeding without touching the center line.", "C. The shoulder is empty. The center line is solid. It briefly touched but returned immediately (not a complete violation).", "D. There are many parked vehicles on the shoulder. There is no center line. It has crossed into the center (even though there is no line)."], "answer_index": 3}
{"token": "08413cc49674a273394e7a88ff7d1e31", "waymo_split": "test", "type": "image", "frame_index": 70, "question": "Are there any other safety-critical objects besides the first safety-critical object? If so, how will you move?", "category": "Safety-critical Prediction", "options": ["A. There is a gas valve, move around to the left", "B. There are no safety-critical objects", "C. There is an emergency kit, move straight ahead in the center", "D. There is a fire extinguisher, move along the right wall"], "answer_index": 1}
{"token": "08413cc49674a273394e7a88ff7d1e31", "waymo_split": "test", "type": "image", "frame_index": 70, "question": "What should I do to drive safely?", "category": "Safety-critical Planning", "options": ["A. Keep high beams on while overtaking at night", "B. Trust the wipers and drive as usual when it rains", "C. Reduce the distance between cars and maintain speed", "D. Drive slowly while ensuring visibility"], "answer_index": 3}
{"token": "08413cc49674a273394e7a88ff7d1e31", "waymo_split": "test", "type": "image", "frame_index": 70, "question": "Where is the area that hides danger in the current frame?", "category": "Uncertainty", "options": ["A. Blind spot between parked vehicles on the left and right sides", "B. Blind spot under the rear of a large truck in front", "C. Blind spot behind the street tree on the right sidewalk", "D. Near the corner of the left alley exit"], "answer_index": 0}
{"token": "08413cc49674a273394e7a88ff7d1e31", "waymo_split": "test", "type": "image", "frame_index": 70, "question": "What are the newly exposed risk candidates in the following section?", "category": "Safety-critical Prediction", "options": ["A. Risk of vehicle deviation and damage due to contact with regulatory cones and materials in the temporary construction zone ahead.", "B. Risk of side contact during the merging process with buses departing from the right bus stop.", "C. Risk of collision with people or objects appearing in the blind spots between parked cars on the left and right.", "D. Risk of head-on or side collision with vehicles entering from the opposite alley while crossing the center line."], "answer_index": 2}
{"token": "08413cc49674a273394e7a88ff7d1e31", "waymo_split": "test", "type": "image", "frame_index": 70, "question": "What is the method to avoid the blind spot next to a large vehicle?", "category": "Special Event", "options": ["A. Stay close to the right", "B. No large vehicle", "C. Approach the large vehicle", "D. Accelerate to overtake"], "answer_index": 1}
{"token": "08413cc49674a273394e7a88ff7d1e31", "waymo_split": "test", "type": "image", "frame_index": 70, "question": "What potential situations could arise in the current scenario?", "category": "Counterfactual", "options": ["A. If a car behind is speeding and attempts to change lanes, a collision could occur, so you should check your mirrors frequently and be cautious.", "B. If a delivery motorcycle merges from the right alley without signaling, there is a risk of side contact, so you should be careful.", "C. If a vehicle with its headlights on starts moving from the left side where cars are parked, you should be cautious due to the risk of collision with your car.", "D. If a bus that was stopped at a bus stop in front suddenly pulls into the lane, you should be careful due to the risk of sudden braking."], "answer_index": 2}
{"token": "08413cc49674a273394e7a88ff7d1e31", "waymo_split": "test", "type": "image", "frame_index": 112, "question": "Based on the current appearance of the person/vehicle (two-wheeled), how do they intend to move?", "category": "Normal Perception & Prediction", "options": ["A. Proceed straight on a two-lane road (slow speed)", "B. Make a right turn on a two-lane road (after stopping)", "C. Make a left turn on a two-lane road (decelerate)", "D. Enter a one-lane road (accelerate)"], "answer_index": 0}
{"token": "08413cc49674a273394e7a88ff7d1e31", "waymo_split": "test", "type": "image", "frame_index": 112, "question": "What is the plan for yielding when an ambulance/fire truck approaches?", "category": "Special Event", "options": ["A. First stop and yield", "B. Maintain speed and pass", "C. Proceed slowly with emergency lights on", "D. Change to the left and continue"], "answer_index": 0}
{"token": "08413cc49674a273394e7a88ff7d1e31", "waymo_split": "test", "type": "image", "frame_index": 112, "question": "Which of the following is a correct description of traffic density?", "category": "Normal scene Understanding", "options": ["A. Fast, few vehicles on the road", "B. Fast, almost no surrounding vehicles", "C. Slow, many parked vehicles on the side street", "D. Slow, few vehicles waiting at the signal"], "answer_index": 2}
{"token": "08413cc49674a273394e7a88ff7d1e31", "waymo_split": "test", "type": "image", "frame_index": 112, "question": "What is the classification of the scene?", "category": "Normal scene Understanding", "options": ["A. Unpaved residential area two-lane road", "B. Unpaved urban two-lane road", "C. Paved residential area one-lane road", "D. Paved suburban two-lane road"], "answer_index": 0}
{"token": "08413cc49674a273394e7a88ff7d1e31", "waymo_split": "test", "type": "image", "frame_index": 112, "question": "What are the restrictions on behavior in school zones/congested areas?", "category": "Special Event", "options": ["A. You must pass through unsignalized crosswalks at a slow speed even if there are pedestrians.", "B. You must drive at a slow speed without exception due to lack of visibility at night.", "C. During the day, when there are fewer pedestrians, you should increase your speed limit to pass through.", "D. In congested areas, you should honk your horn to alert others and exit quickly."], "answer_index": 1}
{"token": "08413cc49674a273394e7a88ff7d1e31", "waymo_split": "test", "type": "image", "frame_index": 112, "question": "Which of the following is correct as an Image Caption from the perspective of a Normal Frame?", "category": "Normal scene caption", "options": ["A. During the day, driving my car on a 4-lane road, I see several empty street parking spaces on the left ahead, a crosswalk and a bus stop behind, and only the taillights of vehicles moving in the same direction ahead (traffic is smooth). The opposite lane is quiet.", "B. Just passed a one-way road at night, driving my car, with sparse parked cars on the side ahead. The traffic light is getting farther behind. Ahead, there is a bicycle moving slowly in the same direction, followed by an electric scooter.", "C. Driving my car on a 2-lane road at night, there are many parked cars on the side ahead. A crossroad is visible behind. I see the headlights of an oncoming vehicle in my direction ahead (distance is stopped). There is another oncoming vehicle behind that one.", "D. My car is just before entering an alley on a rainy evening, with construction cones lined up ahead blocking part of the road. There are almost no vehicles at the intersection behind. A taxi is turning right from the right, with its headlights close. Behind it, there are two pedestrians with umbrellas standing."], "answer_index": 2}
{"token": "08413cc49674a273394e7a88ff7d1e31", "waymo_split": "test", "type": "image", "frame_index": 112, "question": "Which of the following descriptions about the environment is correct?", "category": "Normal scene Understanding", "options": ["A. The streetlights are orange sodium lights covering the entire road. The lighting from the nearby park gazebo is soft. It's an early morning with light fog (diffused light makes everything bright).", "B. There are no streetlights. A faint light is coming from the windows of a distant apartment on the left. It's dark and cloudy (visibility is poor).", "C. The streetlights are intermittently on. A light is spreading from the sign of a nearby convenience store on the right. The night air is clear and dry (visibility is good).", "D. The streetlights are brightly lit. A low security light in the parking lot ahead illuminates the surroundings. The sky is clearing after rain (only the road is wet)."], "answer_index": 1}
{"token": "08413cc49674a273394e7a88ff7d1e31", "waymo_split": "test", "type": "image", "frame_index": 112, "question": "Which of the following is a correct description of traffic signals?", "category": "Traffic Signal", "options": ["A. Left turn signal", "B. Stop sign", "C. No signal", "D. Red signal"], "answer_index": 2}
{"token": "08413cc49674a273394e7a88ff7d1e31", "waymo_split": "test", "type": "image", "frame_index": 112, "question": "Are there any blind spots in your field of vision?", "category": "Uncertainty", "options": ["A. The right side is dark, and there are multiple blind spots due to parked vehicles.", "B. The left side is darker, and the right side is open with few blind spots.", "C. The right side has good lighting, and the bus stop is empty with no blind spots.", "D. The right side is bright, and there are almost no blind spots due to the absence of parked vehicles."], "answer_index": 0}
{"token": "08413cc49674a273394e7a88ff7d1e31", "waymo_split": "test", "type": "image", "frame_index": 112, "question": "What is the answer regarding parked vehicles on the shoulder, the presence of a center line, and whether Ego has crossed the center line?", "category": "Normal Perception & Prediction", "options": ["A. There are almost no parked vehicles on the shoulder. There is a center line. The center line has not been crossed (there is space).", "B. There are many parked vehicles on the shoulder. There is no center line. Ego has crossed into the center (even though there is no line).", "C. There is one or two parked vehicles on the shoulder. The center line is solid. Ego is maintaining outside the center line (not crossing).", "D. There are a few parked vehicles on the shoulder. The center line is dashed. Ego is not touching the center line (following the line)."], "answer_index": 1}
{"token": "08413cc49674a273394e7a88ff7d1e31", "waymo_split": "test", "type": "image", "frame_index": 112, "question": "What should I do to drive safely?", "category": "Safety-critical Planning", "options": ["A. I should focus on the side mirrors instead of looking ahead.", "B. I need to pay attention to the vehicle's speed and drive slowly.", "C. I should overtake the vehicle quickly.", "D. I need to reduce the distance between cars and tailgate the vehicle in front."], "answer_index": 1}
{"token": "08413cc49674a273394e7a88ff7d1e31", "waymo_split": "test", "type": "image", "frame_index": 112, "question": "How do you think a safety-critical object will move?", "category": "Safety-critical Prediction", "options": ["A. Reversing left turn", "B. Forward straight", "C. Opposite direction straight", "D. Pulling over to the right shoulder"], "answer_index": 2}
{"token": "08413cc49674a273394e7a88ff7d1e31", "waymo_split": "test", "type": "image", "frame_index": 112, "question": "Is there any other safety-critical object besides the first safety-critical object? If so, how would you move?", "category": "Safety-critical Prediction", "options": ["A. A bus approaching from the opposite lane (high beams on)", "B. A vehicle slowing down in front of the vehicle (brake lights on)", "C. A vehicle driving behind the vehicle (headlights on)", "D. A vehicle attempting to overtake in the left lane (left turn signal on)"], "answer_index": 2}
{"token": "08413cc49674a273394e7a88ff7d1e31", "waymo_split": "test", "type": "image", "frame_index": 112, "question": "What is the description of a non-safety-critical object?", "category": "Normal Perception & Prediction", "options": ["A. Vehicles rarely enter a one-way narrow alley, there are no streetlights on the left sidewalk, and only occasionally are there streetlights on the right sidewalk.", "B. There are many vehicles parked on the side of the two-lane road. Streetlights are sparsely located on the left side of the surrounding sidewalk. The right side has a sidewalk, but it is very dark due to the lack of lighting.", "C. Parking is not allowed on the edges of the four-lane road due to construction, streetlights are continuously placed on the median, there is no sidewalk on the right, only access roads to shops, and it is relatively bright due to the sign lights.", "D. There are almost no parked vehicles on the two-lane road, making traffic light. The streetlights on the surrounding sidewalks are installed at regular intervals on both sides, and the right sidewalk has sufficient lighting, making it bright."], "answer_index": 1}
{"token": "08413cc49674a273394e7a88ff7d1e31", "waymo_split": "test", "type": "image", "frame_index": 112, "question": "How should I drive to resolve the first risk while also addressing the second risk?", "category": "Safety-critical Planning", "options": ["A. I need to accelerate to quickly pass through the risky area.", "B. I should proceed at the lowest speed until I pass the second vehicle.", "C. I should accelerate normally after passing only the first vehicle.", "D. I need to stop temporarily in front of the second vehicle."], "answer_index": 1}
{"token": "08413cc49674a273394e7a88ff7d1e31", "waymo_split": "test", "type": "image", "frame_index": 112, "question": "Is lane changing possible? Which is safer between deceleration and lane changing?", "category": "Safety-critical Planning", "options": ["A. Merging to the right is safer than deceleration; lane changing is recommended.", "B. Deceleration is safer; lane changing is not possible.", "C. Changing to the left lane is safer; lane changing is allowed.", "D. Lane changing is safer; lane changing is possible."], "answer_index": 1}
{"token": "08413cc49674a273394e7a88ff7d1e31", "waymo_split": "test", "type": "image", "frame_index": 112, "question": "What is the correlation in safety-critical situations?", "category": "Safety-critical scene Understanding", "options": ["A. car-person", "B. car-car", "C. two-wheeler-two-wheeler", "D. car-two-wheeler"], "answer_index": 1}
{"token": "08413cc49674a273394e7a88ff7d1e31", "waymo_split": "test", "type": "image", "frame_index": 112, "question": "Where is the area that hides danger in the current frame?", "category": "Uncertainty", "options": ["A. Blind spot beyond the central divider flower bed", "B. Blind spot behind the right alley corner", "C. Blind spot between parked cars on the left and right sides", "D. Blind spot behind the bus stopped in front"], "answer_index": 2}
{"token": "08413cc49674a273394e7a88ff7d1e31", "waymo_split": "test", "type": "image", "frame_index": 112, "question": "Who is responsible in safety-critical situations? What are the causes?", "category": "Safety-critical scene Understanding", "options": ["A. Dark conditions, issues like narrow lanes due to parked vehicles. No one is responsible.", "B. Near an intersection, the cause is the pedestrian's signal violation and unauthorized entry. The pedestrian is responsible.", "C. On a rainy night, the cause is insufficient road construction guidance and missing signs. The road management authority is responsible.", "D. On a bright afternoon, the cause is the driver's attention to their smartphone and lack of attention to the front. The driver is responsible."], "answer_index": 0}
{"token": "08413cc49674a273394e7a88ff7d1e31", "waymo_split": "test", "type": "image", "frame_index": 112, "question": "What are the newly exposed risk candidates in the following section?", "category": "Safety-critical Prediction", "options": ["A. Risk of tire damage and steering instability in the damaged manhole section in the center of the road", "B. Risk of side collision with a signal-violating vehicle at the crosswalk ahead", "C. Risk of collision with a person or object appearing in the blind spot between parked cars on the left and right", "D. Risk of contact while merging lanes with a departing bus at the bus stop on the right"], "answer_index": 2}
{"token": "08413cc49674a273394e7a88ff7d1e31", "waymo_split": "test", "type": "image", "frame_index": 112, "question": "What situation might have occurred if the self-driving car behaved this way?", "category": "Counterfactual", "options": ["A. If the self-driving car had not slowed down, there would be a higher risk of colliding head-on with another vehicle.", "B. If the self-driving car had braked suddenly, there would be a risk of being rear-ended by the following vehicle.", "C. If the self-driving car had changed lanes recklessly, there would be a risk of contacting the median barrier.", "D. If the self-driving car had accelerated suddenly, there would be a risk of a side collision with a vehicle in the right lane."], "answer_index": 0}
{"token": "08413cc49674a273394e7a88ff7d1e31", "waymo_split": "test", "type": "image", "frame_index": 137, "question": "Based on the current appearance of the person/vehicle (two-wheeled), how do you intend to move?", "category": "Normal Perception & Prediction", "options": ["A. U-turn on a two-lane road (stop and start)", "B. Left turn on a one-lane road (decelerate)", "C. Go straight on a two-lane road (slow speed)", "D. Right turn on a three-lane road (constant speed)"], "answer_index": 2}
{"token": "08413cc49674a273394e7a88ff7d1e31", "waymo_split": "test", "type": "image", "frame_index": 137, "question": "What is correct as an Image Caption from the perspective of Normal Frame?", "category": "Normal scene caption", "options": ["A. A car approaching an intersection at dusk on a narrow road without a central line, with many obstacles in front of the left side store and almost no parked cars on the side. The rear is a straight road and is quiet, with no vehicles in front and only the light of a streetlamp visible.", "B. A car driving at night on a two-lane road with many parked cars in front. A junction is visible in the rear. Headlights of an oncoming vehicle are visible in the direction of the car, close by. There is another oncoming vehicle behind that one.", "C. A car driving in the daytime in the city on a four-lane road with almost no parked cars on the shoulder in front. A crosswalk and traffic lights are visible in the rear. The taillights of a leading vehicle in the same direction are visible in front, at a distance, with several more vehicles in the same direction behind it.", "D. A car driving at night on a rainy road in a one-way alley with a single lane, where a taxi is dropping off a passenger in front. A dead-end sign is visible in the rear. A stopped motorcycle's taillight is visible in front, close by, with a pedestrian passing behind it."], "answer_index": 1}
{"token": "08413cc49674a273394e7a88ff7d1e31", "waymo_split": "test", "type": "image", "frame_index": 112, "question": "What is the method to avoid the blind spot next to a large vehicle?", "category": "Special Event", "options": ["A. Reduce speed", "B. Overtake on the left", "C. Stay close on the right", "D. No large vehicle"], "answer_index": 3}
{"token": "08413cc49674a273394e7a88ff7d1e31", "waymo_split": "test", "type": "image", "frame_index": 137, "question": "What is the plan for yielding when an ambulance/fire truck approaches?", "category": "Special Event", "options": ["A. Stop first and yield", "B. Proceed with emergency lights on", "C. Maintain slow speed and pass", "D. Use the shoulder to overtake"], "answer_index": 0}
{"token": "08413cc49674a273394e7a88ff7d1e31", "waymo_split": "test", "type": "image", "frame_index": 137, "question": "Which of the following is correct from the perspective of Safety-critical Frame regarding Image Caption?", "category": "Safety-critical scene caption", "options": ["A. It is dusk and slightly foggy, but the motorcycle trying to merge from the right alley is a safety-critical object, and the distance is not close, with the motorcycle's speed being relatively slow.", "B. It is daytime, and the camera lens is clean, providing good visibility. The bus driving in the same direction in the left lane is a safety-critical object, and the distance is moderate, with the bus's speed being relatively slow.", "C. The rain has stopped, and there is only road reflection, so visibility is fair. The passenger car approaching while changing lanes from behind is a safety-critical object, but there is still quite a distance, and the vehicle's speed is average.", "D. It is night, and there are raindrop marks on the camera screen, so visibility is poor. The vehicle driving against our direction in front of us is a safety-critical object, and the distance is very close, with the opposing vehicle's speed being relatively fast."], "answer_index": 3}
{"token": "08413cc49674a273394e7a88ff7d1e31", "waymo_split": "test", "type": "image", "frame_index": 137, "question": "What is the classification of the scene?", "category": "Normal scene Understanding", "options": ["A. Unpaved suburban two-lane road", "B. Paved residential two-lane road", "C. Unpaved residential four-lane road", "D. Unpaved residential two-lane road"], "answer_index": 3}
{"token": "08413cc49674a273394e7a88ff7d1e31", "waymo_split": "test", "type": "image", "frame_index": 137, "question": "What are the behavioral restrictions in school zones/congested areas?", "category": "Special Event", "options": ["A. In congested areas, frequent lane changes are recommended to alleviate traffic.", "B. During the day, visibility is good, so it's okay to ignore the speed limit.", "C. At night, visibility is poor, so you must drive slowly. There are speed restrictions.", "D. In school zones, vehicles with accompanying guardians are exempt from speed limits."], "answer_index": 2}
{"token": "08413cc49674a273394e7a88ff7d1e31", "waymo_split": "test", "type": "image", "frame_index": 137, "question": "Which of the following is a correct description of traffic density?", "category": "Normal scene Understanding", "options": ["A. Slow, few passing vehicles", "B. Fast, sparse passing vehicles", "C. Fast, many surrounding vehicles", "D. Slow, many parked vehicles on the side street"], "answer_index": 3}
{"token": "08413cc49674a273394e7a88ff7d1e31", "waymo_split": "test", "type": "image", "frame_index": 137, "question": "Which of the following is a correct description of traffic signals?", "category": "Traffic Signal", "options": ["A. Pedestrian signal", "B. Red signal", "C. Left turn signal", "D. No signal"], "answer_index": 3}
{"token": "08413cc49674a273394e7a88ff7d1e31", "waymo_split": "test", "type": "image", "frame_index": 137, "question": "What is the description of a non-safety-critical object?", "category": "Normal Perception & Prediction", "options": ["A. There are only a few bicycles parked on the shoulder. The left sidewalk has lighting, making the pedestrian area bright.", "B. It is a two-lane road, but there are hardly any parked cars visible. The right sidewalk is relatively bright with well-lit streetlights.", "C. Taxis briefly stop near the center line and then depart immediately. The right sidewalk is sufficiently bright due to shop lighting.", "D. There are many vehicles parked on the side of the two-lane road. There is a sidewalk on the right, but there is no lighting, making it very dark."], "answer_index": 3}
{"token": "08413cc49674a273394e7a88ff7d1e31", "waymo_split": "test", "type": "image", "frame_index": 137, "question": "Which of the following descriptions about the environment is correct?", "category": "Normal scene Understanding", "options": ["A. The streetlights are spaced closely. The traffic lights at the intersection illuminate the surroundings. There is moonlight between the clouds (visibility is average). The right side is partially obscured by street trees.", "B. The streetlights are bright. The neon sign of a café in the left alley is blurred. It is clear after the rain (the air is transparent). Visibility is open to the right end.", "C. There are no streetlights. There is light seeping from the windows of a distant apartment on the left. It is dark and cloudy (visibility is poor). There is no visibility at all on the right.", "D. The streetlights are on. There is light from a convenience store sign far to the right. It is clear and dry (visibility is good). The left side has good visibility."], "answer_index": 2}
{"token": "08413cc49674a273394e7a88ff7d1e31", "waymo_split": "test", "type": "image", "frame_index": 137, "question": "Are there any blind spots in your field of vision?", "category": "Uncertainty", "options": ["A. The right side is bright, and the side road is organized, so there are almost no blind spots.", "B. There is sufficient lighting on the right side, and there are no illegal parking, so visibility is good.", "C. The left side is dark, and there are some blind spots due to trees.", "D. The right side is dark, and there are many blind spots due to parked vehicles on the side road."], "answer_index": 3}
{"token": "08413cc49674a273394e7a88ff7d1e31", "waymo_split": "test", "type": "image", "frame_index": 137, "question": "What is the answer regarding parked vehicles on the shoulder, the presence of a center line, and whether Ego has crossed the center line?", "category": "Normal Perception & Prediction", "options": ["A. Only a few vehicles are parked on the shoulder. There is a center line (dashed). It is slightly to the left but does not cross.", "B. Only one large vehicle is parked on the shoulder. There is no center line. It is actually driving closer to the right.", "C. There are almost no parked vehicles on the shoulder. There is a center line (solid). There is no crossing of the center line.", "D. There are many parked vehicles on the shoulder. There is no center line. It is in a state of crossing the center (even if there is no line)."], "answer_index": 3}
{"token": "08413cc49674a273394e7a88ff7d1e31", "waymo_split": "test", "type": "image", "frame_index": 137, "question": "How do you think a safety-critical object will move?", "category": "Safety-critical Prediction", "options": ["A. Opposite direction right turn", "B. Straight in the correct direction", "C. Straight in the opposite direction", "D. Reverse left turn"], "answer_index": 2}
{"token": "08413cc49674a273394e7a88ff7d1e31", "waymo_split": "test", "type": "image", "frame_index": 137, "question": "Are there any other safety-critical objects besides the first safety-critical object? If so, how would you move?", "category": "Safety-critical Prediction", "options": ["A. A vehicle driving behind the relevant vehicle (with headlights on)", "B. A vehicle approaching from the opposite lane (with high beams on)", "C. A vehicle stopped on the right shoulder (with hazard lights flashing)", "D. A bicycle moving slowly in front of the relevant vehicle (with rear lights on)"], "answer_index": 0}
{"token": "08413cc49674a273394e7a88ff7d1e31", "waymo_split": "test", "type": "image", "frame_index": 137, "question": "What is a safety-critical object?", "category": "Safety-critical Perception", "options": ["A. A vehicle driving in the direction of the driver with the headlights on from the front (relatively fast speed)", "B. A pedestrian stopped on the sidewalk in front of a crosswalk from the side (no intention to enter the roadway)", "C. A truck driving slowly with hazard lights on in the opposite lane (no signs of lane change)", "D. A vehicle stopped on the shoulder with only fog lights on from the front (almost no movement)"], "answer_index": 0}
{"token": "08413cc49674a273394e7a88ff7d1e31", "waymo_split": "test", "type": "image", "frame_index": 137, "question": "What should I do to drive safely?", "category": "Safety-critical Planning", "options": ["A. Since I have confirmed the progress of the vehicle, I should indicate my intention to yield with my hazard lights and pass at my current speed.", "B. Since the distance to the vehicle is close and the speed is fast, I should stop my vehicle and wait until the vehicle passes.", "C. Since the distance to the vehicle is close and the speed is fast, I should accelerate and pass when there is a gap.", "D. Since the vehicle is approaching quickly, I should stay close to the right edge and continue driving while maintaining my lane."], "answer_index": 1}
{"token": "08413cc49674a273394e7a88ff7d1e31", "waymo_split": "test", "type": "image", "frame_index": 137, "question": "What is the correlation in safety-critical situations?", "category": "Safety-critical scene Understanding", "options": ["A. car-person", "B. car-two-wheeler", "C. person-two-wheeler", "D. car-car"], "answer_index": 3}
{"token": "08413cc49674a273394e7a88ff7d1e31", "waymo_split": "test", "type": "image", "frame_index": 137, "question": "How should I drive to solve the first risk while also addressing the second risk?", "category": "Safety-critical Planning", "options": ["A. Send only the first vehicle and proceed immediately", "B. Pass quickly before the second vehicle arrives", "C. Just slow down and pass at a crawl", "D. Stop until the second vehicle has passed"], "answer_index": 3}
{"token": "08413cc49674a273394e7a88ff7d1e31", "waymo_split": "test", "type": "image", "frame_index": 137, "question": "Is lane changing possible? Which is safer, slowing down or changing lanes?", "category": "Safety-critical Planning", "options": ["A. Slowing down is safer, lane change is possible", "B. Changing to the right lane is fine, no need to slow down", "C. Slowing down is safer, lane change is not possible", "D. Changing lanes is safer, lane change is possible"], "answer_index": 2}
{"token": "08413cc49674a273394e7a88ff7d1e31", "waymo_split": "test", "type": "image", "frame_index": 137, "question": "Where is the area that hides danger in the current frame?", "category": "Uncertainty", "options": ["A. Blind spot next to the taxi near the center line", "B. Blind spot behind the cargo truck at the end of the right sidewalk", "C. Blind spot in front of the left side of the bus", "D. Blind spot between parked cars on the left and right sides"], "answer_index": 3}
{"token": "08413cc49674a273394e7a88ff7d1e31", "waymo_split": "test", "type": "image", "frame_index": 137, "question": "What is the method to avoid the blind spot next to a large vehicle?", "category": "Special Event", "options": ["A. Pass through the right blind spot", "B. Stay close to the large vehicle", "C. No large vehicle", "D. Enter the blind spot"], "answer_index": 2}
{"token": "08413cc49674a273394e7a88ff7d1e31", "waymo_split": "test", "type": "image", "frame_index": 137, "question": "What situation might have occurred if the self-driving car acted like this?", "category": "Counterfactual", "options": ["A. Risk of collision with the following vehicle if the self-driving car made a sudden stop", "B. Risk of a faster collision with the oncoming vehicle if the self-driving car did not slow down", "C. Risk of a faster collision with the car in front if the self-driving car accelerated suddenly", "D. Risk of contact with the adjacent vehicle if the self-driving car changed lanes recklessly"], "answer_index": 1}
{"token": "08413cc49674a273394e7a88ff7d1e31", "waymo_split": "test", "type": "image", "frame_index": 137, "question": "What are the newly exposed risk candidates in the following section?", "category": "Safety-critical Prediction", "options": ["A. Risk of collision due to sudden stop of the vehicle in front caused by the traffic signal change at the front crosswalk", "B. Risk of side contact during the opening of the bus door and boarding/alighting situation at the right bus stop", "C. Risk of collision with a person or object appearing in the blind spot between parked vehicles on the left and right", "D. Risk of collision with a motorcycle rapidly entering from the left alley"], "answer_index": 2}
{"token": "08413cc49674a273394e7a88ff7d1e31", "waymo_split": "test", "type": "image", "frame_index": 137, "question": "What is the guideline for my vehicle's behavior in response to the behavior of a safety-critical object?", "category": "Safety-critical Planning", "options": ["A. If a safety-critical object gradually approaches my lane without signaling, it is more stable to continue driving while maintaining distance by moving to the edge rather than making a sudden stop.", "B. If a safety-critical object turns towards the opposite side of my vehicle, the risk of collision is low, so it is better to slightly increase speed to quickly exit the intersection.", "C. If a safety-critical object slightly crosses my vehicle's path, the risk of collision is not high, so it is efficient to lightly decelerate, honk the horn, and pass through.", "D. If a safety-critical object turns towards my vehicle, there is a risk of collision. To prevent this, I should stop to give the safety-critical object space, which can reduce the possibility of a collision."], "answer_index": 3}
{"token": "08413cc49674a273394e7a88ff7d1e31", "waymo_split": "test", "type": "image", "frame_index": 148, "question": "What is the plan for yielding when an ambulance/fire truck approaches?", "category": "Special Event", "options": ["A. Maintain speed and pass", "B. Accelerate to the right and overtake", "C. Drive with emergency lights on", "D. Stop first and yield"], "answer_index": 3}
{"token": "08413cc49674a273394e7a88ff7d1e31", "waymo_split": "test", "type": "image", "frame_index": 148, "question": "Which of the following is correct from the perspective of Safety-critical Frame regarding Image Caption?", "category": "Safety-critical scene caption", "options": ["A. There is headlight glare due to fog at night, obscuring visibility. A vehicle waiting at a signal in the opposite lane is a safety-critical object, and there is sufficient distance between us with a low relative speed.", "B. It is night, and there are water spots on the camera screen, making visibility poor. A vehicle driving against our direction directly in front of us is a safety-critical object, and the distance is very close. The speed of the oncoming vehicle is relatively fast.", "C. Although the road is wet, visibility is secured by the wipers. A vehicle entering the intersection from the left, not directly in front, is a safety-critical object, with a medium distance and a normal relative speed.", "D. It is night, but the rain has subsided, and visibility is relatively good. A vehicle merging from the right lane in the same direction as us is a safety-critical object, with a certain distance and a speed similar to ours."], "answer_index": 1}
{"token": "08413cc49674a273394e7a88ff7d1e31", "waymo_split": "test", "type": "image", "frame_index": 148, "question": "Based on the current appearance of the person/vehicle (two-wheeled), how do they intend to move?", "category": "Normal Perception & Prediction", "options": ["A. Left turn on a one-lane road (decelerating)", "B. Going straight on a two-lane road (slow speed)", "C. Right turn on a three-lane road (slow speed)", "D. U-turn on a two-lane road (waiting for a signal)"], "answer_index": 1}
{"token": "08413cc49674a273394e7a88ff7d1e31", "waymo_split": "test", "type": "image", "frame_index": 148, "question": "Which of the following is a correct description of traffic density?", "category": "Normal scene Understanding", "options": ["A. Slow, few waiting vehicles at intersections", "B. Slow, many parked vehicles on side streets", "C. Fast, no parked vehicles on side streets", "D. Fast, few surrounding vehicles"], "answer_index": 1}
{"token": "08413cc49674a273394e7a88ff7d1e31", "waymo_split": "test", "type": "image", "frame_index": 148, "question": "What is the classification of the scene?", "category": "Normal scene Understanding", "options": ["A. Urban commercial area with a one-lane road", "B. Highway outskirts with a four-lane road", "C. Unpaved residential area with a two-lane road", "D. Paved residential area with a two-lane road"], "answer_index": 2}
{"token": "08413cc49674a273394e7a88ff7d1e31", "waymo_split": "test", "type": "image", "frame_index": 148, "question": "What are the restrictions on behavior in school zones/congested areas?", "category": "Special Event", "options": ["A. During the day, it is bright, so school zone restrictions do not apply.", "B. At night, visibility is poor, so you must drive slowly. There are speed restrictions.", "C. In congested areas, it is allowed to overtake on the shoulder.", "D. If there are no pedestrians in sight, you can pass without stopping."], "answer_index": 1}
{"token": "08413cc49674a273394e7a88ff7d1e31", "waymo_split": "test", "type": "image", "frame_index": 148, "question": "Which of the following is a correct description of traffic signals?", "category": "Traffic Signal", "options": ["A. Stop sign", "B. Red signal", "C. No left turn", "D. No signal"], "answer_index": 3}
{"token": "08413cc49674a273394e7a88ff7d1e31", "waymo_split": "test", "type": "image", "frame_index": 148, "question": "Which of the following descriptions about the environment is correct?", "category": "Normal scene Understanding", "options": ["A. No streetlights. A light leaking from the apartment windows far to the left. Dark and cloudy weather (poor visibility). No visibility to the right.", "B. Several low garden lights installed on the sidewalk blocks. Stage lighting reflected from the park behind. Light raindrops after a game (clear and crisp air). Slight obstruction of visibility to the left.", "C. Streetlights are on. Distant shop signs on the right are flashing. Clear and dry night (good visibility). Open visibility to the left.", "D. Streetlights are flickering intermittently. Bright lighting pouring from a nearby house's balcony. Only a light fog (average visibility). Identifiable to the right edge."], "answer_index": 0}
{"token": "08413cc49674a273394e7a88ff7d1e31", "waymo_split": "test", "type": "image", "frame_index": 148, "question": "Are there any blind spots in the field of view?", "category": "Uncertainty", "options": ["A. The right streetlight is good, and there is no street parking, so blind spots are rare.", "B. The right side is bright, and the side road is quiet, so there are almost no blind spots.", "C. The left side is dark, and there are some blind spots due to the bus stop obstruction.", "D. The right side is dark, and there are many blind spots due to parked vehicles on the side road."], "answer_index": 3}
{"token": "08413cc49674a273394e7a88ff7d1e31", "waymo_split": "test", "type": "image", "frame_index": 148, "question": "What is the answer regarding parked vehicles on the shoulder, the presence of a center line, and whether Ego has crossed the center line?", "category": "Normal Perception & Prediction", "options": ["A. There are a few parked vehicles on the shoulder. There is a center line (dashed). It briefly crossed into the opposite lane and then returned.", "B. There are hardly any parked vehicles on the shoulder. There is a center line. My vehicle is maintaining position inside the center line.", "C. There are many parked vehicles on the shoulder. There is no center line. It is in a state of crossing into the center (even though there is no line).", "D. There are many parked vehicles on the shoulder. There is a center line. Driving with space to the left without crossing the center line."], "answer_index": 2}
{"token": "08413cc49674a273394e7a88ff7d1e31", "waymo_split": "test", "type": "image", "frame_index": 148, "question": "What should I do to drive safely?", "category": "Safety-critical Planning", "options": ["A. Notify others with the horn or lights and continue moving forward at a slow speed so that the other vehicle can pass.", "B. Even if the other vehicle is close, maintain your current speed to keep the flow, which reduces the risk of collision.", "C. If the distance to the other vehicle is very close and the speed is high, you should stop your vehicle and wait until the other vehicle passes.", "D. Even if the other vehicle is approaching quickly, it is safer to slightly increase your speed and pass first."], "answer_index": 2}
{"token": "08413cc49674a273394e7a88ff7d1e31", "waymo_split": "test", "type": "image", "frame_index": 148, "question": "How do you think a safety-critical object will move?", "category": "Safety-critical Prediction", "options": ["A. Emergency lane deceleration stop", "B. Opposite direction straight", "C. U-turn in the opposite lane", "D. Wrong way left turn"], "answer_index": 1}
{"token": "08413cc49674a273394e7a88ff7d1e31", "waymo_split": "test", "type": "image", "frame_index": 148, "question": "What is a safety-critical object?", "category": "Safety-critical Perception", "options": ["A. A pedestrian stopped at the edge of the sidewalk (no intention to enter the roadway)", "B. A vehicle waiting to enter slowly with its turn signal on from a side alley (relatively slow speed)", "C. A motorcycle following at a slow speed in the same lane from behind (low relative speed)", "D. A vehicle driving quickly towards your direction with its headlights on (relatively fast speed)"], "answer_index": 3}
{"token": "08413cc49674a273394e7a88ff7d1e31", "waymo_split": "test", "type": "image", "frame_index": 148, "question": "What is the correlation in safety-critical situations?", "category": "Safety-critical scene Understanding", "options": ["A. car-motorcycle", "B. car-person", "C. car-car", "D. motorcycle-person"], "answer_index": 2}
{"token": "08413cc49674a273394e7a88ff7d1e31", "waymo_split": "test", "type": "image", "frame_index": 148, "question": "Is there any other safety-critical object besides the first safety-critical object? If so, how would you move?", "category": "Safety-critical Prediction", "options": ["A. A vehicle coming towards you in the opposite lane (with high beams on)", "B. A vehicle driving in front of the relevant vehicle (with brake lights on)", "C. A vehicle driving behind the relevant vehicle (with headlights on)", "D. A vehicle overtaking from the left lane (with turn signals on)"], "answer_index": 2}
{"token": "08413cc49674a273394e7a88ff7d1e31", "waymo_split": "test", "type": "image", "frame_index": 148, "question": "How should I drive to resolve the first hazard while also addressing the second hazard?", "category": "Safety-critical Planning", "options": ["A. I should maintain speed and pass on the right edge.", "B. I need to stop until I pass the second vehicle.", "C. I should stop briefly, check only the left, and then proceed.", "D. I should let the first vehicle go and drive slowly."], "answer_index": 1}
{"token": "08413cc49674a273394e7a88ff7d1e31", "waymo_split": "test", "type": "image", "frame_index": 148, "question": "Is lane changing possible? Which is safer, slowing down or changing lanes?", "category": "Safety-critical Planning", "options": ["A. Slowing down is safer, lane changing is not possible", "B. Changing lanes is safer, right lane change is possible", "C. Changing lanes is safer, left lane change is possible", "D. Accelerating is safer, lane changing is possible"], "answer_index": 0}
{"token": "08413cc49674a273394e7a88ff7d1e31", "waymo_split": "test", "type": "image", "frame_index": 148, "question": "Where is the area that hides danger in the current frame?", "category": "Uncertainty", "options": ["A. Blind spot at the corner of the left alley exit", "B. Blind spot in front of the large truck", "C. Blind spot between parked cars on the left and right", "D. Blind spot behind the tree at the right crosswalk"], "answer_index": 2}
{"token": "08413cc49674a273394e7a88ff7d1e31", "waymo_split": "test", "type": "image", "frame_index": 148, "question": "What is the method to avoid the blind spot next to a large vehicle?", "category": "Special Event", "options": ["A. In front of the large vehicle", "B. No large vehicle", "C. Next to the large vehicle", "D. Behind the large vehicle"], "answer_index": 1}
{"token": "08413cc49674a273394e7a88ff7d1e31", "waymo_split": "test", "type": "image", "frame_index": 148, "question": "What are the driving guidelines for the vehicle in response to the behavior of a safety-critical object?", "category": "Safety-critical Planning", "options": ["A. If the safety-critical object turns towards the vehicle, there is a risk of collision. To prevent this, the vehicle should stop to give space to the safety-critical object, which can reduce the possibility of a collision.", "B. If the safety-critical object turns unpredictably, it is important for the vehicle to maintain flow. Instead of making a sudden stop, it is safer to slow down and pass through the gap, which reduces risk compared to unnecessary stops.", "C. If the safety-critical object turns towards the vehicle, there is a risk of collision. To avoid this, it is safer to increase speed and pass quickly before the other party changes their course.", "D. If the safety-critical object approaches the vehicle, there is a possibility of contact. By signaling strongly with the horn and lights while continuing to drive, the vehicle can negotiate the right of way, which reduces the possibility of a collision."], "answer_index": 0}
{"token": "08413cc49674a273394e7a88ff7d1e31", "waymo_split": "test", "type": "image", "frame_index": 148, "question": "What situation might have occurred if the self-driving car acted like this?", "category": "Counterfactual", "options": ["A. If the self-driving car braked suddenly, it would have secured a safe distance from the oncoming vehicle.", "B. If the self-driving car did not slow down, there would be a higher risk of collision with the oncoming vehicle.", "C. If the self-driving car did not slow down, there would be a risk of rear-end collision.", "D. If the self-driving car swerved to the right, there would be a risk of contact with the sidewalk."], "answer_index": 1}
{"token": "08413cc49674a273394e7a88ff7d1e31", "waymo_split": "test", "type": "image", "frame_index": 148, "question": "What are the newly exposed risk candidates in the following section?", "category": "Safety-critical Prediction", "options": ["A. Risk of rear-end collision with a leading vehicle that suddenly stops due to a change in the traffic signal at the front crosswalk.", "B. Risk of collision with a person or object appearing in the blind spot between parked cars on the left and right sides.", "C. Risk of side contact occurring when a vehicle exiting a right-side alley hastily merges into the lane with limited visibility.", "D. Risk of a cross collision when encountering a vehicle making a U-turn without signaling at the opening of a central divider."], "answer_index": 1}
{"token": "09e4e8a16373f714185646c621eb552d", "waymo_split": "test", "type": "video", "frame_index": null, "question": "Where is the safety-critical situation in the video?", "category": "Temporal Grounding", "options": ["A. 2/4", "B. 3/4", "C. 1/4", "D. 4/4"], "answer_index": 3}
{"token": "09e4e8a16373f714185646c621eb552d", "waymo_split": "test", "type": "video", "frame_index": null, "question": "Are there any special circumstances?", "category": "Special Event", "options": ["A. None", "B. Covered by rainwater", "C. Emergency vehicle access", "D. School bus stop"], "answer_index": 0}
{"token": "09e4e8a16373f714185646c621eb552d", "waymo_split": "test", "type": "video", "frame_index": null, "question": "Which of the following is correct regarding road alignment?", "category": "Normal Perception & Prediction", "options": ["A. Left turn", "B. Straight", "C. Right turn", "D. Overtaking"], "answer_index": 1}
{"token": "09e4e8a16373f714185646c621eb552d", "waymo_split": "test", "type": "video", "frame_index": null, "question": "Which of the following is a correct description of traffic density?", "category": "Normal scene Understanding", "options": ["A. Usually, surrounding vehicles are average. Slight downhill.", "B. Slow, few surrounding vehicles. Gentle uphill.", "C. Fast, few surrounding vehicles. Slight incline.", "D. Fast, many surrounding vehicles. No incline."], "answer_index": 3}
{"token": "09e4e8a16373f714185646c621eb552d", "waymo_split": "test", "type": "video", "frame_index": null, "question": "Which of the following is correct regarding Video Summary from a safety-critical scene perspective?", "category": "Safety-critical scene caption", "options": ["A. A person gets out of a vehicle parked on the left side just as the car approaches an intersection on a straight road; the door is only half open and closes, while the car continues to pass slowly.", "B. A taxi in the right lane stops just before entering the intersection and opens its trunk to unload luggage; the passenger door is closed, and the car slightly veers left to continue driving.", "C. As the car approaches a crosswalk on a straight road, a bicycle enters the lane from the right shoulder; the doors of surrounding vehicles are closed, and the car temporarily slows down before proceeding.", "D. As the car approaches an intersection on a straight road, a person attempts to get out of a vehicle parked on the right side; the door is wide open at this time, creating a potential collision risk with the car, which comes to a stop."], "answer_index": 3}
{"token": "09e4e8a16373f714185646c621eb552d", "waymo_split": "test", "type": "video", "frame_index": null, "question": "Which of the following is correct regarding Video Summary from the perspective of a Normal Scene?", "category": "Normal scene caption", "options": ["A. Driving on a four-lane road with a central divider. The vehicle is in the second lane, moving with the flow. A large SCHOOL ZONE marking is visible on the ground. There are trees and bus stops on both sidewalks, with a bus that is currently stopped. As the vehicle approaches an intersection, a pedestrian suddenly appears in front of the bus. The vehicle makes an emergency stop and proceeds after yielding to surrounding vehicles.", "B. Driving on a two-lane road lined with trees. The vehicle is effectively not in one lane but is driving in the center. There is a road marking that says BUMP on the ground. Trees are planted on both sidewalks, and there are numerous parked cars on the side. As the straight road approaches an intersection, a person is getting out of a vehicle parked on the right side. At this moment, there is a possibility of a collision with the vehicle, so it comes to a stop.", "C. Driving on a two-lane road with almost no trees. The vehicle is driving steadily to the right of the center line. The ground is clean asphalt with no significant markings. Instead of parked cars, there are a few bicycles and pedestrians on the sidewalk. While going straight, a vehicle in front of a shop on the right stops briefly at a crosswalk. The passenger closes the door and waits, allowing the vehicle to proceed slowly and pass.", "D. Driving on a two-lane road lined with trees. The vehicle is securely driving in the right lane. The ground has a road marking that says SLOW. There are sparse trees on both sidewalks, and there are almost no parked cars on the street. As the straight road approaches an intersection, a person is getting out of a taxi in the left lane. The vehicle passes without concern for a collision as it is at a distance from the direction of travel."], "answer_index": 1}
{"token": "09e4e8a16373f714185646c621eb552d", "waymo_split": "test", "type": "video", "frame_index": null, "question": "What is the classification of the scene?", "category": "Normal scene Understanding", "options": ["A. Residential secondary road", "B. Main section of the highway", "C. Unpaved rural road", "D. Urban four-lane road"], "answer_index": 0}
{"token": "09e4e8a16373f714185646c621eb552d", "waymo_split": "test", "type": "video", "frame_index": null, "question": "What is the description of a non-safety-critical object?", "category": "Normal Perception & Prediction", "options": ["A. There are commercial and office buildings densely packed along the sidewalks.", "B. There are almost no street trees on the sidewalk, and only a few low flower beds.", "C. There are long stretches of central medians and bus-only lanes.", "D. There are many parked cars on both sides, with trees planted along the sidewalks. Residential areas are lined up on both sides."], "answer_index": 3}
{"token": "09e4e8a16373f714185646c621eb552d", "waymo_split": "test", "type": "video", "frame_index": null, "question": "Which of the following is a correct description of Spatial Relationship?", "category": "Spatial Relationship", "options": ["A. A bus and taxi exiting by turning in only one direction at the rotary just before the end.", "B. Vehicles running in both directions left and right at the intersection towards the end of the video.", "C. Vehicles lined up in one direction in the same lane at a T-intersection at the beginning of the video.", "D. Pedestrians facing each other and walking slowly past each other in front of the crosswalk in the middle."], "answer_index": 1}
{"token": "09e4e8a16373f714185646c621eb552d", "waymo_split": "test", "type": "video", "frame_index": null, "question": "Which of the following is a correct description of the environment?", "category": "Normal scene Understanding", "options": ["A. Cloudy, afternoon", "B. Fog, night", "C. Clear, daytime", "D. Rain, morning"], "answer_index": 2}
{"token": "09e4e8a16373f714185646c621eb552d", "waymo_split": "test", "type": "video", "frame_index": null, "question": "Which of the following descriptions about traffic signals is correct?", "category": "Traffic Signal", "options": ["A. BUMP road marking on the ground. A no left turn sign on the right at the end of the video. And a traffic light for pedestrians is installed in front.", "B. STOP road marking on the ground. A speed limit sign of 30 on the right at the end of the video. And a traffic light in front appears to be for left turn only.", "C. SLOW road marking on the ground. A U-turn sign on the left at the end of the video. And a traffic light for vehicles is installed in front.", "D. SLOW DOWN written on the ground. A stop sign on the left at the end of the video. And a traffic light is installed for bicycles in front."], "answer_index": 0}
{"token": "09e4e8a16373f714185646c621eb552d", "waymo_split": "test", "type": "video", "frame_index": null, "question": "What is the correlation in safety-critical situations?", "category": "Safety-critical scene Understanding", "options": ["A. car-person", "B. car-two-wheeler", "C. car-car", "D. person-two-wheeler"], "answer_index": 0}
{"token": "09e4e8a16373f714185646c621eb552d", "waymo_split": "test", "type": "video", "frame_index": null, "question": "What is the answer regarding parked vehicles on the shoulder, the presence of a center line, and whether Ego has crossed the center line?", "category": "Normal Perception & Prediction", "options": ["A. No parked vehicles on the shoulder. There is a center line. My car is driving within the lane while keeping the center line.", "B. Many parked vehicles on the shoulder. No center line. Although there is no center line, my car is effectively crossing and driving towards the center.", "C. One or two vehicles stopped on the shoulder. The center line is faintly visible. My car is staying close to the right edge without crossing the center line.", "D. One truck on the shoulder. The center line is dashed. My car briefly crossed the center line to overtake and then returned."], "answer_index": 1}
{"token": "09e4e8a16373f714185646c621eb552d", "waymo_split": "test", "type": "video", "frame_index": null, "question": "Summary of Ego (self-vehicle) behavior before safety-critical situations", "category": "Normal scene Understanding", "options": ["A. Lane change", "B. Proceeding to the right", "C. Going straight", "D. Proceeding to the left"], "answer_index": 2}
{"token": "09e4e8a16373f714185646c621eb552d", "waymo_split": "test", "type": "video", "frame_index": null, "question": "What is a safety-critical object?", "category": "Safety-critical Perception", "options": ["A. A driver getting out of a vehicle parked on the right side of their own car.", "B. A driver getting out of a vehicle parked on the left side of their own car.", "C. A passenger getting into a vehicle parked on the right side of their own car.", "D. A driver opening the trunk of a vehicle parked on the right side of their own car."], "answer_index": 0}
{"token": "09e4e8a16373f714185646c621eb552d", "waymo_split": "test", "type": "video", "frame_index": null, "question": "How did the safety-critical object move and how did the ego vehicle behave?", "category": "Safety-critical scene Understanding", "options": ["A. While getting out of a vehicle parked on the right shoulder of the road and closing the door, the ego vehicle passed by and maintained its speed.", "B. A pedestrian is moving backward behind a parked vehicle in a parking space while organizing the trunk; the ego vehicle changed lanes to the right to avoid this.", "C. While getting out of a vehicle parked on the side of the road and leaving the door open, the ego vehicle slowed down as it got closer.", "D. A taxi in front joined the right lane after picking up a passenger and started to move slowly; the ego vehicle accelerated to follow it."], "answer_index": 2}
{"token": "09e4e8a16373f714185646c621eb552d", "waymo_split": "test", "type": "video", "frame_index": null, "question": "What situation might have occurred if the self-driving car had behaved this way?", "category": "Counterfactual", "options": ["A. If the self-driving car had not slowed down, it would have continued while maintaining distance from the car in front.", "B. If the self-driving car had not slowed down, the pedestrian would have moved aside first and passed safely.", "C. If the self-driving car had not slowed down, it would have swerved towards the center line and avoided a collision.", "D. If the self-driving car had not slowed down, there would have been a possibility of a collision with that person."], "answer_index": 3}
{"token": "09e4e8a16373f714185646c621eb552d", "waymo_split": "test", "type": "image", "frame_index": 18, "question": "Based on the current appearance of the person/vehicle (two-wheeled), how do you intend to move?", "category": "Normal Perception & Prediction", "options": ["A. Go straight", "B. Turn right", "C. Reverse", "D. Turn left"], "answer_index": 0}
{"token": "09e4e8a16373f714185646c621eb552d", "waymo_split": "test", "type": "image", "frame_index": 18, "question": "What is the plan for yielding when an ambulance/fire truck approaches?", "category": "Special Event", "options": ["A. Stop briefly in the center of the intersection to clear the way", "B. Pull over to the right and stop to yield", "C. Keep the hazard lights on and maintain speed to pass", "D. Move to the left and slow down to yield"], "answer_index": 1}
{"token": "09e4e8a16373f714185646c621eb552d", "waymo_split": "test", "type": "image", "frame_index": 18, "question": "Which of the following is correct as an Image Caption from the perspective of a Normal Frame?", "category": "Normal scene caption", "options": ["A. A vehicle driving on a two-lane road. Currently driving in the center. Many vehicles parked on the side.", "B. A two-way road with a central divider. The vehicle is changing lanes to the left. Only shops along the roadside are visible.", "C. A vehicle driving on a three-lane road. Moving closer to the right lane. No parked vehicles on the shoulder.", "D. A vehicle entering a narrow alley. Slowing down while preparing to turn left. Almost no parking along the road."], "answer_index": 0}
{"token": "09e4e8a16373f714185646c621eb552d", "waymo_split": "test", "type": "video", "frame_index": null, "question": "Who is responsible in safety-critical situations? What is the cause?", "category": "Safety-critical scene Understanding", "options": ["A. The vehicle's equipment is at fault; the door warning light and alarm did not operate, leading to delayed awareness of the surroundings and increased risk of collision.", "B. The rear vehicle is at fault; it approached without adequately slowing down or maintaining distance, reducing the chance to evade.", "C. The road management authority is at fault; the lack of signage for the drop-off area and insufficient space led users to be directed to a dangerous location.", "D. The person is at fault; while getting out of the vehicle without paying attention to the rear vehicle, they put themselves at risk of colliding with their body as they stepped out towards the road."], "answer_index": 3}
{"token": "09e4e8a16373f714185646c621eb552d", "waymo_split": "test", "type": "image", "frame_index": 18, "question": "What are the classifications of scenes?", "category": "Normal scene Understanding", "options": ["A. Unpaved", "B. Highway", "C. City", "D. Residential area"], "answer_index": 3}
{"token": "09e4e8a16373f714185646c621eb552d", "waymo_split": "test", "type": "image", "frame_index": 18, "question": "Which of the following is a correct description of traffic density?", "category": "Normal scene Understanding", "options": ["A. Slow, with a few surrounding vehicles being parked cars (some vehicles in motion)", "B. Fast, with many surrounding vehicles entering the intersection (many vehicles in motion)", "C. Normal, with taxis and buses frequently passing by (many vehicles in motion)", "D. Slow, with many surrounding vehicles being parked on the side (no vehicles in motion)"], "answer_index": 3}
{"token": "09e4e8a16373f714185646c621eb552d", "waymo_split": "test", "type": "image", "frame_index": 18, "question": "Which of the following descriptions about the environment is correct?", "category": "Normal scene Understanding", "options": ["A. Cloudy morning", "B. Showers in the evening", "C. Clear daytime", "D. Foggy dawn"], "answer_index": 2}
{"token": "09e4e8a16373f714185646c621eb552d", "waymo_split": "test", "type": "image", "frame_index": 18, "question": "What are the behavior restrictions in school zones/congested areas?", "category": "Special Event", "options": ["A. Must drive slowly", "B. Must accelerate", "C. Must yield to right turns", "D. Must maintain a constant speed"], "answer_index": 0}
{"token": "09e4e8a16373f714185646c621eb552d", "waymo_split": "test", "type": "image", "frame_index": 18, "question": "Which of the following is a correct description of traffic signals?", "category": "Traffic Signal", "options": ["A. BUMP sign and BUMP road marking on the right", "B. SLOW sign and SLOW road marking on the left", "C. SCHOOL sign and SCHOOL ZONE road marking on the right", "D. STOP sign and STOP road marking ahead"], "answer_index": 0}
{"token": "09e4e8a16373f714185646c621eb552d", "waymo_split": "test", "type": "image", "frame_index": 18, "question": "What is the description of a non-safety-critical object?", "category": "Normal Perception & Prediction", "options": ["A. An open space and tree shade on the left. A residential fence and narrow sidewalk on the right. A speed limit 30 sign and road arrow sign on the left.", "B. Commercial buildings and a bicycle lane on the left. A lawn and small trees on the right. A children protection sign and SLOW road marking ahead.", "C. A house and sidewalk on the left. A sidewalk, open space, and large trees on the right. A BUMP sign and BUMP road marking on the right.", "D. A parking lot entrance and sidewalk on the left. A small park and benches on the right. A curve sign and zigzag road marking ahead."], "answer_index": 2}
{"token": "09e4e8a16373f714185646c621eb552d", "waymo_split": "test", "type": "image", "frame_index": 18, "question": "What is the answer regarding parked vehicles on the shoulder, the presence of a center line, and whether Ego crosses the center line?", "category": "Normal Perception & Prediction", "options": ["A. No parked vehicles on the shoulder. There is a center line. My vehicle complies with the center line and stays in the right lane.", "B. Some parked vehicles on the shoulder. No center line. My vehicle is driving close to the right.", "C. A few vehicles parked on one side. There is a center line. My vehicle is driving along the right edge without crossing the center line.", "D. Many vehicles parked on the side. No center line. My vehicle is driving in the center despite the absence of a center line."], "answer_index": 3}
{"token": "09e4e8a16373f714185646c621eb552d", "waymo_split": "test", "type": "image", "frame_index": 18, "question": "How do you think a safety-critical object will move?", "category": "Safety-critical Prediction", "options": ["A. Entering the left lane with a safety-critical object", "B. Merging to the right with a safety-critical object", "C. Moving forward with a safety-critical object", "D. No safety-critical object"], "answer_index": 3}
{"token": "09e4e8a16373f714185646c621eb552d", "waymo_split": "test", "type": "image", "frame_index": 18, "question": "What is a safety-critical object?", "category": "Safety-critical Perception", "options": ["A. None", "B. Brake pedal", "C. Airbag module", "D. Emergency stop button"], "answer_index": 0}
{"token": "09e4e8a16373f714185646c621eb552d", "waymo_split": "test", "type": "image", "frame_index": 18, "question": "What is the safest choice just before entering a yellow signal: stop vs. pass?", "category": "Special Event", "options": ["A. No traffic light", "B. Stop at the intersection", "C. Accelerate quickly to pass", "D. Pass the stop line"], "answer_index": 0}
{"token": "09e4e8a16373f714185646c621eb552d", "waymo_split": "test", "type": "image", "frame_index": 78, "question": "What is the plan for yielding when an ambulance/fire truck approaches?", "category": "Special Event", "options": ["A. Pull over to the right and stop to yield", "B. Stop in the center of the intersection to yield", "C. Turn on hazard lights and reduce speed in the same lane to yield", "D. Pull over to the left and proceed slowly to yield"], "answer_index": 0}
{"token": "09e4e8a16373f714185646c621eb552d", "waymo_split": "test", "type": "image", "frame_index": 78, "question": "Based on the current appearance of the person/vehicle (two-wheeled), how do they intend to move?", "category": "Normal Perception & Prediction", "options": ["A. Preparing to stop", "B. Proceeding to turn right", "C. Entering to turn left", "D. Driving straight"], "answer_index": 3}
{"token": "09e4e8a16373f714185646c621eb552d", "waymo_split": "test", "type": "image", "frame_index": 78, "question": "Which of the following is correct as an Image Caption from the perspective of a Normal Frame?", "category": "Normal scene caption", "options": ["A. A vehicle driving in the right lane of a three-lane road. It is slowly merging into a right turn lane. There are almost no parked cars on the roadside. A roundabout sign is visible ahead. Vehicles in the same direction are continuing without a signal.", "B. A vehicle going straight on a one-way, single-lane alley. A construction fence stretches along the left side of the road. There is a crosswalk and a group of pedestrians ahead. The road narrows ahead like a dead end. A vehicle is approaching slowly from the opposite direction.", "C. A vehicle traveling on a two-way, four-lane road. It is changing lanes to the left. No parked cars are visible on the roadside. An entrance ramp to an overpass is ahead. The vehicles in front are accelerating as they merge.", "D. A vehicle driving on a two-lane road. It is traveling in the center. There are many vehicles parked on the side. An intersection is visible ahead. A vehicle in the same direction is stopped at the intersection (appearing to wait for a signal)."], "answer_index": 3}
{"token": "09e4e8a16373f714185646c621eb552d", "waymo_split": "test", "type": "image", "frame_index": 78, "question": "What are the behavioral restrictions in school zones/congested areas?", "category": "Special Event", "options": ["A. Must pass quickly", "B. Must turn on high beams", "C. Must drive slowly", "D. Must drive in the right lane"], "answer_index": 2}
{"token": "09e4e8a16373f714185646c621eb552d", "waymo_split": "test", "type": "image", "frame_index": 78, "question": "What are the classifications of scenes?", "category": "Normal scene Understanding", "options": ["A. Residential area", "B. Unpaved", "C. City", "D. Highway"], "answer_index": 0}
{"token": "09e4e8a16373f714185646c621eb552d", "waymo_split": "test", "type": "image", "frame_index": 78, "question": "Which of the following is a correct description of traffic density?", "category": "Normal scene Understanding", "options": ["A. Slow with only a few passing vehicles around", "B. Fast with almost no surrounding vehicles", "C. Slow with many parked vehicles around", "D. Normal with vehicles passing by occasionally"], "answer_index": 2}
{"token": "09e4e8a16373f714185646c621eb552d", "waymo_split": "test", "type": "image", "frame_index": 78, "question": "Which of the following descriptions about the environment is correct?", "category": "Normal scene Understanding", "options": ["A. Afternoon shower", "B. Cloudy night", "C. Foggy dawn", "D. Clear day"], "answer_index": 3}
{"token": "09e4e8a16373f714185646c621eb552d", "waymo_split": "test", "type": "image", "frame_index": 78, "question": "What is the description of a non-safety-critical object?", "category": "Normal Perception & Prediction", "options": ["A. On the left, a shopping area and bicycle path / On the right, a park and bus stop / A few motorcycles parked on the road / A few pedestrians passing by", "B. On the left, a rice paddy and farmhouse / On the right, a field and greenhouse / Almost no parked cars by the roadside / A dog and its owner are walking", "C. On the left, construction site barriers and a backhoe / On the right, a riverside walking path and benches / The shoulder is mainly occupied by parked trucks / People are waiting at the crosswalk", "D. On the left, a house and sidewalk. On the right, a sidewalk and residential area. Vehicles parked on both sides. No people are present."], "answer_index": 3}
{"token": "09e4e8a16373f714185646c621eb552d", "waymo_split": "test", "type": "image", "frame_index": 78, "question": "Which of the following is a correct description of traffic signals?", "category": "Traffic Signal", "options": ["A. None", "B. U-turn", "C. Slow down", "D. Stop"], "answer_index": 0}
{"token": "09e4e8a16373f714185646c621eb552d", "waymo_split": "test", "type": "image", "frame_index": 78, "question": "What is a safety-critical object?", "category": "Safety-critical Perception", "options": ["A. Safety sensor", "B. Fire extinguisher", "C. None", "D. Emergency stop button"], "answer_index": 2}
{"token": "09e4e8a16373f714185646c621eb552d", "waymo_split": "test", "type": "image", "frame_index": 78, "question": "What is the answer regarding parked vehicles on the shoulder, the presence of a center line, and whether Ego crosses the center line?", "category": "Normal Perception & Prediction", "options": ["A. One towing vehicle on the shoulder being monitored. The center line is a dashed line. The vehicle follows only the right side of the center line without overtaking.", "B. Almost no parked vehicles on the shoulder. There is a center line. The vehicle drives in the right lane while keeping the center line.", "C. A few parked vehicles on side streets. The center line is faint but exists. The vehicle maintains the right edge without crossing the center line.", "D. Many parked vehicles on side streets. There is no center line. Although there is no center line, the vehicle crosses and drives in the center."], "answer_index": 3}
{"token": "09e4e8a16373f714185646c621eb552d", "waymo_split": "test", "type": "image", "frame_index": 78, "question": "How do you think a safety-critical object will move?", "category": "Safety-critical Prediction", "options": ["A. Moving to the right of the safety-critical object", "B. Decelerating the safety-critical object", "C. No safety-critical object", "D. Approaching the safety-critical object from the front"], "answer_index": 2}
{"token": "09e4e8a16373f714185646c621eb552d", "waymo_split": "test", "type": "image", "frame_index": 78, "question": "What is the safest choice when approaching a yellow signal: stop vs proceed?", "category": "Special Event", "options": ["A. Make a right turn", "B. No traffic light", "C. Accelerate immediately", "D. Slow down and proceed"], "answer_index": 1}
{"token": "09e4e8a16373f714185646c621eb552d", "waymo_split": "test", "type": "image", "frame_index": 78, "question": "Where is the area that hides danger in the current frame?", "category": "Uncertainty", "options": ["A. The blind spot behind the parked vehicles on the left and right sides is a danger area.", "B. The boundary between the right sidewalk and the bicycle lane is blocked by the vehicle body, creating a blind spot that is a danger area.", "C. Vehicles entering from behind the end of the central divider are hidden, creating a blind spot that is a danger area.", "D. The left and right corners of the intersection ahead are blocked from view, creating a blind spot that is a danger area."], "answer_index": 0}
{"token": "09e4e8a16373f714185646c621eb552d", "waymo_split": "test", "type": "image", "frame_index": 78, "question": "What is the method to avoid the blind spot next to a large vehicle?", "category": "Special Event", "options": ["A. No large vehicle", "B. Maintain blind spot", "C. Overtake on the right", "D. Stay close to the large vehicle"], "answer_index": 0}
{"token": "09e4e8a16373f714185646c621eb552d", "waymo_split": "test", "type": "image", "frame_index": 78, "question": "What are the newly exposed risk candidates in the following section?", "category": "Safety-critical Prediction", "options": ["A. A pedestrian from the opposite side may suddenly jaywalk at the broken point of the central divider.", "B. A motorcycle that does not reduce speed may suddenly emerge onto the main road from the left alley exit.", "C. People or objects may appear in the blind spot behind the parked vehicles on both sides.", "D. Passengers getting off near the bus stop ahead may step directly onto the roadway."], "answer_index": 2}
{"token": "09e4e8a16373f714185646c621eb552d", "waymo_split": "test", "type": "image", "frame_index": 110, "question": "Which is correct as an Image Caption from the perspective of Safety-critical Frame?", "category": "Safety-critical scene caption", "options": ["A. A person getting out on the sidewalk from a right parallel parked vehicle", "B. A person getting out to the right from a left reverse parked vehicle", "C. A person getting out to the left from a right reverse parked vehicle", "D. A person getting in on the driver's side of a right reverse parked vehicle"], "answer_index": 2}
{"token": "09e4e8a16373f714185646c621eb552d", "waymo_split": "test", "type": "image", "frame_index": 110, "question": "What are the classifications of scenes?", "category": "Normal scene Understanding", "options": ["A. Residential area", "B. Unpaved", "C. City", "D. Highway"], "answer_index": 0}
{"token": "09e4e8a16373f714185646c621eb552d", "waymo_split": "test", "type": "image", "frame_index": 110, "question": "Based on the current appearance of the person/vehicle (two-wheeled), how do you intend to move?", "category": "Normal Perception & Prediction", "options": ["A. Changing lanes", "B. Turning right", "C. Going straight", "D. Turning left"], "answer_index": 2}
{"token": "09e4e8a16373f714185646c621eb552d", "waymo_split": "test", "type": "image", "frame_index": 110, "question": "What is the plan for yielding when an ambulance/fire truck approaches?", "category": "Special Event", "options": ["A. Pull to the right and proceed slowly while yielding", "B. Stop in the center of the intersection to yield a passage", "C. Stop by pulling to the left to yield", "D. Stop by pulling to the right to yield"], "answer_index": 3}
{"token": "09e4e8a16373f714185646c621eb552d", "waymo_split": "test", "type": "image", "frame_index": 110, "question": "What are the behavioral restrictions in school zones/congested areas?", "category": "Special Event", "options": ["A. You must turn on the high beams", "B. You must drive slowly", "C. You must honk the horn", "D. You must turn on the hazard lights"], "answer_index": 1}
{"token": "09e4e8a16373f714185646c621eb552d", "waymo_split": "test", "type": "image", "frame_index": 110, "question": "Which of the following is a correct description of the environment?", "category": "Normal scene Understanding", "options": ["A. Clear daytime", "B. Showers in the afternoon", "C. Clear nighttime", "D. Cloudy daytime"], "answer_index": 0}
{"token": "09e4e8a16373f714185646c621eb552d", "waymo_split": "test", "type": "image", "frame_index": 110, "question": "Which of the following is a correct description of traffic signals?", "category": "Traffic Signal", "options": ["A. None", "B. No left turn", "C. Pedestrian signal", "D. Stop"], "answer_index": 0}
{"token": "09e4e8a16373f714185646c621eb552d", "waymo_split": "test", "type": "image", "frame_index": 110, "question": "Which of the following is a correct description of traffic density?", "category": "Normal scene Understanding", "options": ["A. Fast, with surrounding vehicles having wide gaps and being sparse", "B. Slow, with almost no parked vehicles on the street", "C. Slow, with a large number of vehicles parked on side streets", "D. Normal, with a few vehicles waiting at intersections"], "answer_index": 2}
{"token": "09e4e8a16373f714185646c621eb552d", "waymo_split": "test", "type": "image", "frame_index": 110, "question": "Are there any blind spots in your field of vision?", "category": "Uncertainty", "options": ["A. Blind spot between parked vehicles", "B. Blind spot in the left parking area", "C. Blind spot next to the central divider", "D. No blind spot on the right shoulder"], "answer_index": 0}
{"token": "09e4e8a16373f714185646c621eb552d", "waymo_split": "test", "type": "image", "frame_index": 110, "question": "How do you think a safety-critical object will be moved?", "category": "Safety-critical Prediction", "options": ["A. I think it will get off and move to the right sidewalk.", "B. I think it will proceed to the right without getting off.", "C. I think it will get off and move to the left sidewalk.", "D. I think it will get off and walk straight ahead."], "answer_index": 0}
{"token": "09e4e8a16373f714185646c621eb552d", "waymo_split": "test", "type": "image", "frame_index": 110, "question": "What is the answer regarding parked vehicles on the shoulder, the presence of a center line, and whether Ego crosses the center line?", "category": "Normal Perception & Prediction", "options": ["A. Many parked vehicles on the shoulder. No center line. No center line but Ego is encroaching and driving towards the center.", "B. One or two parked vehicles on the shoulder. Yellow solid line as the center line. Ego does not cross the center line and maintains its lane.", "C. Almost no parked vehicles on the shoulder. There is a center line. Ego is driving in the right lane while keeping the center line.", "D. Rare illegal parking vehicles. Dashed center line. Slightly veers to the left but does not encroach."], "answer_index": 0}
{"token": "09e4e8a16373f714185646c621eb552d", "waymo_split": "test", "type": "image", "frame_index": 110, "question": "Are there any other safety-critical objects besides the first safety-critical object? If so, how will they be moved?", "category": "Safety-critical Prediction", "options": ["A. There is a chemical drum, moved vertically with a drum lifter", "B. There is an oxygen cylinder, secured on a cart for transport", "C. There is a high-pressure power box, moved by two people after turning off the power", "D. None"], "answer_index": 3}
{"token": "09e4e8a16373f714185646c621eb552d", "waymo_split": "test", "type": "image", "frame_index": 110, "question": "What should I do to drive safely?", "category": "Safety-critical Planning", "options": ["A. If you have confirmed a person getting out on the right side from a left-side parked vehicle, it is sufficient to drive slowly while slightly moving towards the center line to ensure a safe distance.", "B. When you see a person getting out from a right-side parked vehicle, turn on your hazard lights, honk once, and then proceed to overtake slowly.", "C. You must stop and maintain a safe distance from the person until they have safely moved on foot while getting out from a right-side parked vehicle to the left.", "D. If a person is getting out to the left from a right-side parked vehicle, it is acceptable to wait briefly until the car door is completely closed and then depart immediately."], "answer_index": 2}
{"token": "09e4e8a16373f714185646c621eb552d", "waymo_split": "test", "type": "image", "frame_index": 110, "question": "What is the correlation in safety-critical situations?", "category": "Safety-critical scene Understanding", "options": ["A. Person - Two-wheeler", "B. Car - Person", "C. Car - Car", "D. Car - Two-wheeler"], "answer_index": 1}
{"token": "09e4e8a16373f714185646c621eb552d", "waymo_split": "test", "type": "image", "frame_index": 110, "question": "What is a safety-critical object?", "category": "Safety-critical Perception", "options": ["A. A person getting out to the left from a vehicle parked on the right side.", "B. A person getting out to the right from a vehicle parked on the right side.", "C. A person preparing to get out to the left from a vehicle parked parallel on the right side.", "D. A person getting in to the left from a vehicle parked on the left side."], "answer_index": 0}
{"token": "09e4e8a16373f714185646c621eb552d", "waymo_split": "test", "type": "image", "frame_index": 110, "question": "How should I drive to resolve the first risk while also addressing the second risk?", "category": "Safety-critical Planning", "options": ["A. Slow down and stick to the right", "B. No second problem", "C. Avoid to the left lane", "D. Stop briefly and proceed"], "answer_index": 1}
{"token": "09e4e8a16373f714185646c621eb552d", "waymo_split": "test", "type": "image", "frame_index": 110, "question": "Is lane change possible? Which is safer between slowing down and changing lanes?", "category": "Safety-critical Planning", "options": ["A. Lane change not possible, slow down", "B. Left lane available, change lanes", "C. Lane change possible, change lanes", "D. Rear space available, change lanes"], "answer_index": 0}
{"token": "09e4e8a16373f714185646c621eb552d", "waymo_split": "test", "type": "image", "frame_index": 110, "question": "What is the safest choice when approaching a yellow signal: stop vs proceed?", "category": "Special Event", "options": ["A. No traffic light", "B. Slow down and proceed", "C. Unprotected left turn", "D. Stop immediately"], "answer_index": 0}
{"token": "09e4e8a16373f714185646c621eb552d", "waymo_split": "test", "type": "image", "frame_index": 110, "question": "Who is responsible in a safety-critical situation? What is the cause?", "category": "Safety-critical scene Understanding", "options": ["A. A person getting out of a vehicle on the right lane. The act of getting out on the roadway can pose a risk to vehicles approaching from behind.", "B. A driver stopped on the right shoulder. The lack of hazard lights makes it difficult for vehicles behind to perceive and judge the need to slow down.", "C. A driver approaching from behind. Due to a lack of attention to the front, they fail to properly assess the situation next to the stopped vehicle.", "D. A person trying to board from the left lane. They approach the roadway and encroach on the safe distance of moving vehicles."], "answer_index": 0}
{"token": "09e4e8a16373f714185646c621eb552d", "waymo_split": "test", "type": "image", "frame_index": 110, "question": "What is the method to avoid the blind spot next to a large vehicle?", "category": "Special Event", "options": ["A. Stay close to the large vehicle", "B. No large vehicle", "C. Stick to the right lane", "D. Maintain the blind spot"], "answer_index": 1}
{"token": "09e4e8a16373f714185646c621eb552d", "waymo_split": "test", "type": "image", "frame_index": 110, "question": "What situation might have occurred if the self-driving car acted this way?", "category": "Counterfactual", "options": ["A. The self-driving car proceeded slowly and yielded to pass safely.", "B. If the self-driving car ignored and increased speed, a collision could occur.", "C. The self-driving car changed lanes to detour, resolving the situation immediately.", "D. The oncoming car stopped to give way, eliminating the risk of contact."], "answer_index": 1}
{"token": "09e4e8a16373f714185646c621eb552d", "waymo_split": "test", "type": "image", "frame_index": 110, "question": "Where is the area that hides danger in the current frame?", "category": "Uncertainty", "options": ["A. The blind spot behind the parked vehicles on the left and right sides is a danger area", "B. The blind spot towards the outer corner of the left alley entrance is a danger area", "C. The blind spot behind the flower bed at the edge of the right sidewalk is a danger area", "D. The blind spot towards the center of the intersection in front is a danger area"], "answer_index": 0}
{"token": "09e4e8a16373f714185646c621eb552d", "waymo_split": "test", "type": "image", "frame_index": 129, "question": "Which of the following is correct as an Image Caption from a Safety-critical Frame perspective?", "category": "Safety-critical scene caption", "options": ["A. A person getting in from the right side of a parallel-parked vehicle on the right.", "B. A person getting out to the left from a vehicle parked on the right side.", "C. A person organizing the trunk of a vehicle parked on the right side.", "D. A person getting out to the right from a vehicle parked on the left side."], "answer_index": 1}
{"token": "09e4e8a16373f714185646c621eb552d", "waymo_split": "test", "type": "image", "frame_index": 129, "question": "Which of the following is correct as an Image Caption from the perspective of a Normal Frame?", "category": "Normal scene caption", "options": ["A. A car reversing on a narrow back road. A dead-end sign is visible at the end of the alley. Cars are parked closely on both sides. Pedestrian signal is active at the crosswalk ahead. A vehicle coming from the opposite direction is slowly passing by. The vehicle on the right is loading cargo.", "B. A car driving on a two-lane road. It is running in the center of the second lane. An intersection is visible ahead. There are parked vehicles on the side road. A vehicle moving in the same direction as the driving direction is stopped at the intersection (appears to be waiting for a signal). A person is getting out from the left side of a parked vehicle on the right.", "C. A car driving on a one-way, single-lane road. It is entering the lane at a left turn angle. A T-intersection is visible ahead. Motorcycles are parked at the edge of the road. A vehicle from the opposite direction is slowly approaching our lane. A person is getting in from the right side of a parked vehicle on the left.", "D. A car driving in the right lane of a three-lane road. An entrance ramp to an overpass is visible ahead. Taxis are waiting next to the guardrail. The cars in front are moving slowly without a signal. The back door of a parked vehicle on the left is closing. A few pedestrians are standing on the sidewalk."], "answer_index": 1}
{"token": "09e4e8a16373f714185646c621eb552d", "waymo_split": "test", "type": "image", "frame_index": 129, "question": "What is the plan for yielding when an ambulance/fire truck approaches?", "category": "Special Event", "options": ["A. Proceed at a steady speed while honking to yield", "B. Stay close to the center lane and slow down to yield", "C. Pull over to the right and stop to yield", "D. Pull over to the left and stop to yield"], "answer_index": 2}
{"token": "09e4e8a16373f714185646c621eb552d", "waymo_split": "test", "type": "image", "frame_index": 129, "question": "Based on the current appearance of the person/vehicle (two-wheeled), how do you intend to move?", "category": "Normal Perception & Prediction", "options": ["A. Change to a vehicle", "B. Proceed straight", "C. Plan to stop", "D. Turn left"], "answer_index": 1}
{"token": "09e4e8a16373f714185646c621eb552d", "waymo_split": "test", "type": "image", "frame_index": 129, "question": "What are the behavioral restrictions in school zones/congested areas?", "category": "Special Event", "options": ["A. Must drive slowly", "B. Must accelerate", "C. Must overtake", "D. Must use high beams"], "answer_index": 0}
{"token": "09e4e8a16373f714185646c621eb552d", "waymo_split": "test", "type": "image", "frame_index": 129, "question": "Which of the following is a correct description of traffic density?", "category": "Normal scene Understanding", "options": ["A. There are many parked vehicles on the side, and one vehicle is stopped in the oncoming lane.", "B. There are many vehicles driving on both sides, and the oncoming lane is empty.", "C. There are hardly any visible vehicles, and the oncoming lane has a fast flow.", "D. There are a few delivery vehicles in front of the store, and one bus is driving in the oncoming lane."], "answer_index": 0}
{"token": "09e4e8a16373f714185646c621eb552d", "waymo_split": "test", "type": "image", "frame_index": 129, "question": "Which of the following is a correct description of the environment?", "category": "Normal scene Understanding", "options": ["A. Clear day", "B. Foggy dawn", "C. Cloudy afternoon", "D. Rainy evening"], "answer_index": 0}
{"token": "09e4e8a16373f714185646c621eb552d", "waymo_split": "test", "type": "image", "frame_index": 129, "question": "What are the classifications of scenes?", "category": "Normal scene Understanding", "options": ["A. Highway", "B. Residential area", "C. City", "D. Unpaved road"], "answer_index": 1}
{"token": "09e4e8a16373f714185646c621eb552d", "waymo_split": "test", "type": "image", "frame_index": 129, "question": "What is the description of non-safety-critical objects?", "category": "Normal Perception & Prediction", "options": ["A. The house and sidewalk on the left. The sidewalk and bushes on the right. The vehicles parked on both sides. The clutter in the truck bed on the left.", "B. The commercial buildings and bike lane on the left. The flower bed and wooden fence on the right. The motorcycles parked in a row in the center. The toolbox tied to the roof rack of the van on the right.", "C. The brick wall and narrow alley on the left. The café terrace and umbrellas on the right. The electric scooters parked by the lane. The waterproof cover on top of the pickup's bed on the right.", "D. The construction site fence and temporary walkway on the left. The parking lot entrance and payment machine on the right. The separation posts and mirrors in the center of the road. The advertisement stickers on the rear window of the van in front."], "answer_index": 0}
{"token": "09e4e8a16373f714185646c621eb552d", "waymo_split": "test", "type": "image", "frame_index": 129, "question": "Which of the following is a correct description of traffic signals?", "category": "Traffic Signal", "options": ["A. Stop line marking", "B. None", "C. Stop sign", "D. Traffic light present"], "answer_index": 1}
{"token": "09e4e8a16373f714185646c621eb552d", "waymo_split": "test", "type": "image", "frame_index": 129, "question": "What is the answer regarding parked vehicles on the shoulder, the presence of a center line, and whether Ego is crossing the center line?", "category": "Normal Perception & Prediction", "options": ["A. No parked vehicles on the shoulder. There is a center line. The vehicle is driving within the lane while keeping the center line.", "B. Many parked vehicles on the side street. No center line. There is no center line, but the vehicle is crossing and driving towards the center.", "C. A few illegally parked vehicles. No center line. Even without a center line, the vehicle maintains its lane and goes straight without crossing.", "D. A few parked vehicles on the side street. There is a center line. The vehicle is maintaining its lane on the right side along the center line."], "answer_index": 1}
{"token": "09e4e8a16373f714185646c621eb552d", "waymo_split": "test", "type": "image", "frame_index": 129, "question": "How should I drive to solve the first risk while also addressing the second risk?", "category": "Safety-critical Planning", "options": ["A. Avoid the second risk", "B. No second problem", "C. Stop at the second intersection", "D. Change to the second lane"], "answer_index": 1}
{"token": "09e4e8a16373f714185646c621eb552d", "waymo_split": "test", "type": "image", "frame_index": 129, "question": "What is a safety-critical object?", "category": "Safety-critical Perception", "options": ["A. A person getting out to the left from a vehicle parked on the left side.", "B. A person getting out to the right from a vehicle parked on the left side.", "C. A person getting out to the right from a vehicle parked on the right side.", "D. A person getting out to the left from a vehicle parked on the right side."], "answer_index": 3}
{"token": "09e4e8a16373f714185646c621eb552d", "waymo_split": "test", "type": "image", "frame_index": 129, "question": "Are there any other safety-critical objects besides the first safety-critical object? If so, how will you move?", "category": "Safety-critical Prediction", "options": ["A. There is a person, bypass to the right", "B. There is a pet dog, stop briefly and evade backward", "C. There is a stroller, pass slowly to the left", "D. None"], "answer_index": 3}
{"token": "09e4e8a16373f714185646c621eb552d", "waymo_split": "test", "type": "image", "frame_index": 129, "question": "How do you think a safety-critical object will move?", "category": "Safety-critical Prediction", "options": ["A. I think it will get off and cross the crosswalk to the left.", "B. I think it will get off and move to the right sidewalk.", "C. I think it will drive to the right without getting off.", "D. I think it will get off and move to the left sidewalk."], "answer_index": 1}
{"token": "09e4e8a16373f714185646c621eb552d", "waymo_split": "test", "type": "image", "frame_index": 129, "question": "What is the correlation in safety-critical situations?", "category": "Safety-critical scene Understanding", "options": ["A. Car - Two-wheeler", "B. Car - Person", "C. Person - Two-wheeler", "D. Two-wheeler - Two-wheeler"], "answer_index": 1}
{"token": "09e4e8a16373f714185646c621eb552d", "waymo_split": "test", "type": "image", "frame_index": 129, "question": "Who is responsible in a safety-critical situation? What is the cause?", "category": "Safety-critical scene Understanding", "options": ["A. A person getting out of a vehicle on the right side of the road. The act of getting out on the road can pose a danger to vehicles approaching from behind.", "B. The driver of the vehicle approaching from behind. They failed to anticipate the stopped vehicle and attempted a close overtaking, increasing the risk.", "C. The taxi driver who is stopped. They are blocking the view and movement of passing vehicles by standing too long in front of the bus stop.", "D. The vehicle entering from the left lane. They abruptly cut in without signaling, making it difficult for the following vehicle to respond."], "answer_index": 0}
{"token": "09e4e8a16373f714185646c621eb552d", "waymo_split": "test", "type": "image", "frame_index": 129, "question": "Where is the area that hides danger in the current frame?", "category": "Uncertainty", "options": ["A. The collision risk area is at the junction of the right alley exit and the first lane.", "B. The area behind the guardrail at the end of the left crosswalk is a visibility obstruction risk area.", "C. The area behind the parked vehicles on both sides is a blind spot risk area.", "D. The area near the front of the bus that is stopped ahead is a blind spot risk area."], "answer_index": 2}
{"token": "09e4e8a16373f714185646c621eb552d", "waymo_split": "test", "type": "image", "frame_index": 129, "question": "What is the method to avoid blind spots when passing large vehicles?", "category": "Special Event", "options": ["A. Skip checking the side mirrors", "B. Stay close to the right side of the large vehicle", "C. Drive parallel at the same speed", "D. No large vehicle present"], "answer_index": 3}
{"token": "09e4e8a16373f714185646c621eb552d", "waymo_split": "test", "type": "image", "frame_index": 129, "question": "What are the newly exposed risk candidates in the following section?", "category": "Safety-critical Prediction", "options": ["A. An electric scooter may enter from the sidewalk to the road at the right alley corner.", "B. People or objects may appear in the blind spot behind parked cars on both sides.", "C. A vehicle from the opposite side may make a U-turn at the central median opening and enter our lane.", "D. Passengers getting off near the bus stop ahead may walk out towards the road."], "answer_index": 1}
{"token": "09e4e8a16373f714185646c621eb552d", "waymo_split": "test", "type": "image", "frame_index": 129, "question": "What situation might occur if the self-driving car behaved like this?", "category": "Counterfactual", "options": ["A. If the self-driving car moves to the right lane and detours, traffic congestion will ease.", "B. If the self-driving car slows down and yields, the risk of collision decreases.", "C. If the self-driving car ignores and increases speed, the possibility of collision rises.", "D. If the self-driving car stops briefly to let the other vehicle pass, it will pass smoothly."], "answer_index": 2}
{"token": "09e4e8a16373f714185646c621eb552d", "waymo_split": "test", "type": "image", "frame_index": 129, "question": "What is the safest choice when approaching a yellow signal: stop vs proceed?", "category": "Special Event", "options": ["A. No pedestrians", "B. Right turn signal", "C. Unprotected left turn", "D. No traffic light"], "answer_index": 3}
{"token": "09e4e8a16373f714185646c621eb552d", "waymo_split": "test", "type": "image", "frame_index": 129, "question": "What is the guideline for the vehicle's behavior based on the actions of the safety-critical object?", "category": "Safety-critical Planning", "options": ["A. If the safety-critical object retreats into the opposite lane, the vehicle continues without slowing down.", "B. If the safety-critical object moves parallel to the vehicle's direction, the vehicle passes close to the center of the lane.", "C. If the safety-critical object walks towards the vehicle or crosses the road, the vehicle must make an emergency stop.", "D. If the safety-critical object lingers at the edge of the road, the vehicle only honks the horn and maintains speed."], "answer_index": 2}
{"token": "09e4e8a16373f714185646c621eb552d", "waymo_split": "test", "type": "image", "frame_index": 149, "question": "Based on the current appearance of the person/vehicle (two-wheeled), how do you intend to move?", "category": "Normal Perception & Prediction", "options": ["A. Proceeding to turn right", "B. Preparing for a U-turn", "C. Driving straight", "D. Entering to turn left"], "answer_index": 2}
{"token": "09e4e8a16373f714185646c621eb552d", "waymo_split": "test", "type": "image", "frame_index": 149, "question": "What is the plan for yielding when an ambulance/fire truck approaches?", "category": "Special Event", "options": ["A. Accelerate to pass the intersection first and then yield", "B. Pull over to the right and stop to yield", "C. Move to the side of the center line and yield while proceeding slowly", "D. Stick to the left shoulder and continue driving while yielding"], "answer_index": 1}
{"token": "09e4e8a16373f714185646c621eb552d", "waymo_split": "test", "type": "image", "frame_index": 149, "question": "What are the behavior restrictions in school zones/congested areas?", "category": "Special Event", "options": ["A. Must drive slowly", "B. Should honk frequently", "C. Must speed up to pass quickly", "D. Should change lanes frequently"], "answer_index": 0}
{"token": "09e4e8a16373f714185646c621eb552d", "waymo_split": "test", "type": "image", "frame_index": 149, "question": "What are the classifications of scenes?", "category": "Normal scene Understanding", "options": ["A. Residential area", "B. Unpaved", "C. City center", "D. Highway"], "answer_index": 0}
{"token": "09e4e8a16373f714185646c621eb552d", "waymo_split": "test", "type": "image", "frame_index": 149, "question": "Which of the following is a correct description of the environment?", "category": "Normal scene Understanding", "options": ["A. Cloudy night", "B. Foggy dawn", "C. Clear day", "D. Showery afternoon"], "answer_index": 2}
{"token": "09e4e8a16373f714185646c621eb552d", "waymo_split": "test", "type": "image", "frame_index": 149, "question": "What is the description of a non-safety-critical object?", "category": "Normal Perception & Prediction", "options": ["A. On the left, there are commercial buildings and a bicycle lane. On the right, a small park and benches. The shoulder is empty with no parked cars. A narrow T-intersection is straight ahead. Traffic lights for vehicles are visible nearby. There is a left turn sign on the right.", "B. On the left, there is an open space and a metal fence. On the right, a cafe and street trees. A central divider extends long. A one-way entry sign is visible straight ahead. There are no pedestrian signals visible. There is a U-turn sign on the right.", "C. On the left, there are low-rise commercial buildings and a bus stop. On the right, there are bicycle racks and flower paths. Electric scooters are at the edge of the road. A large roundabout is formed straight ahead. A pedestrian signal is right in front. There is a dedicated left turn lane sign on the right.", "D. On the left, there are houses and a sidewalk. On the right, there are sidewalks and bushes. Vehicles parked on both sides. A wide intersection is straight ahead. A pedestrian signal is visible from a distance. There is a no left turn sign on the right."], "answer_index": 3}
{"token": "09e4e8a16373f714185646c621eb552d", "waymo_split": "test", "type": "image", "frame_index": 149, "question": "Which of the following is a correct description of traffic signals?", "category": "Traffic Signal", "options": ["A. The pedestrian signal is flashing right in front. The stop line has a left turn only arrow.", "B. The pedestrian signal is visible from a distance. There is a no left turn sign on the right.", "C. The vehicle left turn signal is visible nearby. There is a no U-turn sign on the left.", "D. The bicycle signal is on in front of the intersection. There is a no right turn sign straight ahead."], "answer_index": 1}
{"token": "09e4e8a16373f714185646c621eb552d", "waymo_split": "test", "type": "image", "frame_index": 149, "question": "What is the answer regarding parked vehicles on the shoulder, the presence of a central line, and whether Ego crosses the central line?", "category": "Normal Perception & Prediction", "options": ["A. No parked vehicles on the shoulder. There is a central line. My vehicle is driving across the central line into the opposite lane.", "B. Many parked vehicles on the shoulder. There is no central line. Although there is no central line, my vehicle is encroaching and driving down the center.", "C. Few parked vehicles on the shoulder. There is a central line. My vehicle is going straight while keeping to the central line.", "D. Few illegally parked vehicles. There is a central line. My vehicle is only maintaining the right lane of the central line."], "answer_index": 1}
{"token": "09e4e8a16373f714185646c621eb552d", "waymo_split": "test", "type": "image", "frame_index": 149, "question": "How do you think a safety-critical object will move?", "category": "Safety-critical Prediction", "options": ["A. It seems like it will roll forward a bit since the engine is off and the body is being pulled forward.", "B. It seems like it will stay in the same position since the body is leaning towards the driver's seat while getting out.", "C. It seems like it will slide slightly to the right since the upper body is leaning towards the passenger seat while getting out.", "D. It seems like it will be pushed back slightly due to the impact from closing the door hard."], "answer_index": 1}
{"token": "09e4e8a16373f714185646c621eb552d", "waymo_split": "test", "type": "image", "frame_index": 149, "question": "Are there any other safety-critical objects besides the first safety-critical object? If so, how will they be moved?", "category": "Safety-critical Prediction", "options": ["A. None", "B. Moved with an oxygen tank or cart", "C. Moved by hand with a fire extinguisher", "D. Moved by turning off the power and winding the high-pressure cable onto a reel"], "answer_index": 0}
{"token": "09e4e8a16373f714185646c621eb552d", "waymo_split": "test", "type": "image", "frame_index": 149, "question": "Are there any blind spots in your field of vision?", "category": "Uncertainty", "options": ["A. No blind spots in front and behind the right bus stop", "B. Blind spot between parked cars on the left side", "C. Blind spot between parked cars on the side street", "D. Blind spot in the lane next to the central divider"], "answer_index": 2}
{"token": "09e4e8a16373f714185646c621eb552d", "waymo_split": "test", "type": "image", "frame_index": 149, "question": "How should I drive to resolve the first risk while also addressing the second risk?", "category": "Safety-critical Planning", "options": ["A. Proceed after a pause", "B. Change to the left lane", "C. No second problem", "D. Enter the right lane"], "answer_index": 2}
{"token": "09e4e8a16373f714185646c621eb552d", "waymo_split": "test", "type": "image", "frame_index": 149, "question": "What is the correlation in safety-critical situations?", "category": "Safety-critical scene Understanding", "options": ["A. Car-Person", "B. Car-Two-wheeler", "C. Two-wheeler-Person", "D. Car-Car"], "answer_index": 0}
{"token": "09e4e8a16373f714185646c621eb552d", "waymo_split": "test", "type": "image", "frame_index": 149, "question": "What is a safety-critical object?", "category": "Safety-critical Perception", "options": ["A. A person getting out to the left from a vehicle parked on the right side.", "B. A person who has finished getting out to the right from a vehicle parked on the right side.", "C. A person standing at the edge of the left sidewalk facing the roadway.", "D. A person getting in to the right from a vehicle parked on the left side."], "answer_index": 0}
{"token": "09e4e8a16373f714185646c621eb552d", "waymo_split": "test", "type": "image", "frame_index": 149, "question": "Where is the area that hides danger in the current frame?", "category": "Uncertainty", "options": ["A. None", "B. Behind the right sidewalk flower bed", "C. Blind spot behind the truck in front", "D. Under the shadow in the lower left"], "answer_index": 0}
{"token": "09e4e8a16373f714185646c621eb552d", "waymo_split": "test", "type": "image", "frame_index": 149, "question": "What is the safest choice when approaching a yellow signal: stop vs. proceed?", "category": "Special Event", "options": ["A. Priority to turn right", "B. Accelerate to pass", "C. No traffic light", "D. Emergency stop required"], "answer_index": 2}
{"token": "09e4e8a16373f714185646c621eb552d", "waymo_split": "test", "type": "image", "frame_index": 149, "question": "Who is responsible in a safety-critical situation? What is the cause?", "category": "Safety-critical scene Understanding", "options": ["A. The driver traveling from behind. They should have anticipated the possibility of disembarking and reduced speed in advance. There was also enough distance, but defensive driving was lacking.", "B. The vehicle that suddenly entered from the left lane. The sudden lane change reduced the gap with the right edge. Additionally, the turn signal was delayed, making it difficult for surrounding vehicles to respond.", "C. The entity managing the road environment. The guidance for the shoulder and stopping areas was unclear, causing confusion for the driver. Furthermore, the low illumination at night made it difficult to secure visibility.", "D. The person disembarking from the right lane. The act of disembarking on the roadway can pose a danger to vehicles traveling from behind. Moreover, the distance was already close enough to increase the level of risk."], "answer_index": 3}
{"token": "09e4e8a16373f714185646c621eb552d", "waymo_split": "test", "type": "image", "frame_index": 149, "question": "What is the guideline for the vehicle's behavior based on the actions of a safety-critical object?", "category": "Safety-critical Planning", "options": ["A. If the safety-critical object hesitates briefly at the edge of the road, the vehicle can continue driving while honking the horn.", "B. If the safety-critical object moves along the edge of the sidewalk in the same direction as the vehicle, the vehicle can maintain its speed and pass by.", "C. If the safety-critical object retreats diagonally towards the opposite lane, the vehicle should accelerate and pass quickly while maintaining its lane.", "D. If the safety-critical object walks towards the vehicle or crosses the road, the vehicle must make an emergency stop."], "answer_index": 3}
{"token": "09e4e8a16373f714185646c621eb552d", "waymo_split": "test", "type": "image", "frame_index": 149, "question": "What are the new potential hazards that may be exposed in the following area?", "category": "Safety-critical Prediction", "options": ["A. A person or object may appear in the blind spot behind the parked vehicle on the right.", "B. A pedestrian may appear in front of the vehicle while crossing in front of the bus stop on the right.", "C. A bicycle may enter from the blind spot in front of the parallel-parked vehicle on the left.", "D. A pedestrian may walk out onto the road from the store entrance at the corner of the alley ahead."], "answer_index": 0}
{"token": "09e4e8a16373f714185646c621eb552d", "waymo_split": "test", "type": "image", "frame_index": 149, "question": "Is lane change possible? Which is safer between slowing down and changing lanes?", "category": "Safety-critical Planning", "options": ["A. Lane change possible, change lanes", "B. Lane change not possible, slow down", "C. Only right turn possible, change lanes", "D. Lane change possible, slow down"], "answer_index": 1}
{"token": "09e4e8a16373f714185646c621eb552d", "waymo_split": "test", "type": "image", "frame_index": 149, "question": "What is the method to avoid the blind spot next to a large vehicle?", "category": "Special Event", "options": ["A. No large vehicle", "B. Behind the large vehicle", "C. Right side of the large vehicle", "D. Left side of the large vehicle"], "answer_index": 0}
{"token": "09e4e8a16373f714185646c621eb552d", "waymo_split": "test", "type": "image", "frame_index": 149, "question": "What are the potential situations that could arise in the current circumstances?", "category": "Counterfactual", "options": ["A. None", "B. Delay", "C. Disruption", "D. Confusion"], "answer_index": 0}
{"token": "09e4e8a16373f714185646c621eb552d", "waymo_split": "test", "type": "image", "frame_index": 149, "question": "What situation might occur if the self-driving car behaved like this?", "category": "Counterfactual", "options": ["A. If the self-driving car yields and slows down, it passes safely.", "B. If the self-driving car ignores and speeds up, a collision is possible.", "C. If the self-driving car brakes in response to the warning, the risk of collision is low.", "D. If the self-driving car changes to the right lane to detour, there is almost no delay."], "answer_index": 1}
{"token": "0b5bcf86d2b678cbb2b0dfc747af7a6d", "waymo_split": "test", "type": "video", "frame_index": null, "question": "What are the classifications of scenes?", "category": "Normal scene Understanding", "options": ["A. City", "B. Residential area", "C. Unpaved", "D. Highway"], "answer_index": 0}
{"token": "0b5bcf86d2b678cbb2b0dfc747af7a6d", "waymo_split": "test", "type": "video", "frame_index": null, "question": "Where is the safety-critical situation in the video?", "category": "Temporal Grounding", "options": ["A. 1/4", "B. 3/4", "C. 4/4", "D. 2/4"], "answer_index": 2}
{"token": "0b5bcf86d2b678cbb2b0dfc747af7a6d", "waymo_split": "test", "type": "video", "frame_index": null, "question": "Which of the following is a correct description of traffic density?", "category": "Normal scene Understanding", "options": ["A. Normal surrounding vehicles, slight downhill, normal", "B. Almost no surrounding vehicles, gentle uphill, slow", "C. Very many surrounding vehicles, no slope, fast", "D. Moderately many surrounding vehicles, slightly sloped, slow"], "answer_index": 2}
{"token": "0b5bcf86d2b678cbb2b0dfc747af7a6d", "waymo_split": "test", "type": "video", "frame_index": null, "question": "Which of the following is a correct description of road alignment?", "category": "Normal Perception & Prediction", "options": ["A. Left turn", "B. Straight", "C. Right turn", "D. Unprotected left turn"], "answer_index": 1}
{"token": "0b5bcf86d2b678cbb2b0dfc747af7a6d", "waymo_split": "test", "type": "video", "frame_index": null, "question": "Is there a special situation?", "category": "Special Event", "options": ["A. A road dedicated to heavy bicycle traffic", "B. A crosswalk with heavy pedestrian traffic", "C. An intersection with heavy vehicle movement", "D. An alley with low vehicle traffic"], "answer_index": 2}
{"token": "0b5bcf86d2b678cbb2b0dfc747af7a6d", "waymo_split": "test", "type": "video", "frame_index": null, "question": "Which of the following is correct as a Video Summary from the perspective of a Normal Scene?", "category": "Normal scene caption", "options": ["A. A vehicle that slowed down and stopped at a red traffic light just before the intersection.", "B. A vehicle that started moving from a stop at a green traffic light just before the intersection, with many vehicles traveling on both sides of the main road. In the center, trees act as a median, and a large truck is also driving in front, while a motorcycle that was driving behind overtakes the vehicle.", "C. A vehicle that increased speed to enter the intersection in time for a yellow traffic light just before the intersection.", "D. A vehicle that temporarily stopped according to the pedestrian signal just before the intersection and is waiting."], "answer_index": 1}
{"token": "0b5bcf86d2b678cbb2b0dfc747af7a6d", "waymo_split": "test", "type": "video", "frame_index": null, "question": "Which of the following is a correct description of the environment?", "category": "Normal scene Understanding", "options": ["A. Day clear no lighting", "B. Night clear with lighting", "C. Evening rain weak lighting", "D. Morning cloudy natural light"], "answer_index": 0}
{"token": "0b5bcf86d2b678cbb2b0dfc747af7a6d", "waymo_split": "test", "type": "video", "frame_index": null, "question": "What is the description of a non-safety-critical object?", "category": "Normal Perception & Prediction", "options": ["A. A large bus stop across the intersection looks like a central island. A cargo truck is parked on the left shoulder. Only the blue left turn arrow light is on. A sign for entering the parking lot straight ahead and a speed limit sign of 30. On the right, there are cafes with terraces.", "B. A low flowerbed divider in the center of the intersection. Two bicycles moving slowly in the right lane. A flashing yellow signal light. A U-turn sign and a pedestrian crossing guide sign straight ahead. On the left, there are lined-up commercial buildings.", "C. Across the way, a riverside walking path and metal railing can be seen. A delivery motorcycle parked briefly in the front lane. A red traffic light and pedestrian signal are lit. A tollgate guide sign hanging from the overhead pedestrian bridge. On the right, there is a construction barrier and an excavator.", "D. The tree-lined street across the intersection serves as a central line. Numerous vehicles are driving in the opposite lane on the left. A green traffic light. A no U-turn sign and a lane description sign attached to the traffic light straight ahead. On the right, there are lined-up houses."], "answer_index": 3}
{"token": "0b5bcf86d2b678cbb2b0dfc747af7a6d", "waymo_split": "test", "type": "video", "frame_index": null, "question": "Which of the following is a correct description of Spatial Relationship?", "category": "Spatial Relationship", "options": ["A. As the traffic light turns green, all vehicles in the opposite lane on the left and the current lane begin to move.", "B. As the traffic light turns yellow, vehicles in the current lane slow down while those in the opposite lane on the left remain stopped.", "C. As the traffic light turns red, all vehicles in the opposite lane on the left and the current lane come to a stop.", "D. As the traffic light turns green, only some vehicles in the right lane and the left straight lane start moving."], "answer_index": 0}
{"token": "0b5bcf86d2b678cbb2b0dfc747af7a6d", "waymo_split": "test", "type": "video", "frame_index": null, "question": "Which of the following statements about traffic signals is correct?", "category": "Traffic Signal", "options": ["A. There is a traffic light with yellow flashing. The road sign indicates a speed limit with numbers. A U-turn allowed sign is present in front. Description of the area is Ravenna.", "B. There is a traffic light with a red light. The road sign has a center line. A U-turn allowed sign is present on the left. Description of the area is Ballard.", "C. There is a traffic light with a green light. There are no road signs. A U-turn prohibited sign is present in front. Description of the area is Bryant.", "D. There are no traffic lights, only caution signs. The road sign has guiding arrows. A U-turn prohibited sign is located behind. Description of the area is Fremont."], "answer_index": 2}
{"token": "0b5bcf86d2b678cbb2b0dfc747af7a6d", "waymo_split": "test", "type": "video", "frame_index": null, "question": "Is there a blind spot?", "category": "Uncertainty", "options": ["A. The front and side of the car on the right have good visibility", "B. There are no blind spots in front of and beside the large truck on the left", "C. There are no blind spots behind the bus on the right", "D. There is a blind spot in front of and beside the large truck on the right"], "answer_index": 3}
{"token": "0b5bcf86d2b678cbb2b0dfc747af7a6d", "waymo_split": "test", "type": "video", "frame_index": null, "question": "What is the answer regarding parked vehicles on the shoulder, the presence of a center line, and whether Ego has crossed the center line?", "category": "Normal Perception & Prediction", "options": ["A. Center line exists. No violation.", "B. No center line. Right side violation.", "C. Center line exists. Left side violation.", "D. No center line. No violation."], "answer_index": 0}
{"token": "0b5bcf86d2b678cbb2b0dfc747af7a6d", "waymo_split": "test", "type": "video", "frame_index": null, "question": "What is the correlation in safety-critical situations?", "category": "Safety-critical scene Understanding", "options": ["A. car-person", "B. bus-motorcycle", "C. car-bicycle", "D. car-motorcycle"], "answer_index": 3}
{"token": "0b5bcf86d2b678cbb2b0dfc747af7a6d", "waymo_split": "test", "type": "video", "frame_index": null, "question": "What is a safety-critical object?", "category": "Safety-critical Perception", "options": ["A. A motorcycle driving in the same lane from the front", "B. A motorcycle overtaking your vehicle from behind", "C. A motorcycle slowly driving behind your vehicle", "D. A motorcycle changing lanes from behind"], "answer_index": 1}
{"token": "0b5bcf86d2b678cbb2b0dfc747af7a6d", "waymo_split": "test", "type": "video", "frame_index": null, "question": "How did the safety-critical object move and how did the ego vehicle behave?", "category": "Safety-critical scene Understanding", "options": ["A. Changed lanes. The ego vehicle maintained speed and kept a distance.", "B. Merged from the right. The ego vehicle accelerated to secure space ahead.", "C. Overtook. While overtaking, the ego vehicle decelerated as if to stop suddenly.", "D. Decelerated and moved back. The ego vehicle continued driving without braking."], "answer_index": 2}
{"token": "0b5bcf86d2b678cbb2b0dfc747af7a6d", "waymo_split": "test", "type": "video", "frame_index": null, "question": "Who is responsible in a safety-critical situation? What is the cause?", "category": "Safety-critical scene Understanding", "options": ["A. The large truck driver, because they suddenly changed lanes from right to left without signaling, despite a motorcycle on the left.", "B. The motorcycle, because it suddenly overtook on a road with many vehicles, especially with a large truck on the right.", "C. The passenger car, because it suddenly braked right before the intersection without maintaining distance from the car in front, causing the following vehicles to swerve.", "D. The taxi, because it suddenly stopped to pick up a passenger at the right edge of a road with many vehicles and opened the door, disrupting the flow of traffic."], "answer_index": 1}
{"token": "0b5bcf86d2b678cbb2b0dfc747af7a6d", "waymo_split": "test", "type": "video", "frame_index": null, "question": "Summary of Ego (self-vehicle) behavior before a safety-critical situation", "category": "Normal scene Understanding", "options": ["A. Stop", "B. Go straight", "C. Make a U-turn", "D. Slow down"], "answer_index": 1}
{"token": "0b5bcf86d2b678cbb2b0dfc747af7a6d", "waymo_split": "test", "type": "video", "frame_index": null, "question": "What situations may potentially occur depending on the type/condition of the road?", "category": "Normal Perception & Prediction", "options": ["A. Increased vibration on unpaved roads", "B. None", "C. Ponding during rain", "D. Slipping on icy roads"], "answer_index": 1}
{"token": "0b5bcf86d2b678cbb2b0dfc747af7a6d", "waymo_split": "test", "type": "image", "frame_index": 9, "question": "Which of the following is correct as an Image Caption from the perspective of Normal Frame?", "category": "Normal scene caption", "options": ["A. A vehicle starting to drive in accordance with the green light signal, along with vehicles in the driving lane (3 lanes). There is a large truck on the right. There are vehicles in the same lane ahead. There is a pedestrian sign in the rear.", "B. Vehicles, including the one in question, moving slowly at a yellow light, along with vehicles in the merging lane (4 lanes). There is a taxi on the right. Only the waiting line for the signal is visible in the same lane ahead. There is a bicycle crossing sign in the rear.", "C. A vehicle moving in accordance with the left turn signal, along with vehicles waiting at the intersection (one-way, 2 lanes). A motorcycle is passing on the right. There is ample space in the same lane ahead. There is a children's protection area sign in the rear.", "D. A vehicle stopped at a red light, along with waiting vehicles (2 lanes). There is a city bus on the left. The same lane ahead is empty. There is a no right turn sign in the rear."], "answer_index": 0}
{"token": "0b5bcf86d2b678cbb2b0dfc747af7a6d", "waymo_split": "test", "type": "image", "frame_index": 9, "question": "Based on the current appearance of the person/vehicle (two-wheeled), how do you intend to move?", "category": "Normal Perception & Prediction", "options": ["A. Going straight", "B. Entering left turn", "C. Preparing for right turn", "D. Attempting a U-turn"], "answer_index": 0}
{"token": "0b5bcf86d2b678cbb2b0dfc747af7a6d", "waymo_split": "test", "type": "image", "frame_index": 9, "question": "What is correct from the perspective of Safety-critical Frame regarding Image Caption?", "category": "Safety-critical scene caption", "options": ["A. The bus on the right is far away, so it has little impact, and it's okay to slightly increase speed while maintaining the lane.", "B. There is a blind spot behind the large truck on the right, and since the large truck is right next to it, caution is required.", "C. Only vehicles are concentrated in the left lane, so visibility is clear, and it's safe to proceed on the right as it is empty.", "D. The vehicle in front is a small car, so there is almost no blind spot, and there is enough space on the right, making overtaking possible."], "answer_index": 1}
{"token": "0b5bcf86d2b678cbb2b0dfc747af7a6d", "waymo_split": "test", "type": "video", "frame_index": null, "question": "What situation would have occurred if the vehicle had acted this way?", "category": "Counterfactual", "options": ["A. If the vehicle had not braked suddenly, it would have collided with the median.", "B. If the vehicle had made a sharp turn, it would have passed by avoiding the motorcycle.", "C. If the vehicle had not braked suddenly, it would have made contact with the bus.", "D. If the vehicle had not braked suddenly, it would have collided with the motorcycle."], "answer_index": 3}
{"token": "0b5bcf86d2b678cbb2b0dfc747af7a6d", "waymo_split": "test", "type": "image", "frame_index": 9, "question": "What are the restrictions on behavior in school zones/congested areas?", "category": "Special Event", "options": ["A. You must honk your horn first in school zones.", "B. You must keep changing lanes in congested areas.", "C. You should drive slowly when it's congested.", "D. You should overtake to get out quickly when it's congested."], "answer_index": 2}
{"token": "0b5bcf86d2b678cbb2b0dfc747af7a6d", "waymo_split": "test", "type": "image", "frame_index": 9, "question": "What is the plan for yielding when an ambulance/fire truck approaches?", "category": "Special Event", "options": ["A. Slow down and yield", "B. Stop to the left", "C. Accelerate and pass", "D. Honk and pass"], "answer_index": 0}
{"token": "0b5bcf86d2b678cbb2b0dfc747af7a6d", "waymo_split": "test", "type": "image", "frame_index": 9, "question": "What are the classifications of scenes?", "category": "Normal scene Understanding", "options": ["A. Residential area", "B. Unpaved", "C. Highway", "D. City"], "answer_index": 3}
{"token": "0b5bcf86d2b678cbb2b0dfc747af7a6d", "waymo_split": "test", "type": "image", "frame_index": 9, "question": "Which of the following is a correct description of traffic density?", "category": "Normal scene Understanding", "options": ["A. Fast, few surrounding vehicles", "B. Slow, many surrounding vehicles", "C. Fast, many surrounding vehicles", "D. Slow, few surrounding vehicles"], "answer_index": 2}
{"token": "0b5bcf86d2b678cbb2b0dfc747af7a6d", "waymo_split": "test", "type": "image", "frame_index": 9, "question": "Which of the following is a correct description of the environment?", "category": "Normal scene Understanding", "options": ["A. Clear at night", "B. Evening rain", "C. Clear during the day", "D. Cloudy during the day"], "answer_index": 2}
{"token": "0b5bcf86d2b678cbb2b0dfc747af7a6d", "waymo_split": "test", "type": "image", "frame_index": 9, "question": "Is there a blind spot in your field of vision?", "category": "Uncertainty", "options": ["A. No blind spot in front of the right truck", "B. There is a blind spot behind the right truck", "C. There is a blind spot in front of the left bus", "D. There is a blind spot in front of the right truck"], "answer_index": 3}
{"token": "0b5bcf86d2b678cbb2b0dfc747af7a6d", "waymo_split": "test", "type": "image", "frame_index": 9, "question": "What is a safety-critical object?", "category": "Safety-critical Perception", "options": ["A. No safety-critical object", "B. Gas leak sensor", "C. Emergency stop button", "D. Brake control module"], "answer_index": 0}
{"token": "0b5bcf86d2b678cbb2b0dfc747af7a6d", "waymo_split": "test", "type": "image", "frame_index": 9, "question": "How do you think a safety-critical object will move?", "category": "Safety-critical Prediction", "options": ["A. Accelerate forward", "B. Merge into the right lane", "C. Gradually move to the left", "D. No safety-critical object"], "answer_index": 3}
{"token": "0b5bcf86d2b678cbb2b0dfc747af7a6d", "waymo_split": "test", "type": "image", "frame_index": 9, "question": "What is the answer regarding the presence of a central line, the presence of parked vehicles on the shoulder, and whether Ego has crossed the central line?", "category": "Normal Perception & Prediction", "options": ["A. There is a central line and no parked vehicles on the shoulder.", "B. There is no central line and there are parked vehicles on the shoulder.", "C. There is no central line and no parked vehicles on the shoulder.", "D. There is a central line and there are parked vehicles on the shoulder."], "answer_index": 0}
{"token": "0b5bcf86d2b678cbb2b0dfc747af7a6d", "waymo_split": "test", "type": "image", "frame_index": 72, "question": "Which of the following is correct from the perspective of a Normal Frame Image Caption?", "category": "Normal scene caption", "options": ["A. A car and other vehicles are stopped at a red light, waiting in front of the stop line. There is a large truck on the right, but the right turn lane is empty. The lane directly ahead is clear with no vehicles. A pedestrian sign is visible in front. There is no motorcycle behind, and a bicycle passes by in the distance.", "B. Cars are entering the intersection in time with the green light. A large truck is driving on the right. There are vehicles in the same lane ahead. A pedestrian sign is present behind. A motorcycle is also following the car from behind.", "C. The left turn signal is on, and the car is waiting to turn left. A bus is slowly approaching on the right. Vehicles in the same lane ahead are stopped due to the signal. Pedestrians are crossing at the crosswalk in front of the intersection. The area behind is clear, with no two-wheeled vehicles following.", "D. The car is going straight through a narrow T-intersection under a flashing yellow signal. There are parked vans lined up on the right. The lane ahead is clear with no vehicles obstructing the view. There are no notable signs behind. An ambulance is approaching slowly with its siren on from behind."], "answer_index": 1}
{"token": "0b5bcf86d2b678cbb2b0dfc747af7a6d", "waymo_split": "test", "type": "image", "frame_index": 72, "question": "Which is correct as an Image Caption from a Safety-critical Frame perspective?", "category": "Safety-critical scene caption", "options": ["A. There is a sufficient gap with the car in front, and the right side is clear, making it a good time to change lanes.", "B. Only a small passenger car is visible on the left, with almost no blind spots, so it is safe to proceed.", "C. There is a blind spot behind the large truck on the right, and since the large truck is right next to it, caution is needed.", "D. Only a bus is visible far ahead, and as long as speed is maintained, there are no large vehicles around."], "answer_index": 2}
{"token": "0b5bcf86d2b678cbb2b0dfc747af7a6d", "waymo_split": "test", "type": "image", "frame_index": 72, "question": "What are the classifications of scenes?", "category": "Normal scene Understanding", "options": ["A. Residential area", "B. City", "C. Unpaved", "D. Highway"], "answer_index": 1}
{"token": "0b5bcf86d2b678cbb2b0dfc747af7a6d", "waymo_split": "test", "type": "image", "frame_index": 72, "question": "Based on the current appearance of the person/vehicle (two-wheeled), how do you intend to move?", "category": "Normal Perception & Prediction", "options": ["A. Entering a right turn", "B. Going straight", "C. Attempting a U-turn", "D. Entering a left turn"], "answer_index": 1}
{"token": "0b5bcf86d2b678cbb2b0dfc747af7a6d", "waymo_split": "test", "type": "image", "frame_index": 72, "question": "Which of the following is a correct description of traffic density?", "category": "Normal scene Understanding", "options": ["A. Fast with few surrounding vehicles", "B. Fast with many surrounding vehicles", "C. Slow with many surrounding vehicles", "D. Slow with few surrounding vehicles"], "answer_index": 1}
{"token": "0b5bcf86d2b678cbb2b0dfc747af7a6d", "waymo_split": "test", "type": "image", "frame_index": 72, "question": "What is the plan for yielding when an ambulance/fire truck approaches?", "category": "Special Event", "options": ["A. Stop after the intersection, slow down, and yield", "B. Stop before entering the intersection, wait in the center of the lane", "C. Stop in the middle of the intersection, turn on the hazard lights, and wait", "D. Pull over to the left edge, slow down, and yield"], "answer_index": 0}
{"token": "0b5bcf86d2b678cbb2b0dfc747af7a6d", "waymo_split": "test", "type": "image", "frame_index": 72, "question": "What are the behavioral restrictions in school zones/congested areas?", "category": "Special Event", "options": ["A. Must accelerate", "B. Can overtake", "C. Must honk frequently", "D. Must drive slowly"], "answer_index": 3}
{"token": "0b5bcf86d2b678cbb2b0dfc747af7a6d", "waymo_split": "test", "type": "image", "frame_index": 72, "question": "Which of the following is a correct description of the environment?", "category": "Normal scene Understanding", "options": ["A. Clear night", "B. Dawn fog", "C. Clear day", "D. Cloudy day"], "answer_index": 2}
{"token": "0b5bcf86d2b678cbb2b0dfc747af7a6d", "waymo_split": "test", "type": "image", "frame_index": 72, "question": "Which of the following is a correct description of traffic signals?", "category": "Traffic Signal", "options": ["A. No U-turn sign", "B. Red traffic light", "C. Crosswalk exists in an alley", "D. Green traffic light. Lane guidance sign. Crosswalk exists at an intersection"], "answer_index": 3}
{"token": "0b5bcf86d2b678cbb2b0dfc747af7a6d", "waymo_split": "test", "type": "image", "frame_index": 72, "question": "Is lane changing possible? Which is safer between slowing down and changing lanes?", "category": "Safety-critical Planning", "options": ["A. Lane changing not possible", "B. Lane changing possible", "C. Slowing down is safer", "D. Lane keeping recommended"], "answer_index": 1}
{"token": "0b5bcf86d2b678cbb2b0dfc747af7a6d", "waymo_split": "test", "type": "image", "frame_index": 72, "question": "Is there a blind spot in your field of vision?", "category": "Uncertainty", "options": ["A. No blind spot in front of the right bus", "B. Blind spot in front of the left truck", "C. Blind spot behind the right truck", "D. Blind spot in front of the right truck"], "answer_index": 3}
{"token": "0b5bcf86d2b678cbb2b0dfc747af7a6d", "waymo_split": "test", "type": "image", "frame_index": 72, "question": "What is a safety-critical object?", "category": "Safety-critical Perception", "options": ["A. A safety-critical object is an emergency stop button", "B. A safety-critical object is a power cut-off switch", "C. There is no safety-critical object", "D. A safety-critical object is a high-pressure gas valve"], "answer_index": 2}
{"token": "0b5bcf86d2b678cbb2b0dfc747af7a6d", "waymo_split": "test", "type": "image", "frame_index": 72, "question": "Which of the following describes a non-safety-critical object?", "category": "Normal Perception & Prediction", "options": ["A. Vehicles traveling on a six-lane road in both directions. A green traffic light ahead. Vehicles traveling on the left and right sides of the intersection. A house on the left corner. A lane guidance sign attached to the traffic light.", "B. A gas station on the right corner.", "C. Vehicles traveling on a two-lane road in both directions.", "D. A red traffic light ahead."], "answer_index": 0}
{"token": "0b5bcf86d2b678cbb2b0dfc747af7a6d", "waymo_split": "test", "type": "image", "frame_index": 72, "question": "How do you think safety-critical objects will be moved?", "category": "Safety-critical Prediction", "options": ["A. Left turn at the intersection", "B. No safety-critical objects", "C. There are safety-critical objects", "D. Slowly move to the left"], "answer_index": 1}
{"token": "0b5bcf86d2b678cbb2b0dfc747af7a6d", "waymo_split": "test", "type": "image", "frame_index": 72, "question": "What is the answer regarding the presence of parked vehicles on the shoulder, the presence of a central line, and whether Ego has crossed the central line?", "category": "Normal Perception & Prediction", "options": ["A. There is no central line, and one vehicle is parked on the shoulder.", "B. There is no central line, and there are no parked vehicles on the shoulder.", "C. There is a central line, and there are two vehicles parked on the shoulder.", "D. There is a central line, and there are no parked vehicles on the shoulder."], "answer_index": 3}
{"token": "0b5bcf86d2b678cbb2b0dfc747af7a6d", "waymo_split": "test", "type": "image", "frame_index": 112, "question": "What is the plan for yielding when an ambulance/fire truck approaches?", "category": "Special Event", "options": ["A. Proceed while honking the horn", "B. Align to the left", "C. Slow down and yield", "D. Accelerate and pass"], "answer_index": 2}
{"token": "0b5bcf86d2b678cbb2b0dfc747af7a6d", "waymo_split": "test", "type": "image", "frame_index": 112, "question": "Which is correct as an Image Caption from a Safety-critical Frame perspective?", "category": "Safety-critical scene caption", "options": ["A. It seems like it will overtake right behind a motorcycle driving along the lane in the rear. There is a blind spot in front of a large truck on the right.", "B. It is about to stop soon behind a bus waiting at a red light. The view in front of the car on the left side is clear and safe.", "C. Moving behind a slow bicycle in the left lane. There is almost no blind spot in front of a large truck on the right.", "D. A sedan in the right lane is ahead and is about to complete a lane change. The motorcycle behind is far away, making overtaking difficult at the moment."], "answer_index": 0}
{"token": "0b5bcf86d2b678cbb2b0dfc747af7a6d", "waymo_split": "test", "type": "image", "frame_index": 112, "question": "Which of the following is a correct description of traffic density?", "category": "Normal scene Understanding", "options": ["A. Fast with many surrounding vehicles", "B. Slow with few surrounding vehicles", "C. Fast with few surrounding vehicles", "D. Slow with many surrounding vehicles"], "answer_index": 0}
{"token": "0b5bcf86d2b678cbb2b0dfc747af7a6d", "waymo_split": "test", "type": "image", "frame_index": 112, "question": "Based on the current appearance of the person/vehicle (two-wheeled), how do you intend to move?", "category": "Normal Perception & Prediction", "options": ["A. Going straight", "B. Turning left", "C. Changing lanes", "D. Turning right"], "answer_index": 0}
{"token": "0b5bcf86d2b678cbb2b0dfc747af7a6d", "waymo_split": "test", "type": "image", "frame_index": 112, "question": "Which of the following is correct from the perspective of Normal Frame Image Captioning?", "category": "Normal scene caption", "options": ["A. While driving in a straight lane, the vehicle attempts to change to the right turn lane. The same lane in front is clear, and there is a cargo truck on the right that is driving ahead, with a passenger car following closely behind.", "B. After passing the intersection, the vehicle enters the adjacent lane next to the bus-only lane. There are few vehicles in the same lane in front, allowing for visibility. A large truck is moving slowly ahead on the left, and a bicycle is moving along the edge of the road behind.", "C. The vehicle and another vehicle are in the same lane while entering the straight lane after passing the intersection. There are vehicles in the same lane in front, but a safe distance is maintained. A large truck is driving right next to it, and a motorcycle is following closely behind along the lane.", "D. Approaching the intersection, the vehicle enters the left turn lane, and the distance to the vehicle in front is narrow, requiring a slowdown. A large bus is driving right next to it on the left, and a motorcycle is positioned ahead, moving along the lane."], "answer_index": 2}
{"token": "0b5bcf86d2b678cbb2b0dfc747af7a6d", "waymo_split": "test", "type": "image", "frame_index": 112, "question": "Which of the following is a correct description of the environment?", "category": "Normal scene Understanding", "options": ["A. Dawn, fog", "B. Night, rain", "C. Evening, cloudy", "D. Day, clear"], "answer_index": 3}
{"token": "0b5bcf86d2b678cbb2b0dfc747af7a6d", "waymo_split": "test", "type": "image", "frame_index": 112, "question": "What are the classifications of scenes?", "category": "Normal scene Understanding", "options": ["A. Residential area", "B. City", "C. Highway", "D. Unpaved"], "answer_index": 1}
{"token": "0b5bcf86d2b678cbb2b0dfc747af7a6d", "waymo_split": "test", "type": "image", "frame_index": 112, "question": "What are the restrictions on behavior in school zones/congested areas?", "category": "Special Event", "options": ["A. Must overtake when congested", "B. Must yield in child protection zones", "C. Must drive slowly when congested", "D. Must honk in school zones"], "answer_index": 2}
{"token": "0b5bcf86d2b678cbb2b0dfc747af7a6d", "waymo_split": "test", "type": "image", "frame_index": 112, "question": "Is there a blind spot in your field of vision?", "category": "Uncertainty", "options": ["A. Blind spot in front of the left truck.", "B. Blind spot behind the right bus.", "C. Blind spot in front of the right truck.", "D. No blind spot in front of the right truck."], "answer_index": 2}
{"token": "0b5bcf86d2b678cbb2b0dfc747af7a6d", "waymo_split": "test", "type": "image", "frame_index": 112, "question": "Which of the following is a correct description of traffic signals?", "category": "Traffic Signal", "options": ["A. There is a crosswalk and road markings on the left.", "B. There is only a traffic light at the T-intersection ahead.", "C. There is only a roundabout sign on the right front.", "D. There are traffic lights and signs at the intersection behind."], "answer_index": 3}
{"token": "0b5bcf86d2b678cbb2b0dfc747af7a6d", "waymo_split": "test", "type": "image", "frame_index": 112, "question": "What is the description of non-safety-critical objects?", "category": "Normal Perception & Prediction", "options": ["A. Median strips that serve as central lines", "B. Scooters traveling on a 4-lane road", "C. Vehicles traveling on a 6-lane road. Palm trees serving as central lines. Buildings on the left", "D. Shops on the right"], "answer_index": 2}
{"token": "0b5bcf86d2b678cbb2b0dfc747af7a6d", "waymo_split": "test", "type": "image", "frame_index": 112, "question": "What is the answer regarding the presence of parked vehicles on the shoulder, the presence of a center line, and whether Ego has crossed the center line?", "category": "Normal Perception & Prediction", "options": ["A. There is a center line and there are parked vehicles on the shoulder.", "B. There is no center line and there are no parked vehicles on the shoulder.", "C. There is no center line and one vehicle is parked on the shoulder.", "D. There is a center line and there are no parked vehicles on the shoulder."], "answer_index": 3}
{"token": "0b5bcf86d2b678cbb2b0dfc747af7a6d", "waymo_split": "test", "type": "image", "frame_index": 112, "question": "What should I do to drive safely?", "category": "Safety-critical Planning", "options": ["A. I should stay close to the center of the lane to prevent overtaking.", "B. I should honk to go faster.", "C. I should slow down to allow the motorcycle to overtake.", "D. I should accelerate to get ahead of the motorcycle."], "answer_index": 2}
{"token": "0b5bcf86d2b678cbb2b0dfc747af7a6d", "waymo_split": "test", "type": "image", "frame_index": 112, "question": "What is a safety-critical object?", "category": "Safety-critical Perception", "options": ["A. A motorcycle approaching from behind your vehicle.", "B. A motorcycle driving away from your vehicle in the opposite lane.", "C. A truck parked next to your vehicle on the right shoulder.", "D. A passenger car driving at the same speed as your vehicle from behind."], "answer_index": 0}
{"token": "0b5bcf86d2b678cbb2b0dfc747af7a6d", "waymo_split": "test", "type": "image", "frame_index": 112, "question": "Is lane changing possible? Which is safer, deceleration or lane changing?", "category": "Safety-critical Planning", "options": ["A. Acceleration is safe", "B. Deceleration is safe", "C. Lane changing is safe", "D. Moving to the right is safe"], "answer_index": 1}
{"token": "0b5bcf86d2b678cbb2b0dfc747af7a6d", "waymo_split": "test", "type": "image", "frame_index": 112, "question": "How do you think a safety-critical object will move?", "category": "Safety-critical Prediction", "options": ["A. Driving while straddling the lane as if to overtake", "B. Moving closer with the right turn signal on as if to turn right", "C. Slowing down and moving onto the shoulder as if to stop", "D. Slowly advancing while straddling the center line as if to make a U-turn"], "answer_index": 0}
{"token": "0b5bcf86d2b678cbb2b0dfc747af7a6d", "waymo_split": "test", "type": "image", "frame_index": 112, "question": "Are there any other safety-critical objects besides the first safety-critical object? If so, how would you move?", "category": "Safety-critical Prediction", "options": ["A. There are pedestrians, avoid to the right", "B. None", "C. There is a construction sign, slow down and detour", "D. There is a bicycle, change to the left lane"], "answer_index": 1}
{"token": "0b5bcf86d2b678cbb2b0dfc747af7a6d", "waymo_split": "test", "type": "image", "frame_index": 112, "question": "What are the correlations in safety-critical situations?", "category": "Safety-critical scene Understanding", "options": ["A. Bus - Bicycle", "B. Truck - Electric Scooter", "C. Car - Pedestrian", "D. Car - Motorcycle"], "answer_index": 3}
{"token": "0b5bcf86d2b678cbb2b0dfc747af7a6d", "waymo_split": "test", "type": "image", "frame_index": 112, "question": "What is the method to avoid the blind spot next to a large vehicle?", "category": "Special Event", "options": ["A. You should narrow your lane to be clearly visible to the driver and pass closely by the large vehicle.", "B. You should accelerate and pass through the blind spot next to the large vehicle quickly; staying there too long is more dangerous.", "C. You should signal with your horn and high beams to alert and receive a yield, then quickly overtake closely next to the large vehicle.", "D. You should increase the distance to ensure a safe distance from the large vehicle; to do this, you should drive slowly."], "answer_index": 3}
{"token": "0b5bcf86d2b678cbb2b0dfc747af7a6d", "waymo_split": "test", "type": "image", "frame_index": 112, "question": "Who is responsible in a safety-critical situation? What is the cause?", "category": "Safety-critical scene Understanding", "options": ["A. It is the large truck on the right. It encroached significantly into the lane, pressuring the motorcycle's space. It came close without signaling a lane change.", "B. It is the car in front. It suddenly decelerated without using turn signals and blocked the road to the right. The following motorcycle had no time to evade.", "C. It is the motorcycle. Attempting to overtake in the middle of a fast-moving lane is dangerous, especially with a large truck driving on the right front.", "D. It is the road management authority. The lane markings have worn out, making the boundaries unclear. There was also a lack of warning for hazardous areas."], "answer_index": 2}
{"token": "0b5bcf86d2b678cbb2b0dfc747af7a6d", "waymo_split": "test", "type": "image", "frame_index": 112, "question": "What are the new exposure risk candidates in the following section?", "category": "Safety-critical Prediction", "options": ["A. A vehicle may appear in front of the large truck on the right.", "B. A pedestrian may enter near the crosswalk ahead.", "C. A motorcycle may emerge from behind the bus on the left.", "D. A passenger car may cut in from the rear lane."], "answer_index": 0}
{"token": "0b5bcf86d2b678cbb2b0dfc747af7a6d", "waymo_split": "test", "type": "image", "frame_index": 112, "question": "What situation might occur if the vehicle acted this way?", "category": "Counterfactual", "options": ["A. If the vehicle brakes late, it could collide with pedestrians at the crosswalk.", "B. If the vehicle suddenly decelerates, it could collide with a motorcycle behind.", "C. If the vehicle suddenly accelerates, it could collide with a car in front.", "D. If the vehicle changes lanes abruptly instead of decelerating, it could make contact with a vehicle in the adjacent lane."], "answer_index": 1}
{"token": "0b5bcf86d2b678cbb2b0dfc747af7a6d", "waymo_split": "test", "type": "image", "frame_index": 112, "question": "Where is the area that is hidden and conceals danger in the current frame?", "category": "Uncertainty", "options": ["A. Next to the right delivery truck", "B. In front of the right large truck", "C. Behind the left bus", "D. In front of the car ahead"], "answer_index": 1}
{"token": "0b5bcf86d2b678cbb2b0dfc747af7a6d", "waymo_split": "test", "type": "image", "frame_index": 112, "question": "What are the driving guidelines for my vehicle based on the behavior of a safety-critical object?", "category": "Safety-critical Planning", "options": ["A. When a safety-critical object merges from the side, a gap is created, so I should maintain my lane and increase my speed.", "B. If a safety-critical object accelerates suddenly, it could collide with me, so I should accelerate suddenly.", "C. If a safety-critical object invades my lane, I have priority, so I should just honk and continue moving.", "D. If a safety-critical object decelerates suddenly, the gap with the vehicle behind me narrows, so I should accelerate to get away."], "answer_index": 1}
{"token": "0b5bcf86d2b678cbb2b0dfc747af7a6d", "waymo_split": "test", "type": "image", "frame_index": 133, "question": "What are the behavior restrictions in school zones/congested areas?", "category": "Special Event", "options": ["A. Must honk", "B. Must overtake", "C. Must drive slowly", "D. Must accelerate"], "answer_index": 2}
{"token": "0b5bcf86d2b678cbb2b0dfc747af7a6d", "waymo_split": "test", "type": "image", "frame_index": 133, "question": "What is the plan for yielding when an ambulance/fire truck approaches?", "category": "Special Event", "options": ["A. Immediately move to the right shoulder", "B. Yield is not possible in the current situation", "C. Avoid to the left after passing the next intersection", "D. Stop immediately if you hear a fire truck behind"], "answer_index": 1}
{"token": "0b5bcf86d2b678cbb2b0dfc747af7a6d", "waymo_split": "test", "type": "image", "frame_index": 133, "question": "Which of the following is correct as an Image Caption from the perspective of a Normal Frame?", "category": "Normal scene caption", "options": ["A. A vehicle in the third lane making a gentle right turn. The same lane ahead is empty for a while. A city bus is approaching from the right lane in the distance. A motorcycle behind is moving towards the center line and entering the left blind spot.", "B. A vehicle in the first lane driving straight. There is a vehicle in the same lane ahead, but a safe distance is maintained. A large truck is driving right next to it. A motorcycle behind is attempting to overtake and is moving into the right blind spot just behind the vehicle.", "C. A vehicle in the second lane waiting to turn left. A vehicle in the same lane ahead suddenly brakes, reducing the gap. A medium SUV is moving slowly right next to it. A scooter behind has already overtaken on the left and is moving ahead.", "D. A vehicle in the second lane driving straight. The gap with the vehicle ahead in the same lane is very narrow. A small passenger car is lightly accelerating right next to it. A motorcycle behind is maintaining distance while following in the center of the lane."], "answer_index": 1}
{"token": "0b5bcf86d2b678cbb2b0dfc747af7a6d", "waymo_split": "test", "type": "image", "frame_index": 133, "question": "Which of the following is a correct description of traffic density?", "category": "Normal scene Understanding", "options": ["A. Slow with few surrounding vehicles", "B. Slow with many surrounding vehicles", "C. Fast with few surrounding vehicles", "D. Fast with many surrounding vehicles"], "answer_index": 3}
{"token": "0b5bcf86d2b678cbb2b0dfc747af7a6d", "waymo_split": "test", "type": "image", "frame_index": 133, "question": "Based on the current appearance of the person/vehicle (two-wheeled), how do you intend to move?", "category": "Normal Perception & Prediction", "options": ["A. Going straight", "B. Turning right", "C. Turning left", "D. Changing lanes"], "answer_index": 0}
{"token": "0b5bcf86d2b678cbb2b0dfc747af7a6d", "waymo_split": "test", "type": "image", "frame_index": 133, "question": "What is correct from the perspective of Safety-critical Frame regarding Image Caption?", "category": "Safety-critical scene caption", "options": ["A. The motorcycle following behind is reducing speed and aligning behind my vehicle, appearing to have a safe distance from the large truck in the right front.", "B. The motorcycle driving along the lane behind is attempting to overtake and is moving into the blind spot directly to the right rear of my vehicle. It seems to be trying to overtake between my vehicle and the large truck in the right front.", "C. The small passenger car behind is changing lanes and approaching the right rear of my vehicle, appearing to be trying to merge behind the large truck in the right front.", "D. The motorcycle driving along the lane behind is attempting to overtake and is moving into the blind spot directly to the left rear of my vehicle, seemingly trying to squeeze between my vehicle and the large bus in the left front."], "answer_index": 1}
{"token": "0b5bcf86d2b678cbb2b0dfc747af7a6d", "waymo_split": "test", "type": "image", "frame_index": 133, "question": "What are the classifications of scenes?", "category": "Normal scene Understanding", "options": ["A. Residential area", "B. Unpaved", "C. Highway", "D. City"], "answer_index": 3}
{"token": "0b5bcf86d2b678cbb2b0dfc747af7a6d", "waymo_split": "test", "type": "image", "frame_index": 133, "question": "Which of the following is a correct description of the environment?", "category": "Normal scene Understanding", "options": ["A. Evening, rain", "B. Dusk, fog", "C. Daytime, clear", "D. Night, cloudy"], "answer_index": 2}
{"token": "0b5bcf86d2b678cbb2b0dfc747af7a6d", "waymo_split": "test", "type": "image", "frame_index": 133, "question": "Are there any blind spots in your field of vision?", "category": "Uncertainty", "options": ["A. Blind spot behind the right truck.", "B. Blind spot in front of the right bus.", "C. Blind spot in front of the left truck.", "D. Blind spot in front of the right truck."], "answer_index": 3}
{"token": "0b5bcf86d2b678cbb2b0dfc747af7a6d", "waymo_split": "test", "type": "image", "frame_index": 133, "question": "Which of the following statements about traffic signals is correct?", "category": "Traffic Signal", "options": ["A. Only a sign is visible at the T-intersection ahead", "B. There are traffic lights and signs at the intersection behind", "C. There is a left-turn only road marking in the left lane", "D. There is a no parking sign at the entrance of the right alley"], "answer_index": 1}
{"token": "0b5bcf86d2b678cbb2b0dfc747af7a6d", "waymo_split": "test", "type": "image", "frame_index": 133, "question": "How do you think a safety-critical object will move?", "category": "Safety-critical Prediction", "options": ["A. It is running alongside my vehicle.", "B. It is falling behind my vehicle.", "C. It is overtaking my vehicle.", "D. It is stopped in front of my vehicle."], "answer_index": 2}
{"token": "0b5bcf86d2b678cbb2b0dfc747af7a6d", "waymo_split": "test", "type": "image", "frame_index": 133, "question": "What is the answer regarding the presence of a central line, the presence of parked vehicles on the shoulder, and whether Ego has crossed the central line?", "category": "Normal Perception & Prediction", "options": ["A. There is a central line and no parked vehicles on the shoulder.", "B. There is a central line and there are parked vehicles on the shoulder.", "C. There is no central line and no parked vehicles on the shoulder.", "D. There is no central line and there are parked vehicles on the shoulder."], "answer_index": 0}
{"token": "0b5bcf86d2b678cbb2b0dfc747af7a6d", "waymo_split": "test", "type": "image", "frame_index": 133, "question": "What is a safety-critical object?", "category": "Safety-critical Perception", "options": ["A. A bicycle crossing diagonally from the left rear to the left front of your vehicle.", "B. A van slowly entering your lane from the right front.", "C. An SUV changing lanes while sticking to the left side of your vehicle from the rear.", "D. A motorcycle overtaking while moving to the right rear of your vehicle from the rear."], "answer_index": 3}
{"token": "0b5bcf86d2b678cbb2b0dfc747af7a6d", "waymo_split": "test", "type": "image", "frame_index": 133, "question": "Are there any other safety-critical objects besides the first safety-critical object? If so, how would you move?", "category": "Safety-critical Prediction", "options": ["A. A small passenger car in the left front", "B. An ambulance in the right rear", "C. A large truck in the right front", "D. A pedestrian close in front"], "answer_index": 2}
{"token": "0b5bcf86d2b678cbb2b0dfc747af7a6d", "waymo_split": "test", "type": "image", "frame_index": 133, "question": "How should I drive to solve the first risk while also addressing the second risk?", "category": "Safety-critical Planning", "options": ["A. I need to slow down to increase the distance from the large truck on the right and the motorcycle I am overtaking.", "B. I need to accelerate to avoid the bus on the left and the motorcycle I am overtaking.", "C. I need to move closer to the large truck on the right and pass in front of the motorcycle first.", "D. I need to change lanes to quickly pass the large truck on the right."], "answer_index": 0}
{"token": "0b5bcf86d2b678cbb2b0dfc747af7a6d", "waymo_split": "test", "type": "image", "frame_index": 133, "question": "Is lane changing possible? Which is safer, slowing down or changing lanes?", "category": "Safety-critical Planning", "options": ["A. It is possible to change to the left lane. Changing lanes is safer than slowing down.", "B. It is possible to move to the right lane. Changing lanes is safer.", "C. Lane changing is not possible. Changing lanes is safe.", "D. Lane changing is currently not possible. Slowing down is safe."], "answer_index": 3}
{"token": "0b5bcf86d2b678cbb2b0dfc747af7a6d", "waymo_split": "test", "type": "image", "frame_index": 133, "question": "What should I do to drive safely?", "category": "Safety-critical Planning", "options": ["A. I need to slow down to allow the motorcycle to overtake.", "B. I need to maintain my speed to match the motorcycle's speed.", "C. I need to change to the right lane immediately to avoid the motorcycle.", "D. I need to accelerate to prevent the motorcycle from overtaking."], "answer_index": 0}
{"token": "0b5bcf86d2b678cbb2b0dfc747af7a6d", "waymo_split": "test", "type": "image", "frame_index": 133, "question": "Where is the area that hides danger in the current frame?", "category": "Uncertainty", "options": ["A. Behind the left passenger car", "B. Next to the right bicycle", "C. In front of the right large truck", "D. In front of the bus straight ahead"], "answer_index": 2}
{"token": "0b5bcf86d2b678cbb2b0dfc747af7a6d", "waymo_split": "test", "type": "image", "frame_index": 133, "question": "What is the correlation in safety-critical situations?", "category": "Safety-critical scene Understanding", "options": ["A. Bus-Motorcycle", "B. Car-Motorcycle", "C. Car-Scooter", "D. Car-Bicycle"], "answer_index": 1}
{"token": "0b5bcf86d2b678cbb2b0dfc747af7a6d", "waymo_split": "test", "type": "image", "frame_index": 133, "question": "What are the new exposure risk candidates in the following section?", "category": "Safety-critical Prediction", "options": ["A. A pedestrian may suddenly emerge from behind the left bus.", "B. A motorcycle may suddenly cut in between parked vehicles on the right shoulder.", "C. A vehicle may appear in front of the large truck on the right.", "D. A turning vehicle may enter the intersection from the left, ignoring the signal."], "answer_index": 2}
{"token": "0b5bcf86d2b678cbb2b0dfc747af7a6d", "waymo_split": "test", "type": "image", "frame_index": 133, "question": "Who is responsible in a safety-critical situation? What is the cause?", "category": "Safety-critical scene Understanding", "options": ["A. The merging vehicle is at fault. It cut in without signaling in the ramp area, narrowing the space and forcing the motorcycle to abruptly change its overtaking angle.", "B. The motorcycle is at fault. Especially since a large truck is driving on the right front, attempting to overtake in the middle of a fast-moving lane is dangerous.", "C. The vehicle in front is at fault. A sudden hard brake caused a disruption in the spacing of the following vehicles, increasing the danger as the motorcycle tried to avoid it in the center.", "D. The truck is at fault. It squeezed into the lane from the left without signaling and did not reduce speed, blocking the motorcycle's path."], "answer_index": 1}
{"token": "0b5bcf86d2b678cbb2b0dfc747af7a6d", "waymo_split": "test", "type": "image", "frame_index": 133, "question": "What is the method to avoid the blind spot next to a large vehicle?", "category": "Special Event", "options": ["A. You should match the speed and pass alongside the large vehicle; to do this, you need to maintain a constant speed.", "B. You should get as close as possible and quickly pass by the large vehicle; to do this, you need to accelerate.", "C. You should increase the distance to ensure a safe distance from the large vehicle; to do this, you need to drive slowly.", "D. You should stay in the right blind spot of the large vehicle and look for the right moment to overtake; to do this, you need to delay changing lanes."], "answer_index": 2}
{"token": "0b5bcf86d2b678cbb2b0dfc747af7a6d", "waymo_split": "test", "type": "image", "frame_index": 133, "question": "What are the potential situations that could occur in the current scenario?", "category": "Counterfactual", "options": ["A. A motorcycle will overtake the car", "B. The car will overtake the motorcycle", "C. The car on the right will cut in front of the car", "D. The motorcycle will fall back behind the car"], "answer_index": 0}
{"token": "0b5bcf86d2b678cbb2b0dfc747af7a6d", "waymo_split": "test", "type": "image", "frame_index": 133, "question": "What situation might have occurred if the vehicle acted this way?", "category": "Counterfactual", "options": ["A. If the vehicle changes lanes to the left, there is a risk of a chain collision with a bus and a taxi.", "B. If the vehicle changes lanes to the right, there is a risk of a chain collision with a large truck and a motorcycle.", "C. If the vehicle suddenly brakes, there is a risk of a collision with a following passenger car and a scooter.", "D. If the vehicle accelerates straight through an intersection, there is a risk of a collision with waiting vehicles and a bicycle."], "answer_index": 1}
{"token": "0b5bcf86d2b678cbb2b0dfc747af7a6d", "waymo_split": "test", "type": "image", "frame_index": 146, "question": "Which of the following is a correct description of traffic density?", "category": "Normal scene Understanding", "options": ["A. Slow with few surrounding vehicles", "B. Fast with few surrounding vehicles", "C. Slow with many surrounding vehicles", "D. Fast with many surrounding vehicles"], "answer_index": 3}
{"token": "0b5bcf86d2b678cbb2b0dfc747af7a6d", "waymo_split": "test", "type": "image", "frame_index": 146, "question": "Which of the following is correct as an Image Caption from the perspective of a Normal Frame?", "category": "Normal scene caption", "options": ["A. A car in the second lane driving at a reduced speed. The same lane in front is clear and spacious. A large bus is driving alongside on the left. A passenger car is merging into the lane between the bus and the car.", "B. A car in the first lane driving straight. There are vehicles in the same lane ahead, but a safe distance is maintained. A large truck is driving right next to it on the right. A motorcycle appears, overtaking in the lane between the truck and the car.", "C. A car in the first lane waiting to turn right. The gap to the car directly in front is tight, preparing to brake. A truck on the right is stopped on the shoulder. A bicycle is slowly approaching from behind the truck.", "D. A car accelerating and driving straight in the third lane. There are no vehicles in the same lane ahead, ensuring visibility. A small van is maintaining a certain distance while driving on the right. A sports car is quickly overtaking in the left lane."], "answer_index": 1}
{"token": "0b5bcf86d2b678cbb2b0dfc747af7a6d", "waymo_split": "test", "type": "image", "frame_index": 146, "question": "Based on the current appearance of the person/vehicle (two-wheeled), how do you intend to move?", "category": "Normal Perception & Prediction", "options": ["A. Going straight", "B. Turning right", "C. Changing lanes", "D. Turning left"], "answer_index": 0}
{"token": "0b5bcf86d2b678cbb2b0dfc747af7a6d", "waymo_split": "test", "type": "image", "frame_index": 146, "question": "Which of the following is correct from the perspective of Safety-critical Frame regarding Image Caption?", "category": "Safety-critical scene caption", "options": ["A. A large truck on the right is driving right next to me. A motorcycle is overtaking in the lane between us, very close to this motorcycle, my vehicle is making a sudden deceleration.", "B. A cargo truck is stopped in front of an intersection. A motorcycle in the right lane passes by. My vehicle is gradually stopping while waiting for the signal.", "C. A large bus is driving alongside on the left. A small car is slowly merging from the opposite lane of the bus. My vehicle is lightly decelerating to maintain distance.", "D. A pickup truck is quickly approaching from behind and changes lanes to the right. The pickup accelerates into the empty space in front of my vehicle. My vehicle maintains speed while observing the surrounding situation."], "answer_index": 0}
{"token": "0b5bcf86d2b678cbb2b0dfc747af7a6d", "waymo_split": "test", "type": "image", "frame_index": 146, "question": "What are the classifications of scenes?", "category": "Normal scene Understanding", "options": ["A. Residential area", "B. Unpaved", "C. Highway", "D. City"], "answer_index": 3}
{"token": "0b5bcf86d2b678cbb2b0dfc747af7a6d", "waymo_split": "test", "type": "image", "frame_index": 146, "question": "What is the plan for yielding when an ambulance/fire truck approaches?", "category": "Special Event", "options": ["A. Immediately pull over to the right edge", "B. Yield is not possible in the current situation", "C. Maintain speed and proceed as is", "D. Enter the intersection first"], "answer_index": 1}
{"token": "0b5bcf86d2b678cbb2b0dfc747af7a6d", "waymo_split": "test", "type": "image", "frame_index": 146, "question": "Which of the following is a correct description of the environment?", "category": "Normal scene Understanding", "options": ["A. Dawn, rain", "B. Day, clear", "C. Evening, snow", "D. Night, cloudy"], "answer_index": 1}
{"token": "0b5bcf86d2b678cbb2b0dfc747af7a6d", "waymo_split": "test", "type": "image", "frame_index": 146, "question": "Which description is not safety-critical?", "category": "Normal Perception & Prediction", "options": ["A. Buildings on the left and right. Vehicles traveling on a six-lane road. Streetlights and palm trees serving as a central line. A no right turn sign on the right.", "B. A low flower bed and fence that separates the center.", "C. A left turn only lane sign on the left.", "D. A yellow school bus parked on the left side of the road."], "answer_index": 0}
{"token": "0b5bcf86d2b678cbb2b0dfc747af7a6d", "waymo_split": "test", "type": "image", "frame_index": 146, "question": "Which of the following is a correct description of traffic signals?", "category": "Traffic Signal", "options": ["A. No U-turn sign on the right", "B. No left turn sign on the left", "C. Stop sign ahead", "D. No right turn sign on the right"], "answer_index": 3}
{"token": "0b5bcf86d2b678cbb2b0dfc747af7a6d", "waymo_split": "test", "type": "image", "frame_index": 146, "question": "What is the answer regarding the presence of a central line, the presence of parked vehicles on the shoulder, and Ego's encroachment on the central line?", "category": "Normal Perception & Prediction", "options": ["A. There is a central line and no parked vehicles on the shoulder.", "B. There is no central line and no parked vehicles on the shoulder.", "C. There is a central line and there are parked vehicles on the shoulder.", "D. There is no central line and there are parked vehicles on the shoulder."], "answer_index": 0}
{"token": "0b5bcf86d2b678cbb2b0dfc747af7a6d", "waymo_split": "test", "type": "image", "frame_index": 146, "question": "Is there a blind spot?", "category": "Uncertainty", "options": ["A. There is a blind spot in front of the right truck.", "B. There is no blind spot in front of the right truck.", "C. There is a blind spot in front of the left truck.", "D. There is a blind spot behind the right bus."], "answer_index": 0}
{"token": "0b5bcf86d2b678cbb2b0dfc747af7a6d", "waymo_split": "test", "type": "image", "frame_index": 146, "question": "How do you think a safety-critical object will move?", "category": "Safety-critical Prediction", "options": ["A. Maintaining distance behind my vehicle", "B. Switching to the left lane", "C. Switching to the right lane", "D. Overtaking my vehicle"], "answer_index": 3}
{"token": "0b5bcf86d2b678cbb2b0dfc747af7a6d", "waymo_split": "test", "type": "image", "frame_index": 146, "question": "Are there any other safety-critical objects besides the first safety-critical object? If so, how would they move?", "category": "Safety-critical Prediction", "options": ["A. A large bus on the left front", "B. A delivery motorcycle directly in front", "C. A black sedan on the right rear", "D. A large truck on the right front"], "answer_index": 3}
{"token": "0b5bcf86d2b678cbb2b0dfc747af7a6d", "waymo_split": "test", "type": "image", "frame_index": 146, "question": "What is a safety-critical object?", "category": "Safety-critical Perception", "options": ["A. A motorcycle traveling at a constant speed between a bus on the front left and my car.", "B. A motorcycle overtaking between my car and a truck on the front right.", "C. A motorcycle trying to merge into the lane from the rear right.", "D. A motorcycle moving slowly behind a truck on the front right."], "answer_index": 1}
{"token": "0b5bcf86d2b678cbb2b0dfc747af7a6d", "waymo_split": "test", "type": "image", "frame_index": 146, "question": "What should I do to drive safely?", "category": "Safety-critical Planning", "options": ["A. I need to accelerate to overtake the motorcycle.", "B. I need to maintain my speed to prevent the motorcycle from overtaking.", "C. I need to turn on the left turn signal and take the lead in front of the motorcycle.", "D. I need to slow down to allow the motorcycle to overtake."], "answer_index": 3}
{"token": "0b5bcf86d2b678cbb2b0dfc747af7a6d", "waymo_split": "test", "type": "image", "frame_index": 146, "question": "How should I drive to solve the first risk while also addressing the second risk?", "category": "Safety-critical Planning", "options": ["A. I need to accelerate to finish overtaking the motorcycle quickly.", "B. I should maintain my speed and pass through while signaling with the horn and high beams.", "C. Since the gap with the truck on the right is narrow, I need to pass closer to the right.", "D. I need to slow down to increase the distance between the large truck on the right and the overtaking motorcycle."], "answer_index": 3}
{"token": "0b5bcf86d2b678cbb2b0dfc747af7a6d", "waymo_split": "test", "type": "image", "frame_index": 146, "question": "Is lane change possible? Which is safer, slowing down or changing lanes?", "category": "Safety-critical Planning", "options": ["A. Lane change not possible. Changing lanes is safer", "B. Left lane change possible. Lane change is safer", "C. Lane change currently not possible. Slowing down is safe", "D. Right lane change possible. Changing lanes is safer than slowing down"], "answer_index": 2}
{"token": "0b5bcf86d2b678cbb2b0dfc747af7a6d", "waymo_split": "test", "type": "image", "frame_index": 146, "question": "What is the correlation in safety-critical situations?", "category": "Safety-critical scene Understanding", "options": ["A. Car - Bicycle", "B. Car - Motorcycle", "C. Person - Motorcycle", "D. Car - Person"], "answer_index": 1}
{"token": "0b5bcf86d2b678cbb2b0dfc747af7a6d", "waymo_split": "test", "type": "image", "frame_index": 146, "question": "Where is the area that hides danger in the current frame?", "category": "Uncertainty", "options": ["A. Behind the large truck on the right", "B. Behind the passenger car on the left", "C. In front of the large truck on the right", "D. Beside the bus in front"], "answer_index": 2}
{"token": "0b5bcf86d2b678cbb2b0dfc747af7a6d", "waymo_split": "test", "type": "image", "frame_index": 146, "question": "What are the new exposure risk candidates in the following section?", "category": "Safety-critical Prediction", "options": ["A. A scooter may come down from the right edge of the sidewalk.", "B. A vehicle may appear in front of a large truck on the right.", "C. A pedestrian may jump out from behind a bus on the left.", "D. A bicycle may appear next to a construction vehicle ahead."], "answer_index": 1}
{"token": "0b5bcf86d2b678cbb2b0dfc747af7a6d", "waymo_split": "test", "type": "image", "frame_index": 146, "question": "What is the method to avoid blind spots next to large vehicles?", "category": "Special Event", "options": ["A. To ensure a safe distance from the large vehicle, you should widen the distance and proceed slowly.", "B. After signaling with the horn and high beams, you should maintain the lane next to the large vehicle while passing.", "C. To quickly get out of the blind spot, you should accelerate and swiftly overtake the large vehicle.", "D. You should narrow the gap with the large vehicle and stay close to the center of the lane while going straight."], "answer_index": 0}
{"token": "0b5bcf86d2b678cbb2b0dfc747af7a6d", "waymo_split": "test", "type": "image", "frame_index": 146, "question": "Who is responsible in a safety-critical situation? What is the cause?", "category": "Safety-critical scene Understanding", "options": ["A. It is the front vehicle's fault. Unnecessary sudden braking disrupted the vehicle spacing, and the speed difference in the center lane caused a collision.", "B. It is the motorcycle's fault. The space between my fast-moving vehicle and the motorcycle is narrow, and attempting to overtake in the middle of the fast lane is dangerous.", "C. It is the responsibility of the road management. The lane markings and construction signs are unclear, making it difficult to judge space, and vehicle flow has been concentrated on one side.", "D. It is my vehicle's fault. I changed lanes to the right suddenly without signaling, taking away the space of the following motorcycle."], "answer_index": 1}
{"token": "0b5bcf86d2b678cbb2b0dfc747af7a6d", "waymo_split": "test", "type": "image", "frame_index": 146, "question": "What situation might have occurred if the vehicle acted this way?", "category": "Counterfactual", "options": ["A. If the vehicle changes lanes to the right, there is a risk of a chain collision with a large truck and a motorcycle.", "B. If the vehicle only turns on the right blinker and waits, the SUV and sedan will yield, allowing smooth progress.", "C. If the vehicle maintains speed and goes straight, there will be no overlap in the paths of the van and scooter, making it safe.", "D. If the vehicle changes lanes to the left, there is enough space between the bus and taxi, so there is no issue."], "answer_index": 0}
{"token": "0b5bcf86d2b678cbb2b0dfc747af7a6d", "waymo_split": "test", "type": "image", "frame_index": 146, "question": "What are the potential situations that could occur in the current scenario?", "category": "Counterfactual", "options": ["A. The motorcycle will overtake my vehicle", "B. The car in front will change lanes to the right", "C. The motorcycle will move behind my vehicle", "D. My vehicle will overtake the motorcycle"], "answer_index": 0}
{"token": "0bc53b3d558122035cf71d51db455995", "waymo_split": "test", "type": "video", "frame_index": null, "question": "Which of the following is a correct description of road alignment?", "category": "Normal Perception & Prediction", "options": ["A. Left turn", "B. Right turn", "C. Overtaking", "D. Straight ahead"], "answer_index": 3}
{"token": "0bc53b3d558122035cf71d51db455995", "waymo_split": "test", "type": "video", "frame_index": null, "question": "Where is the safety-critical situation in the video?", "category": "Temporal Grounding", "options": ["A. 2/4", "B. 1/4", "C. 4/4", "D. 3/4"], "answer_index": 0}
{"token": "0bc53b3d558122035cf71d51db455995", "waymo_split": "test", "type": "video", "frame_index": null, "question": "What is the classification of the scene?", "category": "Normal scene Understanding", "options": ["A. Residential area", "B. City", "C. Unpaved", "D. Highway"], "answer_index": 1}
{"token": "0bc53b3d558122035cf71d51db455995", "waymo_split": "test", "type": "video", "frame_index": null, "question": "Which of the following is a correct description of traffic density?", "category": "Normal scene Understanding", "options": ["A. Fast, few surrounding vehicles, slight uphill", "B. Fast, average surrounding vehicles, with slope", "C. Slow, few surrounding vehicles, gentle downhill", "D. Slow, many surrounding vehicles, no slope"], "answer_index": 3}
{"token": "0bc53b3d558122035cf71d51db455995", "waymo_split": "test", "type": "video", "frame_index": null, "question": "Which of the following is correct regarding the Video Summary from the perspective of a Normal Scene?", "category": "Normal scene caption", "options": ["A. The vehicle attempting to enter the intersection is currently at a standstill. At this time, there are vehicles turning left towards the vehicle from the right. However, as the signal changes, the group of those vehicles also breaks up. The traffic light in front changes from red to orange. Two scooters start to pass by on the right side of the vehicle.", "B. The vehicle is waiting well behind the stop line in front of the intersection. A group of vehicles coming straight from the right continues to pass through. The signal changes from green to red, and the intersection becomes clear. There is a long queue of vehicles waiting to turn left in the lane ahead. Two bicycles pass by in the opposite direction on the left.", "C. The vehicle stops close to the right lane to prepare for a right turn. No vehicles turning right from the opposite side cross in front of the vehicle. After the signal changes, pedestrians at the crosswalk pass first. The traffic light in front remains red, causing a longer wait. No electric scooters are visible on the right side of the road.", "D. The vehicle slowly enters the intersection without coming to a complete stop. Vehicles turning right from the left continuously pass in the direction of the vehicle. Even after the signal changes, the flow of those vehicles does not break. The traffic light in front changes from orange to green. A scooter that has mounted the right sidewalk comes to a stop."], "answer_index": 0}
{"token": "0bc53b3d558122035cf71d51db455995", "waymo_split": "test", "type": "video", "frame_index": null, "question": "Which of the following descriptions about the environment is correct?", "category": "Normal scene Understanding", "options": ["A. Cloudy dawn", "B. Clear daytime", "C. Rainy evening", "D. Foggy night"], "answer_index": 1}
{"token": "0bc53b3d558122035cf71d51db455995", "waymo_split": "test", "type": "video", "frame_index": null, "question": "What is the description of a non-safety-critical object?", "category": "Normal Perception & Prediction", "options": ["A. It is a narrow one-way section with a medium-sized building with glass walls on the left front (no flag). The pedestrian signal is green, and the vehicle signal remains green. There are several bicycles slowly moving in the same lane ahead. A few vehicles are turning right from the left and exiting in the opposite direction.", "B. It is a small intersection with a low commercial building on the left front (a Taegeukgi is hanging). There is a traffic light that changes from green to red based on the vehicle signal. Many vehicles are changing lanes to the left from the opposite lane on the right. A few vehicles are turning right from the front into the right alley.", "C. It is a major intersection with a large building on the right front (an American flag is hanging). There is a traffic light that changes from red to orange based on the vehicle signal. Many vehicles are going straight from the left into the opposite lane. A few vehicles are turning left from the right and moving towards the vehicle's direction.", "D. It is a T-intersection with a construction site visible on the right front (a banner is hanging). The traffic light remains in a yellow flashing state. Several buses are seen going straight in the right lane. There are almost no vehicles turning left from the left into the opposite lane."], "answer_index": 2}
{"token": "0bc53b3d558122035cf71d51db455995", "waymo_split": "test", "type": "video", "frame_index": null, "question": "Which of the following is a correct description of traffic signals?", "category": "Traffic Signal", "options": ["A. Traffic lights exist (green -> yellow)", "B. Traffic lights exist (red -> yellow)", "C. Only signs exist (speed limit 50)", "D. Road markings exist (left turn only)"], "answer_index": 1}
{"token": "0bc53b3d558122035cf71d51db455995", "waymo_split": "test", "type": "video", "frame_index": null, "question": "What is the answer regarding the presence of parked vehicles on the shoulder, the presence of a center line, and whether Ego crosses the center line?", "category": "Normal Perception & Prediction", "options": ["A. There is a parked vehicle on the shoulder. There is a center line.", "B. There is a parked vehicle on the shoulder. There is no center line.", "C. There is no parked vehicle on the shoulder. There is a center line.", "D. There is no parked vehicle on the shoulder. There is no center line."], "answer_index": 3}
{"token": "0bc53b3d558122035cf71d51db455995", "waymo_split": "test", "type": "video", "frame_index": null, "question": "Is there a blind spot in your field of vision?", "category": "Uncertainty", "options": ["A. There is a blind spot on the left", "B. There is a blind spot in the rear", "C. There is a blind spot on the right", "D. There is no blind spot"], "answer_index": 3}
{"token": "0bc53b3d558122035cf71d51db455995", "waymo_split": "test", "type": "video", "frame_index": null, "question": "Which of the following is a correct description of Spatial Relationship?", "category": "Spatial Relationship", "options": ["A. As the signal changes from orange to red, vehicles going straight in the same direction stop in front of the intersection. Additionally, due to this signal change, one or two vehicles turning left from the left side exit.", "B. As the signal changes from red to orange, vehicles going straight in the same direction. Additionally, due to this signal change, vehicles turning left from the right side disappear.", "C. As the flashing orange signal is maintained, vehicles turning left in the same direction occupy the lane. Additionally, as a result, vehicles going straight from the right side slowly move back in line.", "D. As the signal changes from red to green, vehicles going straight from the opposite side create the flow first. Additionally, due to this influence, vehicles turning right from the right side stop briefly to yield."], "answer_index": 1}
{"token": "0bc53b3d558122035cf71d51db455995", "waymo_split": "test", "type": "video", "frame_index": null, "question": "What is the correlation in safety-critical situations?", "category": "Safety-critical scene Understanding", "options": ["A. Motorcycle-Pedestrian", "B. Car-Scooter", "C. Car-Pedestrian", "D. Car-Bicycle"], "answer_index": 1}
{"token": "0bc53b3d558122035cf71d51db455995", "waymo_split": "test", "type": "video", "frame_index": null, "question": "Summary of Ego (self-vehicle) behavior before a safety-critical situation", "category": "Normal scene Understanding", "options": ["A. At a stop", "B. Decelerating", "C. Crawling", "D. Turning left"], "answer_index": 0}
{"token": "0bc53b3d558122035cf71d51db455995", "waymo_split": "test", "type": "video", "frame_index": null, "question": "What is a safety-critical object?", "category": "Safety-critical Perception", "options": ["A. Two kickboards moving in the same direction as the vehicle on the right side (passing consecutively)", "B. One kickboard moving in the same direction as the vehicle on the left side (maintaining distance)", "C. One bicycle crossing in front of the vehicle from the right side (in the process of crossing)", "D. Two motorcycles approaching from behind in the same direction as the vehicle (riding side by side)"], "answer_index": 0}
{"token": "0bc53b3d558122035cf71d51db455995", "waymo_split": "test", "type": "video", "frame_index": null, "question": "How did the safety-critical object move and how did the Ego vehicle behave?", "category": "Safety-critical scene Understanding", "options": ["A. Entered a left turn from the opposite lane. The Ego vehicle continued straight in accordance with the orange signal.", "B. Moved straight in the same direction as the Ego vehicle. The Ego vehicle did not proceed straight despite the orange signal due to their movements.", "C. Merged by making a right turn from the left road. The Ego vehicle proceeded with a right turn despite the orange signal.", "D. Changed lanes to the right lane while decelerating. The Ego vehicle maintained speed and continued straight despite the orange signal."], "answer_index": 1}
{"token": "0bc53b3d558122035cf71d51db455995", "waymo_split": "test", "type": "image", "frame_index": 9, "question": "Which is correct as an Image Caption from the perspective of Safety-critical Frame?", "category": "Safety-critical scene caption", "options": ["A. A kickboard (green) driving in the same direction as the vehicle from the right rear.", "B. A kickboard (green) approaching from the right front in the opposite direction of the vehicle.", "C. A bicycle (green) driving in the same direction as the vehicle from the left rear.", "D. A kickboard (red) driving in the same direction as the vehicle from the right rear."], "answer_index": 0}
{"token": "0bc53b3d558122035cf71d51db455995", "waymo_split": "test", "type": "video", "frame_index": null, "question": "What situation might have occurred if the vehicle acted this way?", "category": "Counterfactual", "options": ["A. If the vehicle honked, the scooter would have stopped.", "B. If the vehicle started moving, a collision with the scooter was possible.", "C. If the vehicle maintained its stop, the pedestrian would pass first.", "D. If the vehicle moved to the right, it would have created space for the bicycle."], "answer_index": 1}
{"token": "0bc53b3d558122035cf71d51db455995", "waymo_split": "test", "type": "image", "frame_index": 9, "question": "Based on the current appearance of the person/vehicle (two-wheeled), how are they trying to move?", "category": "Normal Perception & Prediction", "options": ["A. In a state of waiting for a signal", "B. In a state of trying to change lanes", "C. In a state of preparing to make a U-turn", "D. In a state of trying to turn left"], "answer_index": 0}
{"token": "0bc53b3d558122035cf71d51db455995", "waymo_split": "test", "type": "image", "frame_index": 9, "question": "What is the classification of the scene?", "category": "Normal scene Understanding", "options": ["A. Interchange on the highway", "B. T-junction in a residential area", "C. Curve on an unpaved country road", "D. Intersection on a city boulevard"], "answer_index": 3}
{"token": "0bc53b3d558122035cf71d51db455995", "waymo_split": "test", "type": "image", "frame_index": 9, "question": "What is the plan for yielding when an ambulance/fire truck approaches?", "category": "Special Event", "options": ["A. Yield by passing through the intersection first", "B. Stop completely to yield", "C. Turn on hazard lights and slow down to yield", "D. Gather towards the center of the lane to yield"], "answer_index": 1}
{"token": "0bc53b3d558122035cf71d51db455995", "waymo_split": "test", "type": "image", "frame_index": 9, "question": "Which of the following is a correct description of traffic density?", "category": "Normal scene Understanding", "options": ["A. Normal traffic", "B. No vehicles", "C. Low traffic", "D. Heavy traffic"], "answer_index": 3}
{"token": "0bc53b3d558122035cf71d51db455995", "waymo_split": "test", "type": "image", "frame_index": 9, "question": "What are the behavioral restrictions in school zones/congested areas?", "category": "Special Event", "options": ["A. Notify with horn and emergency lights and proceed quickly", "B. Change lanes while driving quickly", "C. Maintain speed according to the flow and pass through", "D. Drive more carefully and reduce speed"], "answer_index": 3}
{"token": "0bc53b3d558122035cf71d51db455995", "waymo_split": "test", "type": "image", "frame_index": 9, "question": "Which of the following is correct as an Image Caption from the perspective of a Normal Frame?", "category": "Normal scene caption", "options": ["A. A vehicle slowing down at a yellow light at an intersection. Vehicles in the right lane are starting according to the signal. The left opposite lane has reduced lanes due to construction, resulting in infrequent vehicle traffic. A delivery motorcycle is temporarily stopped on the right sidewalk. A bus is approaching from behind.", "B. A vehicle moving straight at a green light at an intersection. Two vehicles are slowly entering from the left to make a right turn. The right opposite lane has a fast flow of vehicles going in the opposite direction. Several rental bicycles are lined up on the right sidewalk. The rear is relatively quiet with almost no following vehicles.", "C. A vehicle stopped at a red light at an intersection. Three vehicles are seen turning left from the right. Many vehicles are also seen driving in the direction of the vehicle on the left opposite lane. A kickboard is parked on the right sidewalk without an owner. There are many vehicles waiting at the signal behind.", "D. A vehicle waiting to turn left near the center of the intersection. One vehicle is attempting a U-turn from the right. Vehicles are stopped at the signal in the left opposite lane. People are crossing the crosswalk according to the pedestrian signal on the right. Only one taxi is waiting at the signal behind."], "answer_index": 2}
{"token": "0bc53b3d558122035cf71d51db455995", "waymo_split": "test", "type": "image", "frame_index": 9, "question": "Which of the following is a correct description of the environment?", "category": "Normal scene Understanding", "options": ["A. morning fog", "B. clear daytime", "C. evening shower", "D. cloudy night"], "answer_index": 1}
{"token": "0bc53b3d558122035cf71d51db455995", "waymo_split": "test", "type": "image", "frame_index": 9, "question": "Which of the following is a correct description of traffic signals?", "category": "Traffic Signal", "options": ["A. Green signal (based on your vehicle)", "B. Yellow signal (based on your vehicle)", "C. Red signal (based on the opposite lane)", "D. Red signal (based on your vehicle)"], "answer_index": 3}
{"token": "0bc53b3d558122035cf71d51db455995", "waymo_split": "test", "type": "image", "frame_index": 9, "question": "Which description is not safety-critical?", "category": "Normal Perception & Prediction", "options": ["A. Traffic lights at an intersection. A kickboard parked on the right sidewalk. Vehicles driving in the opposite direction on the left. A large building far away on the right corner.", "B. A motorcycle driving in the same direction on the left.", "C. A circular flower bed in the center of the intersection.", "D. A kickboard driving along the right sidewalk."], "answer_index": 0}
{"token": "0bc53b3d558122035cf71d51db455995", "waymo_split": "test", "type": "image", "frame_index": 9, "question": "How do you think a safety-critical object will move?", "category": "Safety-critical Prediction", "options": ["A. It seems like it will turn left (it looks like it will dive into the inside of the corner)", "B. It seems like it will go straight (it looks like it will enter the middle of the intersection)", "C. It seems like it will stop (it looks like it will stand in front of the stop line)", "D. It seems like it will turn right (it looks like it will stick to the right lane)"], "answer_index": 1}
{"token": "0bc53b3d558122035cf71d51db455995", "waymo_split": "test", "type": "image", "frame_index": 9, "question": "Is there a blind spot?", "category": "Uncertainty", "options": ["A. There is a blind spot on the right", "B. No blind spot", "C. Blind spot in the right side mirror", "D. Blind spot occurs in the right rear"], "answer_index": 1}
{"token": "0bc53b3d558122035cf71d51db455995", "waymo_split": "test", "type": "image", "frame_index": 9, "question": "What should I do to drive safely?", "category": "Safety-critical Planning", "options": ["A. Be aware of the speed of the scooter and proceed slowly even though there is a stop signal.", "B. Be aware of pedestrians on the sidewalk and turn left even if there is no left turn signal.", "C. Be aware of the path of oncoming bicycles and maintain speed since there is a yellow signal.", "D. Be aware of the operation of the scooter and stop since there is a stop signal."], "answer_index": 3}
{"token": "0bc53b3d558122035cf71d51db455995", "waymo_split": "test", "type": "image", "frame_index": 9, "question": "What is a safety-critical object?", "category": "Safety-critical Perception", "options": ["A. A kickboard traveling in the same direction as your vehicle from the right rear (currently on the bicycle lane or shoulder)", "B. A bicycle attempting to merge into the lane from the right front (trying to enter the roadway from the bicycle lane)", "C. An electric kickboard stopped on the right shoulder (currently stopped at the edge of the sidewalk)", "D. A kickboard traveling in the opposite direction to your vehicle from the left front (approaching near the center line of the roadway)"], "answer_index": 0}
{"token": "0bc53b3d558122035cf71d51db455995", "waymo_split": "test", "type": "image", "frame_index": 9, "question": "Is there any other safety-critical object besides the first one? If so, how will you move?", "category": "Safety-critical Prediction", "options": ["A. There is another safety-critical object, move slowly around the left corridor.", "B. There is no other safety-critical object.", "C. There is another safety-critical object, move towards the right safety zone.", "D. There is another safety-critical object, move straight following the front marker."], "answer_index": 1}
{"token": "0bc53b3d558122035cf71d51db455995", "waymo_split": "test", "type": "image", "frame_index": 9, "question": "How should I drive to resolve the first risk while also addressing the second risk?", "category": "Safety-critical Planning", "options": ["A. Accelerate to overtake the vehicle in front", "B. Decelerate and stop on the right shoulder", "C. Immediately change lanes to the left lane", "D. There are no more safety-critical objects ahead"], "answer_index": 3}
{"token": "0bc53b3d558122035cf71d51db455995", "waymo_split": "test", "type": "image", "frame_index": 9, "question": "What is the correlation in safety-critical situations?", "category": "Safety-critical scene Understanding", "options": ["A. Car - Pedestrian", "B. Car - Bicycle", "C. Motorcycle - Kickboard", "D. Car - Kickboard"], "answer_index": 3}
{"token": "0bc53b3d558122035cf71d51db455995", "waymo_split": "test", "type": "image", "frame_index": 9, "question": "Is lane changing possible? Which is safer between deceleration and lane changing?", "category": "Safety-critical Planning", "options": ["A. Decelerating gently and then changing to the right lane is safer (sufficient space on the right)", "B. Entering the left lane slowly is safer (ample space on the left)", "C. Currently stopping is safe and lane changing is not possible (many vehicles are positioned in the adjacent lanes)", "D. Maintaining speed and going straight is safe, stopping is unnecessary (smooth flow ahead)"], "answer_index": 2}
{"token": "0bc53b3d558122035cf71d51db455995", "waymo_split": "test", "type": "image", "frame_index": 9, "question": "What is the safest choice just before entering a yellow signal: stop or proceed?", "category": "Special Event", "options": ["A. Currently, proceeding is safe because the pedestrian signal is off and there are almost no vehicles entering the intersection.", "B. Right now, proceeding is safe as there is only a long line of vehicles waiting to turn right, which does not directly obstruct progress.", "C. Currently, stopping is safe because there are vehicles turning left from the right side.", "D. Currently, proceeding is safe because the left lane is empty and the oncoming vehicles are sufficiently slowing down."], "answer_index": 2}
{"token": "0bc53b3d558122035cf71d51db455995", "waymo_split": "test", "type": "image", "frame_index": 9, "question": "Who is responsible in safety-critical situations? What is the cause?", "category": "Safety-critical scene Understanding", "options": ["A. Negligence of the site manager", "B. Inadequate work by the subcontractor", "C. There is no cause", "D. Equipment defect is the cause"], "answer_index": 2}
{"token": "0bc53b3d558122035cf71d51db455995", "waymo_split": "test", "type": "image", "frame_index": 9, "question": "Where is the area that hides danger in the current frame?", "category": "Uncertainty", "options": ["A. None", "B. Behind the A-pillar", "C. Right rectangle", "D. Bottom left"], "answer_index": 0}
{"token": "0bc53b3d558122035cf71d51db455995", "waymo_split": "test", "type": "image", "frame_index": 9, "question": "What is the method to avoid the blind spot next to a large vehicle?", "category": "Special Event", "options": ["A. Stay close to the right", "B. Approach the large vehicle", "C. Accelerate to overtake", "D. No large vehicle"], "answer_index": 3}
{"token": "0bc53b3d558122035cf71d51db455995", "waymo_split": "test", "type": "image", "frame_index": 29, "question": "Which of the following is a correct description of traffic density?", "category": "Normal scene Understanding", "options": ["A. Few vehicles", "B. High speed", "C. Many motorcycles", "D. Many vehicles"], "answer_index": 3}
{"token": "0bc53b3d558122035cf71d51db455995", "waymo_split": "test", "type": "image", "frame_index": 29, "question": "Based on the current appearance of the person/vehicle (two-wheeled), how are they trying to move?", "category": "Normal Perception & Prediction", "options": ["A. In the process of crossing", "B. In a state of waiting for a signal", "C. In the process of driving", "D. In the process of turning left"], "answer_index": 1}
{"token": "0bc53b3d558122035cf71d51db455995", "waymo_split": "test", "type": "image", "frame_index": 29, "question": "Which of the following is a correct description of the environment?", "category": "Normal scene Understanding", "options": ["A. Clear in the afternoon", "B. Evening shower", "C. Dawn fog", "D. Cloudy at night"], "answer_index": 0}
{"token": "0bc53b3d558122035cf71d51db455995", "waymo_split": "test", "type": "image", "frame_index": 29, "question": "What is the plan for yielding when an ambulance/fire truck approaches?", "category": "Special Event", "options": ["A. Move to the left lane to yield", "B. Enter the intersection to yield", "C. Stop in place to yield", "D. Drive to the right to yield"], "answer_index": 2}
{"token": "0bc53b3d558122035cf71d51db455995", "waymo_split": "test", "type": "image", "frame_index": 29, "question": "What is the classification of the scene?", "category": "Normal scene Understanding", "options": ["A. Intersection of a side road in a residential area", "B. Intersection of a main road in the city", "C. T-junction in an alley in the city", "D. Merge point of an entrance ramp on the highway"], "answer_index": 1}
{"token": "0bc53b3d558122035cf71d51db455995", "waymo_split": "test", "type": "image", "frame_index": 29, "question": "Which of the following is correct as an Image Caption from a Safety-critical Frame perspective?", "category": "Safety-critical scene caption", "options": ["A. A kickboard slowly moving in the same direction as the vehicle from the front left. It is traveling along the right edge of the straight lane. There is no intention to change to the left lane and it aims to maintain the right shoulder.", "B. A kickboard traveling in the opposite direction to the vehicle from the front left. It has stopped before the stop line at the intersection and is waiting. It appears to be turning right.", "C. A kickboard coming towards the vehicle from the front. It is not entering the center of the intersection and is proceeding along the edge of the crosswalk. Currently, it is stopped close to the sidewalk and is trying to veer to the right.", "D. A kickboard traveling in the same direction as the vehicle from the front right. It has entered the intersection and started to drive in the middle. Currently, it is standing through the right shoulder, but it intends to change lanes to the left."], "answer_index": 3}
{"token": "0bc53b3d558122035cf71d51db455995", "waymo_split": "test", "type": "image", "frame_index": 29, "question": "Which of the following is a correct description of traffic signals?", "category": "Traffic Signal", "options": ["A. Yellow signal (for vehicles)", "B. Green signal for pedestrians (at crosswalks)", "C. Red signal (for vehicles)", "D. Green signal (for vehicles)"], "answer_index": 2}
{"token": "0bc53b3d558122035cf71d51db455995", "waymo_split": "test", "type": "image", "frame_index": 29, "question": "Is there a blind spot?", "category": "Uncertainty", "options": ["A. There is a blind spot", "B. Partial blind spot", "C. No blind spot", "D. Right blind spot"], "answer_index": 2}
{"token": "0bc53b3d558122035cf71d51db455995", "waymo_split": "test", "type": "image", "frame_index": 29, "question": "What is the answer regarding the presence of parked vehicles on the shoulder, the existence of a center line, and whether Ego has crossed the center line?", "category": "Normal Perception & Prediction", "options": ["A. There is a parked vehicle on the shoulder. There is a center line. No center line violation. Using the first lane (left) among two lanes.", "B. There are no parked vehicles on the shoulder. There is no center line. No center line violation. Using the third lane (rightmost) among three lanes.", "C. There is one parked vehicle on the shoulder. There is no center line. Center line violation. Using the second lane (right) among two lanes.", "D. There are no parked vehicles on the shoulder. There is a center line. Center line violation. Using the second lane (middle) among three lanes."], "answer_index": 1}
{"token": "0bc53b3d558122035cf71d51db455995", "waymo_split": "test", "type": "image", "frame_index": 29, "question": "How do you think a safety-critical object will move?", "category": "Safety-critical Prediction", "options": ["A. It seems like it will go straight (just before entering the intersection)", "B. It seems like it will turn left (moving to the left as it enters the intersection)", "C. It seems like it will turn right (moving to the right lane just before the corner)", "D. It seems like it will stop (applying brakes in front of the stop line)"], "answer_index": 0}
{"token": "0bc53b3d558122035cf71d51db455995", "waymo_split": "test", "type": "image", "frame_index": 29, "question": "How should I drive to address the first risk while also resolving the second risk?", "category": "Safety-critical Planning", "options": ["A. Need to decelerate for the next safety-critical object", "B. Next safety-critical object is to the right front", "C. Next safety-critical object is in the left lane", "D. There is no next safety-critical object"], "answer_index": 3}
{"token": "0bc53b3d558122035cf71d51db455995", "waymo_split": "test", "type": "image", "frame_index": 29, "question": "What should I do to drive safely?", "category": "Safety-critical Planning", "options": ["A. Be aware of the bicycle's movement, and since the current signal is green, proceed with caution.", "B. Be aware of the vehicle's approach, and since a right turn is currently allowed, continue moving.", "C. Be aware of the kickboard's movement, and since the current signal is red, maintain a stop.", "D. Be aware of the pedestrian's movement, and since the current signal is flashing, maintain driving."], "answer_index": 2}
{"token": "0bc53b3d558122035cf71d51db455995", "waymo_split": "test", "type": "image", "frame_index": 29, "question": "What is a safety-critical object?", "category": "Safety-critical Perception", "options": ["A. A kickboard traveling in the same direction as your vehicle from the front right. (Currently located on the bike lane or shoulder). This kickboard is currently entering the middle of the intersection.", "B. A kickboard traveling in the opposite direction to your vehicle from the front left (in the center of the lane). This kickboard has already passed the intersection and is moving away.", "C. A pedestrian crossing from right to left in front of you (on the crosswalk). This pedestrian has not yet entered the lane.", "D. A bicycle traveling in the same direction as your vehicle from the front right (currently located at the edge of the sidewalk). This bicycle is waiting at the stop line for the signal."], "answer_index": 0}
{"token": "0bc53b3d558122035cf71d51db455995", "waymo_split": "test", "type": "image", "frame_index": 29, "question": "Is there any other safety-critical object besides the first safety-critical object? If so, how will it be moved?", "category": "Safety-critical Prediction", "options": ["A. There is a high-pressure gas cylinder, moving forward with a cart", "B. There are no other safety-critical objects", "C. There are hazardous chemicals, moving left after sealing", "D. There is a lithium battery, moving right with an insulating pad placed on top"], "answer_index": 1}
{"token": "0bc53b3d558122035cf71d51db455995", "waymo_split": "test", "type": "image", "frame_index": 29, "question": "What is the correlation in safety-critical situations?", "category": "Safety-critical scene Understanding", "options": ["A. Car - Bicycle", "B. Car - Scooter", "C. Person - Scooter", "D. Taxi - Pedestrian"], "answer_index": 1}
{"token": "0bc53b3d558122035cf71d51db455995", "waymo_split": "test", "type": "image", "frame_index": 29, "question": "Is lane changing possible? Which is safer, slowing down or changing lanes?", "category": "Safety-critical Planning", "options": ["A. Changing to the right lane is safer than slowing down (steady flow on the right, space to enter secured)", "B. No need to stop, lane change is possible while maintaining current speed (traffic volume on both sides is low)", "C. Currently stopping is safe and lane change is not possible (many vehicles are positioned in the adjacent lanes)", "D. Gradually entering to the left is safer, lane change is possible (ample space between left vehicles)"], "answer_index": 2}
{"token": "0bc53b3d558122035cf71d51db455995", "waymo_split": "test", "type": "image", "frame_index": 29, "question": "Where is the area that hides danger in the current frame?", "category": "Uncertainty", "options": ["A. None", "B. Behind the parked car", "C. Bottom left", "D. Top right"], "answer_index": 0}
{"token": "0bc53b3d558122035cf71d51db455995", "waymo_split": "test", "type": "image", "frame_index": 29, "question": "What is the safer choice just before entering a yellow signal: stop or proceed?", "category": "Special Event", "options": ["A. Currently, stopping is safe because there are vehicles turning left from the right.", "B. Currently, proceeding is safe because the pedestrian signal at the crosswalk ahead is red, so there are no pedestrians and traffic can flow smoothly.", "C. Currently, proceeding is safe because the rear vehicles are close, and the risk of a rear-end collision is greater if I stop suddenly.", "D. Currently, proceeding is safe because there is almost no flow of vehicles coming straight from the left, so the risk of collision is low."], "answer_index": 0}
{"token": "0bc53b3d558122035cf71d51db455995", "waymo_split": "test", "type": "image", "frame_index": 29, "question": "What is the method to avoid the blind spot next to a large vehicle?", "category": "Special Event", "options": ["A. No large vehicle", "B. No passenger car", "C. To the right of the large vehicle", "D. Overtaking the large vehicle"], "answer_index": 0}
{"token": "0bc53b3d558122035cf71d51db455995", "waymo_split": "test", "type": "image", "frame_index": 29, "question": "What situation might occur if the vehicle acted this way?", "category": "Counterfactual", "options": ["A. If the vehicle attempts to make a sudden stop, there is a risk of collision with a motorcycle that is closely following and unable to stop.", "B. If the vehicle attempts to make a left turn, there is a risk of collision with a delivery truck entering while crossing the center line.", "C. If the vehicle attempts to go straight, there is a risk of collision with a scooter that is changing lanes while driving on the right shoulder.", "D. If the vehicle attempts to make a right turn, there is a risk of collision with a pedestrian who has entered the crosswalk on a green light."], "answer_index": 2}
{"token": "0bc53b3d558122035cf71d51db455995", "waymo_split": "test", "type": "image", "frame_index": 29, "question": "What are the driving guidelines for the vehicle based on the behavior of the safety-critical object?", "category": "Safety-critical Planning", "options": ["A. If the safety-critical object moves to the right lane, it is safe to maintain speed as it does not obstruct the vehicle's progress.", "B. If the safety-critical object repeatedly changes lanes ahead, it becomes easier for the vehicle to maintain its lane, resulting in smoother driving.", "C. If the safety-critical object cuts into the left lane, it may block the vehicle's progress or cause a collision.", "D. If the safety-critical object ignores signals and enters the intersection, surrounding vehicles yield, having little impact on the vehicle's progress."], "answer_index": 2}
{"token": "0bc53b3d558122035cf71d51db455995", "waymo_split": "test", "type": "image", "frame_index": 72, "question": "What is correct as an Image Caption from the perspective of Safety-critical Frame?", "category": "Safety-critical scene caption", "options": ["A. A kickboard driving in the middle of the intersection from the right front. The signal is still red. A black van is also seen starting to drive straight from the left.", "B. An electric kickboard stopped in the center front, the current signal is yellow flashing, and a blue SUV is preparing to turn left from the opposite side.", "C. An electric kickboard moving up onto the sidewalk from the right rear, with only the pedestrian signal lit in blue. A city bus is starting to turn right in the left lane.", "D. A kickboard entering the edge of the intersection from the left front, the signal has already changed to green. A white sedan is seen starting to turn on the right."], "answer_index": 0}
{"token": "0bc53b3d558122035cf71d51db455995", "waymo_split": "test", "type": "image", "frame_index": 72, "question": "Based on the current appearance of the person/vehicle (two-wheeled), how are they trying to move?", "category": "Normal Perception & Prediction", "options": ["A. In a state of waiting for a signal", "B. In a state of trying to turn right", "C. In a state of trying to stop on the shoulder", "D. In a state of trying to change lanes"], "answer_index": 0}
{"token": "0bc53b3d558122035cf71d51db455995", "waymo_split": "test", "type": "image", "frame_index": 72, "question": "What is the plan for yielding when an ambulance/fire truck approaches?", "category": "Special Event", "options": ["A. Maintain a stopped state to yield", "B. Maintain a slow speed to yield", "C. Turn on emergency lights and pass first", "D. Stay to the right and continue driving"], "answer_index": 0}
{"token": "0bc53b3d558122035cf71d51db455995", "waymo_split": "test", "type": "image", "frame_index": 72, "question": "What is the classification of the scene?", "category": "Normal scene Understanding", "options": ["A. Intersection of a city boulevard", "B. Gentle curve of an unpaved country road", "C. Narrow T-intersection in a residential area", "D. Ramp junction on a highway"], "answer_index": 0}
{"token": "0bc53b3d558122035cf71d51db455995", "waymo_split": "test", "type": "image", "frame_index": 72, "question": "Which of the following is a correct description of the environment?", "category": "Normal scene Understanding", "options": ["A. Evening shower", "B. Clear during the day", "C. Night fog", "D. Cloudy in the morning"], "answer_index": 1}
{"token": "0bc53b3d558122035cf71d51db455995", "waymo_split": "test", "type": "image", "frame_index": 72, "question": "Which of the following is a correct description of traffic density?", "category": "Normal scene Understanding", "options": ["A. Few vehicles, the driving vehicles are slow.", "B. Many vehicles, the driving vehicles are moving slowly.", "C. Normal number of vehicles, the driving vehicles are going slowly.", "D. Many vehicles, the driving vehicles are fast."], "answer_index": 3}
{"token": "0bc53b3d558122035cf71d51db455995", "waymo_split": "test", "type": "image", "frame_index": 72, "question": "Which of the following is a correct description of traffic signals?", "category": "Traffic Signal", "options": ["A. Red signal of the traffic light (based on the opposite direction)", "B. Red pedestrian signal (based on the crosswalk)", "C. Red signal of the traffic light (based on your own vehicle)", "D. Green signal of the traffic light (based on your own vehicle)"], "answer_index": 2}
{"token": "0bc53b3d558122035cf71d51db455995", "waymo_split": "test", "type": "image", "frame_index": 72, "question": "Is there a blind spot?", "category": "Uncertainty", "options": ["A. Left blind spot", "B. Rear blind spot", "C. There is a blind spot", "D. No blind spot"], "answer_index": 3}
{"token": "0bc53b3d558122035cf71d51db455995", "waymo_split": "test", "type": "image", "frame_index": 72, "question": "What is a safety-critical object?", "category": "Safety-critical Perception", "options": ["A. A pedestrian standing at the edge of a crosswalk. Currently waiting, but if they start to cross without waiting for the signal, they could collide with a car turning in.", "B. A kickboard driving from the right rear. Currently riding in the bike lane, but if it enters the intersection straight ahead like the kickboard that was previously in front, it could ignore the signal and pose a danger.", "C. A taxi approaching from the left rear lane, increasing speed. Currently narrowing the distance between vehicles, but if it attempts to change lanes abruptly into the first lane right after the signal, it increases the risk of a collision by crossing in front of our car.", "D. An electric bicycle riding along the edge of the lane from the left front. Currently moving slowly between vehicle flows, but if it suddenly tries to make a left turn into the center of the intersection, it risks colliding with vehicles going straight from the opposite direction."], "answer_index": 1}
{"token": "0bc53b3d558122035cf71d51db455995", "waymo_split": "test", "type": "image", "frame_index": 72, "question": "How do you think a safety-critical object will move?", "category": "Safety-critical Prediction", "options": ["A. It seems like it will go straight (just before entering the intersection)", "B. It seems like it will stop (decelerating just before the stop line)", "C. It seems like it will turn right (adjusting angle towards the corner)", "D. It seems like it will turn left (staying in the left lane before the intersection)"], "answer_index": 0}
{"token": "0bc53b3d558122035cf71d51db455995", "waymo_split": "test", "type": "image", "frame_index": 72, "question": "Is there any other safety-critical object besides the first safety-critical object? If so, how will you move it?", "category": "Safety-critical Prediction", "options": ["A. No other safety-critical object", "B. There is a fire extinguisher. After checking the pin is secured, stand it upright and slowly move towards the exit", "C. There is an oxygen tank. Close the valve, put on the protective cap, secure it to the cart, and move along the wall", "D. There is an AED. Turn it off, organize the leads, and carry it with both hands to the medical room"], "answer_index": 0}
{"token": "0bc53b3d558122035cf71d51db455995", "waymo_split": "test", "type": "image", "frame_index": 72, "question": "What should I do to drive safely?", "category": "Safety-critical Planning", "options": ["A. Observe the flow of the right lane and enter after a brief stop when there are no pedestrians.", "B. Be aware of the operation of the kickboard, and maintain a stop since there is a red signal.", "C. Check the pedestrian pathways, and maintain a slow speed while passing through the yellow signal.", "D. Be aware of the operation of the bicycle, and proceed slowly since there is a green signal."], "answer_index": 1}
{"token": "0bc53b3d558122035cf71d51db455995", "waymo_split": "test", "type": "image", "frame_index": 72, "question": "What is the answer regarding parked vehicles on the shoulder, the presence of a center line, and whether Ego is crossing the center line?", "category": "Normal Perception & Prediction", "options": ["A. There is a parked vehicle on the shoulder. There is a center line. Crossing the center line. Using the first lane (left) among three lanes.", "B. There is no parked vehicle on the shoulder. There is a center line. Crossing the center line. Using the first lane (left) among three lanes.", "C. There is a parked vehicle on the shoulder. There is no center line. Not crossing the center line. Using the second lane (center) among three lanes.", "D. There is no parked vehicle on the shoulder. There is no center line. Not crossing the center line. Using the third lane (rightmost) among three lanes."], "answer_index": 3}
{"token": "0bc53b3d558122035cf71d51db455995", "waymo_split": "test", "type": "image", "frame_index": 72, "question": "How should I drive to address the first risk while also addressing the second risk?", "category": "Safety-critical Planning", "options": ["A. No safety-critical objects ahead", "B. There is a safety-critical object ahead", "C. Approaching a safety-critical object in the left lane", "D. Need to avoid a stationary object ahead"], "answer_index": 0}
{"token": "0bc53b3d558122035cf71d51db455995", "waymo_split": "test", "type": "image", "frame_index": 72, "question": "What is the correlation in safety-critical situations?", "category": "Safety-critical scene Understanding", "options": ["A. Car - Kickboard", "B. Car - Pedestrian", "C. Person - Kickboard", "D. Car - Bicycle"], "answer_index": 0}
{"token": "0bc53b3d558122035cf71d51db455995", "waymo_split": "test", "type": "image", "frame_index": 72, "question": "Where is the area that hides danger in the current frame?", "category": "Uncertainty", "options": ["A. Inside the corner of the intersection", "B. Behind the right bus", "C. None", "D. Behind the left A-pillar"], "answer_index": 2}
{"token": "0bc53b3d558122035cf71d51db455995", "waymo_split": "test", "type": "image", "frame_index": 72, "question": "Is lane change possible? Which is safer between deceleration and lane change?", "category": "Safety-critical Planning", "options": ["A. A gradual left lane change is safer (sufficient space in the left adjacent lane)", "B. Currently stopping is safe and lane change is not possible (many vehicles are positioned in the adjacent lanes)", "C. Maintaining the current speed is safer and lane change is possible (smooth flow around, space in adjacent lanes)", "D. Entering the right lane is safer than deceleration (sufficient distance behind, no blind spots)"], "answer_index": 1}
{"token": "0bc53b3d558122035cf71d51db455995", "waymo_split": "test", "type": "image", "frame_index": 72, "question": "What is the safer choice just before entering a yellow signal: stop or proceed?", "category": "Special Event", "options": ["A. Currently, proceeding is safe as there are only vehicles waiting to turn right, so there is no obstruction.", "B. Currently, proceeding is safe as the oncoming vehicles are stopped, providing enough space.", "C. Currently, proceeding is safe as there are no pedestrians or bicycles visible in the intersection.", "D. Currently, stopping is safe as there are vehicles turning left from the right side."], "answer_index": 3}
{"token": "0bc53b3d558122035cf71d51db455995", "waymo_split": "test", "type": "image", "frame_index": 72, "question": "Who is responsible in a safety-critical situation? What is the cause?", "category": "Safety-critical scene Understanding", "options": ["A. The signal operation side is responsible; the intersection signal malfunctioned, allowing simultaneous go signals in both directions, leading to a collision while both sides were entering normally, and debris and sudden stops could cause secondary damage to the following vehicle.", "B. The vehicle is responsible; the intersection signal changed to go, but the driver accelerated into the intersection without checking left and right, missing the straight-moving scooter and colliding with it, which could exacerbate secondary damage due to sudden braking.", "C. The pedestrian is responsible; when it was not a pedestrian signal, they suddenly jumped into the road, causing the scooter to hastily change its course to avoid them and make contact with the vehicle, which could lead to a chain reaction of accidents due to that impact.", "D. The scooter is responsible; the current intersection signal is in a stop state, and if it enters the intersection, it would be ignoring the stop signal, leading to a collision, and secondary collisions could cause damage to the vehicle as well."], "answer_index": 3}
{"token": "0bc53b3d558122035cf71d51db455995", "waymo_split": "test", "type": "image", "frame_index": 72, "question": "What is the method to avoid the blind spot next to a large vehicle?", "category": "Special Event", "options": ["A. No large vehicle", "B. Right side of the large vehicle", "C. Behind the large vehicle", "D. Left side of the large vehicle"], "answer_index": 0}
{"token": "0bc53b3d558122035cf71d51db455995", "waymo_split": "test", "type": "image", "frame_index": 72, "question": "What potential situations could arise in the current scenario?", "category": "Counterfactual", "options": ["A. A situation where the left turn signal changes and an oncoming vehicle turns in.", "B. A situation where the red light changes and my vehicle and surrounding vehicles come to a stop.", "C. A situation where the signal changes to orange and my vehicle starts to move.", "D. A situation where the green light changes and the vehicle in front starts first and passes through the intersection."], "answer_index": 2}
{"token": "0bc53b3d558122035cf71d51db455995", "waymo_split": "test", "type": "image", "frame_index": 95, "question": "Which is correct as an Image Caption from the perspective of Safety-critical Frame?", "category": "Safety-critical scene caption", "options": ["A. A motorcycle exiting the intersection from the front while the vehicle is moving straight.", "B. A bicycle entering the center of the intersection from the left front while the vehicle is moving slowly.", "C. A kickboard driving in the middle of the intersection from the right front while the vehicle is currently stopped.", "D. An electric kickboard stopped at the edge of the right lane while the vehicle is waiting to turn right."], "answer_index": 2}
{"token": "0bc53b3d558122035cf71d51db455995", "waymo_split": "test", "type": "image", "frame_index": 72, "question": "What are the driving guidelines for the vehicle based on the behavior of the safety-critical object?", "category": "Safety-critical Planning", "options": ["A. If the safety-critical object merges into the left lane when entering the intersection, it may obstruct the vehicle's movement or cause a collision.", "B. If the safety-critical object slowly moves to the left lane after passing through the intersection, the vehicle's progress may become smoother.", "C. If the safety-critical object veers into the right lane before entering the intersection, there may be no significant interference with the vehicle's movement, allowing for more space.", "D. If the safety-critical object remains stationary in the opposite lane, it may not obstruct the vehicle's movement or cause a collision."], "answer_index": 0}
{"token": "0bc53b3d558122035cf71d51db455995", "waymo_split": "test", "type": "image", "frame_index": 72, "question": "What situation might occur if the vehicle acted this way?", "category": "Counterfactual", "options": ["A. Risk of collision with a motorcycle suddenly cutting in from the left lane while the vehicle attempts to go straight.", "B. Risk of collision with a scooter changing lanes while driving on the right shoulder as the vehicle attempts to go straight.", "C. Risk of rear-end collision due to the vehicle in front suddenly stopping if the vehicle passes through without slowing down.", "D. Risk of side contact with a bus trying to depart from the stop if the vehicle moves to the right."], "answer_index": 1}
{"token": "0bc53b3d558122035cf71d51db455995", "waymo_split": "test", "type": "image", "frame_index": 95, "question": "Based on the current appearance of the person/vehicle (two-wheeled), how do they intend to move?", "category": "Normal Perception & Prediction", "options": ["A. Attempting to accelerate and pass through the intersection while seeing the orange light", "B. Currently maintaining a stopped position despite the signal changing to orange", "C. Gradually proceeding to the right while maintaining a red signal", "D. Slowly starting just after the light turned green"], "answer_index": 1}
{"token": "0bc53b3d558122035cf71d51db455995", "waymo_split": "test", "type": "image", "frame_index": 95, "question": "What is the plan for yielding when an ambulance/fire truck approaches?", "category": "Special Event", "options": ["A. Proceed slowly while maintaining your lane", "B. Maintain a stopped position to yield", "C. Proceed with emergency lights on", "D. Accelerate into the left lane"], "answer_index": 1}
{"token": "0bc53b3d558122035cf71d51db455995", "waymo_split": "test", "type": "image", "frame_index": 95, "question": "Which of the following is a correct description of traffic density?", "category": "Normal scene Understanding", "options": ["A. Many vehicles, driving vehicles are slow.", "B. Many vehicles, driving vehicles are fast.", "C. Normal number of vehicles, driving vehicles are slow.", "D. Few vehicles, driving vehicles are fast."], "answer_index": 1}
{"token": "0bc53b3d558122035cf71d51db455995", "waymo_split": "test", "type": "image", "frame_index": 95, "question": "Which of the following is a correct description of the environment?", "category": "Normal scene Understanding", "options": ["A. Clear at night", "B. Cloudy during the day", "C. Foggy in the morning", "D. Clear during the day"], "answer_index": 3}
{"token": "0bc53b3d558122035cf71d51db455995", "waymo_split": "test", "type": "image", "frame_index": 95, "question": "What is the classification of the scene?", "category": "Normal scene Understanding", "options": ["A. Straight section of a city boulevard", "B. Intersection of a residential back road", "C. Ramp at a highway interchange", "D. Intersection of a city boulevard"], "answer_index": 3}
{"token": "0bc53b3d558122035cf71d51db455995", "waymo_split": "test", "type": "image", "frame_index": 95, "question": "How do you think a safety-critical object will move?", "category": "Safety-critical Prediction", "options": ["A. It seems like it will make a U-turn (waiting at the signal line, adjusting the angle)", "B. It seems like it will go straight (just about to enter the middle of the intersection)", "C. It seems like it will turn left (moving into the left lane of the intersection)", "D. It seems like it will turn right (slowing down while approaching the corner of the intersection)"], "answer_index": 1}
{"token": "0bc53b3d558122035cf71d51db455995", "waymo_split": "test", "type": "image", "frame_index": 95, "question": "Is there a blind spot?", "category": "Uncertainty", "options": ["A. There is a left blind spot", "B. There is a front blind spot", "C. There is no blind spot", "D. There is a right blind spot"], "answer_index": 2}
{"token": "0bc53b3d558122035cf71d51db455995", "waymo_split": "test", "type": "image", "frame_index": 95, "question": "Which of the following is a correct description of traffic signals?", "category": "Traffic Signal", "options": ["A. Left turn arrow signal is on", "B. Pedestrian signal changes to green", "C. Traffic light changes to yellow", "D. Traffic light changes to green"], "answer_index": 2}
{"token": "0bc53b3d558122035cf71d51db455995", "waymo_split": "test", "type": "image", "frame_index": 95, "question": "What should I do to drive safely?", "category": "Safety-critical Planning", "options": ["A. Accelerate to pass the intersection before the scooter, alert with a horn once, and continue without breaking the flow.", "B. Indicate intention with hazard lights but skip stopping, maintaining speed and directly entering the intersection.", "C. Be aware of the scooter's movement, stop until it enters the intersection and secures a safe distance, then start driving slowly.", "D. Assume the scooter will stop, maintain the right of way, align closely to pass, and then return to normal speed."], "answer_index": 2}
{"token": "0bc53b3d558122035cf71d51db455995", "waymo_split": "test", "type": "image", "frame_index": 95, "question": "What is a safety-critical object?", "category": "Safety-critical Perception", "options": ["A. A bicycle entering a left turn in the front left. It is encroaching into the intersection.", "B. A kickboard going straight in the front right. It is trying to enter the middle of the intersection.", "C. A motorcycle changing lanes at close range in front. It is entering the right turn lane at an angle.", "D. A pedestrian jaywalking at the right crosswalk. It is crossing the lane ignoring the signal."], "answer_index": 1}
{"token": "0bc53b3d558122035cf71d51db455995", "waymo_split": "test", "type": "image", "frame_index": 95, "question": "Is there any other safety-critical object besides the first safety-critical object? If so, how will it be moved?", "category": "Safety-critical Prediction", "options": ["A. There is a high-pressure gas cylinder, move to the left safety zone", "B. There are no other safety-critical objects", "C. There is an emergency generator, move to the right maintenance area", "D. There is a flammable container, move to the rear isolation area"], "answer_index": 1}
{"token": "0bc53b3d558122035cf71d51db455995", "waymo_split": "test", "type": "image", "frame_index": 95, "question": "What is the correlation in safety-critical situations?", "category": "Safety-critical scene Understanding", "options": ["A. Car - Pedestrian", "B. Car - Bicycle", "C. Car - Kickboard", "D. Person - Kickboard"], "answer_index": 2}
{"token": "0bc53b3d558122035cf71d51db455995", "waymo_split": "test", "type": "image", "frame_index": 95, "question": "Is lane changing possible? Which is safer between slowing down and changing lanes?", "category": "Safety-critical Planning", "options": ["A. There is enough space in the left lane, changing lanes is safer (ample rear distance)", "B. Currently stopping is safe and lane changing is not possible (many vehicles are in the adjacent lanes)", "C. Slowing down is safe and lane changing is possible (the adjacent lane is clear)", "D. Immediately entering the right lane is safer (no blind spots)"], "answer_index": 1}
{"token": "0bc53b3d558122035cf71d51db455995", "waymo_split": "test", "type": "image", "frame_index": 95, "question": "What is the safest choice just before entering a yellow signal: stop vs. proceed?", "category": "Special Event", "options": ["A. It is safe to proceed immediately since there is enough distance from the pedestrian; currently, just maintain speed.", "B. Do not let the bicycle go and it is safe to proceed first; currently, proceed slowly.", "C. It is safe to proceed after sending the kickboard; currently, maintain a stop.", "D. It is safe to proceed without waiting for the kickboard; currently, maintain progress."], "answer_index": 2}
{"token": "0bc53b3d558122035cf71d51db455995", "waymo_split": "test", "type": "image", "frame_index": 95, "question": "Where is the area that hides danger in the current frame?", "category": "Uncertainty", "options": ["A. None", "B. Behind the tree", "C. Behind the bus", "D. Next to the truck"], "answer_index": 0}
{"token": "0bc53b3d558122035cf71d51db455995", "waymo_split": "test", "type": "image", "frame_index": 95, "question": "What situation might occur if the vehicle acted this way?", "category": "Counterfactual", "options": ["A. Risk of collision with the scooter on the right if the vehicle attempts to go straight", "B. Risk of collision with the pedestrian on the left if the vehicle attempts to turn left", "C. Risk of contact with the vehicle behind if the vehicle attempts to reverse", "D. Risk of collision with the motorcycle on the left if the vehicle attempts to change lanes"], "answer_index": 0}
{"token": "0bc53b3d558122035cf71d51db455995", "waymo_split": "test", "type": "image", "frame_index": 95, "question": "Who is responsible in a safety-critical situation? What is the cause?", "category": "Safety-critical scene Understanding", "options": ["A. The pedestrian is responsible because they jaywalked and suddenly ran into the road.", "B. The road management is responsible because the traffic light was broken and the intersection signs were unclear.", "C. The scooter is responsible because it was not wearing safety equipment and was driving through an intersection.", "D. The car is responsible because it changed lanes without signaling and did not stop at the intersection while turning right."], "answer_index": 2}
{"token": "0bc53b3d558122035cf71d51db455995", "waymo_split": "test", "type": "image", "frame_index": 134, "question": "Based on the current appearance of the person/vehicle (two-wheeled), how do they intend to move?", "category": "Normal Perception & Prediction", "options": ["A. Move to the right lane and turn right", "B. Proceed straight according to the orange signal", "C. Turn left in accordance with the signal", "D. Stop and wait as the light turns red"], "answer_index": 1}
{"token": "0bc53b3d558122035cf71d51db455995", "waymo_split": "test", "type": "image", "frame_index": 134, "question": "Which of the following is correct as an Image Caption from the perspective of the Normal Frame?", "category": "Normal scene caption", "options": ["A. The traffic signal at the intersection has turned orange, and the vehicle begins to move. The kickboard on the right shoulder has already passed the intersection and is moving far away. Several vehicles that were stopped behind are also starting to move.", "B. As the traffic signal at the intersection turns green, the vehicle prepares to make a left turn. The kickboard on the right shoulder is still approaching the intersection. Several vehicles behind remain stopped.", "C. The traffic signal at the intersection is still red, and the vehicle maintains its stop. The kickboard on the right shoulder is stopped in front of the intersection. Several vehicles behind are also remaining in a waiting state.", "D. The traffic signal at the intersection is about to change from green to flashing orange, and the vehicle begins to slow down. The kickboard on the right shoulder is stopped next to the road. The vehicles behind are turning on their brake lights and reducing speed."], "answer_index": 0}
{"token": "0bc53b3d558122035cf71d51db455995", "waymo_split": "test", "type": "image", "frame_index": 134, "question": "What are the restrictions on behavior in school zones/congested areas?", "category": "Special Event", "options": ["A. Accelerate to pass through the intersection", "B. Honk the horn to pass through the intersection", "C. Proceed slowly to pass through the intersection", "D. Turn on hazard lights and overtake to pass through"], "answer_index": 2}
{"token": "0bc53b3d558122035cf71d51db455995", "waymo_split": "test", "type": "image", "frame_index": 134, "question": "What is the plan for yielding when an ambulance/fire truck approaches?", "category": "Special Event", "options": ["A. Proceed slowly and first pass through the middle of the intersection", "B. Stop and wait at the entrance of the intersection", "C. Turn on the hazard lights and briefly stop in the center of the intersection", "D. Proceed slowly and pull the vehicle to the right edge"], "answer_index": 0}
{"token": "0bc53b3d558122035cf71d51db455995", "waymo_split": "test", "type": "image", "frame_index": 134, "question": "Which of the following is correct regarding traffic density?", "category": "Normal scene Understanding", "options": ["A. Few vehicles, driving vehicles are slow.", "B. Many vehicles, driving vehicles are slow.", "C. Many vehicles, driving vehicles are fast.", "D. Few vehicles, driving vehicles are fast."], "answer_index": 2}
{"token": "0bc53b3d558122035cf71d51db455995", "waymo_split": "test", "type": "image", "frame_index": 134, "question": "What is the classification of the scene?", "category": "Normal scene Understanding", "options": ["A. Intersection of a city boulevard", "B. T-junction of an unpaved farm road", "C. Intersection of a residential alley", "D. Interchange on a highway"], "answer_index": 0}
{"token": "0bc53b3d558122035cf71d51db455995", "waymo_split": "test", "type": "image", "frame_index": 134, "question": "Which of the following is a correct description of the environment?", "category": "Normal scene Understanding", "options": ["A. night shower", "B. dawn fog", "C. evening overcast", "D. daytime clear"], "answer_index": 3}
{"token": "0bc53b3d558122035cf71d51db455995", "waymo_split": "test", "type": "image", "frame_index": 134, "question": "Which of the following is a correct description of traffic signals?", "category": "Traffic Signal", "options": ["A. The traffic light turns green. There is no attachment visible on the vertical traffic light on the right.", "B. The traffic light switches to red flashing. Only a camera is attached to the front traffic light pole.", "C. The traffic light changes to orange. There is a sign attached to the vertical traffic light on the right.", "D. The traffic light turns red. There is no sign on the horizontal traffic light on the left."], "answer_index": 2}
{"token": "0bc53b3d558122035cf71d51db455995", "waymo_split": "test", "type": "image", "frame_index": 134, "question": "What is a safety-critical object?", "category": "Safety-critical Perception", "options": ["A. Forklift in operation", "B. Exposed high voltage line", "C. No safety-critical object", "D. Press in operation"], "answer_index": 2}
{"token": "0bc53b3d558122035cf71d51db455995", "waymo_split": "test", "type": "image", "frame_index": 134, "question": "How do you think a safety-critical object should be moved?", "category": "Safety-critical Prediction", "options": ["A. Approach the safety-critical object from the front", "B. Deviate to the right of the safety-critical object", "C. Change lanes to the left of the safety-critical object", "D. No safety-critical object"], "answer_index": 3}
{"token": "0bc53b3d558122035cf71d51db455995", "waymo_split": "test", "type": "image", "frame_index": 134, "question": "Is there any other safety-critical object besides the first safety-critical object? If so, how will you move it?", "category": "Safety-critical Prediction", "options": ["A. There is a fire extinguisher, hold the handle and move along the wall", "B. There is a lithium battery pack, wear insulated gloves and move it upright", "C. There is an oxygen tank, close the valve and move it with a cart", "D. There are no other safety-critical objects"], "answer_index": 3}
{"token": "0bc53b3d558122035cf71d51db455995", "waymo_split": "test", "type": "image", "frame_index": 134, "question": "How should I drive to address the first risk while also addressing the second risk?", "category": "Safety-critical Planning", "options": ["A. There is a non-critical object ahead", "B. There is a safety-critical object in the next lane", "C. There is a safety-critical object ahead", "D. There is no safety-critical object ahead"], "answer_index": 3}
{"token": "0bc53b3d558122035cf71d51db455995", "waymo_split": "test", "type": "image", "frame_index": 134, "question": "What should I do to drive safely?", "category": "Safety-critical Planning", "options": ["A. You should change lanes without using your turn signal.", "B. You need to pass intersections carefully.", "C. You should reduce the following distance on wet roads.", "D. You should speed up when the light is yellow."], "answer_index": 1}
{"token": "0bc53b3d558122035cf71d51db455995", "waymo_split": "test", "type": "image", "frame_index": 134, "question": "Where is the area that hides danger in the current frame?", "category": "Uncertainty", "options": ["A. Behind the right street tree", "B. Behind the large vehicle in front", "C. None", "D. Beyond the left A-pillar"], "answer_index": 2}
{"token": "0bc53b3d558122035cf71d51db455995", "waymo_split": "test", "type": "image", "frame_index": 134, "question": "Is lane change possible? Which is safer between slowing down and changing lanes?", "category": "Safety-critical Planning", "options": ["A. Currently lane change is possible, slowing down is safer because the front distance is rapidly decreasing, so it's better to reduce speed first.", "B. Currently lane change is not possible, slowing down is safer because vehicles are overlapping in the blind spots on the left and right, leaving no room to enter.", "C. Currently lane change is possible, slowing down is safer because there is a car quickly approaching from the right rear, making a change more dangerous.", "D. Currently lane change is possible, changing lanes is safer than slowing down. Vehicles behind are all going straight."], "answer_index": 3}
{"token": "0bc53b3d558122035cf71d51db455995", "waymo_split": "test", "type": "image", "frame_index": 134, "question": "What is the method to avoid blind spots when passing large vehicles?", "category": "Special Event", "options": ["A. Maintain low speed", "B. Stay close to the right", "C. No large vehicles", "D. Overtake sharply on the left"], "answer_index": 2}
{"token": "0ccbe14043e407ee91a2ef748c9305cd", "waymo_split": "test", "type": "video", "frame_index": null, "question": "What are the classifications of scenes?", "category": "Normal scene Understanding", "options": ["A. Unpaved", "B. Highway", "C. City", "D. Residential area"], "answer_index": 3}
{"token": "0ccbe14043e407ee91a2ef748c9305cd", "waymo_split": "test", "type": "video", "frame_index": null, "question": "Which of the following is a correct description of traffic density?", "category": "Normal scene Understanding", "options": ["A. Few surrounding vehicles. Gentle uphill slope", "B. Many vehicles parked on the side. Slope is downward", "C. Fast vehicle flow. Close to flat terrain", "D. Almost no vehicles parked on the side. Slope is upward"], "answer_index": 1}
{"token": "0ccbe14043e407ee91a2ef748c9305cd", "waymo_split": "test", "type": "video", "frame_index": null, "question": "Which of the following is a correct description of road alignment?", "category": "Normal Perception & Prediction", "options": ["A. Overtaking", "B. Right turn", "C. Going straight", "D. Left turn"], "answer_index": 2}
{"token": "0ccbe14043e407ee91a2ef748c9305cd", "waymo_split": "test", "type": "video", "frame_index": null, "question": "Where is the safety-critical situation in the video?", "category": "Temporal Grounding", "options": ["A. Situation with a truck approaching: 1/4; Situation with a van approaching: 4/4", "B. Situation with a bus making a sudden stop: 3/4", "C. Situation with a motorcycle cutting in from the side: 2/4", "D. Situation with a pedestrian crossing the road: 2/4"], "answer_index": 0}
{"token": "0ccbe14043e407ee91a2ef748c9305cd", "waymo_split": "test", "type": "video", "frame_index": null, "question": "What is correct regarding Video Summary from a Safety-critical Scene perspective?", "category": "Safety-critical scene caption", "options": ["A. In the early part of the video, a large truck moving slowly in the same direction as my vehicle followed behind, and on a narrow road with a central line, the truck moved to the right allowing my vehicle to pass straight through. Later in the video, as a small car approached, my vehicle increased speed to pass first.", "B. Initially, a vehicle coming from the opposite direction maintained its lane accurately, allowing my vehicle to proceed without any significant yielding. During the journey, my vehicle briefly moved towards the central line to avoid parked cars on the left, and later in the video, as a bicycle moved to the edge, my vehicle passed at a constant speed.", "C. In the early part of the video, a large truck was driving towards my vehicle from the opposite direction. This truck had no central line but had already encroached into one lane, causing my vehicle to enter between the right-side parked cars to yield the road. Later in the video, as a van approached similarly, my vehicle slowed down.", "D. In the early part of the video, a van merging from the right alley paused momentarily, allowing my vehicle to proceed first. Although it was a road without a central line, there was ample space, so there was no lane encroachment. Later in the video, as the vehicle in front made a sudden stop, my vehicle came to a complete stop with the brakes."], "answer_index": 2}
{"token": "0ccbe14043e407ee91a2ef748c9305cd", "waymo_split": "test", "type": "video", "frame_index": null, "question": "What is the description of a non-safety-critical object?", "category": "Normal Perception & Prediction", "options": ["A. There are many parked cars nearby, and there are many houses and trees along the roadside.", "B. There are almost no parked cars on the street, one side of the road is densely populated with shops, and the opposite side is just a fence.", "C. On one side, there is a small park and playground, while the opposite side has a mix of warehouses and vacant lots.", "D. The road is lined with high-rise office buildings, there are few street trees, and many buildings have glass facades."], "answer_index": 0}
{"token": "0ccbe14043e407ee91a2ef748c9305cd", "waymo_split": "test", "type": "video", "frame_index": null, "question": "Which of the following is a correct description of traffic signals?", "category": "Traffic Signal", "options": ["A. No signals or signs", "B. Left turn only signal", "C. Stop sign present", "D. Pedestrian signal is green"], "answer_index": 0}
{"token": "0ccbe14043e407ee91a2ef748c9305cd", "waymo_split": "test", "type": "video", "frame_index": null, "question": "Which of the following is a correct description of the environment?", "category": "Normal scene Understanding", "options": ["A. Around noon, cloudy day", "B. Around midnight, light rain", "C. Dawn, light fog", "D. At sunset, clear day"], "answer_index": 3}
{"token": "0ccbe14043e407ee91a2ef748c9305cd", "waymo_split": "test", "type": "video", "frame_index": null, "question": "What is the answer regarding parked vehicles on the shoulder, the presence of a center line, and whether Ego crosses the center line?", "category": "Normal Perception & Prediction", "options": ["A. Few parked vehicles on the shoulder. There is a center line. My vehicle crosses the center line.", "B. Many parked vehicles on the shoulder. There is no center line. My vehicle does not cross the center line.", "C. No parked vehicles on the shoulder. There is a center line. My vehicle does not cross the center line.", "D. One or two parked vehicles on the shoulder. There is a center line. My vehicle crosses the center line."], "answer_index": 1}
{"token": "0ccbe14043e407ee91a2ef748c9305cd", "waymo_split": "test", "type": "video", "frame_index": null, "question": "What are the correlations in safety-critical situations?", "category": "Safety-critical scene Understanding", "options": ["A. 1. Car-Person. 2. Car-Two-wheeler", "B. 1. Person-Car. 2. Two-wheeler-Two-wheeler", "C. 1. Car-Car. 2. Car-Car", "D. 1. Two-wheeler-Car. 2. Car-Person"], "answer_index": 2}
{"token": "0ccbe14043e407ee91a2ef748c9305cd", "waymo_split": "test", "type": "video", "frame_index": null, "question": "How did the safety-critical object move and how did the ego vehicle behave?", "category": "Safety-critical scene Understanding", "options": ["A. Entered the two-lane road from the opposite side and turned left. The ego vehicle maintained its speed while slightly moving towards the centerline; after the left-turning vehicle passed, it lightly accelerated.", "B. Approached quickly from behind and overtook in the left lane. The ego vehicle maintained a steady speed while keeping to the right edge; after the overtaking vehicle passed, it continued in the same lane.", "C. Attempted to merge slowly from the right alley into the main road. The ego vehicle slightly changed to the left lane to pass comfortably; it drove at a constant speed while increasing the distance from the merging vehicle.", "D. Drove straight on the two-lane road in the direction of the ego vehicle. The ego vehicle slightly moved to the right to give way, almost coming to a stop to ensure the truck's passage; as the van approached, the ego vehicle, which was moving slowly, nearly came to a stop."], "answer_index": 3}
{"token": "0ccbe14043e407ee91a2ef748c9305cd", "waymo_split": "test", "type": "video", "frame_index": null, "question": "Are there any blind spots in your field of vision?", "category": "Uncertainty", "options": ["A. The left parking area is a blind spot", "B. The area next to the median is clear", "C. The area in front of the bus stop has a clear view", "D. There are blind spots between parked cars on the side street"], "answer_index": 3}
{"token": "0ccbe14043e407ee91a2ef748c9305cd", "waymo_split": "test", "type": "video", "frame_index": null, "question": "What is a safety-critical object?", "category": "Safety-critical Perception", "options": ["A. A van parked on the shoulder", "B. A large truck moving away from your vehicle on the opposite side", "C. A large truck approaching your vehicle from the opposite side. A van approaching your vehicle from the opposite side", "D. A pedestrian standing on the sidewalk"], "answer_index": 2}
{"token": "0ccbe14043e407ee91a2ef748c9305cd", "waymo_split": "test", "type": "video", "frame_index": null, "question": "Summary of Ego (self-vehicle) behavior before a safety-critical situation", "category": "Normal scene Understanding", "options": ["A. Driving straight on the secondary road", "B. Decelerating and stopping on the secondary road", "C. Turning left on the secondary road", "D. Entering right on the secondary road"], "answer_index": 0}
{"token": "0ccbe14043e407ee91a2ef748c9305cd", "waymo_split": "test", "type": "video", "frame_index": null, "question": "What situation would have occurred if the self-driving car had acted this way?", "category": "Counterfactual", "options": ["A. If the self-driving car had not stopped and just continued straight, it could have collided with safety-critical vehicles coming from both directions.", "B. Even if the self-driving car had only slightly decelerated and continued straight, it would have naturally slipped through the gap in front of the car without any collision in both situations.", "C. If the self-driving car had briefly stopped and then accelerated to clear the intersection first, the other party would have yielded, allowing both situations to proceed without an accident.", "D. If the self-driving car had moved to the right lane in advance, it would have passed smoothly behind the large vehicle in both situations."], "answer_index": 0}
{"token": "0ccbe14043e407ee91a2ef748c9305cd", "waymo_split": "test", "type": "video", "frame_index": null, "question": "Who is responsible in a safety-critical situation? What is the cause?", "category": "Safety-critical scene Understanding", "options": ["A. The responsibility lies with my vehicle, and the cause is a judgment error in proceeding without slowing down or stopping after confirming the advancing vehicle in a narrow two-lane road.", "B. The responsibility lies with the other vehicle, and the cause is that it excessively encroached while sticking to the center in a side road, failing to secure mutual passage space.", "C. There is no responsibility assigned to anyone, but due to the nature of the narrow two-lane road with parked vehicles, there exists a situation where one vehicle must yield. (That would be my vehicle.)", "D. The responsibility lies with the road management authority, and the cause is allowing illegal parking to obstruct visibility for an extended period, leading to a conflict."], "answer_index": 2}
{"token": "0ccbe14043e407ee91a2ef748c9305cd", "waymo_split": "test", "type": "image", "frame_index": 9, "question": "Which of the following is correct as an Image Caption from a Safety-critical Frame perspective?", "category": "Safety-critical scene caption", "options": ["A. There is a passenger van moving slowly in the lane ahead of my vehicle.", "B. There is a large truck approaching my vehicle.", "C. There is a bus attempting to change lanes from the right lane.", "D. There is a large truck moving away in the opposite lane."], "answer_index": 1}
{"token": "0ccbe14043e407ee91a2ef748c9305cd", "waymo_split": "test", "type": "video", "frame_index": null, "question": "What situations may potentially arise depending on the type/condition of the road?", "category": "Normal Perception & Prediction", "options": ["A. Due to the characteristics of an uphill road sloping upwards, gravity helps accelerate more easily, leading to faster speeds, and during deceleration, the speed may not decrease easily.", "B. Due to the characteristics of a gravel unpaved road, the rougher the surface, the more firmly the tires grip, allowing for rapid acceleration, and it can pass through corners stably without significantly reducing speed.", "C. Due to the characteristics of a wet road from rain, tire grip improves, allowing for quicker stops during braking, and during acceleration, the wheels may not slip, making it easier to start.", "D. Due to the characteristics of a road sloping downwards, speed increases more easily during acceleration, and during deceleration, the speed may decrease slowly."], "answer_index": 3}
{"token": "0ccbe14043e407ee91a2ef748c9305cd", "waymo_split": "test", "type": "image", "frame_index": 9, "question": "Based on the current appearance of the person/vehicle (two-wheeled), how do they intend to move?", "category": "Normal Perception & Prediction", "options": ["A. Trying to turn left", "B. Trying to go straight", "C. Trying to turn right", "D. Trying to make a U-turn"], "answer_index": 1}
{"token": "0ccbe14043e407ee91a2ef748c9305cd", "waymo_split": "test", "type": "image", "frame_index": 9, "question": "Which of the following is a correct description of traffic density?", "category": "Normal scene Understanding", "options": ["A. Many surrounding moving vehicles", "B. Few surrounding parked vehicles", "C. Many surrounding parked vehicles", "D. Many vehicles stuck in the opposite lane"], "answer_index": 2}
{"token": "0ccbe14043e407ee91a2ef748c9305cd", "waymo_split": "test", "type": "image", "frame_index": 9, "question": "What are the classifications of scenes?", "category": "Normal scene Understanding", "options": ["A. Main highway section", "B. Unpaved rural road section", "C. Residential area two-lane road", "D. Urban four-lane thoroughfare"], "answer_index": 2}
{"token": "0ccbe14043e407ee91a2ef748c9305cd", "waymo_split": "test", "type": "image", "frame_index": 9, "question": "What are the behavioral restrictions in school zones/congested areas?", "category": "Special Event", "options": ["A. Priority for right turns", "B. Reduced speed", "C. Use of horn", "D. Use of high beams"], "answer_index": 1}
{"token": "0ccbe14043e407ee91a2ef748c9305cd", "waymo_split": "test", "type": "image", "frame_index": 9, "question": "What is the plan for yielding when an ambulance/fire truck approaches?", "category": "Special Event", "options": ["A. Maintain speed and yield after passing the intersection", "B. Stop in the center of the lane and yield", "C. Slow down and move to the shoulder to yield", "D. Turn on hazard lights and stay close to the first lane to yield"], "answer_index": 2}
{"token": "0ccbe14043e407ee91a2ef748c9305cd", "waymo_split": "test", "type": "image", "frame_index": 9, "question": "Which of the following is a correct description of the environment?", "category": "Normal scene Understanding", "options": ["A. Night, rain", "B. Evening, cloudy", "C. Day, clear", "D. Dawn, fog"], "answer_index": 2}
{"token": "0ccbe14043e407ee91a2ef748c9305cd", "waymo_split": "test", "type": "image", "frame_index": 9, "question": "What is the answer regarding parked vehicles on the shoulder, the presence of a center line, and whether Ego crosses the center line?", "category": "Normal Perception & Prediction", "options": ["A. Only 1-2 parked vehicles on the shoulder. Solid center line. My vehicle slightly crosses the center line.", "B. No parked vehicles on the shoulder. Yellow dashed center line. My vehicle is driving over the center line.", "C. Many parked vehicles on the shoulder. No center line. My vehicle does not cross the center line.", "D. Rarely see parked vehicles on the shoulder. There is a center line. My vehicle crosses the center line."], "answer_index": 2}
{"token": "0ccbe14043e407ee91a2ef748c9305cd", "waymo_split": "test", "type": "image", "frame_index": 9, "question": "Is there a blind spot in the field of view?", "category": "Uncertainty", "options": ["A. There is a blind spot between the left-side parked vehicles and the pedestrian sidewalk.", "B. There is no blind spot between the right-side bus stop and the pedestrian sidewalk.", "C. There is a blind spot between the right-side parked vehicles and the pedestrian sidewalk.", "D. There is no blind spot between the right-side parked vehicles and the roadway."], "answer_index": 2}
{"token": "0ccbe14043e407ee91a2ef748c9305cd", "waymo_split": "test", "type": "image", "frame_index": 9, "question": "Which of the following is a correct description of traffic signals?", "category": "Traffic Signal", "options": ["A. Pedestrian signal", "B. None", "C. Left turn signal", "D. Stop"], "answer_index": 1}
{"token": "0ccbe14043e407ee91a2ef748c9305cd", "waymo_split": "test", "type": "image", "frame_index": 9, "question": "What is a safety-critical object?", "category": "Safety-critical Perception", "options": ["A. A small passenger car moving slowly in the same lane on the right (in front of your vehicle on a two-lane road)", "B. A large truck approaching from the left in the direction of your vehicle (on the opposite lane of a two-lane road)", "C. A city bus stopped in front of the stop line (at the intersection entry of a two-lane road)", "D. A motorcycle approaching in the same lane from behind (behind your vehicle on a two-lane road)"], "answer_index": 1}
{"token": "0ccbe14043e407ee91a2ef748c9305cd", "waymo_split": "test", "type": "image", "frame_index": 9, "question": "How do you think a safety-critical object will move?", "category": "Safety-critical Prediction", "options": ["A. Moving straight in the same direction", "B. Turning left in the same direction", "C. Reversing in the opposite direction", "D. Changing to the right lane"], "answer_index": 0}
{"token": "0ccbe14043e407ee91a2ef748c9305cd", "waymo_split": "test", "type": "image", "frame_index": 9, "question": "What is the correlation in safety-critical situations?", "category": "Safety-critical scene Understanding", "options": ["A. Car - Two-wheeler", "B. Person - Two-wheeler", "C. Car - Person", "D. Car - Car"], "answer_index": 3}
{"token": "0ccbe14043e407ee91a2ef748c9305cd", "waymo_split": "test", "type": "image", "frame_index": 9, "question": "Is there any other safety-critical object besides the first safety-critical object? If so, how will it move?", "category": "Safety-critical Prediction", "options": ["A. Not visible", "B. Crossing to the right", "C. Moving forward", "D. Coming from the left"], "answer_index": 0}
{"token": "0ccbe14043e407ee91a2ef748c9305cd", "waymo_split": "test", "type": "image", "frame_index": 9, "question": "Is lane changing possible? Which is safer between slowing down and changing lanes?", "category": "Safety-critical Planning", "options": ["A. Changing lanes", "B. Slowing down", "C. Overtaking", "D. Accelerating"], "answer_index": 1}
{"token": "0ccbe14043e407ee91a2ef748c9305cd", "waymo_split": "test", "type": "image", "frame_index": 9, "question": "Where is the area that hides danger in the current frame?", "category": "Uncertainty", "options": ["A. The front blind spot where pedestrians can hide in front of the safety-critical object", "B. The blind spot behind the safety-critical object where vehicles or objects may exist", "C. The large vehicle's front blind spot in the center of the opposite lane of the safety-critical object", "D. The partial obstruction area at the edge of the left lane of the safety-critical object"], "answer_index": 1}
{"token": "0ccbe14043e407ee91a2ef748c9305cd", "waymo_split": "test", "type": "image", "frame_index": 9, "question": "What is the method to avoid blind spots when passing large vehicles?", "category": "Special Event", "options": ["A. Quickly overtake the large vehicle to get out of the blind spot", "B. Alert with horn and lights, and pass close to the center of the lane", "C. Slow down or stop until the large vehicle passes", "D. Turn on hazard lights and pass alongside the large vehicle at the same speed"], "answer_index": 2}
{"token": "0ccbe14043e407ee91a2ef748c9305cd", "waymo_split": "test", "type": "image", "frame_index": 9, "question": "What are the newly exposed risk candidates in the following section?", "category": "Safety-critical Prediction", "options": ["A. There may be vehicles or objects behind the safety-critical object, posing a collision risk.", "B. A bus may suddenly cut into the adjacent lane next to the safety-critical object, posing a side collision risk.", "C. The safety-critical object may sway in strong winds and tilt into the lane, posing a structure contact risk.", "D. There may be pedestrians or bicycles in front of the safety-critical object, posing a contact risk."], "answer_index": 0}
{"token": "0ccbe14043e407ee91a2ef748c9305cd", "waymo_split": "test", "type": "image", "frame_index": 33, "question": "Which of the following is correct from the perspective of Safety-critical Frame regarding Image Caption?", "category": "Safety-critical scene caption", "options": ["A. A large truck is approaching from the opposite lane directly in front of the left side of the vehicle. At this time, the vehicle is in a stopped state after decelerating.", "B. A small passenger car is located at a medium distance directly to the right front of the vehicle that is moving forward. At this time, the vehicle is traveling at a constant speed.", "C. In the situation of entering an intersection from the vehicle's perspective, a motorcycle is quickly crossing from the left side at a far distance in front of the left side of the vehicle. At this time, the vehicle is proceeding at a slow speed.", "D. A city bus is merging from the right side in the same lane as the vehicle, positioned close to the side. At this time, the vehicle is accelerating to overtake."], "answer_index": 0}
{"token": "0ccbe14043e407ee91a2ef748c9305cd", "waymo_split": "test", "type": "image", "frame_index": 33, "question": "Based on the current appearance of the person/vehicle (two-wheeled), how are they trying to move?", "category": "Normal Perception & Prediction", "options": ["A. Passing at a constant speed", "B. Decelerating and coming to a stop", "C. Entering a left turn", "D. Accelerating and starting to move"], "answer_index": 1}
{"token": "0ccbe14043e407ee91a2ef748c9305cd", "waymo_split": "test", "type": "image", "frame_index": 33, "question": "What are the restrictions on behavior in school zones/congested areas?", "category": "Special Event", "options": ["A. Accelerated driving", "B. Use of high beams", "C. Decelerated driving", "D. Overtaking allowed"], "answer_index": 2}
{"token": "0ccbe14043e407ee91a2ef748c9305cd", "waymo_split": "test", "type": "image", "frame_index": 33, "question": "What is the plan for yielding when an ambulance/fire truck approaches?", "category": "Special Event", "options": ["A. Move to the side of the center line to create space", "B. Stop in the center of the intersection to clear the way", "C. Slow down and move to the shoulder to yield", "D. Turn on hazard lights and continue slowly in the same lane"], "answer_index": 2}
{"token": "0ccbe14043e407ee91a2ef748c9305cd", "waymo_split": "test", "type": "image", "frame_index": 33, "question": "What are the classifications of scenes?", "category": "Normal scene Understanding", "options": ["A. Main line of a 4-lane highway", "B. Unpaved rural road section", "C. 4-lane road in the city", "D. 2-lane road in a residential area"], "answer_index": 3}
{"token": "0ccbe14043e407ee91a2ef748c9305cd", "waymo_split": "test", "type": "image", "frame_index": 33, "question": "Which of the following is a correct description of traffic density?", "category": "Normal scene Understanding", "options": ["A. Many parked vehicles on the surrounding side streets", "B. Many moving vehicles in the vicinity", "C. The side road is quiet", "D. Few vehicles in the surrounding area"], "answer_index": 0}
{"token": "0ccbe14043e407ee91a2ef748c9305cd", "waymo_split": "test", "type": "image", "frame_index": 33, "question": "Which of the following is a correct description of traffic signals?", "category": "Traffic Signal", "options": ["A. Stop line", "B. Traffic light", "C. Stop sign", "D. None"], "answer_index": 3}
{"token": "0ccbe14043e407ee91a2ef748c9305cd", "waymo_split": "test", "type": "image", "frame_index": 33, "question": "Which of the following is a correct description of the environment?", "category": "Normal scene Understanding", "options": ["A. Day, clear", "B. Dawn, fog", "C. Night, rain", "D. Dusk, cloudy"], "answer_index": 0}
{"token": "0ccbe14043e407ee91a2ef748c9305cd", "waymo_split": "test", "type": "image", "frame_index": 33, "question": "What is the description of non-safety-critical objects?", "category": "Normal Perception & Prediction", "options": ["A. Construction barriers and a warehouse on the left and right, a metal fence, a fire hydrant and a delivery motorcycle on the right, and a parking payment machine on the left.", "B. Outdoor cafe tables and an officetel on the left and right, a taxi stand and a newspaper vending machine on the right, and a CCTV pole on the left.", "C. Commercial buildings and street trees on the left and right, a bus stop and a mailbox on the right, and an electronic display board on the left.", "D. Vehicles parked on the side streets and residential areas on the left and right, a utility pole and a trash can on the right, and a streetlight on the left."], "answer_index": 3}
{"token": "0ccbe14043e407ee91a2ef748c9305cd", "waymo_split": "test", "type": "image", "frame_index": 33, "question": "What is the answer regarding parked vehicles on the shoulder, the presence of a center line, and whether Ego crosses the center line?", "category": "Normal Perception & Prediction", "options": ["A. A few parked vehicles on the shoulder are visible. There is a center line. My vehicle slightly crosses the center line.", "B. There are many parked vehicles on the shoulder. There is no center line. My vehicle does not cross the center line.", "C. There are no parked vehicles on the shoulder. The center line is faint but present. My vehicle straddles the center line.", "D. There are almost no parked vehicles on the shoulder. The center line is clear. My vehicle crosses the center line."], "answer_index": 1}
{"token": "0ccbe14043e407ee91a2ef748c9305cd", "waymo_split": "test", "type": "image", "frame_index": 33, "question": "How do you think a safety-critical object will move?", "category": "Safety-critical Prediction", "options": ["A. Moving straight in the same direction", "B. Making a U-turn in the opposite direction", "C. Changing lanes to the left", "D. Reversing backwards"], "answer_index": 0}
{"token": "0ccbe14043e407ee91a2ef748c9305cd", "waymo_split": "test", "type": "image", "frame_index": 33, "question": "What is a safety-critical object?", "category": "Safety-critical Perception", "options": ["A. A large truck approaching from the left side of the road is right in front (on the opposite lane of a two-lane road)", "B. A small SUV slowly merging from the right side is right in front (on the main lane of a two-lane road)", "C. A delivery motorcycle trying to enter the lane from the left alley (on a two-lane road with two-way traffic)", "D. A bicycle that has stopped in the center of the lane ahead (on a one-way single lane)"], "answer_index": 0}
{"token": "0ccbe14043e407ee91a2ef748c9305cd", "waymo_split": "test", "type": "image", "frame_index": 33, "question": "Is there a blind spot in the field of view?", "category": "Uncertainty", "options": ["A. No blind spot with visibility secured to the right front", "B. There is a blind spot between the right shoulder and the bicycle lane", "C. There is a blind spot between the right-side parked vehicles and pedestrians", "D. There is a blind spot on the side of the left bus stop waiting area"], "answer_index": 2}
{"token": "0ccbe14043e407ee91a2ef748c9305cd", "waymo_split": "test", "type": "image", "frame_index": 33, "question": "What is the correlation in safety-critical situations?", "category": "Safety-critical scene Understanding", "options": ["A. car-car", "B. person-two-wheeler", "C. two-wheeler-car", "D. car-person"], "answer_index": 0}
{"token": "0ccbe14043e407ee91a2ef748c9305cd", "waymo_split": "test", "type": "image", "frame_index": 33, "question": "What should I do to drive safely?", "category": "Safety-critical Planning", "options": ["A. Since the vehicle is effectively crossing the center line and moving straight towards my direction, I should maneuver my car between the parked vehicles on the right shoulder to secure space and stop. (The current state is also a stop)", "B. Since there is a momentary gap on the left lane, it is better to slightly cross the center line and move left to create distance from the oncoming car and pass quickly. (Entering the right shoulder is actually dangerous)", "C. Even if the vehicle approaches closely while driving near the center line, my car has the right of way, so I should maintain my course and signal with the horn and lights before continuing straight, forcing the other vehicle to yield. (There is no need to veer to the right)", "D. Since the gap between the parked vehicles on the right shoulder is narrow, I should just slow down, turn on the hazard lights, and pass straight through, maintaining speed to resolve the situation quickly. (Coming to a complete stop may cause a rear-end collision)"], "answer_index": 0}
{"token": "0ccbe14043e407ee91a2ef748c9305cd", "waymo_split": "test", "type": "image", "frame_index": 33, "question": "Is lane changing possible? Which is safer between slowing down and changing lanes?", "category": "Safety-critical Planning", "options": ["A. Left lane change is possible, slowing down is safe", "B. Right lane change is possible, moving slowly is safe", "C. Lane changing is not possible, stopping is safe", "D. Left lane change is possible, changing lanes is safe"], "answer_index": 2}
{"token": "0ccbe14043e407ee91a2ef748c9305cd", "waymo_split": "test", "type": "image", "frame_index": 33, "question": "Are there any other safety-critical objects besides the first safety-critical object? If so, how will you move?", "category": "Safety-critical Prediction", "options": ["A. There is a construction cone, turn left", "B. Not visible", "C. There is a pedestrian, detour", "D. Bicycle approaching, slow down"], "answer_index": 1}
{"token": "0ccbe14043e407ee91a2ef748c9305cd", "waymo_split": "test", "type": "image", "frame_index": 33, "question": "What is the safest choice when approaching a yellow signal: stop vs proceed?", "category": "Special Event", "options": ["A. Waiting to turn left", "B. No signal", "C. Stop immediately", "D. Proceed while slowing down"], "answer_index": 1}
{"token": "0ccbe14043e407ee91a2ef748c9305cd", "waymo_split": "test", "type": "image", "frame_index": 33, "question": "What is the method to avoid the blind spot next to a large vehicle?", "category": "Special Event", "options": ["A. Quickly overtake the large vehicle and pass first", "B. Alert with the horn and hazard lights and pass as is", "C. Slow down or stop until the large vehicle passes", "D. Follow closely behind the large vehicle and pass"], "answer_index": 2}
{"token": "0ccbe14043e407ee91a2ef748c9305cd", "waymo_split": "test", "type": "image", "frame_index": 33, "question": "What are the potential situations that could occur in the current scenario?", "category": "Counterfactual", "options": ["A. Maintain a stopped state until the truck passes", "B. Turn on hazard lights and slowly enter", "C. Honk the horn and enter first", "D. Change lanes to overtake the truck"], "answer_index": 0}
{"token": "0ccbe14043e407ee91a2ef748c9305cd", "waymo_split": "test", "type": "image", "frame_index": 33, "question": "What are the newly exposed risk candidates in the following section?", "category": "Safety-critical Prediction", "options": ["A. There may be vehicles or objects behind the safety-critical object. Risk of collision with them.", "B. Vehicles in the opposite lane of the safety-critical object may cross the center line. Risk of head-on collision.", "C. Pedestrians may step down from the sidewalk next to the safety-critical object into the lane. Risk of side contact.", "D. A stationary vehicle in front of the safety-critical object may suddenly start moving. Risk of contact due to obstruction."], "answer_index": 0}
{"token": "0ccbe14043e407ee91a2ef748c9305cd", "waymo_split": "test", "type": "image", "frame_index": 33, "question": "Where is the area that hides risks in the current frame?", "category": "Uncertainty", "options": ["A. A blind spot where vehicles or objects may exist behind the safety-critical object", "B. The open central section of the lane in front of the safety-critical object", "C. The completely exposed shoulder and bus stop area on the right side of the vehicle", "D. The open space in front of a sign visible far across the opposite lane"], "answer_index": 0}
{"token": "0ccbe14043e407ee91a2ef748c9305cd", "waymo_split": "test", "type": "image", "frame_index": 33, "question": "Who is responsible in a safety-critical situation? What is the cause?", "category": "Safety-critical scene Understanding", "options": ["A. The safety-critical object is responsible, as it is effectively driving in a state of crossing the center line, posing a collision risk.", "B. The vehicle merging from the right is responsible, as it abruptly cut in front of my vehicle, creating a danger.", "C. The other vehicle is not responsible, as the center line markings are unclear in the construction zone, making driving in that lane normal.", "D. My vehicle is responsible, as it continued straight without slowing down or avoiding the situation near the center line, increasing the risk of collision."], "answer_index": 0}
{"token": "0ccbe14043e407ee91a2ef748c9305cd", "waymo_split": "test", "type": "image", "frame_index": 76, "question": "Which of the following is correct as an Image Caption from a Safety-critical Frame perspective?", "category": "Safety-critical scene caption", "options": ["A. A truck from the opposite lane is approaching and is clearly visible in front of the vehicle, while the vehicle gradually accelerates to start.", "B. A large truck that was ahead in the same lane as the vehicle slows down and stops to the right front of the vehicle, while the vehicle is moving slowly.", "C. A large truck is following the vehicle in the direction of travel, maintaining a safe distance, and is visible in the center rear of the vehicle, while the vehicle is moving slowly.", "D. A large truck coming from the opposite lane passes by the vehicle and is visible behind and to the left of the vehicle, while the vehicle is decelerating and has come to a stop."], "answer_index": 3}
{"token": "0ccbe14043e407ee91a2ef748c9305cd", "waymo_split": "test", "type": "image", "frame_index": 76, "question": "Based on the current appearance of the person/vehicle (two-wheeled), how do they intend to move?", "category": "Normal Perception & Prediction", "options": ["A. Turn right", "B. Turn left", "C. Stopped", "D. Proceed straight"], "answer_index": 2}
{"token": "0ccbe14043e407ee91a2ef748c9305cd", "waymo_split": "test", "type": "image", "frame_index": 76, "question": "Which of the following is correct from the perspective of a Normal Frame Image Caption?", "category": "Normal scene caption", "options": ["A. A vehicle moving slowly on a two-lane road, with a few illegal parked cars only on the left edge, a truck on the opposite side hesitating to proceed while waiting in the center, and a vehicle behind preparing to turn left and slowing down.", "B. A vehicle that is about to start moving after waiting at a signal on a straight section of a two-lane road, with only sidewalks in front of shops on both sides and few parked cars, a van on the opposite side making a right turn, and an SUV behind trying to change lanes.", "C. A vehicle driving slowly on a two-lane road, with occasional parked cars on the right side of the road, a truck approaching from a distance before the intersection, and no vehicles visible behind the vehicle.", "D. A vehicle that is currently stopped while going straight on a two-lane road, with many parked cars on both sides. A truck coming from the opposite direction has just passed the vehicle. There is also a vehicle going straight in the direction of the stopped vehicle behind it."], "answer_index": 3}
{"token": "0ccbe14043e407ee91a2ef748c9305cd", "waymo_split": "test", "type": "image", "frame_index": 76, "question": "What is the plan for yielding when an ambulance/fire truck approaches?", "category": "Special Event", "options": ["A. Accelerate to get out first", "B. Stop and turn on hazard lights while waiting", "C. Gather in the center lane to create a passage", "D. Slow down and move to the shoulder to yield"], "answer_index": 3}
{"token": "0ccbe14043e407ee91a2ef748c9305cd", "waymo_split": "test", "type": "image", "frame_index": 76, "question": "What are the behavioral restrictions in school zones/congested areas?", "category": "Special Event", "options": ["A. Use of horn", "B. Reduced speed", "C. Right turn priority", "D. Use of high beams"], "answer_index": 1}
{"token": "0ccbe14043e407ee91a2ef748c9305cd", "waymo_split": "test", "type": "image", "frame_index": 76, "question": "What is the classification of the scene?", "category": "Normal scene Understanding", "options": ["A. three-lane highway", "B. unpaved rural road", "C. two-lane residential road", "D. four-lane urban road"], "answer_index": 2}
{"token": "0ccbe14043e407ee91a2ef748c9305cd", "waymo_split": "test", "type": "image", "frame_index": 76, "question": "Which of the following is a correct description of traffic density?", "category": "Normal scene Understanding", "options": ["A. Many parked vehicles on the surrounding side streets", "B. Many vehicles driving in the vicinity", "C. Many waiting vehicles at the intersection", "D. Few passing vehicles in the vicinity"], "answer_index": 0}
{"token": "0ccbe14043e407ee91a2ef748c9305cd", "waymo_split": "test", "type": "image", "frame_index": 76, "question": "Which of the following is a correct description of the environment?", "category": "Normal scene Understanding", "options": ["A. Night, drizzling rain", "B. Dawn, light fog", "C. Dusk, clear", "D. Midday, cloudy"], "answer_index": 2}
{"token": "0ccbe14043e407ee91a2ef748c9305cd", "waymo_split": "test", "type": "image", "frame_index": 76, "question": "Which of the following is a correct description of traffic signals?", "category": "Traffic Signal", "options": ["A. Speed limit 50", "B. None", "C. No left turn", "D. Stop"], "answer_index": 1}
{"token": "0ccbe14043e407ee91a2ef748c9305cd", "waymo_split": "test", "type": "image", "frame_index": 76, "question": "What is a safety-critical object?", "category": "Safety-critical Perception", "options": ["A. A large truck approaching from the left side is passing behind my vehicle.", "B. A city bus rapidly approaching from behind is overtaking my vehicle in the right lane.", "C. A delivery motorcycle moving slowly from the left front is driving parallel to the left side of my vehicle.", "D. A small passenger car approaching from the right side is overtaking my vehicle in the right front."], "answer_index": 0}
{"token": "0ccbe14043e407ee91a2ef748c9305cd", "waymo_split": "test", "type": "image", "frame_index": 76, "question": "What is the description of non-safety-critical objects?", "category": "Normal Perception & Prediction", "options": ["A. Vehicles parked on both sides, residential areas, and trees. On the right, there are utility poles and wires. On the left, there are streetlights.", "B. Entrances to commercial parking lots and convenience stores on both sides, as well as street vendors. On the right, there are bus-only lane signs and stops. On the left, there is a taxi stand.", "C. Construction site fences and container offices on both sides, as well as warehouse buildings. On the right, there are cranes and construction signs. On the left, there are temporary traffic lights.", "D. Outdoor café tables and shop signs on both sides, as well as a small park. On the right, there is a bus stop and an advertisement board. On the left, there is a bicycle rack."], "answer_index": 0}
{"token": "0ccbe14043e407ee91a2ef748c9305cd", "waymo_split": "test", "type": "image", "frame_index": 76, "question": "What is the answer regarding parked vehicles on the shoulder, the presence of a center line, and whether Ego crosses the center line?", "category": "Normal Perception & Prediction", "options": ["A. There are one or two parked vehicles on the shoulder. There is a center line. My vehicle slightly crosses the center line.", "B. There are no parked vehicles on the shoulder. There is a center line. My vehicle does not cross the center line.", "C. There are many parked vehicles on the shoulder. There is no center line. My vehicle does not cross the center line.", "D. There are almost no parked vehicles on the shoulder. The center line is clear. My vehicle crosses the center line."], "answer_index": 2}
{"token": "0ccbe14043e407ee91a2ef748c9305cd", "waymo_split": "test", "type": "image", "frame_index": 76, "question": "Is there a blind spot in your field of vision?", "category": "Uncertainty", "options": ["A. No blind spot between the right bus-only lane and the sidewalk", "B. No blind spot between the right tree line and the driving lane", "C. There is a blind spot between the left side parking vehicles and the pedestrian walkway", "D. There is a blind spot between the right side parking vehicles and the pedestrian walkway"], "answer_index": 3}
{"token": "0ccbe14043e407ee91a2ef748c9305cd", "waymo_split": "test", "type": "image", "frame_index": 76, "question": "How do you think a safety-critical object will move?", "category": "Safety-critical Prediction", "options": ["A. Changing lanes to the right", "B. Making a U-turn to the left", "C. Going straight in the opposite direction", "D. Going straight in the same direction as my car"], "answer_index": 3}
{"token": "0ccbe14043e407ee91a2ef748c9305cd", "waymo_split": "test", "type": "image", "frame_index": 76, "question": "Are there any other safety-critical objects besides the first safety-critical object? If so, how will they be moved?", "category": "Safety-critical Prediction", "options": ["A. Left cone, detour", "B. Not visible", "C. Pedestrian in front, stop", "D. Bicycle on the right, slow down"], "answer_index": 1}
{"token": "0ccbe14043e407ee91a2ef748c9305cd", "waymo_split": "test", "type": "image", "frame_index": 76, "question": "What is the correlation in safety-critical situations?", "category": "Safety-critical scene Understanding", "options": ["A. car-person", "B. car-two-wheeler", "C. car-car", "D. person-two-wheeler"], "answer_index": 2}
{"token": "0ccbe14043e407ee91a2ef748c9305cd", "waymo_split": "test", "type": "image", "frame_index": 76, "question": "What should I do to drive safely?", "category": "Safety-critical Planning", "options": ["A. Since the vehicle is still at a distance and approaching while decelerating, my car should move forward first to cross.", "B. Since the vehicle is essentially crossing the center line and moving straight towards my car, having almost passed my car, I should maintain the current state of stopping.", "C. Since the vehicle is aware of my car and is creating space on the right, I should wait for the right timing to change lanes to the right and pass.", "D. Since the vehicle is following the center line and moving straight in the opposite lane with sufficient distance from my car, I should proceed slowly."], "answer_index": 1}
{"token": "0ccbe14043e407ee91a2ef748c9305cd", "waymo_split": "test", "type": "image", "frame_index": 76, "question": "Is lane changing possible? Which is safer between slowing down and changing lanes?", "category": "Safety-critical Planning", "options": ["A. Possible depending on the situation, changing to the right lane is safer", "B. Maintaining the lane, going slow is safer", "C. Lane changing not possible, stopping is safer", "D. Lane changing possible, slowing down is safer"], "answer_index": 2}
{"token": "0ccbe14043e407ee91a2ef748c9305cd", "waymo_split": "test", "type": "image", "frame_index": 76, "question": "What is the safest choice when approaching a yellow signal: stop vs proceed?", "category": "Special Event", "options": ["A. Maintain speed", "B. No signal", "C. Stop immediately", "D. Proceed slowly"], "answer_index": 1}
{"token": "0ccbe14043e407ee91a2ef748c9305cd", "waymo_split": "test", "type": "image", "frame_index": 76, "question": "What potential situations could arise in the current scenario?", "category": "Counterfactual", "options": ["A. Maintain a stopped state until the truck passes", "B. Change lanes to the left and proceed", "C. Creep forward past the truck", "D. Reverse to create distance from the car behind"], "answer_index": 0}
{"token": "0ccbe14043e407ee91a2ef748c9305cd", "waymo_split": "test", "type": "image", "frame_index": 76, "question": "What is the method to avoid the blind spot next to a large vehicle?", "category": "Special Event", "options": ["A. Maintain position next to the large vehicle, honk the horn, and pass through", "B. Quickly pass through the blind spot by closely following behind the large vehicle", "C. Quickly cut in front of the large vehicle to pass through", "D. Slow down or stop until the large vehicle passes"], "answer_index": 3}
{"token": "0ccbe14043e407ee91a2ef748c9305cd", "waymo_split": "test", "type": "image", "frame_index": 76, "question": "What situation might have occurred if the vehicle acted this way?", "category": "Counterfactual", "options": ["A. If the vehicle attempted to overtake the car in front with sudden acceleration, there would be a risk of collision between the front of the vehicle and the rear of the car ahead.", "B. If the vehicle tried to merge by moving towards the center line, there would be a risk of collision between the left side of the vehicle and the front of the bus coming from the opposite lane.", "C. If the vehicle made an abrupt lane change to the left, there would be a risk of collision between the rear of the vehicle and the rear of a truck that has already passed.", "D. If the vehicle aggressively cut in to the right, there would be a risk of collision between the front of the vehicle and the side of the passenger seat of the adjacent car."], "answer_index": 2}
{"token": "0ccbe14043e407ee91a2ef748c9305cd", "waymo_split": "test", "type": "image", "frame_index": 76, "question": "What are the guidelines for the behavior of my vehicle based on the actions of a safety-critical object?", "category": "Safety-critical Planning", "options": ["A. If the safety-critical object makes a left turn, there is an unavoidable collision risk with my vehicle. My vehicle should also make a right turn to avoid the collision as much as possible (assuming there are no pedestrians on the right sidewalk).", "B. If the safety-critical object suddenly attempts a U-turn at an intersection, their path may overlap. My vehicle should pass through while maintaining speed and providing sufficient warning (assuming the other vehicle will stop).", "C. If the safety-critical object is driving straight while crossing the center line, there is a risk of a head-on collision. My vehicle should change lanes to the left quickly to create space and pass by safely (assuming the opposite lane is clear).", "D. If the safety-critical object makes a right turn, there is a risk of collision as their path overlaps with my vehicle. My vehicle should accelerate to take the lead and pass through the intersection first (assuming there are no surrounding vehicles)."], "answer_index": 0}
{"token": "0ccbe14043e407ee91a2ef748c9305cd", "waymo_split": "test", "type": "image", "frame_index": 115, "question": "Based on the current appearance of the person/vehicle (two-wheeled), how do they intend to move?", "category": "Normal Perception & Prediction", "options": ["A. Waiting while stopped", "B. Turning left while driving", "C. Turning right while driving", "D. Going straight while driving"], "answer_index": 3}
{"token": "0ccbe14043e407ee91a2ef748c9305cd", "waymo_split": "test", "type": "image", "frame_index": 115, "question": "Which of the following is correct as an Image Caption from a Safety-critical Frame perspective?", "category": "Safety-critical scene caption", "options": ["A. A stationary vehicle with its hazard lights on found on the right shoulder ahead.", "B. A vehicle found driving in the same direction as my vehicle in the same lane at close range ahead.", "C. A vehicle found driving straight towards my vehicle from the opposite lane at a distance ahead.", "D. A vehicle waiting to turn left found in the opposite lane near the intersection ahead."], "answer_index": 2}
{"token": "0ccbe14043e407ee91a2ef748c9305cd", "waymo_split": "test", "type": "image", "frame_index": 115, "question": "What are the restrictions on behavior in school zones/congested areas?", "category": "Special Event", "options": ["A. Accelerated driving", "B. Overtaking allowed", "C. Reduced speed driving", "D. Use of high beams"], "answer_index": 2}
{"token": "0ccbe14043e407ee91a2ef748c9305cd", "waymo_split": "test", "type": "image", "frame_index": 115, "question": "What is the classification of the scene?", "category": "Normal scene Understanding", "options": ["A. Two-lane section of the highway", "B. Two-lane road in the city", "C. Four-lane road in a residential area", "D. Two-lane road in a residential area"], "answer_index": 3}
{"token": "0ccbe14043e407ee91a2ef748c9305cd", "waymo_split": "test", "type": "image", "frame_index": 115, "question": "Which of the following is a correct description of traffic density?", "category": "Normal scene Understanding", "options": ["A. Many parked vehicles on side streets", "B. Few passing vehicles nearby", "C. Many driving vehicles nearby", "D. Few parked vehicles on side streets"], "answer_index": 0}
{"token": "0ccbe14043e407ee91a2ef748c9305cd", "waymo_split": "test", "type": "image", "frame_index": 115, "question": "What is the plan for yielding when an ambulance/fire truck approaches?", "category": "Special Event", "options": ["A. Increase speed to pass through the intersection", "B. Slow down and move to the shoulder to yield", "C. Pull over to the side of the center line and stop", "D. Turn on hazard lights and proceed as is"], "answer_index": 1}
{"token": "0ccbe14043e407ee91a2ef748c9305cd", "waymo_split": "test", "type": "image", "frame_index": 115, "question": "Which of the following is a correct description of the environment?", "category": "Normal scene Understanding", "options": ["A. Dawn, fog", "B. Midday, cloudy", "C. Night, drizzle", "D. Dusk, clear"], "answer_index": 3}
{"token": "0ccbe14043e407ee91a2ef748c9305cd", "waymo_split": "test", "type": "image", "frame_index": 115, "question": "Which of the following is correct as an Image Caption from the perspective of a Normal Frame?", "category": "Normal scene caption", "options": ["A. A car that is currently stopped while going straight on a two-lane road, with several parked cars on both sides. A vehicle is seen going straight from a distance in the opposite lane in front of the car. There is also a vehicle going straight in the direction of the car from behind.", "B. A car that is temporarily stopped on the shoulder of a two-lane road, with no parked cars on the left due to construction and only a few parked on the right. The opposite lane in front is quiet with no vehicles visible. A vehicle is seen overtaking from behind and crossing into the opposite lane.", "C. A car waiting to turn left at an intersection on a two-lane road, with few parked cars on both sides. A vehicle is seen entering the left turn from a short distance in the opposite lane. A motorcycle is temporarily stopped behind the car in the same direction.", "D. A car moving slowly on a two-lane road, with only a few parked cars visible on the right side. There is a vehicle in front of the car moving slowly in the same lane. There are no vehicles behind the car."], "answer_index": 0}
{"token": "0ccbe14043e407ee91a2ef748c9305cd", "waymo_split": "test", "type": "image", "frame_index": 115, "question": "Which of the following is a correct description of traffic signals?", "category": "Traffic Signal", "options": ["A. None", "B. Stop line marking", "C. Pedestrian signal", "D. Stop sign"], "answer_index": 0}
{"token": "0ccbe14043e407ee91a2ef748c9305cd", "waymo_split": "test", "type": "image", "frame_index": 115, "question": "What is a safety-critical object?", "category": "Safety-critical Perception", "options": ["A. A vehicle driving straight in the opposite lane from the front in the direction of my vehicle.", "B. A vehicle driving slowly in the same lane from the front in the direction of my vehicle.", "C. A vehicle approaching straight in the same lane from the rear in the direction of my vehicle.", "D. A vehicle entering a right turn at an intersection from the side in the direction of my vehicle."], "answer_index": 0}
{"token": "0ccbe14043e407ee91a2ef748c9305cd", "waymo_split": "test", "type": "image", "frame_index": 115, "question": "What is the answer regarding parked vehicles on the shoulder, the presence of a center line, and whether Ego crosses the center line?", "category": "Normal Perception & Prediction", "options": ["A. There are many parked vehicles on the shoulder. There is no center line. My vehicle does not cross the center line.", "B. One construction vehicle is parked on the shoulder. The center line is clear. My vehicle slightly crosses the center line.", "C. There are no parked vehicles on the shoulder. There is a center line. My vehicle crosses the center line.", "D. There are a few parked vehicles on the shoulder. The center line is dashed. My vehicle is driving while crossing the center line."], "answer_index": 0}
{"token": "0ccbe14043e407ee91a2ef748c9305cd", "waymo_split": "test", "type": "image", "frame_index": 115, "question": "What is the description of a non-safety-critical object?", "category": "Normal Perception & Prediction", "options": ["A. Bicycle paths and park fences on both sides, as well as exercise equipment. On the right, there is a transformer box and a fire hydrant. In the back, there are electric scooter racks on both sidewalks. A motorcycle is passing behind a personal vehicle.", "B. Small shops and café terraces on both sides, along with flower pots. On the right, there are streetlights and a bus stop sign. In the back, pedestrians waiting at the crosswalk signal. A taxi is approaching from the opposite lane.", "C. On both sides, there are parked cars, residential areas, and trees. On the right, there are power lines and a utility pole. In the back, there are trash cans on both sidewalks. A vehicle is driving in the direction of the personal vehicle.", "D. A large supermarket parking lot and metal fences on both sides, along with billboards. On the right, there is a sign for entering an underground tunnel and a sound barrier. In the back, there are traffic cones and construction barricades in the center of the lane. A cargo truck is parked on the shoulder."], "answer_index": 2}
{"token": "0ccbe14043e407ee91a2ef748c9305cd", "waymo_split": "test", "type": "image", "frame_index": 115, "question": "Is there a blind spot in the field of view?", "category": "Uncertainty", "options": ["A. There is a blind spot between the left-side parked vehicles and the pedestrian walkway.", "B. There is no blind spot in front of the right-side bus stop.", "C. There is no blind spot between the right-side bicycle lane and the traffic lane.", "D. There is a blind spot between the right-side parked vehicles and the pedestrian walkway."], "answer_index": 3}
{"token": "0ccbe14043e407ee91a2ef748c9305cd", "waymo_split": "test", "type": "image", "frame_index": 115, "question": "What is the correlation in safety-critical situations?", "category": "Safety-critical scene Understanding", "options": ["A. Car - Two-wheeler", "B. Car - Car", "C. Car - Person", "D. Person - Two-wheeler"], "answer_index": 1}
{"token": "0ccbe14043e407ee91a2ef748c9305cd", "waymo_split": "test", "type": "image", "frame_index": 115, "question": "How do you think a safety-critical object will move?", "category": "Safety-critical Prediction", "options": ["A. Moving straight in the same direction as the vehicle", "B. Moving straight in the opposite direction", "C. Turning right in the same direction as the vehicle", "D. Turning left in the same direction as the vehicle"], "answer_index": 0}
{"token": "0ccbe14043e407ee91a2ef748c9305cd", "waymo_split": "test", "type": "image", "frame_index": 115, "question": "What should I do to drive safely?", "category": "Safety-critical Planning", "options": ["A. When approaching an intersection, (signal green) you should pass through without stopping to consider the vehicle behind.", "B. As the vehicle gets closer, (currently far away) you should stop and slow down to avoid a collision.", "C. As pedestrians get closer, (currently appearing far away) you should honk the horn and maintain your speed.", "D. If the vehicle is far away, (currently slowing down) you should accelerate to match the flow and overtake."], "answer_index": 1}
{"token": "0ccbe14043e407ee91a2ef748c9305cd", "waymo_split": "test", "type": "image", "frame_index": 115, "question": "Is lane change possible? Which is safer between slowing down and changing lanes?", "category": "Safety-critical Planning", "options": ["A. Changing to the right lane is possible, slowing down is safe", "B. Changing to the left lane is possible, changing lanes is safe", "C. Changing lanes is possible, slowing down is safe", "D. Changing lanes is not possible, stopping is safe"], "answer_index": 3}
{"token": "0ccbe14043e407ee91a2ef748c9305cd", "waymo_split": "test", "type": "image", "frame_index": 115, "question": "Are there any other safety-critical objects besides the first safety-critical object? If so, how will they be moved?", "category": "Safety-critical Prediction", "options": ["A. Yes: High-pressure gas cylinders are capped and secured with a chain for transport on a cart.", "B. Yes: Oxygen tanks are secured with the valve closed and fixed to a cart for transport.", "C. Yes: Fire extinguishers are carried after checking the pin and holding them close to the body.", "D. No"], "answer_index": 3}
{"token": "0ccbe14043e407ee91a2ef748c9305cd", "waymo_split": "test", "type": "image", "frame_index": 115, "question": "Where is the area that hides danger in the current frame?", "category": "Uncertainty", "options": ["A. The blind spot just behind the construction barrier in front.", "B. The blind spot right next to the wall at the entrance of the left alley.", "C. The blind spot between the stopped bus on the right and the street tree.", "D. The blind spot between the parked cars on the left side."], "answer_index": 3}
{"token": "0ccbe14043e407ee91a2ef748c9305cd", "waymo_split": "test", "type": "image", "frame_index": 115, "question": "What is the safest choice when approaching a yellow signal: stop vs. proceed?", "category": "Special Event", "options": ["A. No signal", "B. Left turn allowed", "C. Proceed slowly", "D. Stop first"], "answer_index": 0}
{"token": "0ccbe14043e407ee91a2ef748c9305cd", "waymo_split": "test", "type": "image", "frame_index": 115, "question": "What are the new potential hazards that may be exposed in the following section?", "category": "Safety-critical Prediction", "options": ["A. A motorcycle that can suddenly squeeze into the right lane when the gap between vehicles is narrow.", "B. A car that can unexpectedly emerge from the blind spot at the right corner of an alley.", "C. An electric scooter or bicycle that can dart out between buses near the bus stop ahead.", "D. A person or object that can emerge from the blind spot between parked cars on the left side."], "answer_index": 3}
{"token": "0ccbe14043e407ee91a2ef748c9305cd", "waymo_split": "test", "type": "image", "frame_index": 144, "question": "Which is correct as an Image Caption from the perspective of Safety-critical Frame?", "category": "Safety-critical scene caption", "options": ["A. A vehicle (SUV) waiting to turn left in the opposite lane in front of my vehicle.", "B. A vehicle (van) going straight in the opposite lane in front of my vehicle.", "C. A vehicle (sedan) stopped in my vehicle's lane in front of me.", "D. A vehicle (taxi) entering my vehicle's lane from the left."], "answer_index": 1}
{"token": "0ccbe14043e407ee91a2ef748c9305cd", "waymo_split": "test", "type": "image", "frame_index": 115, "question": "What is the method to avoid the blind spot next to a large vehicle?", "category": "Special Event", "options": ["A. Slow down or stop until the large vehicle passes first", "B. Accelerate to quickly pass through the blind spot next to the large vehicle", "C. Stay close behind the large vehicle to get out of the blind spot", "D. Signal with the horn or high beams and proceed alongside the large vehicle"], "answer_index": 0}
{"token": "0ccbe14043e407ee91a2ef748c9305cd", "waymo_split": "test", "type": "image", "frame_index": 144, "question": "Based on the current appearance of the person/vehicle (two-wheeled), how are they trying to move?", "category": "Normal Perception & Prediction", "options": ["A. Accelerating", "B. Reversing", "C. Crawling", "D. Stationary"], "answer_index": 2}
{"token": "0ccbe14043e407ee91a2ef748c9305cd", "waymo_split": "test", "type": "image", "frame_index": 144, "question": "What is the plan for yielding when an ambulance/fire truck approaches?", "category": "Special Event", "options": ["A. Slow down and move to the shoulder to yield", "B. Activate hazard lights and stop in the center of the intersection", "C. Maintain a constant speed and align in the center of the lane", "D. Accelerate and pass through in the left lane first"], "answer_index": 0}
{"token": "0ccbe14043e407ee91a2ef748c9305cd", "waymo_split": "test", "type": "image", "frame_index": 144, "question": "Which of the following is a correct description of traffic density?", "category": "Normal scene Understanding", "options": ["A. Many parked vehicles on the surrounding side streets", "B. Plenty of lane space, fast flow", "C. Almost no parked vehicles near intersections", "D. Few passing vehicles in the surrounding area"], "answer_index": 0}
{"token": "0ccbe14043e407ee91a2ef748c9305cd", "waymo_split": "test", "type": "image", "frame_index": 144, "question": "Which of the following is correct as an Image Caption from the perspective of a Normal Frame?", "category": "Normal scene caption", "options": ["A. A vehicle that has just started on a two-lane road, with parked cars on the left side, and a vehicle (a van) stopped in the same lane ahead, while no vehicles are visible following behind.", "B. A vehicle waiting to turn right in a one-way single-lane alley, with a few parked cars on the right side, and a vehicle (a sedan) turning left at the intersection ahead, while a bicycle passes in the opposite direction behind the vehicle.", "C. A vehicle currently stopped while going straight on a two-lane road, with several parked cars on both sides. A vehicle (a van) is going straight in the opposite lane ahead. There is also a vehicle going straight in the same direction behind the vehicle.", "D. A vehicle moving slowly on a two-lane road, with almost no parked cars on either side, while a vehicle (a passenger car) in the same lane ahead is gradually slowing down, and the rear of the vehicle has been empty for a while."], "answer_index": 2}
{"token": "0ccbe14043e407ee91a2ef748c9305cd", "waymo_split": "test", "type": "image", "frame_index": 144, "question": "What is the classification of the scene?", "category": "Normal scene Understanding", "options": ["A. One-way 3-lane section of a highway", "B. Two-lane road in a residential area", "C. Unpaved rural farm road", "D. Four-lane road in the city center"], "answer_index": 1}
{"token": "0ccbe14043e407ee91a2ef748c9305cd", "waymo_split": "test", "type": "image", "frame_index": 144, "question": "Which of the following descriptions about the environment is correct?", "category": "Normal scene Understanding", "options": ["A. Midday, cloudy", "B. Dawn, foggy", "C. Dusk, clear", "D. Late night, light rain"], "answer_index": 2}
{"token": "0ccbe14043e407ee91a2ef748c9305cd", "waymo_split": "test", "type": "image", "frame_index": 144, "question": "What are the restrictions on behavior in school zones/congested areas?", "category": "Special Event", "options": ["A. Turning on emergency lights", "B. Using the horn", "C. Driving at reduced speed", "D. Using high beams"], "answer_index": 2}
{"token": "0ccbe14043e407ee91a2ef748c9305cd", "waymo_split": "test", "type": "image", "frame_index": 144, "question": "What is the description of a non-safety-critical object?", "category": "Normal Perception & Prediction", "options": ["A. On the left and right sides, there are a shopping center parking lot, a low fence, and a few street trees. On the right, instead of a utility pole, there is a CCTV pole and a signpost. There are benches and a mailbox on the rear sidewalk. In the back, a motorcycle is passing in the opposite lane.", "B. On the left and right sides, there are parked cars on the street, commercial buildings, and street trees. On the right, there are streetlights and a bus stop. In the back, there are electric scooter racks on both sidewalks. In front, there is a vehicle moving slowly in the direction of the driver's car.", "C. On the left and right sides, there are parked cars on the side streets, residential areas, and trees. On the right, there are utility wires and a utility pole. In the back, there are trash cans on both sidewalks. In the back, there is a vehicle driving in the direction of the driver's car.", "D. On the left, there is a park fence and bicycles, and on the right, there are a cafe and flower beds. Above on the right, there are a banner and a traffic light support. In the back, there are delivery boxes piled up at the entrance of an alley. In the left rear, there is a vehicle just exiting the parking lot."], "answer_index": 2}
{"token": "0ccbe14043e407ee91a2ef748c9305cd", "waymo_split": "test", "type": "image", "frame_index": 144, "question": "Which of the following is a correct description of traffic signals?", "category": "Traffic Signal", "options": ["A. None", "B. Red light", "C. Stop line", "D. Left turn"], "answer_index": 0}
{"token": "0ccbe14043e407ee91a2ef748c9305cd", "waymo_split": "test", "type": "image", "frame_index": 144, "question": "What is the answer regarding parked vehicles on the shoulder, the presence of a center line, and whether Ego crosses the center line?", "category": "Normal Perception & Prediction", "options": ["A. There are a few parked vehicles on the shoulder. There is a center line. My vehicle crosses the center line.", "B. There are many parked vehicles on the shoulder. There is no center line. My vehicle does not cross the center line.", "C. Parked vehicles on the shoulder are rare. There is a center line. My vehicle approaches the center line but does not cross it.", "D. There are no parked vehicles on the shoulder. There is a center line. My vehicle does not cross the center line."], "answer_index": 1}
{"token": "0ccbe14043e407ee91a2ef748c9305cd", "waymo_split": "test", "type": "image", "frame_index": 144, "question": "What is a safety-critical object?", "category": "Safety-critical Perception", "options": ["A. A vehicle stopped on the left shoulder with its hazard lights on", "B. A vehicle driving straight in the opposite lane towards your vehicle", "C. A vehicle driving straight in the same lane towards your vehicle", "D. A pedestrian walking in the same direction as your vehicle on the right sidewalk"], "answer_index": 1}
{"token": "0ccbe14043e407ee91a2ef748c9305cd", "waymo_split": "test", "type": "image", "frame_index": 144, "question": "How do you think a safety-critical object will move?", "category": "Safety-critical Prediction", "options": ["A. Merging into the right lane", "B. Entering a right turn", "C. Going straight in the direction of the vehicle", "D. Changing lanes to the left"], "answer_index": 2}
{"token": "0ccbe14043e407ee91a2ef748c9305cd", "waymo_split": "test", "type": "image", "frame_index": 144, "question": "Is there a blind spot in the field of view?", "category": "Uncertainty", "options": ["A. The right side parking area has a wide gap between vehicles, so there is no blind spot with pedestrians.", "B. There is a blind spot between the right side parked vehicles and pedestrians.", "C. There is only a partial blind spot between the left alley exit and the roadway.", "D. The drop-off area in front of the right bus stop has clear visibility, so there is no blind spot."], "answer_index": 1}
{"token": "0ccbe14043e407ee91a2ef748c9305cd", "waymo_split": "test", "type": "image", "frame_index": 144, "question": "What is the correlation in safety-critical situations?", "category": "Safety-critical scene Understanding", "options": ["A. Person - Two-wheeler", "B. Car - Person", "C. Car - Two-wheeler", "D. Car - Car"], "answer_index": 3}
{"token": "0ccbe14043e407ee91a2ef748c9305cd", "waymo_split": "test", "type": "image", "frame_index": 144, "question": "Are there any safety-critical objects other than the first safety-critical object? If so, how will they be moved?", "category": "Safety-critical Prediction", "options": ["A. There is a high-pressure gas cylinder, slowly transported to the left", "B. None", "C. There is a welding machine in operation, moved backward after turning off the power", "D. There is a box of hazardous chemicals, moved forward while holding it low"], "answer_index": 1}
{"token": "0ccbe14043e407ee91a2ef748c9305cd", "waymo_split": "test", "type": "image", "frame_index": 144, "question": "Is lane changing possible? Which is safer between deceleration and lane changing?", "category": "Safety-critical Planning", "options": ["A. Lane changing not possible, stopping is safe", "B. Accelerating through, lane changing is safe", "C. Lane changing possible, deceleration is safe", "D. Moving to the left lane, slow driving is safe"], "answer_index": 0}
{"token": "0ccbe14043e407ee91a2ef748c9305cd", "waymo_split": "test", "type": "image", "frame_index": 144, "question": "What should I do to drive safely?", "category": "Safety-critical Planning", "options": ["A. Due to the characteristics of gentle curves, avoid sudden stops and drive continuously without deceleration.", "B. Due to the characteristics of narrow country roads, avoid oncoming vehicles by going onto the shoulder and using the horn to proceed.", "C. Due to the characteristics of a two-lane road without a central line, use turning maneuvers to overtake while accelerating to maintain flow.", "D. Due to the characteristics of a narrow two-lane road, stop and proceed slowly to avoid collisions."], "answer_index": 3}
{"token": "0ccbe14043e407ee91a2ef748c9305cd", "waymo_split": "test", "type": "image", "frame_index": 144, "question": "What is the safest choice when approaching a yellow signal: stop vs proceed?", "category": "Special Event", "options": ["A. slow down and proceed", "B. maintain speed", "C. no signal", "D. stop immediately"], "answer_index": 2}
{"token": "0ccbe14043e407ee91a2ef748c9305cd", "waymo_split": "test", "type": "image", "frame_index": 144, "question": "Who is responsible in a safety-critical situation? What is the cause?", "category": "Safety-critical scene Understanding", "options": ["A. There is no responsibility assigned to anyone. However, due to the characteristics of a two-lane road with many narrow side vehicles, if vehicles rush towards each other, there is a risk of grazing and colliding, so the vehicle should slow down and stop.", "B. The responsibility lies with the road management. The cause is that the lane markings are faint, causing confusion about the direction of travel, so the vehicle should signal with the horn and high beams and enter first.", "C. The responsibility lies with the vehicle. The vehicle did not yield to the vehicle already entering the alley and did not avoid by moving to the right edge, so the vehicle should continue with only the hazard lights on.", "D. The responsibility lies with the oncoming vehicle. The cause is that it entered excessively close to the center line on a wide four-lane road, so the vehicle should maintain speed and pass through."], "answer_index": 0}
{"token": "0ccbe14043e407ee91a2ef748c9305cd", "waymo_split": "test", "type": "image", "frame_index": 144, "question": "Where is the area that hides danger in the current frame?", "category": "Uncertainty", "options": ["A. Blind spot at the front lower section of a large bus", "B. Blind spot behind the right-side parked vehicle", "C. Blind spot between the left-side parked vehicles", "D. Blind spot behind the left-side street trees"], "answer_index": 2}
{"token": "0ccbe14043e407ee91a2ef748c9305cd", "waymo_split": "test", "type": "image", "frame_index": 144, "question": "What are the new potential hazards that may be exposed in the following area?", "category": "Safety-critical Prediction", "options": ["A. A person or object that may emerge from the blind spot between parked cars on the left side", "B. A motorcycle that may emerge from the blind spot between parked cars on the right side", "C. A vehicle that may suddenly enter from the parking exit of the store on the right front", "D. A bicycle that may quickly cross the lane from the direction of the central median opening"], "answer_index": 0}
{"token": "0ccbe14043e407ee91a2ef748c9305cd", "waymo_split": "test", "type": "image", "frame_index": 144, "question": "What is the method to avoid the blind spot next to a large vehicle?", "category": "Special Event", "options": ["A. Accelerate while honking or pass on the right", "B. Pass alongside the large vehicle at the same speed", "C. Slow down or stop until the large vehicle passes", "D. Stay close to the rear bumper and pass immediately"], "answer_index": 2}
{"token": "0ccbe14043e407ee91a2ef748c9305cd", "waymo_split": "test", "type": "image", "frame_index": 144, "question": "What situation might occur if the vehicle acted this way?", "category": "Counterfactual", "options": ["A. If the vehicle enters the left lane in the same direction, there is a risk of contact with the vehicle behind.", "B. If the vehicle changes lanes to the right, there is a risk of collision with the safety-critical object.", "C. If the vehicle changes lanes to the left into the opposite lane, there is a risk of collision with the safety-critical object.", "D. If the vehicle drives close to the median barrier, there is a risk of collision with road facilities."], "answer_index": 2}
{"token": "0ccbe14043e407ee91a2ef748c9305cd", "waymo_split": "test", "type": "image", "frame_index": 144, "question": "What is the guideline for your vehicle's behavior in response to the actions of a safety-critical object?", "category": "Safety-critical Planning", "options": ["A. If the vehicle turns left, there is a risk of collision with your vehicle, so you should maintain speed, alert with the horn and high beams, and proceed straight to quickly exit the intersection.", "B. If the vehicle turns left, there is a risk of collision with your vehicle, so assuming the left lane is clear, you should turn left and accelerate to pass first.", "C. If the vehicle turns left, there is a risk of collision with your vehicle, so you should move towards the median, widen your vehicle's width, accelerate, and proceed while assessing the situation.", "D. If the vehicle turns left, there is a risk of collision with your vehicle, so assuming there are no pedestrians on the right sidewalk, you should turn right to minimize the collision and brake suddenly."], "answer_index": 3}
{"token": "0cf69e4d4048c193d899ab58369f3f93", "waymo_split": "test", "type": "video", "frame_index": null, "question": "What are the divisions of the scene?", "category": "Normal scene Understanding", "options": ["A. City", "B. Highway", "C. Residential area", "D. Unpaved"], "answer_index": 0}
{"token": "0cf69e4d4048c193d899ab58369f3f93", "waymo_split": "test", "type": "video", "frame_index": null, "question": "Where is the safety-critical situation in the video?", "category": "Temporal Grounding", "options": ["A. 3/4", "B. 4/4", "C. 1/4", "D. 2/4"], "answer_index": 1}
{"token": "0cf69e4d4048c193d899ab58369f3f93", "waymo_split": "test", "type": "video", "frame_index": null, "question": "Are there any special circumstances?", "category": "Special Event", "options": ["A. There is a construction cone set up long in front, reducing the lane to one.", "B. The right side is blocked by a wall, significantly limiting visibility of people or vehicles coming from the right.", "C. A school bus in front is stopped and has its stop sign extended, creating a stop situation in both directions.", "D. A fire truck with its siren on is approaching from the left, requiring immediate yielding."], "answer_index": 1}
{"token": "0cf69e4d4048c193d899ab58369f3f93", "waymo_split": "test", "type": "video", "frame_index": null, "question": "Which of the following is a correct description of traffic density?", "category": "Normal scene Understanding", "options": ["A. Almost no slope, normal traffic", "B. Steep slope, no vehicles", "C. Low slope, heavy traffic", "D. Gentle slope, few vehicles"], "answer_index": 1}
{"token": "0cf69e4d4048c193d899ab58369f3f93", "waymo_split": "test", "type": "video", "frame_index": null, "question": "Which of the following is a correct description of road alignment?", "category": "Normal Perception & Prediction", "options": ["A. Right turn", "B. Straight", "C. Left turn", "D. U-turn"], "answer_index": 1}
{"token": "0cf69e4d4048c193d899ab58369f3f93", "waymo_split": "test", "type": "video", "frame_index": null, "question": "Which of the following is a correct description of the environment?", "category": "Normal scene Understanding", "options": ["A. Fog, dawn", "B. Cloudy, daytime", "C. Clear, evening", "D. Rain, night"], "answer_index": 1}
{"token": "0cf69e4d4048c193d899ab58369f3f93", "waymo_split": "test", "type": "video", "frame_index": null, "question": "Which of the following is correct regarding Video Summary from a safety-critical scene perspective?", "category": "Safety-critical scene caption", "options": ["A. As the vehicle approaches the end of the two-lane road, a person walks from a space hidden by a wall on the right to the left. At this time, the vehicle is moving slowly, almost stopping. Additionally, the person is walking on the sidewalk.", "B. As the vehicle is almost at the end of the two-lane road, a bicycle passes from the left corner of a building to the right. At this time, the vehicle maintains a slow speed without stopping. Additionally, there are no pedestrians visible in the vicinity.", "C. Just after the vehicle has almost reached the end of the two-lane road, a pedestrian joins from the sidewalk on the right, which was previously hidden behind a fence. At this time, the vehicle gradually accelerates in accordance with the signal. Additionally, the person does not enter the roadway.", "D. As the vehicle is almost at the top of the two-lane road, a person walks out from the end of a left alley to the right. At this time, the vehicle continues without significantly reducing speed. Additionally, the person only moves along the edge of the roadway."], "answer_index": 0}
{"token": "0cf69e4d4048c193d899ab58369f3f93", "waymo_split": "test", "type": "video", "frame_index": null, "question": "What is the answer regarding parked vehicles on the shoulder, the presence of a center line, and whether Ego has crossed the center line?", "category": "Normal Perception & Prediction", "options": ["A. There is a center line, there is a parked vehicle, no crossing", "B. There is a center line, no parked vehicle, crossing", "C. No center line, no parked vehicle, no crossing", "D. There is a center line, no parked vehicle, no crossing"], "answer_index": 3}
{"token": "0cf69e4d4048c193d899ab58369f3f93", "waymo_split": "test", "type": "video", "frame_index": null, "question": "What is the description of a non-safety-critical object?", "category": "Normal Perception & Prediction", "options": ["A. A park fence on the left, a bus stopped at a bus stop in front of an open space on the right.", "B. Street trees on the left, vehicles waiting at a traffic signal at an intersection with a low railing on the right.", "C. Commercial buildings on the left, vehicles merging in the same direction on an open sidewalk in front on the right.", "D. An overpass on the left, a high wall on the right. Vehicles driving left and right on the main road in front."], "answer_index": 3}
{"token": "0cf69e4d4048c193d899ab58369f3f93", "waymo_split": "test", "type": "video", "frame_index": null, "question": "Which of the following is a correct description of traffic signals?", "category": "Traffic Signal", "options": ["A. One-way sign on the upper right / The road only has a center line, no STOP / Waiting at a red signal", "B. STOP sign on the left. STOP marking on the road of the driving lane. No traffic light", "C. YIELD sign on the right / SLOW marking on the lane of the vehicle / Proceed at a green signal", "D. Only a crosswalk in front, no STOP sign / Speed limit sign of 30 on the left / Yellow flashing signal"], "answer_index": 1}
{"token": "0cf69e4d4048c193d899ab58369f3f93", "waymo_split": "test", "type": "video", "frame_index": null, "question": "What is the correlation in safety-critical situations?", "category": "Safety-critical scene Understanding", "options": ["A. car-car", "B. car-car", "C. two-wheeler-person", "D. car-person"], "answer_index": 3}
{"token": "0cf69e4d4048c193d899ab58369f3f93", "waymo_split": "test", "type": "video", "frame_index": null, "question": "Is there a blind spot in your field of vision?", "category": "Uncertainty", "options": ["A. There is no blind spot due to the open area on the right.", "B. There is no blind spot due to the installation of a right corner mirror.", "C. There is a blind spot due to the wall on the right.", "D. There is a blind spot due to the wall on the left."], "answer_index": 2}
{"token": "0cf69e4d4048c193d899ab58369f3f93", "waymo_split": "test", "type": "video", "frame_index": null, "question": "How did the safety-critical object move and how did the ego vehicle behave?", "category": "Safety-critical scene Understanding", "options": ["A. Was stationary and the ego vehicle continued straight", "B. Passed by riding a bicycle from the right to the left", "C. Ran quickly from the left to the right", "D. Walked slowly from the right to the left"], "answer_index": 3}
{"token": "0cf69e4d4048c193d899ab58369f3f93", "waymo_split": "test", "type": "video", "frame_index": null, "question": "What is a safety-critical object?", "category": "Safety-critical Perception", "options": ["A. A user of an electric scooter riding from left to right (moving along a pedestrian-only path, separated from the road and curb)", "B. A person walking from right to left (on foot, but in a place where it overlaps with a road used by vehicles, at a point where one must enter a main road)", "C. A person pulling a bicycle from left to right (moving along a bicycle path, next to a green space physically separated from vehicle lanes)", "D. A pedestrian loitering from right to left (in front of a bus stop inside the sidewalk, clearly demarcated from the road by a guardrail)"], "answer_index": 1}
{"token": "0cf69e4d4048c193d899ab58369f3f93", "waymo_split": "test", "type": "video", "frame_index": null, "question": "Summary of Ego (self-vehicle) behavior before a safety-critical situation", "category": "Normal scene Understanding", "options": ["A. Driving slowly down a slope", "B. Accelerating down a slope", "C. Driving slowly on a flat road", "D. Driving slowly up a slope"], "answer_index": 0}
{"token": "0cf69e4d4048c193d899ab58369f3f93", "waymo_split": "test", "type": "video", "frame_index": null, "question": "Who is responsible in a safety-critical situation? What is the cause?", "category": "Safety-critical scene Understanding", "options": ["A. The pedestrian. The person walking from left to right entered the roadway without a pedestrian signal, so it is their fault.", "B. The other vehicle. A parked car illegally before the corner obstructed the view, causing a delayed sighting of the pedestrian, so that vehicle is responsible.", "C. The road manager. There are no mirrors or warning signs on the right wall of the corner, so visibility is not secured, indicating a facility management issue.", "D. The vehicle. The person walking from right to left is not visible due to the wall on the right limiting visibility, so the vehicle must be cautious from its perspective."], "answer_index": 3}
{"token": "0cf69e4d4048c193d899ab58369f3f93", "waymo_split": "test", "type": "video", "frame_index": null, "question": "What potential situations may arise depending on the type/condition of the road?", "category": "Normal Perception & Prediction", "options": ["A. Due to the characteristics of wet roads, braking and steering are easier because of higher friction.", "B. Due to the characteristics of inclined roads, acceleration and deceleration are more difficult, so caution is required.", "C. Due to the characteristics of snowy roads, slipping is less likely, making sudden braking safe.", "D. Due to the characteristics of gravel roads, tires grip firmly, making acceleration easier."], "answer_index": 1}
{"token": "0cf69e4d4048c193d899ab58369f3f93", "waymo_split": "test", "type": "video", "frame_index": null, "question": "What situation might have occurred if the self-driving car acted like this?", "category": "Counterfactual", "options": ["A. If the self-driving car had braked suddenly, it could have collided with a bicycle coming from the left.", "B. If the self-driving car had sped up, it could have collided with a person coming from the right.", "C. If the self-driving car had been moving slowly, it could have made contact with a car overtaking from behind.", "D. If the self-driving car had turned left, it could have brushed against a pedestrian crossing ahead."], "answer_index": 1}
{"token": "0cf69e4d4048c193d899ab58369f3f93", "waymo_split": "test", "type": "image", "frame_index": 8, "question": "What are the behavioral restrictions in school zones/congested areas?", "category": "Special Event", "options": ["A. Maintain high beams to alert presence (especially on rainy days)", "B. Pass through quickly to minimize stay (especially during peak hours)", "C. Use the horn intermittently to draw attention (especially near crosswalks)", "D. Drive slowly, close to stopping (especially on inclined roads)"], "answer_index": 3}
{"token": "0cf69e4d4048c193d899ab58369f3f93", "waymo_split": "test", "type": "image", "frame_index": 8, "question": "Based on the current appearance of the person/vehicle (two-wheeled), how do they intend to move?", "category": "Normal Perception & Prediction", "options": ["A. Waiting to turn right", "B. Entering a left turn", "C. Preparing to stop", "D. Driving straight"], "answer_index": 3}
{"token": "0cf69e4d4048c193d899ab58369f3f93", "waymo_split": "test", "type": "image", "frame_index": 8, "question": "What are the classifications of scenes?", "category": "Normal scene Understanding", "options": ["A. Suburb", "B. Countryside", "C. Industrial Complex", "D. City"], "answer_index": 3}
{"token": "0cf69e4d4048c193d899ab58369f3f93", "waymo_split": "test", "type": "image", "frame_index": 8, "question": "Which of the following is a correct description of traffic density?", "category": "Normal scene Understanding", "options": ["A. No surrounding vehicles, slow", "B. A few surrounding vehicles, fast", "C. Several surrounding vehicles, slow", "D. Many surrounding vehicles, fast"], "answer_index": 0}
{"token": "0cf69e4d4048c193d899ab58369f3f93", "waymo_split": "test", "type": "image", "frame_index": 8, "question": "What is the plan for yielding when an ambulance/fire truck approaches?", "category": "Special Event", "options": ["A. Stay close to the right wall to secure a passageway.", "B. Stop in the center of the lane to guide the entryway.", "C. Reverse and gather to the center to secure a passageway.", "D. Stay close to the left wall to secure a passageway."], "answer_index": 0}
{"token": "0cf69e4d4048c193d899ab58369f3f93", "waymo_split": "test", "type": "image", "frame_index": 8, "question": "Which of the following descriptions about the environment is correct?", "category": "Normal scene Understanding", "options": ["A. Clear, morning, weak sunlight", "B. Rain, evening, indoor lights on", "C. Cloudy, daytime, no lighting", "D. Fog, dawn, streetlights on"], "answer_index": 2}
{"token": "0cf69e4d4048c193d899ab58369f3f93", "waymo_split": "test", "type": "image", "frame_index": 8, "question": "Is there a blind spot in the field of view?", "category": "Uncertainty", "options": ["A. There is no blind spot as the left side is fenced and has street trees, while the right side is open at the entrance of the intersection.", "B. There is no blind spot as there is no right barrier, it is a straight section with four lanes in both directions, and it is separated from the sidewalk.", "C. There is a blind spot at the end of the two-lane road where there is a right barrier, overlapping with the pedestrian path.", "D. There is no blind spot even in the gentle curve ahead due to the installation of a right mirror, as it is separated from the pedestrian path."], "answer_index": 2}
{"token": "0cf69e4d4048c193d899ab58369f3f93", "waymo_split": "test", "type": "image", "frame_index": 8, "question": "What is the answer regarding parked vehicles on the shoulder, the presence of a center line, and whether Ego crosses the center line?", "category": "Normal Perception & Prediction", "options": ["A. No parked vehicles on the shoulder, center line exists, my vehicle does not cross the center line.", "B. No parked vehicles on the shoulder, center line exists, my vehicle slightly crosses the center line.", "C. Parked vehicles on the shoulder, center line exists, my vehicle crosses the center line.", "D. No parked vehicles on the shoulder, no center line, my vehicle does not cross the center line."], "answer_index": 0}
{"token": "0cf69e4d4048c193d899ab58369f3f93", "waymo_split": "test", "type": "image", "frame_index": 8, "question": "Which of the following statements about traffic signals is correct?", "category": "Traffic Signal", "options": ["A. The traffic light on the right side in front is installed above the crosswalk, and its lighting status is clearly visible.", "B. The sign on the left side in front is located where the two-lane road overlaps with the sidewalk, but the text is not visible.", "C. The guide sign on the left shoulder is placed just before the intersection, and the text is clear.", "D. The road marking in the center ahead has a speed limit of 50 clearly painted, and the numbers are distinct."], "answer_index": 1}
{"token": "0cf69e4d4048c193d899ab58369f3f93", "waymo_split": "test", "type": "image", "frame_index": 8, "question": "Are there any safety-critical objects other than the first safety-critical object? If so, how will you navigate around them?", "category": "Safety-critical Prediction", "options": ["A. Pedestrian ahead, detour left after stopping", "B. Construction cone on the right, detour to the center", "C. No safety-critical objects", "D. Stroller ahead, proceed slowly along the right edge"], "answer_index": 2}
{"token": "0cf69e4d4048c193d899ab58369f3f93", "waymo_split": "test", "type": "image", "frame_index": 8, "question": "How do you think a safety-critical object will move?", "category": "Safety-critical Prediction", "options": ["A. No safety-critical object", "B. Stationary, no change", "C. Slowly moving to the right front", "D. Slowly moving to the left"], "answer_index": 0}
{"token": "0cf69e4d4048c193d899ab58369f3f93", "waymo_split": "test", "type": "image", "frame_index": 8, "question": "How should I drive to address the first risk while also resolving the second risk?", "category": "Safety-critical Planning", "options": ["A. There is a safety-critical object", "B. A safety-critical pedestrian is approaching from the left", "C. A safety-critical vehicle is stopped ahead", "D. There is no safety-critical object"], "answer_index": 3}
{"token": "0cf69e4d4048c193d899ab58369f3f93", "waymo_split": "test", "type": "image", "frame_index": 8, "question": "What is the safer choice just before entering a yellow signal: stop vs proceed?", "category": "Special Event", "options": ["A. Green pedestrian signal, safety-critical object at a distance", "B. No signal and no safety-critical object", "C. There is a signal and no safety-critical object", "D. No signal and a non-safety-critical object nearby"], "answer_index": 1}
{"token": "0cf69e4d4048c193d899ab58369f3f93", "waymo_split": "test", "type": "image", "frame_index": 53, "question": "Which is correct from the perspective of Safety-critical Frame regarding Image Caption?", "category": "Safety-critical scene caption", "options": ["A. The right side is open with good visibility to the right; there seems to be no Safety-critical elements in that direction.", "B. The left side is blocked by a wall, limiting visibility to the left; there may be Safety-critical objects in this direction.", "C. The front structure limits forward visibility; dangerous objects may appear from the front.", "D. The right side is blocked by a wall, limiting visibility to the right; there may be Safety-critical objects in this direction."], "answer_index": 3}
{"token": "0cf69e4d4048c193d899ab58369f3f93", "waymo_split": "test", "type": "image", "frame_index": 53, "question": "Based on the current appearance of the person/vehicle (two-wheeled), how do they intend to move?", "category": "Normal Perception & Prediction", "options": ["A. Turn right and go up the one-way road (gentle uphill)", "B. Turn left and enter the one-way street (narrow vehicle width)", "C. Slowly move to the right shoulder (bus stop) to stop", "D. Proceed straight down the two-lane road (sloped)"], "answer_index": 3}
{"token": "0cf69e4d4048c193d899ab58369f3f93", "waymo_split": "test", "type": "image", "frame_index": 53, "question": "What are the classifications of scenes?", "category": "Normal scene Understanding", "options": ["A. Residential area", "B. Unpaved", "C. Highway", "D. City"], "answer_index": 3}
{"token": "0cf69e4d4048c193d899ab58369f3f93", "waymo_split": "test", "type": "image", "frame_index": 53, "question": "What is the plan for yielding when an ambulance/fire truck approaches?", "category": "Special Event", "options": ["A. Stay close to the right wall to secure a passageway.", "B. Stay close to the center line to secure a passageway.", "C. Block both lanes and stop to secure a passageway.", "D. Stay close to the left wall to secure a passageway."], "answer_index": 0}
{"token": "0cf69e4d4048c193d899ab58369f3f93", "waymo_split": "test", "type": "image", "frame_index": 53, "question": "What are the behavioral restrictions in school zones/congested areas?", "category": "Special Event", "options": ["A. Pass through quickly to minimize stay (for congestion relief purposes)", "B. Change to the right lane to maintain flow (especially downhill)", "C. Alert with horn and hazard lights and proceed (to guide pedestrian attention)", "D. Drive slowly, close to stopping (especially on inclined roads)"], "answer_index": 3}
{"token": "0cf69e4d4048c193d899ab58369f3f93", "waymo_split": "test", "type": "image", "frame_index": 53, "question": "What is the description of a non-safety-critical object?", "category": "Normal Perception & Prediction", "options": ["A. A construction barrier on the left, a low flower bed on the right, a road sign (speed 30) in front, and a bicycle entering from an alley in all directions in front.", "B. Shop signs on the left, an open lot on the right, a road sign (U-turn) in front, and motorcycles moving in the same direction on a one-way lane in front.", "C. An overpass on the left, a wall that limits visibility on the right, a road sign (STOP) in front, and vehicles moving left and right on the main road in front.", "D. An at-grade railway track on the left, a transparent railing on the right, a road sign (bus only) in front, and buses waiting to go straight at an intersection in front."], "answer_index": 2}
{"token": "0cf69e4d4048c193d899ab58369f3f93", "waymo_split": "test", "type": "image", "frame_index": 53, "question": "Which of the following is a correct description of traffic density?", "category": "Normal scene Understanding", "options": ["A. No surrounding vehicles, slow", "B. No surrounding vehicles, fast", "C. Many surrounding vehicles, fast", "D. Surrounding vehicles present, slow"], "answer_index": 0}
{"token": "0cf69e4d4048c193d899ab58369f3f93", "waymo_split": "test", "type": "image", "frame_index": 53, "question": "Which of the following is a correct description of the environment?", "category": "Normal scene Understanding", "options": ["A. Fog, sunset. Soft backlight", "B. Cloudy, daytime. No lighting", "C. Light rain, evening. Warm indoor light", "D. Clear, morning. Subtle lighting"], "answer_index": 1}
{"token": "0cf69e4d4048c193d899ab58369f3f93", "waymo_split": "test", "type": "image", "frame_index": 53, "question": "What is the answer regarding the presence of parked vehicles on the shoulder, the existence of a center line, and whether Ego crosses the center line?", "category": "Normal Perception & Prediction", "options": ["A. There is a parked vehicle on the shoulder, a center line exists, and my vehicle does not cross the center line.", "B. There is no parked vehicle on the shoulder, a center line exists, and my vehicle crosses the center line.", "C. There is no parked vehicle on the shoulder, there is no center line, and my vehicle does not cross the center line.", "D. There is no parked vehicle on the shoulder, a center line exists, and my vehicle does not cross the center line."], "answer_index": 3}
{"token": "0cf69e4d4048c193d899ab58369f3f93", "waymo_split": "test", "type": "image", "frame_index": 53, "question": "Which of the following descriptions about traffic signals is correct?", "category": "Traffic Signal", "options": ["A. The traffic light at the top front is above the intersection, and the vehicle signal is lit red. There is a road marking (left turn only arrow) in the direction of the vehicle's travel.", "B. The sign on the right front is attached to the guardrail next to the sidewalk, and it reads a speed limit of 30. There is a road marking (SLOW) in the direction of the vehicle's travel.", "C. The no parking sign is clearly visible on the left edge of the sidewalk, but it is positioned low. There is a road marking (children's protection area) in the direction of the vehicle's travel.", "D. The sign on the left front is located where the two-lane road overlaps with the sidewalk, but the text is not visible. There is a road marking (STOP) in the direction of the vehicle's travel."], "answer_index": 3}
{"token": "0cf69e4d4048c193d899ab58369f3f93", "waymo_split": "test", "type": "image", "frame_index": 53, "question": "What is a safety-critical object?", "category": "Safety-critical Perception", "options": ["A. Safety-critical object battery management unit", "B. Safety-critical object brake controller", "C. No safety-critical object", "D. Safety-critical object steering assist module"], "answer_index": 2}
{"token": "0cf69e4d4048c193d899ab58369f3f93", "waymo_split": "test", "type": "image", "frame_index": 53, "question": "How do you think safety-critical objects will be moved?", "category": "Safety-critical Prediction", "options": ["A. No safety-critical objects", "B. Safety-critical pedestrian access", "C. Safety-critical sudden acceleration forward", "D. There are safety-critical objects"], "answer_index": 0}
{"token": "0cf69e4d4048c193d899ab58369f3f93", "waymo_split": "test", "type": "image", "frame_index": 53, "question": "Is there a blind spot in the field of view?", "category": "Uncertainty", "options": ["A. There is only a low fence on the right, and it widens into a three-lane road, with ample space for pedestrians, so there is no blind spot.", "B. The right side is open, continuing into a two-lane road, and it is a section separated from the sidewalk, so there is no blind spot.", "C. There is a barrier on the right, ending in a two-lane road, and there is a blind spot where the sidewalk overlaps.", "D. There is a blind spot on the left due to the flower bed and parked vehicles, opposite the two-lane merge point, at the pedestrian entry."], "answer_index": 2}
{"token": "0cf69e4d4048c193d899ab58369f3f93", "waymo_split": "test", "type": "image", "frame_index": 53, "question": "Is there any other safety-critical object besides the first safety-critical object? If so, how will you move?", "category": "Safety-critical Prediction", "options": ["A. There is a safety-critical object, avoid to the right", "B. There is a safety-critical object, stop and reverse", "C. There is a safety-critical object, detour to the left", "D. There is no safety-critical object"], "answer_index": 3}
{"token": "0cf69e4d4048c193d899ab58369f3f93", "waymo_split": "test", "type": "image", "frame_index": 53, "question": "How should I drive to address the first risk while also resolving the second risk?", "category": "Safety-critical Planning", "options": ["A. No safety-critical objects", "B. Hard brake needed for right-side pedestrian approach", "C. Safety-critical object present in front", "D. Immediate lane change to avoid left-side hazard"], "answer_index": 0}
{"token": "0cf69e4d4048c193d899ab58369f3f93", "waymo_split": "test", "type": "image", "frame_index": 53, "question": "Where is the area that hides danger and is obscured in the current frame?", "category": "Uncertainty", "options": ["A. The entrance of the crosswalk that is obscured by the advertisement board at the front bus stop, limiting visibility.", "B. The intersection of a two-lane road and a sidewalk that is obscured by the right wall, limiting visibility.", "C. The corner where the side road and the sidewalk meet, obscured by a van parked on the left, limiting visibility.", "D. The parking lot exit that is obscured by a construction barrier ahead, limiting visibility."], "answer_index": 1}
{"token": "0cf69e4d4048c193d899ab58369f3f93", "waymo_split": "test", "type": "image", "frame_index": 88, "question": "Which is correct from the perspective of Safety-critical Frame regarding Image Caption?", "category": "Safety-critical scene caption", "options": ["A. The right view is limited by a wall, and there may be a safety-critical object in this area.", "B. The left view is limited by a wall, and there may be a safety-critical object in this area.", "C. The front view is blocked by a pillar, and a safety-critical object may protrude from the front.", "D. The right side is open with good visibility, but a safety-critical object may approach from the left."], "answer_index": 0}
{"token": "0cf69e4d4048c193d899ab58369f3f93", "waymo_split": "test", "type": "image", "frame_index": 53, "question": "What is the safest choice when approaching a yellow signal: stop vs proceed?", "category": "Special Event", "options": ["A. There is a signal and a safety-critical object is present", "B. There is a red signal and a pedestrian is entering", "C. There is no signal and no safety-critical object is present", "D. The left turn signal has ended, and an oncoming vehicle is close"], "answer_index": 2}
{"token": "0cf69e4d4048c193d899ab58369f3f93", "waymo_split": "test", "type": "image", "frame_index": 53, "question": "What are the newly exposed risk candidates in the following section?", "category": "Safety-critical Prediction", "options": ["A. A motorcycle may suddenly merge into the lane, obscured by a parked van at the intersection of the forward left curve section.", "B. A bicycle may suddenly push into the lane at the point where a two-lane road meets an alley, limited visibility due to the left wall.", "C. A pedestrian may cross the street illegally without visibility behind a bus that has stopped in the lane adjacent to the right bus stop.", "D. A person may suddenly emerge at the junction where a two-lane road meets a sidewalk, limited visibility due to the right wall."], "answer_index": 3}
{"token": "0cf69e4d4048c193d899ab58369f3f93", "waymo_split": "test", "type": "image", "frame_index": 88, "question": "Based on the current appearance of the person/vehicle (two-wheeled), how do they intend to move?", "category": "Normal Perception & Prediction", "options": ["A. Make a U-turn and go up in the opposite direction (uphill)", "B. Turn right and enter the side road at the intersection (flat ground)", "C. Continue straight and go down the two-lane road (sloped)", "D. Turn left and enter the one-way single-lane alley (narrow)"], "answer_index": 2}
{"token": "0cf69e4d4048c193d899ab58369f3f93", "waymo_split": "test", "type": "image", "frame_index": 53, "question": "What is the method to avoid blind spots when passing large vehicles?", "category": "Special Event", "options": ["A. Following large vehicles", "B. Using the horn", "C. No large vehicles", "D. Passing on the right"], "answer_index": 2}
{"token": "0cf69e4d4048c193d899ab58369f3f93", "waymo_split": "test", "type": "image", "frame_index": 88, "question": "What is the plan for yielding when an ambulance/fire truck approaches?", "category": "Special Event", "options": ["A. Stay close to the left wall to secure a passage.", "B. Maintain a close formation behind the car in front.", "C. Stay close to the right wall to secure a passage.", "D. Gather towards the center of the lane and proceed slowly while yielding."], "answer_index": 2}
{"token": "0cf69e4d4048c193d899ab58369f3f93", "waymo_split": "test", "type": "image", "frame_index": 88, "question": "What are the classifications of scenes?", "category": "Normal scene Understanding", "options": ["A. Highway", "B. Residential area", "C. City", "D. Unpaved"], "answer_index": 2}
{"token": "0cf69e4d4048c193d899ab58369f3f93", "waymo_split": "test", "type": "image", "frame_index": 88, "question": "What are the behavioral restrictions in school zones/congested areas?", "category": "Special Event", "options": ["A. Proceed after alerting with horn and high beams (to guide pedestrian attention)", "B. Maintain speed to pass quickly (to minimize congestion)", "C. Coast in neutral on downhill (for fuel efficiency)", "D. Drive slowly, close to stopping (especially on inclined roads)"], "answer_index": 3}
{"token": "0cf69e4d4048c193d899ab58369f3f93", "waymo_split": "test", "type": "image", "frame_index": 88, "question": "Which of the following is a correct description of traffic density?", "category": "Normal scene Understanding", "options": ["A. Many surrounding vehicles, slow", "B. Few surrounding vehicles, fast", "C. Surrounding vehicles present, fast", "D. No surrounding vehicles, slow"], "answer_index": 3}
{"token": "0cf69e4d4048c193d899ab58369f3f93", "waymo_split": "test", "type": "image", "frame_index": 88, "question": "What is the answer regarding parked vehicles on the shoulder, the presence of a center line, and whether Ego crosses the center line?", "category": "Normal Perception & Prediction", "options": ["A. No parked vehicles on the shoulder, center line exists, my vehicle crosses the center line.", "B. No parked vehicles on the shoulder, center line exists, my vehicle does not cross the center line.", "C. No parked vehicles on the shoulder, no center line, my vehicle does not cross the center line.", "D. Parked vehicles on the shoulder, center line exists, my vehicle does not cross the center line."], "answer_index": 1}
{"token": "0cf69e4d4048c193d899ab58369f3f93", "waymo_split": "test", "type": "image", "frame_index": 88, "question": "Which of the following descriptions about the environment is correct?", "category": "Normal scene Understanding", "options": ["A. Overcast, daytime. No lighting", "B. Clear, daytime. Lighting on", "C. Overcast, nighttime. No lighting", "D. Rain, evening. Dim lighting"], "answer_index": 0}
{"token": "0cf69e4d4048c193d899ab58369f3f93", "waymo_split": "test", "type": "image", "frame_index": 88, "question": "Which of the following descriptions about traffic signals is correct?", "category": "Traffic Signal", "options": ["A. The sign on the left side in front is attached at the intersection of the bicycle lane and the sidewalk (caution for bicycle crossing) with a road marking in the direction of travel (crosswalk).", "B. The sign on the right side in front is installed at the edge of the sidewalk before entering the intersection (yield sign) with a road marking in the direction of travel (slow down).", "C. The traffic light is located above the center of the lane in front (red signal) with a road marking in the direction of travel (left turn only arrow).", "D. The sign on the left side in front exists where the two-lane road overlaps with the sidewalk (STOP sign) with a road marking in the direction of travel (STOP)."], "answer_index": 3}
{"token": "0cf69e4d4048c193d899ab58369f3f93", "waymo_split": "test", "type": "image", "frame_index": 88, "question": "Which of the following describes a non-safety-critical object?", "category": "Normal Perception & Prediction", "options": ["A. Construction site barrier on the left, entrance to a commercial area on the right, crosswalk sign in front, bus and taxi waiting at the signal in front.", "B. Overpass on the left, wall limiting visibility on the right, road sign (STOP) in front, vehicles traveling in both directions on the main road in front.", "C. Low guardrail on the left, open sidewalk and flower bed on the right, road sign (YIELD) in front, one vehicle proceeding in one direction on the side road in front.", "D. Street trees and parked motorcycles on the left, transparent sound barrier providing wide visibility on the right, road sign (speed 30) in front, bicycles moving along the bike lane in front."], "answer_index": 1}
{"token": "0cf69e4d4048c193d899ab58369f3f93", "waymo_split": "test", "type": "image", "frame_index": 88, "question": "What is a safety-critical object?", "category": "Safety-critical Perception", "options": ["A. No safety-critical object", "B. Safety-critical object high-temperature piping", "C. Safety-critical object robotic arm", "D. Safety-critical object high-voltage cable"], "answer_index": 0}
{"token": "0cf69e4d4048c193d899ab58369f3f93", "waymo_split": "test", "type": "image", "frame_index": 88, "question": "Are there any other safety-critical objects besides the first safety-critical object? If so, how will you move?", "category": "Safety-critical Prediction", "options": ["A. Detect the safety-critical object, reduce speed, and proceed along the centerline", "B. No safety-critical objects", "C. There is a safety-critical object, slowly evade to the right", "D. There is a safety-critical object, stop briefly and pass to the left"], "answer_index": 1}
{"token": "0cf69e4d4048c193d899ab58369f3f93", "waymo_split": "test", "type": "image", "frame_index": 88, "question": "How do you think a safety-critical object will move?", "category": "Safety-critical Prediction", "options": ["A. Approach slowly towards pedestrians", "B. Move gradually into the left lane", "C. No safety-critical object", "D. There is a safety-critical object"], "answer_index": 2}
{"token": "0cf69e4d4048c193d899ab58369f3f93", "waymo_split": "test", "type": "image", "frame_index": 88, "question": "How should I drive to address the first hazard while also resolving the second hazard?", "category": "Safety-critical Planning", "options": ["A. Pull over to the right shoulder and stop temporarily", "B. Change lanes to the left and pass through", "C. Immediately reduce speed in anticipation of hazards ahead", "D. No safety-critical objects present"], "answer_index": 3}
{"token": "0cf69e4d4048c193d899ab58369f3f93", "waymo_split": "test", "type": "image", "frame_index": 88, "question": "Where is the area that hides danger by being obscured in the current frame?", "category": "Uncertainty", "options": ["A. The entrance of a one-lane alley where visibility is blocked behind a van parked on the left.", "B. The exit of a shopping center parking lot where a blind spot is created by the truck parked on the right.", "C. The bus stop next to the crosswalk that is not visible due to the trees in front.", "D. The intersection of a two-lane road and a sidewalk where visibility is restricted by the right wall."], "answer_index": 3}
{"token": "0cf69e4d4048c193d899ab58369f3f93", "waymo_split": "test", "type": "image", "frame_index": 88, "question": "What is the method to avoid the blind spot next to a large vehicle?", "category": "Special Event", "options": ["A. No large vehicle", "B. Accelerate in the left lane", "C. Drive closely alongside", "D. Right behind the large vehicle"], "answer_index": 0}
{"token": "0cf69e4d4048c193d899ab58369f3f93", "waymo_split": "test", "type": "image", "frame_index": 102, "question": "Which of the following is correct as an Image Caption from a Safety-critical Frame perspective?", "category": "Safety-critical scene caption", "options": ["A. A person appears from the left at the end of a two-lane road and is walking to the right while the vehicle maintains its speed.", "B. A pedestrian is standing in the center ahead at the end of a two-lane road while the vehicle is slowly moving to the right to make a turn.", "C. A bicycle is entering from the right and crossing to the left at the end of a two-lane road while the vehicle is attempting to overtake.", "D. A person appears from the right at the end of a two-lane road and is walking to the left. The vehicle is slowing down accordingly."], "answer_index": 3}
{"token": "0cf69e4d4048c193d899ab58369f3f93", "waymo_split": "test", "type": "image", "frame_index": 88, "question": "What are the newly exposed risk candidates in the following section?", "category": "Safety-critical Prediction", "options": ["A. A person may suddenly emerge at the intersection of a two-lane road and a sidewalk, where visibility is limited by the right wall.", "B. After passing the right corner of the fence, a vehicle may quickly merge into the intersection without a signal.", "C. A bicycle may suddenly emerge at the point where a two-lane road meets an alley, obscured by parked cars on the left.", "D. A pet may pull on its leash and run into the roadway near a bus stop, where visibility is partially obstructed by a central tree."], "answer_index": 0}
{"token": "0cf69e4d4048c193d899ab58369f3f93", "waymo_split": "test", "type": "image", "frame_index": 102, "question": "Based on the current appearance of the person/vehicle (two-wheeled), how do they intend to move?", "category": "Normal Perception & Prediction", "options": ["A. Turn left and enter the side road (flat ground)", "B. Turn right and go up the single-lane road (uphill)", "C. Continue straight and go down the two-lane road (sloped)", "D. Slow down and stop on the right shoulder"], "answer_index": 2}
{"token": "0cf69e4d4048c193d899ab58369f3f93", "waymo_split": "test", "type": "image", "frame_index": 102, "question": "What is the plan for yielding when an ambulance/fire truck approaches?", "category": "Special Event", "options": ["A. Stay close to the right wall to secure a passageway.", "B. Pull over briefly towards the center line to create a passage.", "C. Stay close to the left wall to secure a passageway.", "D. Wait in the center of the intersection with emergency lights on."], "answer_index": 0}
{"token": "0cf69e4d4048c193d899ab58369f3f93", "waymo_split": "test", "type": "image", "frame_index": 102, "question": "What are the classifications of scenes?", "category": "Normal scene Understanding", "options": ["A. Unpaved", "B. Highway", "C. City", "D. Residential area"], "answer_index": 2}
{"token": "0cf69e4d4048c193d899ab58369f3f93", "waymo_split": "test", "type": "image", "frame_index": 102, "question": "What are the behavioral restrictions in school zones/congested areas?", "category": "Special Event", "options": ["A. Change lanes and move with the flow (to alleviate congestion)", "B. Drive slowly, close to a stop (especially on inclined roads)", "C. Maintain a constant speed while passing through (especially on flat roads)", "D. Drive close to the center line (for better visibility)"], "answer_index": 1}
{"token": "0cf69e4d4048c193d899ab58369f3f93", "waymo_split": "test", "type": "image", "frame_index": 102, "question": "Which of the following is a correct description of traffic density?", "category": "Normal scene Understanding", "options": ["A. Many surrounding vehicles, slow", "B. One or two surrounding vehicles, fast", "C. No surrounding vehicles, slow", "D. Many surrounding vehicles, fast"], "answer_index": 2}
{"token": "0cf69e4d4048c193d899ab58369f3f93", "waymo_split": "test", "type": "image", "frame_index": 102, "question": "Which of the following is a correct description of traffic signals?", "category": "Traffic Signal", "options": ["A. A sign on the right side in front is installed at the entrance of a one-way street (one-way sign) with a road marking in the direction of travel (right turn only arrow).", "B. A sign on the left side in front exists where a two-lane road overlaps with a sidewalk (STOP sign) with a road marking in the direction of travel (STOP).", "C. A sign on the left side in front is installed at the beginning of the road in front of a school (children's protection area) with a road marking in the direction of travel (slow down).", "D. A traffic light exists at the top of the intersection on the left front (pedestrian signal is green) with a road marking in the direction of travel (crosswalk)."], "answer_index": 1}
{"token": "0cf69e4d4048c193d899ab58369f3f93", "waymo_split": "test", "type": "image", "frame_index": 102, "question": "Which of the following descriptions about the environment is correct?", "category": "Normal scene Understanding", "options": ["A. Clear, morning. Soft natural light", "B. Cloudy, daytime. No lighting", "C. Snow, evening. Indoor fluorescent lights", "D. Rain, night. Streetlight illumination"], "answer_index": 1}
{"token": "0cf69e4d4048c193d899ab58369f3f93", "waymo_split": "test", "type": "image", "frame_index": 102, "question": "What is the answer regarding parked vehicles on the shoulder, the presence of a center line, and whether Ego crosses the center line?", "category": "Normal Perception & Prediction", "options": ["A. No parked vehicles on the shoulder, no center line, my vehicle does not cross the center line", "B. Parked vehicles on the shoulder, center line present, my vehicle does not cross the center line", "C. No parked vehicles on the shoulder, center line present, my vehicle does not cross the center line", "D. No parked vehicles on the shoulder, center line present, my vehicle crosses the center line"], "answer_index": 2}
{"token": "0cf69e4d4048c193d899ab58369f3f93", "waymo_split": "test", "type": "image", "frame_index": 102, "question": "Is there a blind spot in the field of vision?", "category": "Uncertainty", "options": ["A. On a gently curved, four-lane road with a central divider, there is no blind spot as it is separated from pedestrian traffic.", "B. There is a blind spot at the junction point on the left side where the bike lane overlaps.", "C. There is a blind spot at the end of a two-lane road where it overlaps with pedestrian traffic due to the right barrier.", "D. There is no blind spot as the right side is open and it leads to a single lane, separated from the sidewalk."], "answer_index": 2}
{"token": "0cf69e4d4048c193d899ab58369f3f93", "waymo_split": "test", "type": "image", "frame_index": 102, "question": "How do you think a safety-critical object would move?", "category": "Safety-critical Prediction", "options": ["A. Jump to the left", "B. Walk to the right", "C. Slide forward", "D. Walk to the left"], "answer_index": 3}
{"token": "0cf69e4d4048c193d899ab58369f3f93", "waymo_split": "test", "type": "image", "frame_index": 102, "question": "What should I do to drive safely?", "category": "Safety-critical Planning", "options": ["A. Flash the headlights twice to alert others", "B. Move to the opposite lane to avoid pedestrians", "C. Stop until the person has completely crossed the street", "D. Slightly reduce speed and pass slowly in front of the pedestrian"], "answer_index": 2}
{"token": "0cf69e4d4048c193d899ab58369f3f93", "waymo_split": "test", "type": "image", "frame_index": 102, "question": "What is the correlation in safety-critical situations?", "category": "Safety-critical scene Understanding", "options": ["A. Car-Person", "B. Car-Two-wheeler", "C. Person-Two-wheeler", "D. Two-wheeler-Car"], "answer_index": 0}
{"token": "0cf69e4d4048c193d899ab58369f3f93", "waymo_split": "test", "type": "image", "frame_index": 102, "question": "Are there any other safety-critical objects besides the first safety-critical object? If so, how would you move?", "category": "Safety-critical Prediction", "options": ["A. Entering the pedestrian road, slowing down, and avoiding with a right turn", "B. No other safety-critical objects", "C. There is a stroller, stop and proceed slowly to the right edge", "D. Ambulance approaching, yield and move to the left lane"], "answer_index": 1}
{"token": "0cf69e4d4048c193d899ab58369f3f93", "waymo_split": "test", "type": "image", "frame_index": 102, "question": "How should I drive to address the first risk while also resolving the second risk?", "category": "Safety-critical Planning", "options": ["A. Risk of a vehicle cutting in from the front", "B. No safety-critical objects", "C. Signs of pedestrians entering from the left", "D. Presence of safety-critical objects"], "answer_index": 1}
{"token": "0cf69e4d4048c193d899ab58369f3f93", "waymo_split": "test", "type": "image", "frame_index": 102, "question": "Is lane changing possible? Which is safer, slowing down or changing lanes?", "category": "Safety-critical Planning", "options": ["A. There is enough distance from the car in front, changing lanes is safer", "B. Lane changing is not possible, slowing down is safer", "C. There is space in the left lane, changing lanes is safer", "D. Lane changing is possible, slowing down is safer"], "answer_index": 1}
{"token": "0cf69e4d4048c193d899ab58369f3f93", "waymo_split": "test", "type": "image", "frame_index": 102, "question": "What is a safety-critical object?", "category": "Safety-critical Perception", "options": ["A. A person appearing from the left on the sidewalk at the entrance of a two-lane autonomous driving road and walking to the right", "B. A passenger car temporarily stopped in front of a crosswalk at the end of a two-lane autonomous driving road", "C. A person appearing from the right on the sidewalk at the end of a two-lane autonomous driving road and walking to the left", "D. A bicycle appearing from the left on the roadway at the end of a two-lane autonomous driving road and riding to the right"], "answer_index": 2}
{"token": "0cf69e4d4048c193d899ab58369f3f93", "waymo_split": "test", "type": "image", "frame_index": 102, "question": "Where is the area that hides danger by being obscured in the current frame?", "category": "Uncertainty", "options": ["A. The corner where the parking lot exit and the walkway intersect, obscured by the right flower bed and fence.", "B. The intersection where the two-lane road and the sidewalk meet, limited visibility due to the right wall.", "C. The intersection of the local road without a central line, where visibility is blocked behind the bus stop ahead.", "D. The point where the one-way alley and the sidewalk meet, limited visibility due to the left street trees."], "answer_index": 1}
{"token": "0cf69e4d4048c193d899ab58369f3f93", "waymo_split": "test", "type": "image", "frame_index": 102, "question": "What is the safest choice just before entering a yellow signal: stop vs proceed?", "category": "Special Event", "options": ["A. Accelerate and pass quickly", "B. No signal, cannot answer", "C. Absolutely stop, no exceptions", "D. Follow the car in front and proceed"], "answer_index": 1}
{"token": "0cf69e4d4048c193d899ab58369f3f93", "waymo_split": "test", "type": "image", "frame_index": 102, "question": "What is the method to avoid the blind spot next to a large vehicle?", "category": "Special Event", "options": ["A. Right behind the large vehicle", "B. To the right of the large vehicle", "C. No large vehicle", "D. In the adjacent lane to the large vehicle"], "answer_index": 2}
{"token": "0cf69e4d4048c193d899ab58369f3f93", "waymo_split": "test", "type": "image", "frame_index": 102, "question": "What are the newly exposed risk candidates in the following area?", "category": "Safety-critical Prediction", "options": ["A. A bicycle may suddenly enter the roadway from the sidewalk in an alley where visibility is restricted by the left wall.", "B. A person may suddenly emerge at the intersection of a two-lane road and a sidewalk where visibility is restricted by the right wall.", "C. A reversing vehicle may urgently enter the two-lane road without checking at the end of the right parking area.", "D. A pedestrian may suddenly extend their foot into the roadway from the blind spot behind a stopped bus near the bus stop ahead."], "answer_index": 1}
{"token": "0cf69e4d4048c193d899ab58369f3f93", "waymo_split": "test", "type": "image", "frame_index": 102, "question": "Who is responsible in a safety-critical situation? What is the cause?", "category": "Safety-critical scene Understanding", "options": ["A. Since the pedestrian protruded into the roadway, it is correct to maintain speed while honking the horn (the signal is in our favor, and continuing will lower the risk of collision).", "B. Since the left side is clear and all pedestrian appearances are visible, acceleration should be used to quickly exit the intersection (there's no need to stop, so the current risk of collision is low).", "C. Since the vehicle is blocked by the right wall and cannot see the person appearing, it should proceed slowly. (Of course, it is moving slowly, and since it stopped when the person appeared, the current risk of collision is low).", "D. Since the unnecessary sudden stop of the vehicle in front is the cause, it is safer to close the gap and maintain flow (following closely reduces the chance of encountering pedestrians, thus lowering the risk of collision)."], "answer_index": 2}
{"token": "0cf69e4d4048c193d899ab58369f3f93", "waymo_split": "test", "type": "image", "frame_index": 102, "question": "What situation might have occurred if the self-driving car behaved like this?", "category": "Counterfactual", "options": ["A. If the self-driving car accelerated without reducing speed, there is a possibility of colliding with the person ahead.", "B. If the self-driving car changed lanes to the left, the risk of colliding with the pedestrian is low.", "C. If the self-driving car gradually slowed down and stopped, there was no contact with the person ahead.", "D. If the self-driving car briefly reversed to create distance, it passed without a collision."], "answer_index": 0}
{"token": "0cf69e4d4048c193d899ab58369f3f93", "waymo_split": "test", "type": "image", "frame_index": 132, "question": "Based on the current appearance of the person/vehicle (two-wheeled), how do they intend to move?", "category": "Normal Perception & Prediction", "options": ["A. Going straight down the two-lane road (sloped)", "B. Making a U-turn to go up the opposite lane (uphill)", "C. Turning right to enter the underground parking lot (entrance)", "D. Turning left to enter the alley (side road)"], "answer_index": 0}
{"token": "0cf69e4d4048c193d899ab58369f3f93", "waymo_split": "test", "type": "image", "frame_index": 132, "question": "What is the plan for yielding when an ambulance/fire truck approaches?", "category": "Special Event", "options": ["A. Align your vehicle to the center and slow down to clear the road.", "B. Stay close to the right wall to secure a passage.", "C. Increase your speed to exit first and then yield the way.", "D. Stay close to the left wall to secure a passage."], "answer_index": 1}
{"token": "0cf69e4d4048c193d899ab58369f3f93", "waymo_split": "test", "type": "image", "frame_index": 132, "question": "Which of the following is a correct description of traffic density?", "category": "Normal scene Understanding", "options": ["A. Many surrounding vehicles, slow", "B. Many surrounding vehicles, fast", "C. Few surrounding vehicles, fast", "D. No surrounding vehicles, slow"], "answer_index": 3}
{"token": "0cf69e4d4048c193d899ab58369f3f93", "waymo_split": "test", "type": "image", "frame_index": 132, "question": "What are the behavioral restrictions in school zones/congested areas?", "category": "Special Event", "options": ["A. Stay close to the center line and detour widely (there are many parked cars on both sides)", "B. Drive slowly, close to stopping (especially since it's an inclined road)", "C. Maintain the speed limit and drive normally (to take advantage of the downhill)", "D. Honk the horn to warn and pass quickly (there are many pedestrians)"], "answer_index": 1}
{"token": "0cf69e4d4048c193d899ab58369f3f93", "waymo_split": "test", "type": "image", "frame_index": 132, "question": "What are the classifications of scenes?", "category": "Normal scene Understanding", "options": ["A. Highway", "B. Unpaved", "C. City", "D. Residential area"], "answer_index": 2}
{"token": "0cf69e4d4048c193d899ab58369f3f93", "waymo_split": "test", "type": "image", "frame_index": 132, "question": "Which of the following is a correct description of traffic signals?", "category": "Traffic Signal", "options": ["A. There is a STOP sign on the left", "B. There is a YIELD sign on the left", "C. There is a STOP sign on the right", "D. The red traffic light is on ahead"], "answer_index": 0}
{"token": "0cf69e4d4048c193d899ab58369f3f93", "waymo_split": "test", "type": "image", "frame_index": 132, "question": "Which of the following descriptions about the environment is correct?", "category": "Normal scene Understanding", "options": ["A. Snow, sunset. Streetlight illumination", "B. Clear, morning. Soft lighting", "C. Rain, night. Strong lighting", "D. Cloudy, daytime. No lighting"], "answer_index": 3}
{"token": "0cf69e4d4048c193d899ab58369f3f93", "waymo_split": "test", "type": "image", "frame_index": 132, "question": "What is the description of a non-safety-critical object?", "category": "Normal Perception & Prediction", "options": ["A. On the left, there are commercial signs and a bus stop. In front, a few motorcycles are coming out of a narrow alley. The view ahead is blocked by construction barriers.", "B. On the right, there is the entrance to an underground tunnel and traffic lights. On the main road ahead, vehicles are moving slowly in the same direction. In the distance on the left, only low buildings can be seen.", "C. Reflected in the front glass are a glass building and advertising signs. In the front lane, vehicles are stopped waiting for the signal. In the distance on the right, a metal pedestrian bridge is hanging like an arch.", "D. On the left, there is an overpass and streetlights. In front, vehicles are driving in both directions on the main road. In the distance ahead, there are large trees, but they are far away and unrelated to my driving."], "answer_index": 3}
{"token": "0cf69e4d4048c193d899ab58369f3f93", "waymo_split": "test", "type": "image", "frame_index": 132, "question": "What is the answer regarding the presence of parked vehicles on the shoulder, the existence of a center line, and whether Ego has crossed the center line?", "category": "Normal Perception & Prediction", "options": ["A. There is a parked vehicle on the shoulder, there is a center line, my vehicle has not crossed the center line.", "B. There is no parked vehicle on the shoulder, there is no center line, my vehicle has not crossed the center line.", "C. There is no parked vehicle on the shoulder, there is a center line, my vehicle has not crossed the center line.", "D. There is no parked vehicle on the shoulder, there is a center line, my vehicle has slightly crossed the center line."], "answer_index": 2}
{"token": "0cf69e4d4048c193d899ab58369f3f93", "waymo_split": "test", "type": "image", "frame_index": 132, "question": "Is there a blind spot?", "category": "Uncertainty", "options": ["A. There is a blind spot", "B. Only on the right side", "C. No blind spot", "D. Left blind spot"], "answer_index": 2}
{"token": "0cf69e4d4048c193d899ab58369f3f93", "waymo_split": "test", "type": "image", "frame_index": 132, "question": "What should I do to drive safely?", "category": "Safety-critical Planning", "options": ["A. Start immediately when the flow of vehicles in that lane stops", "B. Stop until the person has completely crossed the path", "C. Ask for permission and pass when the person stops briefly", "D. Proceed slowly when the person has crossed halfway"], "answer_index": 1}
{"token": "0cf69e4d4048c193d899ab58369f3f93", "waymo_split": "test", "type": "image", "frame_index": 132, "question": "How should I drive to address the first risk while also resolving the second risk?", "category": "Safety-critical Planning", "options": ["A. There is a safety-critical object", "B. There is no safety-critical object", "C. Detect forward risk objects", "D. Signs of a cut-in from the right lane"], "answer_index": 1}
{"token": "0cf69e4d4048c193d899ab58369f3f93", "waymo_split": "test", "type": "image", "frame_index": 132, "question": "What is the correlation in safety-critical situations?", "category": "Safety-critical scene Understanding", "options": ["A. car-person", "B. person-two-wheeler", "C. car-two-wheeler", "D. car-car"], "answer_index": 0}
{"token": "0cf69e4d4048c193d899ab58369f3f93", "waymo_split": "test", "type": "image", "frame_index": 132, "question": "What is a safety-critical object?", "category": "Safety-critical Perception", "options": ["A. A bicycle that appears from the left on the road ahead and is traveling to the right.", "B. A person that appears from the left on the sidewalk ahead and is walking to the right.", "C. A person that appears from the right on the sidewalk ahead and is walking to the left.", "D. An electric scooter that appears from the right on the road ahead and is moving to the left."], "answer_index": 2}
{"token": "0cf69e4d4048c193d899ab58369f3f93", "waymo_split": "test", "type": "image", "frame_index": 132, "question": "How do you think a safety-critical object will move?", "category": "Safety-critical Prediction", "options": ["A. Running to the right", "B. Walking to the left", "C. Jumping upward", "D. Sliding forward"], "answer_index": 1}
{"token": "0cf69e4d4048c193d899ab58369f3f93", "waymo_split": "test", "type": "image", "frame_index": 132, "question": "Are there any other safety-critical objects besides the first safety-critical object? If so, how would you move them?", "category": "Safety-critical Prediction", "options": ["A. Lithium battery pack, move to the left in a heat-resistant box", "B. High-pressure cable, move backward while wearing insulated gloves", "C. Gas cylinder, move to the right with a cart", "D. No other safety-critical objects"], "answer_index": 3}
{"token": "0cf69e4d4048c193d899ab58369f3f93", "waymo_split": "test", "type": "image", "frame_index": 132, "question": "Is lane changing possible? Which is safer, slowing down or changing lanes?", "category": "Safety-critical Planning", "options": ["A. Left lane change is possible, changing lanes is safer", "B. Right lane change is possible, changing lanes is safer than slowing down", "C. Lane change is not possible, slowing down is safer", "D. Left lane change is possible, changing lanes is safer"], "answer_index": 2}
{"token": "0cf69e4d4048c193d899ab58369f3f93", "waymo_split": "test", "type": "image", "frame_index": 132, "question": "Where is the area that hides danger in the current frame?", "category": "Uncertainty", "options": ["A. None", "B. Behind the parked SUV on the left", "C. Inside the corner of the intersection ahead", "D. Behind the fence on the right sidewalk"], "answer_index": 0}
{"token": "0cf69e4d4048c193d899ab58369f3f93", "waymo_split": "test", "type": "image", "frame_index": 132, "question": "What are the new exposure risk candidates in the following section?", "category": "Safety-critical Prediction", "options": ["A. A bicycle may emerge from the left sidewalk.", "B. A car door may open in the right parking area.", "C. A motorcycle may join from the alley ahead.", "D. A person may appear again on the right sidewalk."], "answer_index": 3}
{"token": "0cf69e4d4048c193d899ab58369f3f93", "waymo_split": "test", "type": "image", "frame_index": 132, "question": "What is the safest choice when approaching a yellow signal: stop or proceed?", "category": "Special Event", "options": ["A. Waiting to turn left, proceed slowly", "B. Unconfirmed pedestrians, continue as is", "C. Close behind, priority to proceed", "D. No signal, unable to answer"], "answer_index": 3}
{"token": "0cf69e4d4048c193d899ab58369f3f93", "waymo_split": "test", "type": "image", "frame_index": 132, "question": "Who is responsible in a safety-critical situation? What is the cause?", "category": "Safety-critical scene Understanding", "options": ["A. The responsibility lies with the vehicle system, as a delay in pedestrian recognition caused a missed braking opportunity, increasing the risk of collision.", "B. The responsibility lies with the pedestrian, as the pedestrian ignored the signal and jumped into the road, making it difficult for the vehicle to respond.", "C. The responsibility lies with the road management authority, as poor crosswalk signage and obstructing structures create hazards.", "D. There is no responsibility assigned to anyone. The vehicle was also driving at a very slow speed, adequately matching pedestrian movement, which is a reasonable judgment."], "answer_index": 3}
{"token": "0cf69e4d4048c193d899ab58369f3f93", "waymo_split": "test", "type": "image", "frame_index": 132, "question": "What is the method to avoid the blind spot next to a large vehicle?", "category": "Special Event", "options": ["A. No large vehicle", "B. Entering the blind spot", "C. Overtaking the large vehicle", "D. Staying close to the large vehicle"], "answer_index": 0}
{"token": "0cf69e4d4048c193d899ab58369f3f93", "waymo_split": "test", "type": "image", "frame_index": 132, "question": "What situation might have occurred if the self-driving car behaved this way?", "category": "Counterfactual", "options": ["A. If the self-driving car accelerated without reducing speed, it would pass pedestrians quickly and pose no danger.", "B. If the self-driving car accelerated without reducing speed, it could potentially collide with the vehicle behind it.", "C. If the self-driving car accelerated without reducing speed, it could potentially collide with a person in front.", "D. If the self-driving car accelerated without reducing speed, it would merge naturally into the right lane and maintain smooth flow."], "answer_index": 2}
{"token": "0d990f183c732ce1cfcc3eeeb898455a", "waymo_split": "test", "type": "video", "frame_index": null, "question": "Where is the safety-critical situation in the video?", "category": "Temporal Grounding", "options": ["A. 1/4", "B. 4/4", "C. 2/4", "D. 3/4"], "answer_index": 1}
{"token": "0d990f183c732ce1cfcc3eeeb898455a", "waymo_split": "test", "type": "video", "frame_index": null, "question": "What is the classification of the scene?", "category": "Normal scene Understanding", "options": ["A. Residential area", "B. City", "C. Unpaved", "D. Highway"], "answer_index": 1}
{"token": "0d990f183c732ce1cfcc3eeeb898455a", "waymo_split": "test", "type": "video", "frame_index": null, "question": "Which of the following is a correct description of traffic density?", "category": "Normal scene Understanding", "options": ["A. Slow, many surrounding vehicles. Flat incline", "B. Fast, few surrounding vehicles. Uphill incline", "C. Slow, few surrounding vehicles. Downhill incline", "D. Fast, many surrounding vehicles. Downhill incline"], "answer_index": 0}
{"token": "0d990f183c732ce1cfcc3eeeb898455a", "waymo_split": "test", "type": "video", "frame_index": null, "question": "Is there a special situation?", "category": "Special Event", "options": ["A. A school bus is stopped on the right side of the road picking up students in front of the intersection.", "B. As you enter the alley, construction cones and construction vehicles are stopped on the right side.", "C. Due to the rain, the lane markings ahead are blurred and hard to see.", "D. As you enter the alley, a fire truck is stopped on the left shoulder with its lights flashing."], "answer_index": 1}
{"token": "0d990f183c732ce1cfcc3eeeb898455a", "waymo_split": "test", "type": "video", "frame_index": null, "question": "Which of the following is a correct description of road alignment?", "category": "Normal Perception & Prediction", "options": ["A. Right turn after going straight", "B. Going straight after a right turn", "C. Going straight after a left turn", "D. Right turn after an unprotected left turn"], "answer_index": 2}
{"token": "0d990f183c732ce1cfcc3eeeb898455a", "waymo_split": "test", "type": "video", "frame_index": null, "question": "What is correct regarding Video Summary from the perspective of Safety-critical Scene?", "category": "Safety-critical scene caption", "options": ["A. As you go straight down the alley, there is a continuous empty parking space on the left, providing a clear view. The pedestrian ahead has stepped back from the roadway and is stopped, causing no significant obstruction to progress. The right lane has enough space to maintain a width suitable for passing.", "B. As you go straight down the alley, there is a person sitting on a bench on the right, facing the opposite direction of your vehicle. This person is staying inside the sidewalk, causing almost no interference with the roadway. Additionally, there are no parked cars on the left, allowing for a wide alley.", "C. As you go straight down the alley, you see a person standing facing your vehicle direction on the left. This person is standing at the end of the sidewalk towards the roadway, posing a risk of collision with your vehicle. Furthermore, the right side has mainly parked vehicles, meaning this alley can only accommodate one vehicle's width.", "D. As you go straight down the alley, you see a pedestrian walking slowly with their back to the right sidewalk. This pedestrian is close to the building, so the risk of collision with your vehicle is low. There is almost no parking on the left, allowing enough width for two vehicles to pass each other."], "answer_index": 2}
{"token": "0d990f183c732ce1cfcc3eeeb898455a", "waymo_split": "test", "type": "video", "frame_index": null, "question": "Which of the following descriptions about the environment is correct?", "category": "Normal scene Understanding", "options": ["A. Day, clear, no lighting", "B. Dusk, cloudy, lighting on", "C. Night, clear, lighting on", "D. Dawn, foggy, weak lighting"], "answer_index": 0}
{"token": "0d990f183c732ce1cfcc3eeeb898455a", "waymo_split": "test", "type": "video", "frame_index": null, "question": "Which of the following is a correct description of Spatial Relationship?", "category": "Spatial Relationship", "options": ["A. Vehicles are going straight in accordance with the green light on the main road.", "B. A bus and a passenger car are turning at the intersection in front of the square according to the left turn signal.", "C. A motorcycle and a truck are merging into the right turn lane at the entrance of the overpass.", "D. Vehicles are stopped at a red light in a quiet alley."], "answer_index": 0}
{"token": "0d990f183c732ce1cfcc3eeeb898455a", "waymo_split": "test", "type": "video", "frame_index": null, "question": "What is the description of a non-safety-critical object?", "category": "Normal Perception & Prediction", "options": ["A. There is a traffic light on a wide road (green light). At this time, the crosswalk is also on the left. When entering the alley, there are sparse trees planted on the left narrow sidewalk. There are many people walking on the left sidewalk. On the right, vehicles are parked on the side.", "B. The traffic light is not visible on a narrow road. The crosswalk is short and cut off on the right. When turning into the alley, a small flower bed continues on the right narrow sidewalk. There are almost no people on the right sidewalk. On the left, vehicles are densely parked on the side.", "C. There is a traffic light on a wide road (red light). At this time, the crosswalk is shifted to the right. When entering the alley, there is a bicycle lane marking on the right sidewalk. There are many people walking on the right sidewalk. On the left, vehicles are sparsely parked on the side.", "D. The traffic light is yellow flashing on a road of normal width. The crosswalk is long and straight ahead. When entering the alley, the left sidewalk is wide and the street trees are dense. The left sidewalk is quiet. On the right, there are street vendors with many pedestrians, and parked vehicles are rare."], "answer_index": 0}
{"token": "0d990f183c732ce1cfcc3eeeb898455a", "waymo_split": "test", "type": "video", "frame_index": null, "question": "Which of the following is a correct description of traffic signals?", "category": "Traffic Signal", "options": ["A. At the beginning, pedestrian signal (flashing) / At the end, right lane has a dedicated right turn arrow on the road", "B. At the beginning, traffic light (red) / At the end, there is a no parking sign next to the left bus stop", "C. At the beginning, traffic light (yellow flashing) / At the end, there is a speed limit 30 sign in front of the median", "D. At the beginning, traffic light (green). At the end, there is a construction warning sign in front of a vehicle parked on the right side"], "answer_index": 3}
{"token": "0d990f183c732ce1cfcc3eeeb898455a", "waymo_split": "test", "type": "video", "frame_index": null, "question": "What is the answer regarding the parked vehicle on the shoulder, the presence of a central line, and whether Ego crosses the central line?", "category": "Normal Perception & Prediction", "options": ["A. There is a parked vehicle on the left shoulder. There is a central line. My vehicle is traveling on the right side and does not cross the central line.", "B. There is a parked vehicle on the right shoulder. There is a central line. My vehicle swerves to the left and crosses the central line.", "C. There is a parked vehicle on the right shoulder. There is no central line. My vehicle is traveling on the left side and does not cross the central line.", "D. There is no parked vehicle on the right shoulder. There is a central line. My vehicle is driving to the left over the central line."], "answer_index": 2}
{"token": "0d990f183c732ce1cfcc3eeeb898455a", "waymo_split": "test", "type": "video", "frame_index": null, "question": "Is there a blind spot in your field of vision?", "category": "Uncertainty", "options": ["A. A blind spot occurs towards the left bus stop.", "B. There is no blind spot as the right lane is open.", "C. The opposite lane is a blind spot due to the central divider railing.", "D. There is a blind spot between the parked cars on the right side."], "answer_index": 3}
{"token": "0d990f183c732ce1cfcc3eeeb898455a", "waymo_split": "test", "type": "video", "frame_index": null, "question": "What is a safety-critical object?", "category": "Safety-critical Perception", "options": ["A. A person standing on the left sidewalk facing the direction of the vehicle", "B. A person standing on the right sidewalk facing the opposite direction", "C. A passenger car parked on the right shoulder with its hazard lights on", "D. A bicycle approaching from the left lane towards the vehicle"], "answer_index": 0}
{"token": "0d990f183c732ce1cfcc3eeeb898455a", "waymo_split": "test", "type": "video", "frame_index": null, "question": "What is the correlation in safety-critical situations?", "category": "Safety-critical scene Understanding", "options": ["A. Person - Two-wheeler", "B. Car - Car", "C. Car - Person", "D. Car - Two-wheeler"], "answer_index": 2}
{"token": "0d990f183c732ce1cfcc3eeeb898455a", "waymo_split": "test", "type": "video", "frame_index": null, "question": "Summary of Ego (own vehicle) behavior before safety-critical situation", "category": "Normal scene Understanding", "options": ["A. Driving straight", "B. Changing lanes", "C. Turning right", "D. Turning left"], "answer_index": 0}
{"token": "0d990f183c732ce1cfcc3eeeb898455a", "waymo_split": "test", "type": "video", "frame_index": null, "question": "How did the safety-critical object move and how did the ego vehicle behave?", "category": "Safety-critical scene Understanding", "options": ["A. Stays still facing the ego vehicle. The ego vehicle continues to drive at a constant speed regardless.", "B. Moves slowly in the opposite direction. The ego vehicle slows down upon seeing this.", "C. Passes quickly in the same direction as the ego vehicle. The ego vehicle increases the distance between vehicles while driving.", "D. Stays still facing the opposite direction. The ego vehicle yields and reduces speed."], "answer_index": 0}
{"token": "0d990f183c732ce1cfcc3eeeb898455a", "waymo_split": "test", "type": "video", "frame_index": null, "question": "Who is responsible in a safety-critical situation? What is the cause?", "category": "Safety-critical scene Understanding", "options": ["A. The driver is responsible. A turning vehicle approached without signaling and did not reduce speed, creating a collision risk while the pedestrian was standing on the sidewalk.", "B. The person is responsible. Regardless of their intent (whether they are trying to cross the street or waiting for a vehicle), standing too close to the edge of the sidewalk towards the road poses a collision risk.", "C. The road management authority is responsible. The malfunctioning traffic light and faded crosswalk lines blurred the boundary between pedestrians and vehicles, leading to danger.", "D. Surrounding vehicles are responsible. A illegally parked vehicle obstructed the view, making the pedestrian's position invisible, and the entering vehicle could only respond belatedly."], "answer_index": 1}
{"token": "0d990f183c732ce1cfcc3eeeb898455a", "waymo_split": "test", "type": "image", "frame_index": 22, "question": "Based on the current appearance of the person/vehicle (two-wheeled), how are they trying to move?", "category": "Normal Perception & Prediction", "options": ["A. Accelerating straight ahead", "B. Just starting to turn right", "C. Preparing to enter a U-turn", "D. Almost completed a left turn"], "answer_index": 3}
{"token": "0d990f183c732ce1cfcc3eeeb898455a", "waymo_split": "test", "type": "video", "frame_index": null, "question": "What situation would occur if the self-driving car behaved like this?", "category": "Counterfactual", "options": ["A. If the self-driving car stays close to the right sidewalk, pedestrian safety is secured.", "B. If the self-driving car crashes into the left sidewalk, there is a risk of collision with people.", "C. If the self-driving car stays close to the center line, there is ample driving space.", "D. If the self-driving car suddenly swerves into the left lane, the risk of collision is eliminated."], "answer_index": 1}
{"token": "0d990f183c732ce1cfcc3eeeb898455a", "waymo_split": "test", "type": "image", "frame_index": 22, "question": "What is the plan for yielding when an ambulance/fire truck approaches?", "category": "Special Event", "options": ["A. Drive slightly towards the center line and make way.", "B. Pass through the intersection first and then slowly move aside.", "C. Stay close to the left sidewalk to create space.", "D. Just turn on the hazard lights and continue in the current lane."], "answer_index": 2}
{"token": "0d990f183c732ce1cfcc3eeeb898455a", "waymo_split": "test", "type": "image", "frame_index": 22, "question": "What is correct as an Image Caption from the perspective of Safety-critical Frame?", "category": "Safety-critical scene caption", "options": ["A. A bicycle may suddenly merge into the road from the front bus stop.", "B. Something may emerge from the blind spot in front of the right construction vehicle.", "C. A pedestrian may come onto the road from the blind spot behind the parked car on the left.", "D. A motorcycle may quickly overtake from the rear left lane."], "answer_index": 1}
{"token": "0d990f183c732ce1cfcc3eeeb898455a", "waymo_split": "test", "type": "image", "frame_index": 22, "question": "What are the classifications of scenes?", "category": "Normal scene Understanding", "options": ["A. City", "B. Unpaved", "C. Highway", "D. Residential area"], "answer_index": 0}
{"token": "0d990f183c732ce1cfcc3eeeb898455a", "waymo_split": "test", "type": "image", "frame_index": 22, "question": "Which of the following is a correct description of traffic density?", "category": "Normal scene Understanding", "options": ["A. There are usually vehicles at the intersection on the left, moving slowly due to congestion.", "B. There are many vehicles on the main road behind, driving at a moderate speed.", "C. There are few vehicles on the alley ahead, driving at a fast speed.", "D. There are almost no vehicles on the one-way lane to the right, moving slowly."], "answer_index": 1}
{"token": "0d990f183c732ce1cfcc3eeeb898455a", "waymo_split": "test", "type": "image", "frame_index": 22, "question": "Which of the following is a correct description of traffic signals?", "category": "Traffic Signal", "options": ["A. Left turn only traffic light", "B. Pedestrian traffic light", "C. Bicycle traffic light", "D. Vehicle traffic light"], "answer_index": 1}
{"token": "0d990f183c732ce1cfcc3eeeb898455a", "waymo_split": "test", "type": "image", "frame_index": 22, "question": "Which of the following is a correct description of the environment?", "category": "Normal scene Understanding", "options": ["A. Day. Clear", "B. Dawn. Foggy", "C. Night. Cloudy", "D. Evening. Rain"], "answer_index": 0}
{"token": "0d990f183c732ce1cfcc3eeeb898455a", "waymo_split": "test", "type": "image", "frame_index": 22, "question": "What is the description of a non-safety-critical object?", "category": "Normal Perception & Prediction", "options": ["A. A blue traffic light for vehicles on the left", "B. A green traffic light for bicycles on the right", "C. A red and green pedestrian traffic light in front", "D. A red and yellow construction warning light in front"], "answer_index": 2}
{"token": "0d990f183c732ce1cfcc3eeeb898455a", "waymo_split": "test", "type": "image", "frame_index": 22, "question": "What is the answer regarding the presence of parked vehicles on the shoulder, the presence of a center line, and whether Ego has crossed the center line?", "category": "Normal Perception & Prediction", "options": ["A. No parked vehicles on the shoulder. No center line", "B. Parked vehicles on the shoulder exist. There is a center line", "C. No parked vehicles on the shoulder. There is a center line", "D. Parked vehicles on the shoulder exist. No center line"], "answer_index": 3}
{"token": "0d990f183c732ce1cfcc3eeeb898455a", "waymo_split": "test", "type": "image", "frame_index": 22, "question": "Is there a blind spot in your field of view?", "category": "Uncertainty", "options": ["A. There is a blind spot in front of the large vehicle parked on the right.", "B. There is no blind spot behind the large vehicle parked on the right.", "C. There is no blind spot in front of the small passenger car driving on the right.", "D. There is a blind spot next to the large vehicle parked on the left."], "answer_index": 0}
{"token": "0d990f183c732ce1cfcc3eeeb898455a", "waymo_split": "test", "type": "image", "frame_index": 22, "question": "What is a safety-critical object?", "category": "Safety-critical Perception", "options": ["A. Front high-speed rotating spindle shaft", "B. Robot arm end gripper module", "C. No safety-critical object", "D. Right conveyor E-Stop button"], "answer_index": 2}
{"token": "0d990f183c732ce1cfcc3eeeb898455a", "waymo_split": "test", "type": "image", "frame_index": 22, "question": "How do you think a safety-critical object would move?", "category": "Safety-critical Prediction", "options": ["A. Slide forward according to inertia", "B. It seems like it would roll slightly to the left", "C. There is no safety-critical object", "D. Drift downward to the right with the wind"], "answer_index": 2}
{"token": "0d990f183c732ce1cfcc3eeeb898455a", "waymo_split": "test", "type": "image", "frame_index": 22, "question": "What is the safest choice when approaching a yellow signal: stop vs. proceed?", "category": "Special Event", "options": ["A. Full stop at yellow flashing (intersection)", "B. No yellow traffic light (alley)", "C. Accelerate and pass at yellow (main road)", "D. Priority for right turn at yellow (right turn lane)"], "answer_index": 1}
{"token": "0d990f183c732ce1cfcc3eeeb898455a", "waymo_split": "test", "type": "image", "frame_index": 22, "question": "Where is the area that hides danger by being obscured in the current frame?", "category": "Uncertainty", "options": ["A. Beyond the central divider", "B. No areas out of sight", "C. Right bus front blind spot", "D. Behind the left parked vehicle"], "answer_index": 1}
{"token": "0d990f183c732ce1cfcc3eeeb898455a", "waymo_split": "test", "type": "image", "frame_index": 80, "question": "Based on the current appearance of the person/vehicle (two-wheeled), how do you intend to move?", "category": "Normal Perception & Prediction", "options": ["A. U-turn", "B. Straight", "C. Left turn", "D. Right turn"], "answer_index": 1}
{"token": "0d990f183c732ce1cfcc3eeeb898455a", "waymo_split": "test", "type": "image", "frame_index": 80, "question": "What is correct from the perspective of Safety-critical Frame regarding Image Caption?", "category": "Safety-critical scene caption", "options": ["A. A pedestrian may suddenly try to come out from the blind spot behind the bus in front.", "B. An electric scooter may unexpectedly enter the roadway from the left sidewalk corner.", "C. A bicycle may enter without warning from the gap in the central divider of the opposite lane.", "D. Something may pop out from the unseen area in front of the construction vehicle on the right."], "answer_index": 3}
{"token": "0d990f183c732ce1cfcc3eeeb898455a", "waymo_split": "test", "type": "image", "frame_index": 80, "question": "What is the plan for yielding when an ambulance/fire truck approaches?", "category": "Special Event", "options": ["A. Currently, there are no vehicles behind, so I will either go straight or reverse in the opposite direction of the approaching ambulance/fire truck and park in the available space on the right.", "B. I will check the front and rear, and if I see the ambulance/fire truck, I will move forward a bit more towards the direction it is coming from and park diagonally in the open space next to the left road markings while waiting.", "C. Since there is a vehicle behind, I will avoid sudden braking and continue driving at the current speed, only turning on the hazard lights, and after passing the intersection, I will gradually move to the right when there is space.", "D. Currently, the front view is clear, so when I hear the siren, I will briefly stop in the center of the lane and then slightly move my car to the left edge to create a passage."], "answer_index": 0}
{"token": "0d990f183c732ce1cfcc3eeeb898455a", "waymo_split": "test", "type": "image", "frame_index": 80, "question": "What are the divisions of the scene?", "category": "Normal scene Understanding", "options": ["A. City", "B. Highway", "C. Unpaved", "D. Residential area"], "answer_index": 0}
{"token": "0d990f183c732ce1cfcc3eeeb898455a", "waymo_split": "test", "type": "image", "frame_index": 80, "question": "Which of the following is a correct description of traffic density?", "category": "Normal scene Understanding", "options": ["A. There are almost no vehicles in the right lane, and traffic is flowing smoothly.", "B. There are few vehicles in the left lane, and they are overtaking at high speed.", "C. There are few vehicles at the upcoming intersection, and they are driving at a slow speed.", "D. There are many vehicles on the main road behind, and they are driving at a moderate speed."], "answer_index": 3}
{"token": "0d990f183c732ce1cfcc3eeeb898455a", "waymo_split": "test", "type": "image", "frame_index": 80, "question": "What are the restrictions on behavior in school zones/congested areas?", "category": "Special Event", "options": ["A. Overtaking", "B. Slow driving", "C. Acceleration", "D. Stopping"], "answer_index": 1}
{"token": "0d990f183c732ce1cfcc3eeeb898455a", "waymo_split": "test", "type": "image", "frame_index": 80, "question": "Which of the following is a correct description of traffic signals?", "category": "Traffic Signal", "options": ["A. Faint straight-ahead sign on the road", "B. Left turn arrow lit on the traffic light", "C. No U-turn sign on the road", "D. No right turn sign on the traffic sign"], "answer_index": 0}
{"token": "0d990f183c732ce1cfcc3eeeb898455a", "waymo_split": "test", "type": "image", "frame_index": 80, "question": "Which of the following is a correct description of the environment?", "category": "Normal scene Understanding", "options": ["A. Day. Clear", "B. Evening. Rain", "C. Morning. Fog", "D. Day. Cloudy"], "answer_index": 0}
{"token": "0d990f183c732ce1cfcc3eeeb898455a", "waymo_split": "test", "type": "image", "frame_index": 80, "question": "What is the description of non-safety-critical objects?", "category": "Normal Perception & Prediction", "options": ["A. Vehicles moving slowly on the front right", "B. Pedestrians standing on the rear right", "C. Vehicles parked on the front left", "D. Vehicles parked on the front right"], "answer_index": 3}
{"token": "0d990f183c732ce1cfcc3eeeb898455a", "waymo_split": "test", "type": "image", "frame_index": 80, "question": "How do you think a safety-critical object will move?", "category": "Safety-critical Prediction", "options": ["A. Gradually advance", "B. Maintain a stop", "C. Start reversing", "D. Change to the right lane"], "answer_index": 1}
{"token": "0d990f183c732ce1cfcc3eeeb898455a", "waymo_split": "test", "type": "image", "frame_index": 80, "question": "What is the answer regarding the presence of parked vehicles on the shoulder, the existence of a central line, and whether Ego has crossed the central line?", "category": "Normal Perception & Prediction", "options": ["A. There is a parked vehicle on the shoulder. There is a central line.", "B. There is a parked vehicle on the shoulder. There is no central line.", "C. There is no parked vehicle on the shoulder. There is a central line.", "D. There is no parked vehicle on the shoulder. There is no central line."], "answer_index": 1}
{"token": "0d990f183c732ce1cfcc3eeeb898455a", "waymo_split": "test", "type": "image", "frame_index": 80, "question": "Is there a blind spot in your field of view?", "category": "Uncertainty", "options": ["A. There is a blind spot in front of a large vehicle parked on the right.", "B. There is a blind spot in front of a small vehicle driving on the right.", "C. There is a blind spot in front of a large vehicle parked on the left.", "D. There is a blind spot behind a large vehicle parked on the right."], "answer_index": 0}
{"token": "0d990f183c732ce1cfcc3eeeb898455a", "waymo_split": "test", "type": "image", "frame_index": 80, "question": "What should I do to drive safely?", "category": "Safety-critical Planning", "options": ["A. Check only the side mirrors and accelerate straight", "B. Proceed slowly while being cautious of the blind spots in front of the vehicle", "C. Increase speed to overtake according to the signals of the rear vehicle", "D. Change to the left lane while avoiding the blind spot on the right side of the vehicle"], "answer_index": 1}
{"token": "0d990f183c732ce1cfcc3eeeb898455a", "waymo_split": "test", "type": "image", "frame_index": 80, "question": "What is a safety-critical object?", "category": "Safety-critical Perception", "options": ["A. A large blue bus waiting at the intersection ahead without a flag", "B. A medium gray truck with an American flag moving slowly on the right", "C. A large light blue vehicle with an American flag parked on the right", "D. A large light blue vehicle with a Korean flag parked on the left"], "answer_index": 2}
{"token": "0d990f183c732ce1cfcc3eeeb898455a", "waymo_split": "test", "type": "image", "frame_index": 80, "question": "What is the correlation in safety-critical situations?", "category": "Safety-critical scene Understanding", "options": ["A. Person - Two-wheeler", "B. Car - Person", "C. Car - Two-wheeler", "D. Car - Car"], "answer_index": 3}
{"token": "0d990f183c732ce1cfcc3eeeb898455a", "waymo_split": "test", "type": "image", "frame_index": 80, "question": "Is lane changing possible? Which is safer between slowing down and changing lanes?", "category": "Safety-critical Planning", "options": ["A. Lane changing is possible (there is enough space from the vehicle behind). Changing lanes is safer.", "B. Lane changing is possible (there is space in the left lane). Changing lanes is safe.", "C. Lane changing is not possible (the road is narrow with two lanes). Slowing down is safe.", "D. Lane changing is possible (the right lane is wide, making it easy to enter). Changing lanes is safe."], "answer_index": 2}
{"token": "0d990f183c732ce1cfcc3eeeb898455a", "waymo_split": "test", "type": "image", "frame_index": 80, "question": "Where is the area that hides danger in the current frame?", "category": "Uncertainty", "options": ["A. The right side of the bus in front is in the blind spot", "B. The entrance to the right alley is blocked by the corner of the building", "C. The front of the stopped vehicle on the right is not visible", "D. The back of the stopped vehicle on the left is obstructing the view"], "answer_index": 2}
{"token": "0d990f183c732ce1cfcc3eeeb898455a", "waymo_split": "test", "type": "image", "frame_index": 80, "question": "Is there any other safety-critical object besides the first safety-critical object? If so, how will it be moved?", "category": "Safety-critical Prediction", "options": ["A. There is a solvent leak, seal it and move towards the ventilation.", "B. There are no other safety-critical objects.", "C. There is a high-pressure gas cylinder, close the valve and move left with a cart.", "D. There is a lithium battery pack, place it in an insulated box and move to the isolation room."], "answer_index": 1}
{"token": "0d990f183c732ce1cfcc3eeeb898455a", "waymo_split": "test", "type": "image", "frame_index": 80, "question": "What are the potentially possible situations in the current scenario?", "category": "Counterfactual", "options": ["A. Changing lanes while moving slowly", "B. Making a slow left turn", "C. Making a slow right turn", "D. Going straight while moving slowly"], "answer_index": 3}
{"token": "0d990f183c732ce1cfcc3eeeb898455a", "waymo_split": "test", "type": "image", "frame_index": 80, "question": "What is the safest choice when approaching a yellow signal: stop vs. proceed?", "category": "Special Event", "options": ["A. No yellow traffic light (alley)", "B. Yellow light at the intersection (maintain speed)", "C. Extended yellow signal (accelerate to pass)", "D. Left turn yellow arrow (continue)"], "answer_index": 0}
{"token": "0d990f183c732ce1cfcc3eeeb898455a", "waymo_split": "test", "type": "image", "frame_index": 80, "question": "What is the method to avoid the blind spot next to a large vehicle?", "category": "Special Event", "options": ["A. If you are careful only behind the large vehicle, you can honk once and pass straight at your existing speed.", "B. You will be driving to the left of a stationary large vehicle, but a person or object may emerge from the front blind spot of the large vehicle, so you should slow down when passing.", "C. To quickly get out of the blind spot while staying close to the right side of a moving large vehicle, it's better to increase your speed and pass in one go.", "D. Since the front blind spot of a stationary large vehicle poses less risk, you can use a wider lane and pass by turning towards the center line."], "answer_index": 1}
{"token": "0d990f183c732ce1cfcc3eeeb898455a", "waymo_split": "test", "type": "image", "frame_index": 107, "question": "Which of the following is a correct description of traffic density?", "category": "Normal scene Understanding", "options": ["A. There are few vehicles at the intersection ahead, and they are moving at a slow speed.", "B. There are a normal number of vehicles in the left lane, and they are driving at a fast speed.", "C. There are many vehicles on the main road behind, and they are driving at a moderate speed.", "D. There are few vehicles on the side road behind, and they are repeatedly stopping and starting."], "answer_index": 2}
{"token": "0d990f183c732ce1cfcc3eeeb898455a", "waymo_split": "test", "type": "image", "frame_index": 107, "question": "Based on the current appearance of the person/vehicle (two-wheeled), how do you intend to move?", "category": "Normal Perception & Prediction", "options": ["A. Turn right", "B. Reverse", "C. Turn left", "D. Go straight"], "answer_index": 3}
{"token": "0d990f183c732ce1cfcc3eeeb898455a", "waymo_split": "test", "type": "image", "frame_index": 107, "question": "Which of the following is correct as an Image Caption from the perspective of a Normal Frame?", "category": "Normal scene caption", "options": ["A. A car turning left onto an uphill two-lane road. Shops and cafes line both sides of the road ahead. The left sidewalk is wide, with a few bicycles passing by. Instead of street trees, streetlights are placed at regular intervals. A delivery vehicle is slowly driving ahead, and an SUV is following behind.", "B. A car waiting to make a U-turn on a four-lane road. High-rise apartments can be seen beyond the central divider ahead. The left sidewalk is under construction, blocking passage. Only flower pots are placed at the edge of the sidewalk, and there are no street trees. Taxis are lined up ahead, and vehicles are also queued behind.", "C. A car making a right turn in a one-lane one-way alley. Small shops are sparsely visible ahead. The right sidewalk is wide, with almost no pedestrians. Street trees are densely planted on the sidewalk. Motorcycles and cars are passing by in front and behind.", "D. A car driving straight on a two-lane alley road. Residential houses stretch along both sides of the alley road ahead. The left sidewalk is narrow, with several people passing by. Trees are sparsely planted on the sidewalk. There are no vehicles driving in front or behind."], "answer_index": 3}
{"token": "0d990f183c732ce1cfcc3eeeb898455a", "waymo_split": "test", "type": "image", "frame_index": 107, "question": "What is the plan for yielding when an ambulance/fire truck approaches?", "category": "Special Event", "options": ["A. Currently, there is an open space on the left, so if approaching from behind, maintain progress and then pull over to the left edge to briefly stop and clear the way.", "B. Currently, there are vehicles waiting at a signal ahead, so there is not enough space; slowly advance in the direction of the ambulance/fire truck and stop in the center of the lane to create a passage.", "C. Currently, there are no vehicles in front or behind, so either go straight or reverse in the opposite direction of the approaching ambulance/fire truck to pull into the right-side parking space.", "D. Currently, there is an intersection nearby, so when approaching from the front, maintain speed and enter the middle of the intersection, then turn on the hazard lights and stop."], "answer_index": 2}
{"token": "0d990f183c732ce1cfcc3eeeb898455a", "waymo_split": "test", "type": "image", "frame_index": 107, "question": "What are the classifications of scenes?", "category": "Normal scene Understanding", "options": ["A. Highway", "B. City", "C. Unpaved", "D. Residential area"], "answer_index": 1}
{"token": "0d990f183c732ce1cfcc3eeeb898455a", "waymo_split": "test", "type": "image", "frame_index": 107, "question": "Which of the following is a correct description of the environment?", "category": "Normal scene Understanding", "options": ["A. Dawn. Light fog", "B. Day. Clear", "C. Night. Light rain", "D. Evening. Cloudy"], "answer_index": 1}
{"token": "0d990f183c732ce1cfcc3eeeb898455a", "waymo_split": "test", "type": "image", "frame_index": 107, "question": "Which of the following is a correct description of traffic signals?", "category": "Traffic Signal", "options": ["A. Red signal", "B. Left turn signal", "C. Pedestrian signal", "D. None"], "answer_index": 3}
{"token": "0d990f183c732ce1cfcc3eeeb898455a", "waymo_split": "test", "type": "image", "frame_index": 107, "question": "What is the description of non-safety-critical objects?", "category": "Normal Perception & Prediction", "options": ["A. Vehicles moving slowly on the left side in front / Dense commercial buildings on both sides / People jogging on the right sidewalk / A low flower bed and a utility pole on the left sidewalk", "B. A bus waiting for a signal in the center in front / A park on the left side of the road, an open space on the right / A student riding a bicycle on the right sidewalk / Construction fence and cones on the left sidewalk", "C. A delivery motorcycle stopped on the left shoulder in front / Commercial buildings on both sides / A couple pushing a stroller on the left sidewalk / A bus stop and an advertisement board on the right sidewalk", "D. Vehicles parked on the right side in front / Residential areas on both sides / People walking on the left sidewalk / A fence and trees on the right sidewalk"], "answer_index": 3}
{"token": "0d990f183c732ce1cfcc3eeeb898455a", "waymo_split": "test", "type": "image", "frame_index": 107, "question": "What is the answer regarding the presence of parked vehicles on the shoulder, the existence of a center line, and whether Ego has crossed the center line?", "category": "Normal Perception & Prediction", "options": ["A. There is a parked vehicle on the shoulder. There is a center line.", "B. No parked vehicles are visible on the shoulder. There is a center line.", "C. There are no parked vehicles on the shoulder. There is a center line.", "D. There is a parked vehicle on the shoulder. There is no center line."], "answer_index": 3}
{"token": "0d990f183c732ce1cfcc3eeeb898455a", "waymo_split": "test", "type": "image", "frame_index": 107, "question": "What is a safety-critical object?", "category": "Safety-critical Perception", "options": ["A. Emergency stop button", "B. Power switch", "C. None", "D. Brake module"], "answer_index": 2}
{"token": "0d990f183c732ce1cfcc3eeeb898455a", "waymo_split": "test", "type": "image", "frame_index": 107, "question": "Is there a blind spot?", "category": "Uncertainty", "options": ["A. There is a blind spot in front of a large vehicle parked on the left.", "B. There is a blind spot in front of a passenger car parked on the right.", "C. There is a blind spot in front of a large vehicle parked on the right.", "D. There is no blind spot in front of a large vehicle parked on the right."], "answer_index": 2}
{"token": "0d990f183c732ce1cfcc3eeeb898455a", "waymo_split": "test", "type": "image", "frame_index": 107, "question": "Is lane changing possible? Which is safer, slowing down or changing lanes?", "category": "Safety-critical Planning", "options": ["A. Lane changing is possible (right lane is clear), changing lanes is safer than slowing down.", "B. Lane changing is possible (left space is available), changing lanes is safer.", "C. Lane changing is possible (section expanded to three lanes), changing lanes is safer.", "D. Lane changing is not possible (narrow two-lane road), slowing down is safer."], "answer_index": 3}
{"token": "0d990f183c732ce1cfcc3eeeb898455a", "waymo_split": "test", "type": "image", "frame_index": 107, "question": "Is there any other safety-critical object besides the first safety-critical object? If so, how will you move?", "category": "Safety-critical Prediction", "options": ["A. Detect the next safety-critical object and evade to the right", "B. There is a next safety-critical object, bypass to the left", "C. Check the next safety-critical object, pause, and then move to the left", "D. There is no next safety-critical object"], "answer_index": 3}
{"token": "0d990f183c732ce1cfcc3eeeb898455a", "waymo_split": "test", "type": "image", "frame_index": 107, "question": "Where is the area that hides danger by obstructing the view in the current frame?", "category": "Uncertainty", "options": ["A. Obstruction of view at the left corner of the building at the intersection", "B. Obstruction of view behind parked cars on the left", "C. Obstruction of view between parked cars on the right", "D. Obstruction of view by the side of a large bus in front"], "answer_index": 2}
{"token": "0d990f183c732ce1cfcc3eeeb898455a", "waymo_split": "test", "type": "image", "frame_index": 107, "question": "What are the potential situations that could occur in the current scenario?", "category": "Counterfactual", "options": ["A. A situation of slow left turn", "B. A situation of slow straight ahead", "C. A situation of stopping in front of a crosswalk", "D. A situation of entering a U-turn"], "answer_index": 1}
{"token": "0d990f183c732ce1cfcc3eeeb898455a", "waymo_split": "test", "type": "image", "frame_index": 107, "question": "What is the method to avoid the blind spot when passing by a large vehicle?", "category": "Special Event", "options": ["A. It is safer to turn into the right lane based on the stationary large vehicle, and if you honk once to get the driver's attention, you can maintain your speed and pass through.", "B. If the vehicle is stationary, there is almost no danger ahead and you can see your surroundings clearly, so there is no need to keep a distance or adjust your speed; just look at the side mirror and pass naturally.", "C. You will drive to the left based on the direction facing the stationary large vehicle, but since a person or object may pop out from the blind spot in front of the large vehicle, you should proceed slowly when passing.", "D. You will drive to the left based on the direction facing the stationary large vehicle, but to avoid staying in the blind spot for too long, you should pass as close to the vehicle as possible, so you need to accelerate and pass quickly."], "answer_index": 2}
{"token": "0d990f183c732ce1cfcc3eeeb898455a", "waymo_split": "test", "type": "image", "frame_index": 125, "question": "Based on the current appearance of the person/vehicle (two-wheeled), how do you intend to move?", "category": "Normal Perception & Prediction", "options": ["A. Reversing", "B. Going straight", "C. Stopping", "D. Making a U-turn"], "answer_index": 1}
{"token": "0d990f183c732ce1cfcc3eeeb898455a", "waymo_split": "test", "type": "image", "frame_index": 125, "question": "Which is correct as an Image Caption from the perspective of Safety-critical Frame?", "category": "Safety-critical scene caption", "options": ["A. A person is standing close to the left sidewalk (within 5m), with their back to the vehicle, one foot back from the crosswalk towards the sidewalk.", "B. A person is standing a little farther from the right sidewalk (within 10m), facing the opposite direction and pressed against the inside of the sidewalk.", "C. A person is standing a little farther from the left sidewalk (within 10m), facing the direction of the vehicle and standing very close to the road side.", "D. A person is slowly moving towards the road from the edge of the roadway (outside the sidewalk), looking towards the center line."], "answer_index": 2}
{"token": "0d990f183c732ce1cfcc3eeeb898455a", "waymo_split": "test", "type": "image", "frame_index": 125, "question": "What is the classification of the scene?", "category": "Normal scene Understanding", "options": ["A. Residential area", "B. Unpaved", "C. Highway", "D. City"], "answer_index": 3}
{"token": "0d990f183c732ce1cfcc3eeeb898455a", "waymo_split": "test", "type": "image", "frame_index": 125, "question": "Which of the following is a correct description of traffic density?", "category": "Normal scene Understanding", "options": ["A. There are few vehicles in the left lane, and they are moving slowly.", "B. There are many vehicles on the main road in front of the intersection, and they are moving quickly.", "C. There are many vehicles on the main road behind, and they are moving at a moderate speed.", "D. There are few vehicles on the main road ahead, and they are moving quickly."], "answer_index": 2}
{"token": "0d990f183c732ce1cfcc3eeeb898455a", "waymo_split": "test", "type": "image", "frame_index": 125, "question": "What are the restrictions on behavior in school zones/congested areas?", "category": "Special Event", "options": ["A. Acceleration", "B. Detour", "C. Slow driving", "D. U-turn"], "answer_index": 2}
{"token": "0d990f183c732ce1cfcc3eeeb898455a", "waymo_split": "test", "type": "image", "frame_index": 125, "question": "Which of the following is a correct description of the environment?", "category": "Normal scene Understanding", "options": ["A. Twilight. Fog", "B. Day. Clear", "C. Night. Rain", "D. Evening. Cloudy"], "answer_index": 1}
{"token": "0d990f183c732ce1cfcc3eeeb898455a", "waymo_split": "test", "type": "image", "frame_index": 125, "question": "Which of the following is a correct description of traffic signals?", "category": "Traffic Signal", "options": ["A. Left turn signal", "B. Stop line", "C. Yellow flashing light", "D. None"], "answer_index": 3}
{"token": "0d990f183c732ce1cfcc3eeeb898455a", "waymo_split": "test", "type": "image", "frame_index": 125, "question": "What is the description of a non-safety-critical object?", "category": "Normal Perception & Prediction", "options": ["A. On the right, there are construction site barriers and a pile of materials. There are only shoulders on both sides without sidewalks. People are standing at the bus stop in front.", "B. On the right, there is an entrance to an off-street parking lot and a parking meter. There are street trees and a cafe on both sides. Children are riding bicycles on the left sidewalk.", "C. On the right, several delivery motorcycles are parked. On both sides, there are small shops and signs. A person is jogging on the right sidewalk.", "D. On the right, there are vehicles parked on the side street. There are sidewalks on both sides and a residential area. People are walking on the left sidewalk."], "answer_index": 3}
{"token": "0d990f183c732ce1cfcc3eeeb898455a", "waymo_split": "test", "type": "image", "frame_index": 125, "question": "What is the answer regarding the presence of parked vehicles on the shoulder, the existence of a center line, and whether Ego crosses the center line?", "category": "Normal Perception & Prediction", "options": ["A. No parked vehicles on the shoulder. There is a center line", "B. No parked vehicles on the shoulder. There is no center line", "C. There are parked vehicles on the shoulder. There is a center line", "D. There are parked vehicles on the shoulder. There is no center line"], "answer_index": 3}
{"token": "0d990f183c732ce1cfcc3eeeb898455a", "waymo_split": "test", "type": "image", "frame_index": 125, "question": "Are there any other safety-critical objects besides the first safety-critical object? If so, how will you move them?", "category": "Safety-critical Prediction", "options": ["A. There is an oxygen tank, move it on a cart", "B. There are no other safety-critical objects", "C. There is a battery pack, move it while wearing insulated gloves", "D. There is a fire extinguisher, move towards the emergency exit"], "answer_index": 1}
{"token": "0d990f183c732ce1cfcc3eeeb898455a", "waymo_split": "test", "type": "image", "frame_index": 125, "question": "How do you think a safety-critical object will move?", "category": "Safety-critical Prediction", "options": ["A. I think it will roll slightly.", "B. I think it will slide to the left.", "C. I think it will stay still.", "D. I think it will move slowly forward."], "answer_index": 2}
{"token": "0d990f183c732ce1cfcc3eeeb898455a", "waymo_split": "test", "type": "image", "frame_index": 125, "question": "What is a safety-critical object?", "category": "Safety-critical Perception", "options": ["A. A person standing on the left sidewalk facing the direction of the sidewalk", "B. A person standing on the right sidewalk facing the direction of the road", "C. A person standing at the edge of the road facing the direction of the road", "D. A person standing on the left sidewalk facing the direction of the road"], "answer_index": 3}
{"token": "0d990f183c732ce1cfcc3eeeb898455a", "waymo_split": "test", "type": "image", "frame_index": 125, "question": "Is lane changing possible? Which is safer, slowing down or changing lanes?", "category": "Safety-critical Planning", "options": ["A. Lane changing is possible (there is space on a 3-lane road). Changing lanes is safe.", "B. Lane changing is possible (during the time when the bus-only lane is released). Slowing down is safe.", "C. Lane changing is not possible (because it is a narrow 2-lane road). Slowing down is safe.", "D. Lane changing is possible (there is enough space between vehicles in the right lane). Changing lanes is safe."], "answer_index": 2}
{"token": "0d990f183c732ce1cfcc3eeeb898455a", "waymo_split": "test", "type": "image", "frame_index": 125, "question": "What is the safest choice when approaching a yellow signal: stop or proceed?", "category": "Special Event", "options": ["A. Proceed with caution through the yellow signal (main road)", "B. Yellow signal is on (intersection)", "C. Proceed with caution at the flashing yellow (residential road)", "D. No yellow signal (alley)"], "answer_index": 3}
{"token": "0d990f183c732ce1cfcc3eeeb898455a", "waymo_split": "test", "type": "image", "frame_index": 125, "question": "What is the correlation in safety-critical situations?", "category": "Safety-critical scene Understanding", "options": ["A. Person - Two-wheeler", "B. Car - Two-wheeler", "C. Car - Traffic light", "D. Car - Person"], "answer_index": 3}
{"token": "0d990f183c732ce1cfcc3eeeb898455a", "waymo_split": "test", "type": "image", "frame_index": 125, "question": "What should I do to drive safely?", "category": "Safety-critical Planning", "options": ["A. Proceed while checking if the bicycle goes first, if there is no intention to walk, and if I need to change lanes to overtake.", "B. Check if the person seems to move aside, if they are only looking at their phone, and then increase speed and go straight after honking once.", "C. Observe if the pedestrian hesitates, if the signal is about to change, and quickly turn left to match the flow of the car behind.", "D. Be cautious about whether the person is passing by, if they are walking towards my car, and proceed slowly while stopping."], "answer_index": 3}
{"token": "0d990f183c732ce1cfcc3eeeb898455a", "waymo_split": "test", "type": "image", "frame_index": 125, "question": "What are the potentially possible situations in the current scenario?", "category": "Counterfactual", "options": ["A. Situation of slow straight driving", "B. Situation of slow left turn", "C. Situation of slow right turn", "D. Situation of slow U-turn"], "answer_index": 0}
{"token": "0d990f183c732ce1cfcc3eeeb898455a", "waymo_split": "test", "type": "image", "frame_index": 125, "question": "Where is the area that hides danger and is not visible in the current frame?", "category": "Uncertainty", "options": ["A. Not visible in the direction of the left alley exit corner", "B. Not visible between the stationary vehicles on the right", "C. Not visible behind the parked truck on the left", "D. Not visible behind the large bus in front"], "answer_index": 1}
{"token": "0d990f183c732ce1cfcc3eeeb898455a", "waymo_split": "test", "type": "image", "frame_index": 125, "question": "Who is responsible in a safety-critical situation? What is the cause?", "category": "Safety-critical scene Understanding", "options": ["A. It lies with the road management agency. The pedestrian path is insufficiently wide and lacks separation facilities, causing the pedestrian flow to overlap with the roadway, resulting in danger.", "B. It lies with the bicycle user. The bicycle quickly brushed past the pedestrian in the same area, causing the pedestrian to lose balance and be pushed towards the roadway.", "C. It lies with the person. If a person stands too close to the roadway on a narrow sidewalk, facing the roadway, there is a risk of collision with moving vehicles.", "D. It lies with the driver. On a narrow road, even if a pedestrian stands at the edge, slow driving and maintaining distance is fundamental, and the risk is due to negligence in paying attention to the front."], "answer_index": 2}
{"token": "0d990f183c732ce1cfcc3eeeb898455a", "waymo_split": "test", "type": "image", "frame_index": 145, "question": "Based on the current appearance of the person/vehicle (two-wheeled), how do you intend to move?", "category": "Normal Perception & Prediction", "options": ["A. Turn right", "B. Go straight", "C. Reverse", "D. Turn left"], "answer_index": 1}
{"token": "0d990f183c732ce1cfcc3eeeb898455a", "waymo_split": "test", "type": "image", "frame_index": 125, "question": "What is the method to avoid the blind spot next to a large vehicle?", "category": "Special Event", "options": ["A. If you quickly overtake to the right of a stationary large vehicle, you will pass through the blind spot quickly, so you should maintain or slightly increase your speed to pass in one go.", "B. The danger is greater in the blind spot behind the large vehicle, so you should not worry too much about the front and pass smoothly while making a wide turn around the rear.", "C. The driver's side has better visibility and is relatively safe, so you should stay as close as possible to the driver's side and pass quickly in a straight line.", "D. You will be driving to the left based on the direction facing the stationary large vehicle, but at this time, a person or object may emerge from the front blind spot of the large vehicle, so you should proceed slowly when passing."], "answer_index": 3}
{"token": "0d990f183c732ce1cfcc3eeeb898455a", "waymo_split": "test", "type": "image", "frame_index": 145, "question": "What are the classifications of scenes?", "category": "Normal scene Understanding", "options": ["A. Highway", "B. Residential area", "C. City", "D. Unpaved"], "answer_index": 2}
{"token": "0d990f183c732ce1cfcc3eeeb898455a", "waymo_split": "test", "type": "image", "frame_index": 145, "question": "What is correct as an Image Caption from the perspective of Safety-critical Frame?", "category": "Safety-critical scene caption", "options": ["A. A pedestrian on the left sidewalk is slowly moving towards the sidewalk while looking at their phone and not facing the vehicle.", "B. A person on a bicycle is stopped on the left sidewalk a little ahead, facing away from the vehicle and staying close to the sidewalk.", "C. A pedestrian is standing right in front of the right sidewalk, looking towards the opposite side of the vehicle and stepping back from the road.", "D. A person is standing right in front of the left sidewalk, facing the direction of the vehicle and standing very close to the road."], "answer_index": 3}
{"token": "0d990f183c732ce1cfcc3eeeb898455a", "waymo_split": "test", "type": "image", "frame_index": 145, "question": "What is the plan for yielding when an emergency vehicle/fire truck approaches?", "category": "Special Event", "options": ["A. Proceed with emergency lights on, staying close to the center line", "B. Stay close to the left lane and yield while moving slowly", "C. Enter the intersection and stop in the center to yield", "D. Pull over to the right shoulder and stop to yield"], "answer_index": 3}
{"token": "0d990f183c732ce1cfcc3eeeb898455a", "waymo_split": "test", "type": "image", "frame_index": 145, "question": "Which of the following is a correct description of traffic density?", "category": "Normal scene Understanding", "options": ["A. Vehicles are dense and slow on all lanes", "B. Few vehicles on the left and ahead, fast", "C. Many vehicles only on the right side that are stopped, slow", "D. Only the opposite lane is congested, fast"], "answer_index": 2}
{"token": "0d990f183c732ce1cfcc3eeeb898455a", "waymo_split": "test", "type": "image", "frame_index": 145, "question": "What are the restrictions on behavior in school zones/congested areas?", "category": "Special Event", "options": ["A. U-turn", "B. Overtaking", "C. Stopping", "D. Slow driving"], "answer_index": 3}
{"token": "0d990f183c732ce1cfcc3eeeb898455a", "waymo_split": "test", "type": "image", "frame_index": 145, "question": "Which of the following is a correct description of the environment?", "category": "Normal scene Understanding", "options": ["A. Dusk. Cloudy", "B. Daytime. Clear", "C. Night. Overcast", "D. Dawn. Foggy"], "answer_index": 1}
{"token": "0d990f183c732ce1cfcc3eeeb898455a", "waymo_split": "test", "type": "image", "frame_index": 145, "question": "Which of the following is a correct description of traffic signals?", "category": "Traffic Signal", "options": ["A. Stop line", "B. None", "C. Red signal", "D. Stop temporarily"], "answer_index": 1}
{"token": "0d990f183c732ce1cfcc3eeeb898455a", "waymo_split": "test", "type": "image", "frame_index": 145, "question": "What is the description of a non-safety-critical object?", "category": "Normal Perception & Prediction", "options": ["A. Vehicles parked on the right side. Sidewalks on both sides, residential area. People walking on the left sidewalk. There is a construction risk warning sign and construction cones on the right side due to ongoing construction.", "B. On the right, there is a small park fence and a playground sign, on the left sidewalk, there are people riding bicycles, and a delivery truck is temporarily stopped by the roadside, with a bicycle rack next to the road.", "C. On the left, there is a construction site fence and safety fence, on the right sidewalk, there are a café terrace and flower pots, in the center, there is a speed bump sign and a sign indicating the entrance to an alley.", "D. On the left, there are motorcycles parked on the street, both sidewalks are relatively quiet commercial areas, on the right, there is a bus stop sign and a bench, and in the center of the lane, there is a bus-only lane marking."], "answer_index": 0}
{"token": "0d990f183c732ce1cfcc3eeeb898455a", "waymo_split": "test", "type": "image", "frame_index": 145, "question": "How do you think a safety-critical object will move?", "category": "Safety-critical Prediction", "options": ["A. It seems like it will stay still.", "B. It seems like it will move slightly forward.", "C. It seems like it will slide a little to the left.", "D. It seems like it will roll slowly."], "answer_index": 0}
{"token": "0d990f183c732ce1cfcc3eeeb898455a", "waymo_split": "test", "type": "image", "frame_index": 145, "question": "What is the answer regarding the presence of parked vehicles on the shoulder, the presence of a center line, and whether Ego crosses the center line?", "category": "Normal Perception & Prediction", "options": ["A. No parked vehicles on the shoulder. No center line", "B. No parked vehicles on the shoulder. There is a center line", "C. Parked vehicles on the shoulder. There is a center line", "D. Parked vehicles on the shoulder. No center line"], "answer_index": 3}
{"token": "0d990f183c732ce1cfcc3eeeb898455a", "waymo_split": "test", "type": "image", "frame_index": 145, "question": "What is the correlation in safety-critical situations?", "category": "Safety-critical scene Understanding", "options": ["A. Car-Car", "B. Person-Two-wheeler", "C. Car-Two-wheeler", "D. Car-Person"], "answer_index": 3}
{"token": "0d990f183c732ce1cfcc3eeeb898455a", "waymo_split": "test", "type": "image", "frame_index": 145, "question": "What is a safety-critical object?", "category": "Safety-critical Perception", "options": ["A. A person wearing a hat standing facing the road on the left sidewalk", "B. A person carrying a backpack walking parallel to the road on the left sidewalk", "C. A person wearing a hood standing turned towards the sidewalk on the right sidewalk", "D. A person wearing a hat sitting on a bench looking at a mobile phone on the left sidewalk"], "answer_index": 0}
{"token": "0d990f183c732ce1cfcc3eeeb898455a", "waymo_split": "test", "type": "image", "frame_index": 145, "question": "Are there any safety-critical objects other than the first safety-critical object? If so, how will you move?", "category": "Safety-critical Prediction", "options": ["A. No more safety-critical objects", "B. There is a next safety-critical object, bypass to the left", "C. There is a next safety-critical object, stop and pass to the right", "D. Check the next safety-critical object, reduce speed and change lanes ahead"], "answer_index": 0}
{"token": "0d990f183c732ce1cfcc3eeeb898455a", "waymo_split": "test", "type": "image", "frame_index": 145, "question": "What should I do to drive safely?", "category": "Safety-critical Planning", "options": ["A. Check if the person has turned their gaze, if they are standing looking at their phone, and if the lane is clear before changing lanes to the right and passing.", "B. Maintain speed while checking if the pedestrian has stepped back towards the sidewalk, seems to have given up crossing, and if the car behind is close.", "C. Proceed slowly while being mindful of whether the person is passing by, walking towards my car, or continuing to stop.", "D. Accelerate and go straight while checking if the person has gestured to yield, if they have stopped, and only looking at the oncoming car."], "answer_index": 2}
{"token": "0d990f183c732ce1cfcc3eeeb898455a", "waymo_split": "test", "type": "image", "frame_index": 145, "question": "Is lane changing possible? Which is safer between slowing down and changing lanes?", "category": "Safety-critical Planning", "options": ["A. Lane changing is possible (there is enough space on a 3-lane one-way road). Changing lanes is safe.", "B. Lane changing is not possible (it is a narrow 2-lane road). Slowing down is safe.", "C. Lane changing is possible (there is ample distance ahead). Accelerating is safe.", "D. Lane changing is not possible. Changing lanes is safe."], "answer_index": 1}
{"token": "0d990f183c732ce1cfcc3eeeb898455a", "waymo_split": "test", "type": "image", "frame_index": 145, "question": "What is the safest choice when approaching a yellow signal: stop vs proceed?", "category": "Special Event", "options": ["A. Proceed slowly through the flashing yellow (right turn)", "B. Proceed straight through the yellow signal", "C. No yellow traffic light (alley)", "D. Stop before entering the yellow (intersection)"], "answer_index": 2}
{"token": "0d990f183c732ce1cfcc3eeeb898455a", "waymo_split": "test", "type": "image", "frame_index": 145, "question": "Who is responsible in safety-critical situations? What is the cause?", "category": "Safety-critical scene Understanding", "options": ["A. It lies with road management. The sidewalk is excessively narrow and the separation facilities from the roadway are insufficient, leading to risks regardless of the direction pedestrians are facing.", "B. It lies with the driver. If the driver proceeds slowly and maintains a sufficient distance even on a narrow sidewalk, there is no risk of colliding with pedestrians.", "C. It lies with the weather conditions. If rain or fog limits visibility, vehicles may detect pedestrians late, making the pedestrian's choice of position a non-critical factor.", "D. It lies with the person. If a person stands close to the roadway on a narrow sidewalk, facing the roadway, there is a risk of collision with moving vehicles."], "answer_index": 3}
{"token": "0d990f183c732ce1cfcc3eeeb898455a", "waymo_split": "test", "type": "image", "frame_index": 145, "question": "Where is the area that hides danger and is obscured in the current frame?", "category": "Uncertainty", "options": ["A. Obscured from view behind the bus stop shelter on the left front", "B. Obscured from view behind the tree trunk in front", "C. Obscured from view behind the parked vehicle on the right", "D. Obscured from view behind the parked motorcycle on the left"], "answer_index": 2}
{"token": "0d990f183c732ce1cfcc3eeeb898455a", "waymo_split": "test", "type": "image", "frame_index": 145, "question": "What is the method to avoid the blind spot next to a large vehicle?", "category": "Special Event", "options": ["A. I would drive to the left based on the direction facing the stopped large vehicle, but since a person or object could emerge from the front blind spot of the large vehicle, I must proceed slowly when passing.", "B. The blind spot behind the large vehicle is relatively less dangerous, so it's sufficient to closely follow behind the vehicle and honk the horn once while exiting in a straight line.", "C. If the vehicle is stopped, it is safer to check if the blind spot appears clear and accelerate to pass in one go, and there is no need to unnecessarily reduce speed while proceeding.", "D. I should pass by staying to the right based on the direction facing the stopped large vehicle, and since the driver will be watching the front blind spot, I need to maintain speed and pass quickly."], "answer_index": 0}
{"token": "0d990f183c732ce1cfcc3eeeb898455a", "waymo_split": "test", "type": "image", "frame_index": 145, "question": "What is the guideline for my vehicle's behavior based on the actions of a safety-critical object?", "category": "Safety-critical Planning", "options": ["A. If the safety-critical object just leans its head towards the road, I will honk and change lanes to the left to pass (sudden braking is dangerous).", "B. If the safety-critical object walks onto the road, I must brake suddenly to avoid a collision since I am right in front (there are no vehicles behind me, so sudden braking is possible).", "C. If the safety-critical object steps back onto the sidewalk, I will maintain my speed and continue forward since I am right in front (there's no need to stop as there are cars coming from behind).", "D. If the safety-critical object stops at the edge of the road, I will accelerate to pass quickly to reduce time delay (considering the flow of vehicles behind)."], "answer_index": 1}
{"token": "0d990f183c732ce1cfcc3eeeb898455a", "waymo_split": "test", "type": "image", "frame_index": 145, "question": "What situation might occur if the self-driving car behaved this way?", "category": "Counterfactual", "options": ["A. If the self-driving car drives on the left sidewalk, there is a risk of colliding with people.", "B. If the self-driving car takes refuge on the shoulder, there is a risk of colliding with construction equipment.", "C. If the self-driving car drives over the center line, there is a risk of a head-on collision with oncoming vehicles.", "D. If the self-driving car drives on the right sidewalk, there is a risk of contact with street trees."], "answer_index": 0}
{"token": "0d990f183c732ce1cfcc3eeeb898455a", "waymo_split": "test", "type": "image", "frame_index": 145, "question": "What are the newly exposed risk candidates in the following section?", "category": "Safety-critical Prediction", "options": ["A. A motorcycle can quickly cut in from the intersection ahead. (when the signal changes)", "B. A person or object may appear from a place not visible behind a stationary vehicle on the right. (especially since it is under construction)", "C. A large vehicle in the opposite lane may encroach on the lane by crossing the center line. (narrow lane)", "D. A passenger may suddenly get off onto the lane near the bus stop on the left. (while the bus is entering)"], "answer_index": 1}
{"token": "0d9cc789e74de3b90ecc174c27d6a561", "waymo_split": "test", "type": "video", "frame_index": null, "question": "What are the classifications of scenes?", "category": "Normal scene Understanding", "options": ["A. Residential area", "B. City", "C. Unpaved", "D. Highway"], "answer_index": 1}
{"token": "0d9cc789e74de3b90ecc174c27d6a561", "waymo_split": "test", "type": "video", "frame_index": null, "question": "Where is the safety-critical situation in the video?", "category": "Temporal Grounding", "options": ["A. 3/4", "B. 4/4", "C. 2/4", "D. 1/4"], "answer_index": 0}
{"token": "0d9cc789e74de3b90ecc174c27d6a561", "waymo_split": "test", "type": "video", "frame_index": null, "question": "Which of the following is a correct description of road alignment?", "category": "Normal Perception & Prediction", "options": ["A. Rotary", "B. Intersection", "C. T-junction", "D. Crossroads"], "answer_index": 1}
{"token": "0d9cc789e74de3b90ecc174c27d6a561", "waymo_split": "test", "type": "video", "frame_index": null, "question": "Which of the following is correct regarding the Video Summary from a safety-critical scene perspective?", "category": "Safety-critical scene caption", "options": ["A. A person riding an electric scooter on the right stands behind the vehicle, while a vehicle going straight from the opposite side continues slowly after pedestrians pass.", "B. A delivery motorcycle passes by the side of the vehicle on the right, and a stationary vehicle on the left starts to go straight after confirming there are no pedestrians.", "C. A bicycle approaches from the left and stops in front of the vehicle, while a vehicle on the right begins to turn left as the signal changes.", "D. A person riding a bicycle approaches from the right and stops next to the vehicle, while a vehicle on the left makes a right turn after pedestrians pass."], "answer_index": 3}
{"token": "0d9cc789e74de3b90ecc174c27d6a561", "waymo_split": "test", "type": "video", "frame_index": null, "question": "Which of the following is a correct description of the environment?", "category": "Normal scene Understanding", "options": ["A. Night, rain", "B. Morning, fog", "C. Dusk, cloudy", "D. Day, clear"], "answer_index": 3}
{"token": "0d9cc789e74de3b90ecc174c27d6a561", "waymo_split": "test", "type": "video", "frame_index": null, "question": "Which of the following is a correct description of traffic density?", "category": "Normal scene Understanding", "options": ["A. Few surrounding vehicles, gentle uphill. Horizontal moving vehicle speed is slow", "B. Normal surrounding vehicles, light downhill. Diagonal moving vehicle speed is fast", "C. Few surrounding vehicles, slight slope. Vertical moving vehicle speed is normal", "D. Many surrounding vehicles, flat slope. Horizontal moving vehicle speed is fast"], "answer_index": 3}
{"token": "0d9cc789e74de3b90ecc174c27d6a561", "waymo_split": "test", "type": "video", "frame_index": null, "question": "Which of the following is a correct description of the Spatial Relationship?", "category": "Spatial Relationship", "options": ["A. The bicycle on the left side, which reduces speed as the traffic light turns yellow, is also waiting in front of the crosswalk with the people on the right side.", "B. The bicycle in front, which stops by applying the brakes as the traffic light changes from green to red, is also stopping the people on the right side who were crossing.", "C. The bicycle on the right side, which starts moving as the traffic light changes from red to green, is also crossing the crosswalk in accordance with the signal with the people on the right side.", "D. The bicycle in front on the left side, which is stopped because the traffic light is still red, is also standing still behind the waiting line with the people on the left side."], "answer_index": 2}
{"token": "0d9cc789e74de3b90ecc174c27d6a561", "waymo_split": "test", "type": "video", "frame_index": null, "question": "What is the description of a non-safety-critical object?", "category": "Normal Perception & Prediction", "options": ["A. Part of the crosswalk at the intersection is under construction, blocking pedestrian access. Only one tram overhead line passes over the intersection. Vehicles are lined up waiting to turn left, and there are few vehicles going straight. Several double-parked cars are overlapping in the rear left.", "B. The sidewalks at the intersection are quiet with only a few people scattered around. The power lines are underground, so there are no visible cables in the air. Vehicles crossing from the right to the left are moving slowly. Only one or two parallel-parked cars can be seen in the left alley ahead.", "C. A small fountain is located in the center of the intersection. Streetlight banners are hung between the corner buildings. A few motorcycles are going straight from north to south in the vertical direction. The rear right is empty, and delivery trucks are temporarily stopped in the front right.", "D. There are many people on each sidewalk of the intersection. Power lines connect the buildings at each corner of the intersection. Vehicles are moving horizontally from left to right. Many vehicles are lined up in a row for curbside parking in the rear right."], "answer_index": 3}
{"token": "0d9cc789e74de3b90ecc174c27d6a561", "waymo_split": "test", "type": "video", "frame_index": null, "question": "Which of the following statements about traffic signals is correct?", "category": "Traffic Signal", "options": ["A. The traffic light changes from red to green.", "B. The traffic light changes from green to yellow.", "C. The pedestrian signal changes from green to red.", "D. The road marking changes from a straight arrow to a left turn arrow."], "answer_index": 0}
{"token": "0d9cc789e74de3b90ecc174c27d6a561", "waymo_split": "test", "type": "video", "frame_index": null, "question": "Is there a blind spot in your field of vision?", "category": "Uncertainty", "options": ["A. The right bus stop is empty, so the view towards the road is well secured.", "B. Parked cars on the left partially obstruct the view to the left.", "C. People standing on the right sidewalk prevent a clear view towards the road.", "D. The left sidewalk is quiet, providing a sufficient view towards the road."], "answer_index": 2}
{"token": "0d9cc789e74de3b90ecc174c27d6a561", "waymo_split": "test", "type": "video", "frame_index": null, "question": "What is a safety-critical object?", "category": "Safety-critical Perception", "options": ["A. A black vehicle turning left towards my vehicle from the right", "B. A blue sedan changing lanes towards my vehicle from the left", "C. A gray SUV going straight towards my vehicle from the front", "D. A white vehicle turning right towards my vehicle from the left"], "answer_index": 3}
{"token": "0d9cc789e74de3b90ecc174c27d6a561", "waymo_split": "test", "type": "video", "frame_index": null, "question": "What is the correlation in safety-critical situations?", "category": "Safety-critical scene Understanding", "options": ["A. car-car", "B. car-two-wheeler", "C. person-two-wheeler", "D. car-person"], "answer_index": 0}
{"token": "0d9cc789e74de3b90ecc174c27d6a561", "waymo_split": "test", "type": "video", "frame_index": null, "question": "Summary of Ego (self-vehicle) behavior before the safety-critical situation", "category": "Normal scene Understanding", "options": ["A. Before the event, the self-vehicle was driving straight at the speed limit.", "B. Before the event, the self-vehicle was stopped at a traffic signal.", "C. Before the event, the self-vehicle was gradually starting.", "D. Before the event, the self-vehicle was changing to the left lane."], "answer_index": 1}
{"token": "0d9cc789e74de3b90ecc174c27d6a561", "waymo_split": "test", "type": "video", "frame_index": null, "question": "How did the safety-critical object move and how did the ego vehicle behave?", "category": "Safety-critical scene Understanding", "options": ["A. As the electric scooter moved onto the sidewalk and turned right behind the vehicle, the vehicle attempted a left turn. At this time, since the vehicle made a short turn without overlapping with the ego vehicle's path, the ego vehicle passed through the intersection at a constant speed without braking.", "B. As people standing on the road blocked the front of the vehicle and started to walk, the vehicle attempted a right turn. If the vehicle makes a wide turn to avoid the people while they are standing, there is a risk of collision with the ego vehicle, so the ego vehicle slowed down to match the traffic light and came to a stop.", "C. As a bicycle that was moving alongside the vehicle entered the roadway, it continued straight. If the bicycle occupies the center of the lane, it could interfere with the ego vehicle's progress, so the ego vehicle slightly changed lanes to the left while maintaining its speed.", "D. As pedestrians stopped in front of the crosswalk, the vehicle chose to go straight with some space. If the vehicle moves close to the right edge, there is enough distance from the ego vehicle, so the ego vehicle did not accelerate and slowly passed according to the traffic signal."], "answer_index": 1}
{"token": "0d9cc789e74de3b90ecc174c27d6a561", "waymo_split": "test", "type": "video", "frame_index": null, "question": "Who is responsible in a safety-critical situation? What is the cause?", "category": "Safety-critical scene Understanding", "options": ["A. It is the pedestrian's fault. The problem is that they hurriedly entered the road while looking at their smartphone, despite not having a crosswalk signal.", "B. It is the fault of the car in front. The problem is that they panicked at the yellow light and braked suddenly without checking the distance to the car behind.", "C. It is the fault of the car itself. The problem is that they started to accelerate from a stop, predicting the signal would change, even though it had not yet changed.", "D. It is the fault of the vehicle in the adjacent lane. The problem is that they changed lanes without signaling and obstructed progress by cutting in at an angle."], "answer_index": 2}
{"token": "0d9cc789e74de3b90ecc174c27d6a561", "waymo_split": "test", "type": "video", "frame_index": null, "question": "What situation would occur if the self-driving car behaved like this?", "category": "Counterfactual", "options": ["A. If the self-driving car trusted the no-protection left turn sign and proceeded, the waiting time at the signal would only decrease, and there would be little risk with vehicles or pedestrians ahead at the intersection.", "B. If the self-driving car mistook the right turn for a priority and continued, there would be no risk of collision as the oncoming straight vehicle would yield, and people at the edge of the road would also be safe.", "C. If the self-driving car attempted a left turn regardless of the signal, there would be a risk of collision with the vehicles making a right turn, and even people taking pictures on the road would be in danger.", "D. If the self-driving car slightly crossed the center line and exited straight, the interference with the right-turning vehicles would disappear, and there would be no impact on those taking pictures on the road."], "answer_index": 2}
{"token": "0d9cc789e74de3b90ecc174c27d6a561", "waymo_split": "test", "type": "image", "frame_index": 18, "question": "Based on the current appearance of the person/vehicle (two-wheeled), how are they trying to move?", "category": "Normal Perception & Prediction", "options": ["A. Going straight", "B. Parking", "C. Waiting at a signal", "D. Turning left"], "answer_index": 2}
{"token": "0d9cc789e74de3b90ecc174c27d6a561", "waymo_split": "test", "type": "image", "frame_index": 18, "question": "What are the behavioral restrictions in school zones/congested areas?", "category": "Special Event", "options": ["A. Vehicles must proceed before pedestrians.", "B. Must drive according to the flow rather than signals.", "C. Must drive at a constant speed and slow down according to signals.", "D. Must pass through congested areas quickly."], "answer_index": 2}
{"token": "0d9cc789e74de3b90ecc174c27d6a561", "waymo_split": "test", "type": "image", "frame_index": 18, "question": "What is the plan for yielding when an ambulance/fire truck approaches?", "category": "Special Event", "options": ["A. Stop and yield", "B. Proceed slowly and yield", "C. Turn on emergency lights and proceed", "D. Move to the left and yield"], "answer_index": 0}
{"token": "0d9cc789e74de3b90ecc174c27d6a561", "waymo_split": "test", "type": "image", "frame_index": 18, "question": "What is the classification of the scene?", "category": "Normal scene Understanding", "options": ["A. Residential area", "B. Highway", "C. Unpaved", "D. City"], "answer_index": 3}
{"token": "0d9cc789e74de3b90ecc174c27d6a561", "waymo_split": "test", "type": "image", "frame_index": 18, "question": "Which of the following is correct from the perspective of Safety-critical Frame regarding Image Caption?", "category": "Safety-critical scene caption", "options": ["A. There are two bicycles traveling in the direction of the vehicle from behind (entering a right turn right next to a truck).", "B. There is one bicycle traveling in the direction of the vehicle from the front (going straight next to a parked car).", "C. There are two electric scooters traveling in the opposite direction of the vehicle from behind (going against traffic next to a stopped vehicle).", "D. There are two bicycles traveling in the direction of the vehicle from behind (going straight next to a parked car)."], "answer_index": 3}
{"token": "0d9cc789e74de3b90ecc174c27d6a561", "waymo_split": "test", "type": "image", "frame_index": 18, "question": "Which of the following is a correct description of traffic density?", "category": "Normal scene Understanding", "options": ["A. A large number of surrounding vehicles", "B. A small number of surrounding vehicles", "C. Space available in the left lane", "D. Sparse near the intersection"], "answer_index": 0}
{"token": "0d9cc789e74de3b90ecc174c27d6a561", "waymo_split": "test", "type": "image", "frame_index": 18, "question": "Which of the following descriptions about the environment is correct?", "category": "Normal scene Understanding", "options": ["A. Evening, cloudy", "B. Dusk, fog", "C. Night, rain", "D. Day, clear"], "answer_index": 3}
{"token": "0d9cc789e74de3b90ecc174c27d6a561", "waymo_split": "test", "type": "image", "frame_index": 18, "question": "Which of the following is a correct description of traffic signals?", "category": "Traffic Signal", "options": ["A. Traffic light exists (red light for left turn)", "B. Traffic light exists (green light for going straight)", "C. Traffic light exists (red light for going straight)", "D. No traffic light exists (intersection without signals)"], "answer_index": 2}
{"token": "0d9cc789e74de3b90ecc174c27d6a561", "waymo_split": "test", "type": "image", "frame_index": 18, "question": "What is the answer regarding parked vehicles on the shoulder, the presence of a center line, and whether Ego crosses the center line?", "category": "Normal Perception & Prediction", "options": ["A. No center line on the road", "B. Ego crosses the center line", "C. There is a parked vehicle on the shoulder behind", "D. There is a parked vehicle on the shoulder ahead"], "answer_index": 2}
{"token": "0d9cc789e74de3b90ecc174c27d6a561", "waymo_split": "test", "type": "image", "frame_index": 18, "question": "What is the description of non-safety-critical objects?", "category": "Normal Perception & Prediction", "options": ["A. Banners stretch between buildings, people sitting on the left sidewalk, vehicles moving horizontally from right to left, vehicles parked diagonally in front.", "B. Wires connect each building. People standing on the right sidewalk. Vehicles moving straight horizontally from left to right. Vehicles parked in a line behind.", "C. A thin banner connects the front of the buildings, people gathered on the crosswalk, vehicles stopped in the middle of the road, vehicles parked parallel on the left front.", "D. Instead of wires, flags are hung on the exterior walls, people walking along the central divider, vehicles turning right towards the intersection, vehicles parked vertically in the right alley."], "answer_index": 1}
{"token": "0d9cc789e74de3b90ecc174c27d6a561", "waymo_split": "test", "type": "image", "frame_index": 18, "question": "Is there a blind spot in the field of view?", "category": "Uncertainty", "options": ["A. The right road has an empty bus stop, so visibility is clear and there is no blind spot.", "B. The right road has trees spaced out, so visibility is open and there is no blind spot.", "C. The left road is obstructed by the left sidewalk railing and parked cars, creating a blind spot.", "D. The right road is obstructed by people standing on the right sidewalk, creating a blind spot."], "answer_index": 3}
{"token": "0d9cc789e74de3b90ecc174c27d6a561", "waymo_split": "test", "type": "image", "frame_index": 18, "question": "What is a safety-critical object?", "category": "Safety-critical Perception", "options": ["A. Two bicycles traveling in the same direction as the vehicle from behind the vehicle", "B. Two bicycles traveling in the opposite direction to the vehicle from behind the vehicle", "C. Two electric scooters traveling in the same direction as the vehicle from behind the vehicle", "D. Two bicycles traveling in the same direction as the vehicle from in front of the vehicle"], "answer_index": 0}
{"token": "0d9cc789e74de3b90ecc174c27d6a561", "waymo_split": "test", "type": "image", "frame_index": 18, "question": "What should I do to drive safely?", "category": "Safety-critical Planning", "options": ["A. First, just trust the car in front of you.", "B. First, keep the high beams on at all times.", "C. First, increase the speed.", "D. First, maintain a stopped state."], "answer_index": 3}
{"token": "0d9cc789e74de3b90ecc174c27d6a561", "waymo_split": "test", "type": "image", "frame_index": 18, "question": "How do you think a safety-critical object will move?", "category": "Safety-critical Prediction", "options": ["A. It seems like it will reverse, create distance from my vehicle, and briefly stop on the shoulder.", "B. It seems like it will change lanes to the right and pass by my vehicle without waiting for a signal.", "C. It seems like it will go straight and wait for a signal near my vehicle like my vehicle.", "D. It seems like it will make a right turn and enter the lane opposite my vehicle."], "answer_index": 2}
{"token": "0d9cc789e74de3b90ecc174c27d6a561", "waymo_split": "test", "type": "image", "frame_index": 18, "question": "What is the correlation in safety-critical situations?", "category": "Safety-critical scene Understanding", "options": ["A. Car - Pedestrian", "B. Bus - Bicycle", "C. Car - Motorcycle", "D. Car - Bicycle"], "answer_index": 3}
{"token": "0d9cc789e74de3b90ecc174c27d6a561", "waymo_split": "test", "type": "image", "frame_index": 18, "question": "Is there any other safety-critical object besides the first safety-critical object? If so, how would you move it?", "category": "Safety-critical Prediction", "options": ["A. There is an oxygen tank, move it to the safe area outside the aisle", "B. There is an AED, move it towards the wall opposite the entrance", "C. There is a fire extinguisher, slightly distance it from the right wall", "D. None"], "answer_index": 3}
{"token": "0d9cc789e74de3b90ecc174c27d6a561", "waymo_split": "test", "type": "image", "frame_index": 18, "question": "What situation might occur if the vehicle acted this way?", "category": "Counterfactual", "options": ["A. Risk of collision with a bicycle behind if the vehicle reverses", "B. Risk of collision with a motorcycle ahead if the vehicle moves forward", "C. Risk of collision with a vehicle ahead if the vehicle reverses", "D. Risk of collision with a pedestrian on the left if the vehicle turns left"], "answer_index": 0}
{"token": "0d9cc789e74de3b90ecc174c27d6a561", "waymo_split": "test", "type": "image", "frame_index": 18, "question": "What is the method to avoid the blind spot next to a large vehicle?", "category": "Special Event", "options": ["A. Passing beside the bus", "B. No large vehicle", "C. Behind the truck", "D. To the left of the large vehicle"], "answer_index": 1}
{"token": "0d9cc789e74de3b90ecc174c27d6a561", "waymo_split": "test", "type": "image", "frame_index": 18, "question": "What is the safer choice just before entering a yellow signal: stop vs. proceed?", "category": "Special Event", "options": ["A. Proceeding is safe (to reduce the risk of being rear-ended)", "B. Proceeding is safer (since it's just before entering the intersection)", "C. Proceeding is safe (since acceleration is the default state)", "D. Stopping is safe (since the current state is a stop)"], "answer_index": 3}
{"token": "0d9cc789e74de3b90ecc174c27d6a561", "waymo_split": "test", "type": "image", "frame_index": 18, "question": "What are the driving guidelines for my vehicle based on the behavior of a safety-critical object?", "category": "Safety-critical Planning", "options": ["A. If a bicycle blocks the front of my vehicle, I will steer to avoid while slowing down.", "B. If a motorcycle cuts into the front of my vehicle, I will have a frontal collision while driving at low speed.", "C. If a bicycle crashes into the rear of my vehicle, I will collide with the bicycle while stationary.", "D. If a scooter comes close to the side of my vehicle, I will have a minor side collision while moving slowly."], "answer_index": 2}
{"token": "0d9cc789e74de3b90ecc174c27d6a561", "waymo_split": "test", "type": "image", "frame_index": 56, "question": "Based on the current appearance of the person/vehicle (two-wheeled), how are they trying to move?", "category": "Normal Perception & Prediction", "options": ["A. Waiting at a signal", "B. Turning left", "C. Turning right", "D. Going straight"], "answer_index": 0}
{"token": "0d9cc789e74de3b90ecc174c27d6a561", "waymo_split": "test", "type": "image", "frame_index": 56, "question": "What is the plan for yielding when an ambulance/fire truck approaches?", "category": "Special Event", "options": ["A. Turn on emergency lights and drive slowly", "B. Stop and yield", "C. Accelerate to the left lane", "D. Maintain speed and continue driving"], "answer_index": 1}
{"token": "0d9cc789e74de3b90ecc174c27d6a561", "waymo_split": "test", "type": "image", "frame_index": 56, "question": "Which of the following is a correct description of traffic density?", "category": "Normal scene Understanding", "options": ["A. Vehicles are rarely seen in front and behind.", "B. There are many vehicles around.", "C. There are hardly any vehicles around.", "D. There are few vehicles in adjacent lanes."], "answer_index": 1}
{"token": "0d9cc789e74de3b90ecc174c27d6a561", "waymo_split": "test", "type": "image", "frame_index": 56, "question": "What are the behavioral restrictions in school zones/congested areas?", "category": "Special Event", "options": ["A. Must drive at a constant speed and slow down according to the signals", "B. Should alert with honks and high beams and pass quickly", "C. Must proceed with a right turn regardless of the signals", "D. Should accelerate according to the flow of traffic"], "answer_index": 0}
{"token": "0d9cc789e74de3b90ecc174c27d6a561", "waymo_split": "test", "type": "image", "frame_index": 56, "question": "What are the classifications of scenes?", "category": "Normal scene Understanding", "options": ["A. Residential area", "B. Unpaved", "C. City", "D. Highway"], "answer_index": 2}
{"token": "0d9cc789e74de3b90ecc174c27d6a561", "waymo_split": "test", "type": "image", "frame_index": 56, "question": "Which of the following descriptions about the environment is correct?", "category": "Normal scene Understanding", "options": ["A. Evening, cloudy", "B. Day, clear", "C. Morning, fog", "D. Night, rain"], "answer_index": 1}
{"token": "0d9cc789e74de3b90ecc174c27d6a561", "waymo_split": "test", "type": "image", "frame_index": 56, "question": "Which of the following is correct as an Image Caption from the perspective of a Normal Frame?", "category": "Normal scene caption", "options": ["A. A car temporarily stopped in front of an intersection. Two pedestrians are walking towards the car from behind. Several motorcycles parked on the roadside behind. Two people standing on the right lane. Several vehicles attempting to turn right from the left side in front of the car.", "B. A car waiting at a traffic signal at an intersection. Two bicycles are moving towards the car from behind. Several vehicles parked on the side behind. Two people standing on the left lane. Many vehicles attempting to turn left from the left side in front of the car.", "C. A car passing through an intersection on a green light. One bicycle moving in the opposite direction behind. Several vehicles parked on the shoulder at the entrance of an alley behind. One person in work clothes at the edge of the left lane. Some vehicles waiting to turn left from the right side in front of the car.", "D. A car moving slowly as it enters an intersection. One motorcycle is driving in the same direction as the car behind. Several vehicles parked on the roadside behind. Three people standing on the right sidewalk. One vehicle attempting to make a U-turn to the right from the left side in front of the car."], "answer_index": 1}
{"token": "0d9cc789e74de3b90ecc174c27d6a561", "waymo_split": "test", "type": "image", "frame_index": 56, "question": "Which of the following statements about traffic signals is correct?", "category": "Traffic Signal", "options": ["A. Presence of traffic lights (green light for the direction of the vehicle's forward movement)", "B. Presence of road signs (no entry sign for the direction of the vehicle's movement)", "C. Presence of traffic lights (red light for the direction of the vehicle's forward movement)", "D. Presence of traffic lights (red light for the direction of the vehicle's right turn)"], "answer_index": 2}
{"token": "0d9cc789e74de3b90ecc174c27d6a561", "waymo_split": "test", "type": "image", "frame_index": 56, "question": "What is the description of a non-safety-critical object?", "category": "Normal Perception & Prediction", "options": ["A. Wires are connected from one building's rooftop to the trees across the street. People are gathered near the median. Vehicles are slowly reversing from the front to the back. Vehicles parked in double rows along the left edge.", "B. Wires are concentrated in the middle of the intersection leading to traffic lights. People are standing on the left sidewalk. Vehicles are moving horizontally from the right to the left. Vehicles parked diagonally in front.", "C. Wires are stretched parallel along the outskirts of the road. People are standing in the middle of the crosswalk. Vehicles are changing lanes diagonally from the left to the right. Vehicles parked irregularly at an angle at the right end.", "D. Wires connect buildings located at each corner. People are standing on the right sidewalk. Vehicles are moving straight horizontally from the left to the right. Vehicles parked in a single line behind."], "answer_index": 3}
{"token": "0d9cc789e74de3b90ecc174c27d6a561", "waymo_split": "test", "type": "image", "frame_index": 56, "question": "What is the answer regarding the presence of parked vehicles on the shoulder, the existence of a center line, and whether Ego crosses the center line?", "category": "Normal Perception & Prediction", "options": ["A. There is a parked vehicle on the shoulder ahead", "B. There is a parked vehicle on the shoulder behind", "C. No center line", "D. Ego crosses the center line"], "answer_index": 1}
{"token": "0d9cc789e74de3b90ecc174c27d6a561", "waymo_split": "test", "type": "image", "frame_index": 56, "question": "How do you think a safety-critical object will move?", "category": "Safety-critical Prediction", "options": ["A. It seems like it will move to the left lane and pass through without waiting for a signal on the opposite side of my vehicle.", "B. It seems like it will make a right turn, keep a distance from my vehicle, and merge into the right lane to continue.", "C. It seems like it will go straight and merge behind my vehicle, waiting for a signal behind it.", "D. It seems like it will go straight and wait for a signal near my vehicle, on the right side like my vehicle."], "answer_index": 3}
{"token": "0d9cc789e74de3b90ecc174c27d6a561", "waymo_split": "test", "type": "image", "frame_index": 56, "question": "Is there a blind spot in your field of vision?", "category": "Uncertainty", "options": ["A. There is a blind spot on the right side of the road due to many motorcycles.", "B. The right side of the road is blocked by people standing on the right sidewalk, creating a blind spot.", "C. The right sidewalk is quiet, and the view is clear, so there is no blind spot to the right.", "D. The left road is blocked by crowds on the left sidewalk and parked vehicles, creating a blind spot."], "answer_index": 1}
{"token": "0d9cc789e74de3b90ecc174c27d6a561", "waymo_split": "test", "type": "image", "frame_index": 56, "question": "What should I do to drive safely?", "category": "Safety-critical Planning", "options": ["A. First, turn on the hazard lights", "B. First, maintain a stopped position", "C. First, start slowly", "D. First, change lanes"], "answer_index": 1}
{"token": "0d9cc789e74de3b90ecc174c27d6a561", "waymo_split": "test", "type": "image", "frame_index": 56, "question": "What is the correlation in safety-critical situations?", "category": "Safety-critical scene Understanding", "options": ["A. Car - Pedestrian", "B. Car - Bicycle", "C. Bus - Bicycle", "D. Car - Motorcycle"], "answer_index": 1}
{"token": "0d9cc789e74de3b90ecc174c27d6a561", "waymo_split": "test", "type": "image", "frame_index": 56, "question": "Is there any other safety-critical object besides the first safety-critical object? If so, how will it move?", "category": "Safety-critical Prediction", "options": ["A. Yes, merging from the left", "B. Yes, approaching from the right", "C. No", "D. Yes, crossing ahead"], "answer_index": 2}
{"token": "0d9cc789e74de3b90ecc174c27d6a561", "waymo_split": "test", "type": "image", "frame_index": 56, "question": "Who is responsible in a safety-critical situation? What is the cause?", "category": "Safety-critical scene Understanding", "options": ["A. Both parties are responsible, as the vehicle advanced to the edge of the intersection without slowing down, and the bicycle entered without checking left and right or slowing down.", "B. The vehicle is responsible, as it attempted to overtake the bicycle closely while making a right turn, creating unnecessary risk by narrowing the gap.", "C. The vehicle is responsible, as it crossed the stop line and pushed into the intersection, blocking the bicycle's escape space.", "D. The bicycle is responsible, as the vehicle is currently stationary, and it should have moved slowly to avoid becoming a threat to the stationary vehicle while not entering the middle of the intersection."], "answer_index": 3}
{"token": "0d9cc789e74de3b90ecc174c27d6a561", "waymo_split": "test", "type": "image", "frame_index": 56, "question": "What is the safer choice just before entering a yellow signal: stop vs proceed?", "category": "Special Event", "options": ["A. Proceed is safe (since current driving is the default)", "B. Accelerating to proceed is safe (due to a higher risk of rear-end collision)", "C. Stopping is safe (since the current state is a stop by default)", "D. Continuing to turn left is safe (it's more dangerous to stop in the middle of the intersection)"], "answer_index": 2}
{"token": "0d9cc789e74de3b90ecc174c27d6a561", "waymo_split": "test", "type": "image", "frame_index": 56, "question": "Where is the area that hides danger in the current frame?", "category": "Uncertainty", "options": ["A. The view is obstructed by landscaping trees on the central divider in the direction of the intersection ahead, creating a blind spot.", "B. The view is obstructed by street trees on the left sidewalk, creating a blind spot.", "C. The view is obstructed by people standing on the right sidewalk, creating a blind spot.", "D. The view is obstructed by a stopped bus in the left lane behind, creating a blind spot."], "answer_index": 2}
{"token": "0d9cc789e74de3b90ecc174c27d6a561", "waymo_split": "test", "type": "image", "frame_index": 56, "question": "What is the method to avoid the blind spot next to a large vehicle?", "category": "Special Event", "options": ["A. Overtaking on the right", "B. Passing while slowing down", "C. No large vehicle", "D. Passing next to the bus"], "answer_index": 2}
{"token": "0d9cc789e74de3b90ecc174c27d6a561", "waymo_split": "test", "type": "image", "frame_index": 90, "question": "Which of the following is correct from the perspective of Safety-critical Frame regarding Image Caption?", "category": "Safety-critical scene caption", "options": ["A. A black vehicle attempting to turn left towards its own lane from the right side approaches right in front of a person standing at the edge of the right lane, posing a collision risk with the person at the edge of the lane.", "B. A white vehicle attempting to turn right towards its own lane from the left side approaches right in front of a person standing in the left lane, posing a collision risk with the person standing on the road.", "C. A motorcycle accelerating straight from the left side crosses the center line and approaches right in front of a pedestrian stepping onto the road, posing a collision risk with the pedestrian entering the road.", "D. A gray SUV reversing from the left side gets very close to a pedestrian standing in front of the stop line, posing a contact risk with the person waiting at the crosswalk."], "answer_index": 1}
{"token": "0d9cc789e74de3b90ecc174c27d6a561", "waymo_split": "test", "type": "image", "frame_index": 90, "question": "Based on the current appearance of the person/vehicle (two-wheeled), how are they trying to move?", "category": "Normal Perception & Prediction", "options": ["A. Turning right", "B. Turning left", "C. Going straight", "D. Waiting for a signal"], "answer_index": 3}
{"token": "0d9cc789e74de3b90ecc174c27d6a561", "waymo_split": "test", "type": "image", "frame_index": 90, "question": "What are the restrictions on behavior in school zones/congested areas?", "category": "Special Event", "options": ["A. Accelerate to match the flow and pass quickly when congested", "B. In school zones, vehicles should prioritize driving over pedestrians", "C. Drive at a constant speed and slow down according to signals", "D. In congested areas, use the horn and hazard lights to secure a path"], "answer_index": 2}
{"token": "0d9cc789e74de3b90ecc174c27d6a561", "waymo_split": "test", "type": "image", "frame_index": 90, "question": "What are the classifications of scenes?", "category": "Normal scene Understanding", "options": ["A. Highway", "B. Unpaved", "C. Residential area", "D. City"], "answer_index": 3}
{"token": "0d9cc789e74de3b90ecc174c27d6a561", "waymo_split": "test", "type": "image", "frame_index": 90, "question": "What is the plan for yielding when an ambulance/fire truck approaches?", "category": "Special Event", "options": ["A. Move to the left lane and proceed slowly", "B. Turn on hazard lights and continue driving", "C. Increase speed and pass first", "D. Stop and yield"], "answer_index": 3}
{"token": "0d9cc789e74de3b90ecc174c27d6a561", "waymo_split": "test", "type": "image", "frame_index": 90, "question": "Which of the following is correct as an Image Caption from the perspective of a Normal Frame?", "category": "Normal scene caption", "options": ["A. A vehicle waiting for a signal at an intersection. A bicycle that stopped while going straight is waiting for the signal in front of the vehicle on the right. Several vehicles parked on the side behind. Two people standing on the left lane. A white vehicle trying to turn right from the left side comes right in front of the person standing on the left.", "B. A vehicle going straight in accordance with the green signal at an intersection. A bicycle slowly moving along the pedestrian road in front of the vehicle on the right. There are few parked vehicles behind, and empty spaces are noticeable. Three people standing on the right sidewalk. A white vehicle slowly entering from the right alley to make a left turn.", "C. A vehicle waiting for a U-turn signal at an intersection. A bicycle passing straight through the signal in front. A bus stopped at a bus stop behind. Two people standing on the edge of the right lane. A silver SUV going straight from the left side passes by the person standing with some distance.", "D. A vehicle preparing to turn right before entering an intersection. A bicycle going the wrong way along the edge of the right lane brushes past. A taxi closely following behind. One person standing on the central island of the crosswalk. A white vehicle making a left turn from the opposite side passes by at a distance."], "answer_index": 0}
{"token": "0d9cc789e74de3b90ecc174c27d6a561", "waymo_split": "test", "type": "image", "frame_index": 90, "question": "Which of the following is a correct description of traffic density?", "category": "Normal scene Understanding", "options": ["A. Few surrounding vehicles", "B. Almost no surrounding vehicles", "C. Many surrounding vehicles", "D. Many surrounding motorcycles"], "answer_index": 2}
{"token": "0d9cc789e74de3b90ecc174c27d6a561", "waymo_split": "test", "type": "image", "frame_index": 90, "question": "Which of the following is a correct description of the environment?", "category": "Normal scene Understanding", "options": ["A. Day, clear", "B. Dawn, fog", "C. Evening, cloudy", "D. Night, rain"], "answer_index": 0}
{"token": "0d9cc789e74de3b90ecc174c27d6a561", "waymo_split": "test", "type": "image", "frame_index": 90, "question": "Which of the following is a correct description of traffic signals?", "category": "Traffic Signal", "options": ["A. Traffic light exists (yellow flashing light for the direction of the vehicle's straight movement)", "B. Traffic light exists (red light for the direction of the vehicle's straight movement)", "C. Traffic light exists (green arrow for the direction of the vehicle's left turn)", "D. Traffic light exists (green light for the direction of the vehicle's straight movement)"], "answer_index": 1}
{"token": "0d9cc789e74de3b90ecc174c27d6a561", "waymo_split": "test", "type": "image", "frame_index": 90, "question": "What is the answer regarding the presence of parked vehicles on the shoulder, the existence of a center line, and Ego's encroachment on the center line?", "category": "Normal Perception & Prediction", "options": ["A. There is a parked vehicle on the shoulder behind.", "B. There is a parked vehicle on the shoulder behind.", "C. There are no parked vehicles on the shoulder behind.", "D. There is a parked vehicle on the shoulder ahead."], "answer_index": 1}
{"token": "0d9cc789e74de3b90ecc174c27d6a561", "waymo_split": "test", "type": "image", "frame_index": 90, "question": "Is there a blind spot in the field of view?", "category": "Uncertainty", "options": ["A. The left side of the road is blocked by people crowded on the left sidewalk, creating a blind spot.", "B. The right side of the road is blocked by people standing on the right sidewalk, creating a blind spot.", "C. There are no parked vehicles on the right side of the road, ensuring visibility and no blind spot.", "D. The right side of the road has a wide gap from the right sidewalk, providing clear visibility and no blind spot."], "answer_index": 1}
{"token": "0d9cc789e74de3b90ecc174c27d6a561", "waymo_split": "test", "type": "image", "frame_index": 90, "question": "How do you think a safety-critical object will move?", "category": "Safety-critical Prediction", "options": ["A. It seems like it will just go straight and pass through the intersection when there is a gap with the car in front.", "B. It seems like the vehicle will move slightly forward to enter the left turn lane after pedestrians pass.", "C. It seems like it will back up briefly, move to the left lane, and go straight while keeping a distance from pedestrians.", "D. It seems like the vehicle will wait until people pass in front of it before making a right turn, or it will make a wider right turn to avoid these people."], "answer_index": 3}
{"token": "0d9cc789e74de3b90ecc174c27d6a561", "waymo_split": "test", "type": "image", "frame_index": 90, "question": "What should I do to drive safely?", "category": "Safety-critical Planning", "options": ["A. Drive according to the flow, ignoring signals", "B. Increase speed to quickly pass through dangerous areas", "C. Proceed slowly even when the pedestrian signal is green", "D. Maintain a stop according to the signal status"], "answer_index": 3}
{"token": "0d9cc789e74de3b90ecc174c27d6a561", "waymo_split": "test", "type": "image", "frame_index": 90, "question": "What is the correlation in safety-critical situations?", "category": "Safety-critical scene Understanding", "options": ["A. Car - Two-wheeled vehicle", "B. Two-wheeled vehicle - Person", "C. Car - Car", "D. Car - Person"], "answer_index": 2}
{"token": "0d9cc789e74de3b90ecc174c27d6a561", "waymo_split": "test", "type": "image", "frame_index": 90, "question": "Are there any other safety-critical objects besides the first safety-critical object? If so, how will they be moved?", "category": "Safety-critical Prediction", "options": ["A. None", "B. Exposed saw blade: cover it and store it under the workbench", "C. Fire extinguisher: moved to the wall next to the entrance to improve accessibility", "D. Gas cylinder: moved to the right safety area to clear the aisle"], "answer_index": 0}
{"token": "0d9cc789e74de3b90ecc174c27d6a561", "waymo_split": "test", "type": "image", "frame_index": 90, "question": "Is lane change possible? Which is safer between slowing down and changing lanes?", "category": "Safety-critical Planning", "options": ["A. Lane change possible", "B. Lane change not possible", "C. Slowing down is safer", "D. Change to the right lane"], "answer_index": 1}
{"token": "0d9cc789e74de3b90ecc174c27d6a561", "waymo_split": "test", "type": "image", "frame_index": 90, "question": "What is the safer choice just before entering a yellow signal: stop vs pass?", "category": "Special Event", "options": ["A. Stopping is safe (since the current state is default to stop)", "B. Passing is safe just before making a left turn (concern about being rear-ended)", "C. Passing is safe (it's better to keep going than to brake suddenly)", "D. Passing is safe on a wet road (stopping is less safe due to longer braking distance)"], "answer_index": 0}
{"token": "0d9cc789e74de3b90ecc174c27d6a561", "waymo_split": "test", "type": "image", "frame_index": 90, "question": "Where is the area that hides danger in the current frame?", "category": "Uncertainty", "options": ["A. The central part of the front lane is blocked by a large truck, making it impossible to see oncoming vehicles.", "B. The right side of the road is obscured by people standing on the right sidewalk, creating a blind spot.", "C. The left side of the road is obscured by trees on the left sidewalk, creating a blind spot.", "D. The rear bicycle lane is blocked by parked vehicles, making it difficult to identify hazards."], "answer_index": 1}
{"token": "0d9cc789e74de3b90ecc174c27d6a561", "waymo_split": "test", "type": "image", "frame_index": 90, "question": "Who is responsible in a safety-critical situation? What is the cause?", "category": "Safety-critical scene Understanding", "options": ["A. The person standing on the roadway in front of the vehicle.", "B. The companion who was taking pictures at the edge of the sidewalk.", "C. The following driver.", "D. The road management authority."], "answer_index": 0}
{"token": "0d9cc789e74de3b90ecc174c27d6a561", "waymo_split": "test", "type": "image", "frame_index": 112, "question": "Which of the following is correct as an Image Caption from a Safety-critical Frame perspective?", "category": "Safety-critical scene caption", "options": ["A. A gray SUV driving straight towards my vehicle from the front.", "B. A black vehicle turning left towards my vehicle from the right side.", "C. A white vehicle turning right towards my vehicle from the left side.", "D. A silver sedan making a U-turn towards the opposite lane from the left side."], "answer_index": 2}
{"token": "0d9cc789e74de3b90ecc174c27d6a561", "waymo_split": "test", "type": "image", "frame_index": 90, "question": "What is the method to avoid the blind spot next to a large vehicle?", "category": "Special Event", "options": ["A. No large vehicle", "B. Following a truck", "C. Overtaking on the right", "D. Staying close to a bus"], "answer_index": 0}
{"token": "0d9cc789e74de3b90ecc174c27d6a561", "waymo_split": "test", "type": "image", "frame_index": 112, "question": "Which of the following is a correct description of traffic density?", "category": "Normal scene Understanding", "options": ["A. No surrounding vehicles", "B. Many surrounding motorcycles", "C. A few surrounding vehicles exist", "D. Many surrounding vehicles exist"], "answer_index": 3}
{"token": "0d9cc789e74de3b90ecc174c27d6a561", "waymo_split": "test", "type": "image", "frame_index": 112, "question": "What is the plan for yielding when an ambulance/fire truck approaches?", "category": "Special Event", "options": ["A. Turn on emergency lights and move slowly", "B. Stop and yield", "C. Proceed at a slow speed without stopping", "D. Change to the left lane and continue"], "answer_index": 1}
{"token": "0d9cc789e74de3b90ecc174c27d6a561", "waymo_split": "test", "type": "image", "frame_index": 112, "question": "Based on the current appearance of the person/vehicle (two-wheeled), how do they intend to move?", "category": "Normal Perception & Prediction", "options": ["A. Trying to turn right", "B. Changing lanes", "C. Waiting for the signal", "D. Trying to go straight"], "answer_index": 2}
{"token": "0d9cc789e74de3b90ecc174c27d6a561", "waymo_split": "test", "type": "image", "frame_index": 112, "question": "What are the divisions of the scene?", "category": "Normal scene Understanding", "options": ["A. City", "B. Residential area", "C. Highway", "D. Unpaved"], "answer_index": 0}
{"token": "0d9cc789e74de3b90ecc174c27d6a561", "waymo_split": "test", "type": "image", "frame_index": 112, "question": "What are the restrictions on behavior in school zones/congested areas?", "category": "Special Event", "options": ["A. No stopping in congested areas; must overtake by changing lanes.", "B. Prioritize flow over pedestrian consideration; must accelerate to enter.", "C. Must drive at a constant speed and slow down according to signals.", "D. Must pass quickly through empty lanes regardless of signals."], "answer_index": 2}
{"token": "0d9cc789e74de3b90ecc174c27d6a561", "waymo_split": "test", "type": "image", "frame_index": 112, "question": "Which of the following is a correct description of the environment?", "category": "Normal scene Understanding", "options": ["A. Day, clear", "B. Evening, cloudy", "C. Dawn, light fog", "D. Night, light rain"], "answer_index": 0}
{"token": "0d9cc789e74de3b90ecc174c27d6a561", "waymo_split": "test", "type": "image", "frame_index": 112, "question": "What is the description of a non-safety-critical object?", "category": "Normal Perception & Prediction", "options": ["A. Wires connecting buildings located at each corner. People standing on the right sidewalk. Vehicles parked in a line behind, with the second white vehicle from the front having its door open (appearing as if a passenger is getting out). A bicycle waiting at the signal in front of my vehicle (with a helmet-wearing rider).", "B. Wires are organized above the roof and are not visible from the outside. The right sidewalk is empty with no people. Instead of parked cars in the back, delivery motorcycles are spaced out. Near the front of my vehicle, there is one pedestrian pushing a stroller.", "C. Streetlight banners are fluttering at each corner of the intersection. A few people are standing on the left sidewalk. Vehicles parked diagonally on the right side of the road, with the trunk of a silver SUV in front being open. An electric scooter waiting at the signal in front of my vehicle (without a helmet).", "D. Large signs are lined up on the exterior walls of each corner building. There are outdoor café tables and seated customers on the right sidewalk. Among the parked vehicles in a line behind, the last red vehicle has its hazard lights flashing. A person on a skateboard is slowly passing by from the right rear of my vehicle."], "answer_index": 0}
{"token": "0d9cc789e74de3b90ecc174c27d6a561", "waymo_split": "test", "type": "image", "frame_index": 112, "question": "Is there a blind spot in the field of view?", "category": "Uncertainty", "options": ["A. The left side of the road is obstructed by people standing on the left sidewalk, creating a blind spot.", "B. There is a blind spot on the right side of the road due to a group of bicycles.", "C. The right side of the road is clear with no obstructions from flower beds or railings, so there is no blind spot.", "D. The right side of the road is obstructed by people standing on the right sidewalk, creating a blind spot."], "answer_index": 3}
{"token": "0d9cc789e74de3b90ecc174c27d6a561", "waymo_split": "test", "type": "image", "frame_index": 112, "question": "What is the answer regarding the presence of parked vehicles on the shoulder, the existence of a center line, and whether Ego has crossed the center line?", "category": "Normal Perception & Prediction", "options": ["A. There is a parked vehicle on the shoulder ahead", "B. There is a parked vehicle on the shoulder behind", "C. There is a parked vehicle on the shoulder on the opposite side", "D. There are no parked vehicles on the shoulder"], "answer_index": 1}
{"token": "0d9cc789e74de3b90ecc174c27d6a561", "waymo_split": "test", "type": "image", "frame_index": 112, "question": "What should I do to drive safely?", "category": "Safety-critical Planning", "options": ["A. Enter the intersection after turning on the hazard lights (to alert rear vehicles)", "B. Proceed slowly while paying attention to pedestrian flow (since the signal is already green)", "C. Change to the right lane to pass (to maintain distance from the vehicle in front)", "D. Maintain the current stop state while paying attention to the vehicle operation (since the signal is still red)"], "answer_index": 3}
{"token": "0d9cc789e74de3b90ecc174c27d6a561", "waymo_split": "test", "type": "image", "frame_index": 112, "question": "What is a safety-critical object?", "category": "Safety-critical Perception", "options": ["A. A vehicle turning left from the right towards my vehicle", "B. A truck coming straight towards my vehicle from the front", "C. A motorcycle changing lanes from the right towards my vehicle", "D. A vehicle turning right from the left towards my vehicle"], "answer_index": 3}
{"token": "0d9cc789e74de3b90ecc174c27d6a561", "waymo_split": "test", "type": "image", "frame_index": 112, "question": "How do you think a safety-critical object will move?", "category": "Safety-critical Prediction", "options": ["A. It seems like it will make a right turn through the opposite lane on the left side based on my vehicle.", "B. It seems like it will make a right turn using the ramp on the right side based on my vehicle.", "C. It seems like it will make a left turn along the center line based on my vehicle and enter the opposite lane.", "D. It seems like it will go straight while maintaining the right lane based on my vehicle and pass the next intersection."], "answer_index": 0}
{"token": "0d9cc789e74de3b90ecc174c27d6a561", "waymo_split": "test", "type": "image", "frame_index": 112, "question": "How should I drive to address the first risk while also resolving the second risk?", "category": "Safety-critical Planning", "options": ["A. Prepare to stop for the next safety-critical object", "B. No next safety-critical object", "C. Next safety-critical object in the left lane", "D. Deceleration needed for the next safety-critical object"], "answer_index": 1}
{"token": "0d9cc789e74de3b90ecc174c27d6a561", "waymo_split": "test", "type": "image", "frame_index": 112, "question": "What is the correlation in safety-critical situations?", "category": "Safety-critical scene Understanding", "options": ["A. car-person", "B. car-car", "C. person-two-wheeled", "D. car-two-wheeled"], "answer_index": 1}
{"token": "0d9cc789e74de3b90ecc174c27d6a561", "waymo_split": "test", "type": "image", "frame_index": 112, "question": "Is lane changing possible? Which is safer between slowing down and changing lanes?", "category": "Safety-critical Planning", "options": ["A. Lane changing not possible", "B. Changing lanes is safer", "C. Right lane change recommended", "D. Lane changing possible"], "answer_index": 0}
{"token": "0d9cc789e74de3b90ecc174c27d6a561", "waymo_split": "test", "type": "image", "frame_index": 112, "question": "Is there any other safety-critical object besides the first safety-critical object? If so, how would you move it?", "category": "Safety-critical Prediction", "options": ["A. There is an oxygen tank, secure it to a cart and move it backwards over the threshold.", "B. There is a fire extinguisher, detach it from the wall bracket and move it slightly to the right.", "C. There is an AED, after deactivating the alarm, slowly move it to the end of the corridor.", "D. None"], "answer_index": 3}
{"token": "0d9cc789e74de3b90ecc174c27d6a561", "waymo_split": "test", "type": "image", "frame_index": 112, "question": "Where is the area that hides danger in the current frame?", "category": "Uncertainty", "options": ["A. The right side of the road is obstructed by people standing on the right sidewalk, creating a blind spot.", "B. The intersection ahead is obstructed by vehicles waiting to turn left, creating a blind spot.", "C. The left side of the road is obstructed by trees on the left sidewalk, creating a blind spot.", "D. The right alley exit is obstructed by a parked delivery truck, creating a blind spot."], "answer_index": 0}
{"token": "0d9cc789e74de3b90ecc174c27d6a561", "waymo_split": "test", "type": "image", "frame_index": 112, "question": "What is the safest choice just before entering a yellow signal: stop vs pass?", "category": "Special Event", "options": ["A. Turning right is safe (yellow is an exception for right turns)", "B. Stopping is safe (you are in a stopped state according to the current signal)", "C. Accelerating to pass is safe (the car behind is very close)", "D. Passing is safe (yellow signals to clear the intersection)"], "answer_index": 1}
{"token": "0d9cc789e74de3b90ecc174c27d6a561", "waymo_split": "test", "type": "image", "frame_index": 112, "question": "What is the method to avoid the blind spot next to a large vehicle?", "category": "Special Event", "options": ["A. Between large vehicles", "B. Right next to the large vehicle", "C. Following behind the large vehicle", "D. No large vehicle"], "answer_index": 3}
{"token": "0d9cc789e74de3b90ecc174c27d6a561", "waymo_split": "test", "type": "image", "frame_index": 112, "question": "What situation might occur if the self-driving car behaved like this?", "category": "Counterfactual", "options": ["A. If the self-driving car crosses the stop line and goes straight, there is a risk of brushing against or colliding with vehicles waiting to turn left.", "B. If the self-driving car ignores the signal and turns left, there is a risk of colliding with or brushing past vehicles turning right.", "C. If the self-driving car rushes through a yellow light, there is a risk of colliding with vehicles entering from the opposite side to turn left.", "D. If the self-driving car ignores the signal and turns right, there is a risk of colliding with or brushing past vehicles going straight."], "answer_index": 1}
{"token": "0d9cc789e74de3b90ecc174c27d6a561", "waymo_split": "test", "type": "image", "frame_index": 137, "question": "Which of the following is a correct description of traffic density?", "category": "Normal scene Understanding", "options": ["A. Many vehicles nearby, fast", "B. Few vehicles nearby, slow", "C. Many vehicles nearby, slow", "D. Few vehicles nearby, fast"], "answer_index": 2}
{"token": "0d9cc789e74de3b90ecc174c27d6a561", "waymo_split": "test", "type": "image", "frame_index": 137, "question": "Based on the current appearance of the person/vehicle (two-wheeled), how are they trying to move?", "category": "Normal Perception & Prediction", "options": ["A. A vehicle waiting to turn left while slowing down at a yellow light", "B. A vehicle trying to turn right by staying close to the right turn lane at a red light", "C. A vehicle trying to go straight as the signal changes to green", "D. A bicycle trying to cross the crosswalk in accordance with the pedestrian signal"], "answer_index": 2}
{"token": "0d9cc789e74de3b90ecc174c27d6a561", "waymo_split": "test", "type": "image", "frame_index": 137, "question": "What are the divisions of the scene?", "category": "Normal scene Understanding", "options": ["A. City", "B. Residential area", "C. Highway", "D. Unpaved"], "answer_index": 0}
{"token": "0d9cc789e74de3b90ecc174c27d6a561", "waymo_split": "test", "type": "image", "frame_index": 112, "question": "What is the guideline for the vehicle's behavior based on the actions of a safety-critical object?", "category": "Safety-critical Planning", "options": ["A. If the safety-critical object is approaching in the direction of the vehicle, the vehicle should turn on the horn and emergency lights and move closer to the right edge to avoid it. (Reversing is dangerous if there is a motorcycle directly behind.)", "B. If the safety-critical object makes a wide right turn towards the vehicle, the vehicle should reverse to avoid it. (Reversing is safe if there are no vehicles directly behind.)", "C. If the safety-critical object makes a narrow right turn and reduces speed, the vehicle should accelerate forward to exit the intersection first. (There is a brief opening, making it advantageous to enter first.)", "D. If the safety-critical object makes a wide left turn and crosses into the opposite lane, the vehicle should remain stopped and maintain its course. (Avoid unnecessary movement as there is traffic behind.)"], "answer_index": 1}
{"token": "0d9cc789e74de3b90ecc174c27d6a561", "waymo_split": "test", "type": "image", "frame_index": 137, "question": "Which of the following is a correct description of the environment?", "category": "Normal scene Understanding", "options": ["A. Evening, cloudy", "B. Dawn, fog", "C. Day, clear", "D. Night, rain"], "answer_index": 2}
{"token": "0d9cc789e74de3b90ecc174c27d6a561", "waymo_split": "test", "type": "image", "frame_index": 137, "question": "What is correct as an Image Caption from the perspective of a Normal Frame?", "category": "Normal scene caption", "options": ["A. A vehicle that has changed to a green signal at the intersection and is now starting to drive again. A bicycle that is waiting for the signal has also started to move while stopped in front of the vehicle on the right. Several vehicles are parked behind it. A white vehicle that has almost completed a right turn towards the vehicle from the left.", "B. The vehicle is stopped at the intersection due to a red signal. A delivery motorcycle is stopped in front of the vehicle on the right, waiting for the signal. There is a long empty lane behind, with almost no following vehicles. A city bus is passing through the intersection straight from the left.", "C. The vehicle is preparing to turn left at the intersection in accordance with the protected left turn signal. A bicycle loaded with cargo is attempting to turn left across the lane in front of the vehicle on the right. Behind, part of the lane is blocked due to construction, with only cones and signs visible. A white passenger car is waiting in the center to make a U-turn from the left.", "D. The vehicle is slowing down and preparing to stop as the signal changes to yellow at the intersection. Two or three pedestrians are entering the crosswalk from the sidewalk in front of the vehicle on the right. Vehicles waiting for the signal are lined up long behind. A black SUV is starting to turn left from the left."], "answer_index": 0}
{"token": "0d9cc789e74de3b90ecc174c27d6a561", "waymo_split": "test", "type": "image", "frame_index": 137, "question": "Which of the following is a correct description of traffic signals?", "category": "Traffic Signal", "options": ["A. Traffic light present (green light for the direction of the vehicle)", "B. Traffic light not functioning (flashing yellow at the intersection, proceed with caution)", "C. Traffic light present (red light for the direction of the vehicle)", "D. Traffic light present (green left turn signal, waiting to go straight)"], "answer_index": 0}
{"token": "0d9cc789e74de3b90ecc174c27d6a561", "waymo_split": "test", "type": "image", "frame_index": 137, "question": "What is a safety-critical object?", "category": "Safety-critical Perception", "options": ["A. Traffic light", "B. Valve", "C. None", "D. Airbag"], "answer_index": 2}
{"token": "0d9cc789e74de3b90ecc174c27d6a561", "waymo_split": "test", "type": "image", "frame_index": 137, "question": "What is the answer regarding the presence of parked vehicles on the shoulder, the existence of a center line, and Ego's encroachment on the center line?", "category": "Normal Perception & Prediction", "options": ["A. There is a parked vehicle on the shoulder behind.", "B. There is a stopped vehicle in the lane behind.", "C. There is no parked vehicle on the shoulder behind.", "D. There is a parked vehicle on the shoulder ahead."], "answer_index": 0}
{"token": "0d9cc789e74de3b90ecc174c27d6a561", "waymo_split": "test", "type": "image", "frame_index": 137, "question": "Is there a blind spot in your field of vision?", "category": "Uncertainty", "options": ["A. The right side of the road is clear, allowing for visibility with no blind spots.", "B. There are no parked vehicles on the right side of the road, allowing for visibility with no blind spots.", "C. The right side of the road is obstructed by people standing on the right sidewalk, creating a blind spot.", "D. The left side of the road is obstructed by people standing on the left sidewalk, creating a blind spot."], "answer_index": 2}
{"token": "0d9cc789e74de3b90ecc174c27d6a561", "waymo_split": "test", "type": "image", "frame_index": 137, "question": "How do you think a safety-critical object will move?", "category": "Safety-critical Prediction", "options": ["A. None", "B. Ascend", "C. Move straight", "D. Turn left"], "answer_index": 0}
{"token": "0d9cc789e74de3b90ecc174c27d6a561", "waymo_split": "test", "type": "image", "frame_index": 137, "question": "How should I drive to address the first risk while also resolving the second risk?", "category": "Safety-critical Planning", "options": ["A. Stop in front of the next safety-critical object on the left", "B. There is no next safety-critical object", "C. Approach the next safety-critical object from the front", "D. Merge from the right lane at the next safety-critical object"], "answer_index": 1}
{"token": "0d9cc789e74de3b90ecc174c27d6a561", "waymo_split": "test", "type": "image", "frame_index": 137, "question": "Are there any other safety-critical objects besides the first safety-critical object? If so, how will they be moved?", "category": "Safety-critical Prediction", "options": ["A. None", "B. Yes — The AED will be relocated to a visible position next to the information desk after checking the power.", "C. Yes — The oxygen cylinder will be secured on a cart with the valve closed and moved towards the exit.", "D. Yes — The fire extinguisher will be moved to the wall bracket in the hallway."], "answer_index": 0}
{"token": "0d9cc789e74de3b90ecc174c27d6a561", "waymo_split": "test", "type": "image", "frame_index": 137, "question": "What should I do to drive safely?", "category": "Safety-critical Planning", "options": ["A. Detect safety-critical objects in the left lane", "B. Presence of safety-critical objects near pedestrians on the right", "C. Safety-critical objects ahead", "D. No safety-critical objects"], "answer_index": 3}
{"token": "0d9cc789e74de3b90ecc174c27d6a561", "waymo_split": "test", "type": "image", "frame_index": 137, "question": "Is lane change possible? Which is safer between slowing down and changing lanes?", "category": "Safety-critical Planning", "options": ["A. Left lane change is possible, changing lanes is safer", "B. Lane change is not possible, slowing down is safer", "C. Right lane change is possible, changing lanes is safer", "D. Lane change is possible, changing lanes is safer"], "answer_index": 1}
{"token": "0d9cc789e74de3b90ecc174c27d6a561", "waymo_split": "test", "type": "image", "frame_index": 137, "question": "Where is the area that hides danger in the current frame?", "category": "Uncertainty", "options": ["A. The left side of the road is obstructed by a delivery motorcycle parked on the left sidewalk, creating a blind spot.", "B. The rear lane side is obstructed by a bus parked at the bus stop, creating a blind spot.", "C. The front intersection side is obstructed by a median and a large truck, creating a blind spot.", "D. The right side of the road is obstructed by people standing on the right sidewalk, creating a blind spot."], "answer_index": 3}
{"token": "0d9cc789e74de3b90ecc174c27d6a561", "waymo_split": "test", "type": "image", "frame_index": 137, "question": "What is the safest choice when approaching a yellow signal: stop or proceed?", "category": "Special Event", "options": ["A. Proceed slowly is safe (yellow light continues)", "B. Need to wait for a left turn (pedestrian green light)", "C. Irrelevant to the yellow signal (currently green light)", "D. Must stop immediately (yellow flashing light)"], "answer_index": 2}
{"token": "0d9cc789e74de3b90ecc174c27d6a561", "waymo_split": "test", "type": "image", "frame_index": 137, "question": "What are the newly exposed risk candidates in the following section?", "category": "Safety-critical Prediction", "options": ["A. The front intersection is obscured by waiting vehicles, creating a blind spot where a bus making a left turn from the opposite side may encroach into our lane.", "B. The entrance to the rear right alley is blocked by parked vehicles, limiting visibility, which may cause a motorcycle coming from behind to cross the lane in the blind spot.", "C. The left side of the road is obscured by street trees and signs on the left sidewalk, creating a blind spot where a bicycle may appear either coming straight from the left or moving horizontally from left to right.", "D. The right side of the road is obscured by people standing on the right sidewalk, creating a blind spot where a vehicle may appear either coming straight from the right or moving horizontally from right to left."], "answer_index": 3}
{"token": "0d9cc789e74de3b90ecc174c27d6a561", "waymo_split": "test", "type": "image", "frame_index": 137, "question": "What is the method to avoid blind spots when passing large vehicles?", "category": "Special Event", "options": ["A. Entering the blind spot", "B. Staying close to the large vehicle", "C. No large vehicle", "D. Overtaking on the right side of the truck"], "answer_index": 2}
{"token": "0f396009da4cfe4364c3565fc8da0d93", "waymo_split": "test", "type": "video", "frame_index": null, "question": "Where is the safety-critical situation in the video?", "category": "Temporal Grounding", "options": ["A. 1/4", "B. 2/4", "C. 4/4", "D. 3/4"], "answer_index": 2}
{"token": "0f396009da4cfe4364c3565fc8da0d93", "waymo_split": "test", "type": "video", "frame_index": null, "question": "Which of the following is a correct description of traffic density?", "category": "Normal scene Understanding", "options": ["A. Slow, few surrounding vehicles, gentle downhill", "B. Slow, many surrounding vehicles, slight uphill", "C. Fast, few surrounding vehicles, slight incline", "D. Fast, no surrounding vehicles, no incline"], "answer_index": 3}
{"token": "0f396009da4cfe4364c3565fc8da0d93", "waymo_split": "test", "type": "video", "frame_index": null, "question": "What is the classification of the scene?", "category": "Normal scene Understanding", "options": ["A. Residential alleyways or side roads", "B. Country roads or paved two-lane roads", "C. Urban bustling areas or four-lane roads", "D. Unpaved forest roads or gravel roads"], "answer_index": 1}
{"token": "0f396009da4cfe4364c3565fc8da0d93", "waymo_split": "test", "type": "video", "frame_index": null, "question": "Which of the following is correct regarding road alignment?", "category": "Normal Perception & Prediction", "options": ["A. Right turn", "B. Straight", "C. Left turn", "D. Unprotected left turn"], "answer_index": 1}
{"token": "0f396009da4cfe4364c3565fc8da0d93", "waymo_split": "test", "type": "video", "frame_index": null, "question": "What is correct regarding Video Summary from a Safety-critical Scene perspective?", "category": "Safety-critical scene caption", "options": ["A. A car that was in the front center momentarily stops when the intersection comes into view. At this time, the car accelerates and swerves into the adjacent lane.", "B. As the intersection begins to come into view, a motorcycle quickly passes from the left alley towards the intersection. At this time, the car maintains its speed and goes straight.", "C. When the intersection begins to come into view, a motorcycle approaches from the open space on the right side towards the vehicle. At this time, the car also slows down from a fast speed.", "D. As the intersection becomes visible, a bicycle retreats from the right sidewalk into the lane. At that time, the car does not slow down and prepares to turn right with the turn signal on."], "answer_index": 2}
{"token": "0f396009da4cfe4364c3565fc8da0d93", "waymo_split": "test", "type": "video", "frame_index": null, "question": "Are there any special circumstances?", "category": "Special Event", "options": ["A. A fire truck approaches with sirens on the right lane around the middle of the video, requiring deceleration and lane change to yield.", "B. Around 3/4 of the way through the video, construction cones are visible on the left sidewalk, but they are positioned on the sidewalk and do not pose a problem for vehicle driving.", "C. Around 1/3 of the way through the video, rainwater splashes on the front windshield, temporarily obstructing visibility, requiring a reduction in speed while driving.", "D. Around 3/4 of the way through the video, a school bus is stopped in the front lane for boarding and alighting, requiring a complete stop and waiting."], "answer_index": 1}
{"token": "0f396009da4cfe4364c3565fc8da0d93", "waymo_split": "test", "type": "video", "frame_index": null, "question": "Which of the following is a correct description of the environment?", "category": "Normal scene Understanding", "options": ["A. Morning, cloudy", "B. Afternoon, clear", "C. Afternoon, cloudy", "D. Night, light rain"], "answer_index": 2}
{"token": "0f396009da4cfe4364c3565fc8da0d93", "waymo_split": "test", "type": "video", "frame_index": null, "question": "Is there a blind spot in your field of vision?", "category": "Uncertainty", "options": ["A. There is a blind spot", "B. Partial blind spot", "C. No blind spot", "D. Right blind spot"], "answer_index": 2}
{"token": "0f396009da4cfe4364c3565fc8da0d93", "waymo_split": "test", "type": "video", "frame_index": null, "question": "Which of the following is a correct description of traffic signals?", "category": "Traffic Signal", "options": ["A. Dedicated left turn lane road arrow at an intersection", "B. Orange signal at the intersection traffic light. A sign indicating the position at the right corner of the intersection", "C. Text sign guiding to the left corner at the intersection", "D. Red signal at the intersection traffic light"], "answer_index": 1}
{"token": "0f396009da4cfe4364c3565fc8da0d93", "waymo_split": "test", "type": "video", "frame_index": null, "question": "What is the answer regarding the presence of parked vehicles on the shoulder, the presence of a center line, and whether Ego has crossed the center line?", "category": "Normal Perception & Prediction", "options": ["A. There is a parked vehicle on the shoulder. There is a center line. Ego has crossed the center line.", "B. There is no parked vehicle on the shoulder. There is no center line. Ego has not crossed the center line.", "C. There is no parked vehicle on the shoulder. There is a center line. Ego has crossed the center line.", "D. There is no parked vehicle on the shoulder. There is a center line. Ego has not crossed the center line."], "answer_index": 3}
{"token": "0f396009da4cfe4364c3565fc8da0d93", "waymo_split": "test", "type": "video", "frame_index": null, "question": "What is a safety-critical object?", "category": "Safety-critical Perception", "options": ["A. A car coming out of a right alley at an intersection.", "B. A motorcycle approaching from a right sidewalk area towards the vehicle.", "C. A pedestrian stepping onto the crosswalk directly in front.", "D. A bicycle trying to enter the roadway from a left sidewalk area."], "answer_index": 1}
{"token": "0f396009da4cfe4364c3565fc8da0d93", "waymo_split": "test", "type": "video", "frame_index": null, "question": "What is the description of a non-safety-critical object?", "category": "Normal Perception & Prediction", "options": ["A. CCTV and advertising banners attached to the exterior wall of a building next to the sidewalk are visible above. A motorcycle is driving in the right lane. An intersection appears, and there is a directional sign on the left. The pedestrian traffic light at the intersection is lit (green).", "B. The branches of street trees on the sidewalk are extending upwards. A vehicle is stopped in the left shoulder. Instead of an intersection, a Y-shaped fork appears, and a parking guidance sign is visible on the right. There are no traffic lights at the intersection.", "C. Wires connected to a utility pole are present above the sidewalk. A vehicle is driving in the opposite lane on the left. An intersection appears, and there is a sign indicating the location on the right. There is a traffic light at the intersection (orange signal).", "D. Streetlights and a banner are hanging above the sidewalk. A vehicle is driving in the same lane on the right. A T-shaped intersection appears, and there is a sign indicating the location on the left. There is a traffic light at the intersection (green signal)."], "answer_index": 2}
{"token": "0f396009da4cfe4364c3565fc8da0d93", "waymo_split": "test", "type": "video", "frame_index": null, "question": "What is the correlation in safety-critical situations?", "category": "Safety-critical scene Understanding", "options": ["A. Car - Pedestrian", "B. Car - Bicycle", "C. Car - Motorcycle", "D. Bus - Kickboard"], "answer_index": 2}
{"token": "0f396009da4cfe4364c3565fc8da0d93", "waymo_split": "test", "type": "video", "frame_index": null, "question": "Summary of Ego (self-vehicle) behavior before a safety-critical situation", "category": "Normal scene Understanding", "options": ["A. Driving slowly in a curved section", "B. Entering the right turn lane and decelerating", "C. Driving quickly on a straight road", "D. Waiting at a traffic signal in front of an intersection"], "answer_index": 2}
{"token": "0f396009da4cfe4364c3565fc8da0d93", "waymo_split": "test", "type": "video", "frame_index": null, "question": "How did the safety-critical object move and how did the ego vehicle behave?", "category": "Safety-critical scene Understanding", "options": ["A. Turned left towards the vehicle and moved straight. The ego vehicle decelerated.", "B. Moved straight while turning right away from the vehicle. The ego vehicle maintained speed.", "C. Turned left towards the pedestrian and moved straight. The ego vehicle came to a stop.", "D. Turned right towards the vehicle and moved straight. The ego vehicle accelerated."], "answer_index": 0}
{"token": "0f396009da4cfe4364c3565fc8da0d93", "waymo_split": "test", "type": "image", "frame_index": 8, "question": "Which of the following is correct as an Image Caption from the perspective of a Normal Frame?", "category": "Normal scene caption", "options": ["A. A car exiting a highway merge area. An SUV overtakes from behind. The surroundings consist only of sound barriers and open spaces, with no houses in sight.", "B. A car waiting at a traffic signal on a three-lane road. Two passenger cars are stopped ahead. A few pedestrians are standing on the sidewalks to the left and right.", "C. A car driving quickly on a two-lane road. There are no vehicles in front or behind. There are sidewalks and houses on both sides, but no people.", "D. A car slowly driving down a narrow one-way alley with a single lane. Vehicles pass by sporadically in front and behind. Instead of residential areas, there are shops and cafes."], "answer_index": 2}
{"token": "0f396009da4cfe4364c3565fc8da0d93", "waymo_split": "test", "type": "image", "frame_index": 8, "question": "What is the plan for yielding when an ambulance/fire truck approaches?", "category": "Special Event", "options": ["A. Yield by moving to the right shoulder", "B. Increase speed to get out first and then yield", "C. Stop in the intersection to give way", "D. Yield by moving to the left shoulder"], "answer_index": 0}
{"token": "0f396009da4cfe4364c3565fc8da0d93", "waymo_split": "test", "type": "video", "frame_index": null, "question": "Who is responsible in a safety-critical situation? What is the cause?", "category": "Safety-critical scene Understanding", "options": ["A. There is no responsibility. The cause is a motorcycle that appeared while trying to cross towards the vehicle from the right.", "B. The responsibility lies with the pedestrian. The cause is a pedestrian who suddenly dashed into the right lane.", "C. The responsibility lies with the motorcycle. The cause is aggressively cutting in next to a turning vehicle.", "D. The responsibility lies with the driver. The cause is not seeing the motorcycle approaching from the left properly."], "answer_index": 0}
{"token": "0f396009da4cfe4364c3565fc8da0d93", "waymo_split": "test", "type": "image", "frame_index": 8, "question": "Which of the following is a correct description of traffic density?", "category": "Normal scene Understanding", "options": ["A. Fast, many surrounding vehicles", "B. Fast, no surrounding vehicles", "C. Slow, no surrounding vehicles", "D. Slow, few surrounding vehicles"], "answer_index": 1}
{"token": "0f396009da4cfe4364c3565fc8da0d93", "waymo_split": "test", "type": "video", "frame_index": null, "question": "What situation might have occurred if the self-driving car acted like this?", "category": "Counterfactual", "options": ["A. If the self-driving car ignored and accelerated, it could have collided with the motorcycle on the right or posed a threat to it.", "B. If the self-driving car had slightly moved to the left, it would have been safer with a sufficient distance from pedestrians on the sidewalk.", "C. If the self-driving car had just turned on the blinker and entered, the car in front would have yielded, resulting in no significant danger.", "D. Even if the self-driving car had accelerated, the motorcycle on the right would have slowed down, preventing any collision or threat."], "answer_index": 0}
{"token": "0f396009da4cfe4364c3565fc8da0d93", "waymo_split": "test", "type": "image", "frame_index": 8, "question": "Based on the current appearance of the person/vehicle (two-wheeled), how do you intend to move?", "category": "Normal Perception & Prediction", "options": ["A. Slowly turn left", "B. Quickly go straight", "C. Decelerate and stop", "D. Gradually turn right"], "answer_index": 1}
{"token": "0f396009da4cfe4364c3565fc8da0d93", "waymo_split": "test", "type": "image", "frame_index": 8, "question": "What are the classifications of scenes?", "category": "Normal scene Understanding", "options": ["A. Residential area", "B. Highway", "C. City", "D. Unpaved"], "answer_index": 2}
{"token": "0f396009da4cfe4364c3565fc8da0d93", "waymo_split": "test", "type": "image", "frame_index": 8, "question": "What are the restrictions on behavior in school zones/congested areas?", "category": "Special Event", "options": ["A. Proceed while overtaking", "B. Accelerate to pass through", "C. Drive slowly", "D. Drive while honking"], "answer_index": 2}
{"token": "0f396009da4cfe4364c3565fc8da0d93", "waymo_split": "test", "type": "image", "frame_index": 8, "question": "What is the description of non-safety-critical objects?", "category": "Normal Perception & Prediction", "options": ["A. A river railing and a bicycle on the right. A construction barrier and cones on the left. Vehicles waiting at a signal in the same direction ahead.", "B. A sidewalk and residential area on the right. A sidewalk and tree trunks on the left. A vehicle approaching from the opposite lane very far ahead towards my car.", "C. A park walkway and streetlights on the right. A low fence and flower beds on the left. A vehicle turning right and entering an alley ahead.", "D. Commercial buildings and a bicycle lane on the right. Parked vehicles and utility poles on the left. A vehicle moving away in the same lane ahead."], "answer_index": 1}
{"token": "0f396009da4cfe4364c3565fc8da0d93", "waymo_split": "test", "type": "image", "frame_index": 8, "question": "Which of the following is a correct description of traffic signals?", "category": "Traffic Signal", "options": ["A. Stop line", "B. None", "C. Pedestrian signal", "D. No right turn"], "answer_index": 1}
{"token": "0f396009da4cfe4364c3565fc8da0d93", "waymo_split": "test", "type": "image", "frame_index": 8, "question": "Which of the following descriptions about the environment is correct?", "category": "Normal scene Understanding", "options": ["A. Afternoon, clear", "B. Evening, rain", "C. Daytime, cloudy", "D. Dawn, fog"], "answer_index": 2}
{"token": "0f396009da4cfe4364c3565fc8da0d93", "waymo_split": "test", "type": "image", "frame_index": 8, "question": "What is the answer regarding the presence of parked vehicles on the shoulder, the existence of a center line, and whether Ego crosses the center line?", "category": "Normal Perception & Prediction", "options": ["A. No parked vehicles on the shoulder. Center line exists. Ego does not cross the center line.", "B. Parked vehicles on the shoulder. Center line exists. Ego does not cross the center line.", "C. No parked vehicles on the shoulder. No center line. Ego does not cross the center line.", "D. No parked vehicles on the shoulder. Center line exists. Ego crosses the center line."], "answer_index": 0}
{"token": "0f396009da4cfe4364c3565fc8da0d93", "waymo_split": "test", "type": "image", "frame_index": 8, "question": "What is a safety-critical object?", "category": "Safety-critical Perception", "options": ["A. No safety-critical object", "B. Main power cutoff relay", "C. Brake control module", "D. Emergency stop switch"], "answer_index": 0}
{"token": "0f396009da4cfe4364c3565fc8da0d93", "waymo_split": "test", "type": "image", "frame_index": 8, "question": "How do you think safety-critical objects will move?", "category": "Safety-critical Prediction", "options": ["A. The vehicle accelerates rapidly and crosses the intersection", "B. A pedestrian enters the right lane", "C. A bicycle approaches while going the wrong way", "D. There are no safety-critical objects"], "answer_index": 3}
{"token": "0f396009da4cfe4364c3565fc8da0d93", "waymo_split": "test", "type": "image", "frame_index": 8, "question": "Is there a blind spot?", "category": "Uncertainty", "options": ["A. There is a blind spot", "B. There is no blind spot", "C. There is a right blind spot", "D. There is a left blind spot"], "answer_index": 1}
{"token": "0f396009da4cfe4364c3565fc8da0d93", "waymo_split": "test", "type": "image", "frame_index": 8, "question": "Is there any other safety-critical object besides the first safety-critical object? If so, how will you move?", "category": "Safety-critical Prediction", "options": ["A. There is another safety-critical object, slightly retreating backward", "B. There is another safety-critical object, moving to the right by circumventing forward", "C. There is another safety-critical object, moving slowly to the left", "D. There is no other safety-critical object"], "answer_index": 3}
{"token": "0f396009da4cfe4364c3565fc8da0d93", "waymo_split": "test", "type": "image", "frame_index": 8, "question": "What is the safest choice when approaching a yellow signal: stop vs proceed?", "category": "Special Event", "options": ["A. Proceed with caution", "B. Come to a complete stop", "C. No signal", "D. Continue turning left"], "answer_index": 2}
{"token": "0f396009da4cfe4364c3565fc8da0d93", "waymo_split": "test", "type": "image", "frame_index": 46, "question": "Which of the following is correct as an Image Caption from a Safety-critical Frame perspective?", "category": "Safety-critical scene caption", "options": ["A. Red light violation vehicle", "B. Electric scooter in the lane", "C. No safety-critical object", "D. Pedestrian on the roadway"], "answer_index": 2}
{"token": "0f396009da4cfe4364c3565fc8da0d93", "waymo_split": "test", "type": "image", "frame_index": 46, "question": "Based on the current appearance of the person/vehicle (two-wheeled), how do you intend to move?", "category": "Normal Perception & Prediction", "options": ["A. Gradually come to a stop", "B. Change to the right lane", "C. Slowly turn left", "D. Quickly drive straight"], "answer_index": 3}
{"token": "0f396009da4cfe4364c3565fc8da0d93", "waymo_split": "test", "type": "image", "frame_index": 46, "question": "What is the plan for yielding when an ambulance/fire truck approaches?", "category": "Special Event", "options": ["A. Entering the intersection and yielding", "B. Pulling over to the center line and yielding", "C. Moving to the right shoulder to yield", "D. Moving to the left shoulder to yield"], "answer_index": 2}
{"token": "0f396009da4cfe4364c3565fc8da0d93", "waymo_split": "test", "type": "image", "frame_index": 46, "question": "Which of the following is a correct description of traffic density?", "category": "Normal scene Understanding", "options": ["A. Slow, 2 surrounding vehicles", "B. Fast, 3 surrounding vehicles", "C. Fast, 1 surrounding vehicle", "D. Slow, 0 surrounding vehicles"], "answer_index": 2}
{"token": "0f396009da4cfe4364c3565fc8da0d93", "waymo_split": "test", "type": "image", "frame_index": 46, "question": "What are the restrictions on behavior in school zones/congested areas?", "category": "Special Event", "options": ["A. Drive slowly", "B. Overtake on the right", "C. Accelerate to pass", "D. Proceed while honking"], "answer_index": 0}
{"token": "0f396009da4cfe4364c3565fc8da0d93", "waymo_split": "test", "type": "image", "frame_index": 46, "question": "What is the classification of the scene?", "category": "Normal scene Understanding", "options": ["A. One-way three-lane road in the city", "B. Two-lane road in the city", "C. Two-lane road in a residential area", "D. Two-lane section of a highway"], "answer_index": 1}
{"token": "0f396009da4cfe4364c3565fc8da0d93", "waymo_split": "test", "type": "image", "frame_index": 46, "question": "Which of the following is a correct description of the environment?", "category": "Normal scene Understanding", "options": ["A. Day, clear", "B. Evening, rain", "C. Night, cloudy", "D. Day, cloudy"], "answer_index": 3}
{"token": "0f396009da4cfe4364c3565fc8da0d93", "waymo_split": "test", "type": "image", "frame_index": 46, "question": "What is the description of a non-safety-critical object?", "category": "Normal Perception & Prediction", "options": ["A. A vacant lot and construction barriers on the right. A dense commercial area and signs on the left. A few pedestrians waiting for the signal in front, stopped at the crosswalk.", "B. The river railing and walking path on the right. Parked cars lined up continuously on the left. A vehicle in the distance trying to enter from the left.", "C. Shops and a bicycle rack on the right. A park fence and shrubs visible on the left. A vehicle in the same lane ahead slowly moving away.", "D. The sidewalk and residential area on the right. The sidewalk and tree trunks visible on the left. A vehicle approaching from the opposite lane very far away towards my car."], "answer_index": 3}
{"token": "0f396009da4cfe4364c3565fc8da0d93", "waymo_split": "test", "type": "image", "frame_index": 8, "question": "Is lane change possible? Which is safer, slowing down or changing lanes?", "category": "Safety-critical Planning", "options": ["A. Lane change not possible. Slowing down is safer", "B. Lane change to the left is possible. Changing lanes is safer than slowing down", "C. Lane change is possible. Changing lanes is safer", "D. Lane change to the right is possible. Changing lanes is safer"], "answer_index": 0}
{"token": "0f396009da4cfe4364c3565fc8da0d93", "waymo_split": "test", "type": "image", "frame_index": 46, "question": "Which of the following is a correct description of traffic signals?", "category": "Traffic Signal", "options": ["A. Stop", "B. None", "C. Red light", "D. Stop line"], "answer_index": 1}
{"token": "0f396009da4cfe4364c3565fc8da0d93", "waymo_split": "test", "type": "image", "frame_index": 46, "question": "What is a safety-critical object?", "category": "Safety-critical Perception", "options": ["A. Safety-critical brake controller", "B. Safety-critical emergency stop switch", "C. No safety-critical object", "D. Safety-critical battery management module"], "answer_index": 2}
{"token": "0f396009da4cfe4364c3565fc8da0d93", "waymo_split": "test", "type": "image", "frame_index": 46, "question": "How do you think a safety-critical object should be moved?", "category": "Safety-critical Prediction", "options": ["A. Approach the safety-critical object from the left", "B. Move across the front of the safety-critical object", "C. Move away from the rear of the safety-critical object", "D. No safety-critical object"], "answer_index": 3}
{"token": "0f396009da4cfe4364c3565fc8da0d93", "waymo_split": "test", "type": "image", "frame_index": 46, "question": "What is the answer regarding the parked vehicle on the shoulder, the presence of a center line, and whether Ego has crossed the center line?", "category": "Normal Perception & Prediction", "options": ["A. One parked vehicle on the shoulder. Center line exists. Ego has crossed the center line.", "B. No parked vehicles on the shoulder. Center line exists. Ego has not crossed the center line.", "C. No parked vehicles on the shoulder. No center line. Ego has not crossed the center line.", "D. There is a parked vehicle on the shoulder. Center line exists. Ego has crossed the center line."], "answer_index": 1}
{"token": "0f396009da4cfe4364c3565fc8da0d93", "waymo_split": "test", "type": "image", "frame_index": 46, "question": "Is there any other safety-critical object besides the first safety-critical object? If so, how will you move?", "category": "Safety-critical Prediction", "options": ["A. There is another safety-critical object, merging slowly into the right lane.", "B. There is another safety-critical object, crossing from the front to the left.", "C. There is another safety-critical object, approaching from behind to the front.", "D. There is no other safety-critical object."], "answer_index": 3}
{"token": "0f396009da4cfe4364c3565fc8da0d93", "waymo_split": "test", "type": "image", "frame_index": 46, "question": "Is there a blind spot?", "category": "Uncertainty", "options": ["A. No blind spot", "B. Right blind spot", "C. Left blind spot", "D. There is a blind spot"], "answer_index": 0}
{"token": "0f396009da4cfe4364c3565fc8da0d93", "waymo_split": "test", "type": "image", "frame_index": 46, "question": "Is lane change possible? Which is safer between slowing down and changing lanes?", "category": "Safety-critical Planning", "options": ["A. Lane change possible. Changing lanes is safer", "B. Left change possible. Changing lanes is safer", "C. Right change possible. Changing lanes is safer than slowing down", "D. Lane change not possible. Slowing down is safer"], "answer_index": 3}
{"token": "0f396009da4cfe4364c3565fc8da0d93", "waymo_split": "test", "type": "image", "frame_index": 46, "question": "What is the safest choice when approaching a yellow signal: stop vs proceed?", "category": "Special Event", "options": ["A. Waiting to turn left", "B. Stop immediately", "C. Proceed while slowing down", "D. No signal"], "answer_index": 3}
{"token": "0f396009da4cfe4364c3565fc8da0d93", "waymo_split": "test", "type": "image", "frame_index": 46, "question": "What are the new potential hazards that may be exposed in the following section?", "category": "Safety-critical Prediction", "options": ["A. An SUV attempting to change lanes to overtake from the left lane", "B. A delivery truck slowly merging from the right alley", "C. A fast vehicle approaching from the opposite lane towards my car", "D. A motorcycle rapidly approaching in the same lane from behind my car"], "answer_index": 2}
{"token": "0f396009da4cfe4364c3565fc8da0d93", "waymo_split": "test", "type": "image", "frame_index": 94, "question": "Based on the current appearance of the person/vehicle (two-wheeled), how do you intend to move?", "category": "Normal Perception & Prediction", "options": ["A. Urgently making a right turn", "B. Slowly making a left turn", "C. Quickly going straight", "D. Slowly reversing"], "answer_index": 2}
{"token": "0f396009da4cfe4364c3565fc8da0d93", "waymo_split": "test", "type": "image", "frame_index": 94, "question": "Which of the following is correct as an Image Caption from the perspective of Safety-critical Frame?", "category": "Safety-critical scene caption", "options": ["A. Right in front of a stop sign", "B. No safety-critical object", "C. There is a pedestrian ahead", "D. Bicycle entering from the right"], "answer_index": 1}
{"token": "0f396009da4cfe4364c3565fc8da0d93", "waymo_split": "test", "type": "image", "frame_index": 94, "question": "Which of the following is correct as an Image Caption from the perspective of a Normal Frame?", "category": "Normal scene caption", "options": ["A. A car moving slowly on a four-lane road. There are shops and sidewalks on both sides, with a few pedestrians and cyclists visible. There are many street trees and bus stops on the sidewalk, and utility poles are sparse.", "B. A car making a left turn in a narrow residential alley. A person is standing on the sidewalk to the right, and there are parked cars lined up on the left. Power lines are not very visible, and signs and exterior lights fill the roadside.", "C. A car driving on a one-way three-lane road at night in the rain. There are many lights from shops on both sides of the road, and people are waiting at the crosswalk. There are many streetlights and traffic lights on the sidewalk, and utility poles are almost nonexistent.", "D. A car driving quickly on a two-lane road. There are sidewalks and houses on both sides, but no people. There are many power lines and utility poles on the sidewalk."], "answer_index": 3}
{"token": "0f396009da4cfe4364c3565fc8da0d93", "waymo_split": "test", "type": "image", "frame_index": 94, "question": "What are the behavior restrictions in school zones/congested areas?", "category": "Special Event", "options": ["A. Drive slowly", "B. Proceed while honking", "C. Prioritize lane changes", "D. Accelerate to pass"], "answer_index": 0}
{"token": "0f396009da4cfe4364c3565fc8da0d93", "waymo_split": "test", "type": "image", "frame_index": 94, "question": "Which of the following is a correct description of traffic density?", "category": "Normal scene Understanding", "options": ["A. Fast, few surrounding vehicles", "B. Fast, no surrounding vehicles", "C. Slow, many surrounding vehicles", "D. Slow, no surrounding vehicles"], "answer_index": 1}
{"token": "0f396009da4cfe4364c3565fc8da0d93", "waymo_split": "test", "type": "image", "frame_index": 94, "question": "What is the plan for yielding when an emergency vehicle/fire truck approaches?", "category": "Special Event", "options": ["A. Stay close to the center of the lane, turn on hazard lights, and drive slowly", "B. Move to the left shoulder to yield the passage", "C. Pass through the intersection first and yield behind", "D. Move to the right shoulder to yield space"], "answer_index": 3}
{"token": "0f396009da4cfe4364c3565fc8da0d93", "waymo_split": "test", "type": "image", "frame_index": 94, "question": "What is the description of non-safety-critical objects?", "category": "Normal Perception & Prediction", "options": ["A. Parked vehicles at the edge of the right lane, a bus stop on the left, and a large billboard are noticeable.", "B. Shops and a bicycle rack on the right, and a grassy park with many benches on the left are visible.", "C. Construction barriers and safety fences on the right, and a river railing and walking path signs on the left are visible.", "D. Sidewalks and residential areas on the right, and sidewalks with tree trunks and utility poles located on the sidewalk are highly visible."], "answer_index": 3}
{"token": "0f396009da4cfe4364c3565fc8da0d93", "waymo_split": "test", "type": "image", "frame_index": 94, "question": "Which of the following is a correct description of the environment?", "category": "Normal scene Understanding", "options": ["A. Morning, cloudy", "B. Evening, rain", "C. Afternoon, clear", "D. Afternoon, cloudy"], "answer_index": 3}
{"token": "0f396009da4cfe4364c3565fc8da0d93", "waymo_split": "test", "type": "image", "frame_index": 94, "question": "Which of the following is a correct description of traffic signals?", "category": "Traffic Signal", "options": ["A. None", "B. Slow down", "C. Left turn", "D. Stop"], "answer_index": 0}
{"token": "0f396009da4cfe4364c3565fc8da0d93", "waymo_split": "test", "type": "image", "frame_index": 94, "question": "What is the classification of the scene?", "category": "Normal scene Understanding", "options": ["A. Residential back road", "B. Urban secondary road", "C. Outer ring expressway", "D. Urban one-way three-lane road"], "answer_index": 1}
{"token": "0f396009da4cfe4364c3565fc8da0d93", "waymo_split": "test", "type": "image", "frame_index": 94, "question": "What is the answer regarding the parked vehicle on the shoulder, the presence of a center line, and whether Ego crosses the center line?", "category": "Normal Perception & Prediction", "options": ["A. No parked vehicle on the shoulder. No center line. Ego does not cross the center line.", "B. No parked vehicle on the shoulder. Center line exists. Ego does not cross the center line.", "C. One parked vehicle on the shoulder. Center line exists. Ego crosses the center line.", "D. There is a parked vehicle on the shoulder. Center line exists. Ego crosses the center line."], "answer_index": 1}
{"token": "0f396009da4cfe4364c3565fc8da0d93", "waymo_split": "test", "type": "image", "frame_index": 94, "question": "What is a safety-critical object?", "category": "Safety-critical Perception", "options": ["A. A safety-critical object is an emergency stop button", "B. A safety-critical object is the main power switch", "C. There is no safety-critical object", "D. A safety-critical object is a brake control module"], "answer_index": 2}
{"token": "0f396009da4cfe4364c3565fc8da0d93", "waymo_split": "test", "type": "image", "frame_index": 94, "question": "How do you think safety-critical objects will be moved?", "category": "Safety-critical Prediction", "options": ["A. No safety-critical objects", "B. Approach of safety-critical vehicles", "C. Detection of safety-critical pedestrians", "D. There are safety-critical objects"], "answer_index": 0}
{"token": "0f396009da4cfe4364c3565fc8da0d93", "waymo_split": "test", "type": "image", "frame_index": 94, "question": "Is there a blind spot in your field of vision?", "category": "Uncertainty", "options": ["A. No blind spot on the left", "B. Blind spot on the right", "C. There is a blind spot", "D. No blind spot"], "answer_index": 3}
{"token": "0f396009da4cfe4364c3565fc8da0d93", "waymo_split": "test", "type": "image", "frame_index": 94, "question": "Is lane change possible? Which is safer between slowing down and changing lanes?", "category": "Safety-critical Planning", "options": ["A. Conditional lane change is possible. Changing lanes is safer", "B. Lane change is not possible. Slowing down is safer", "C. Lane change is possible. Changing lanes is safer", "D. Changing to the left lane is possible. Changing lanes is safer"], "answer_index": 1}
{"token": "0f396009da4cfe4364c3565fc8da0d93", "waymo_split": "test", "type": "image", "frame_index": 94, "question": "Is there any other safety-critical object besides the first safety-critical object? If so, how will it be moved?", "category": "Safety-critical Prediction", "options": ["A. There is another safety-critical object, move from the right to the left storage after wearing protective gear.", "B. The high-voltage cable is a safety-critical object, marked and two people move forward 5 meters.", "C. The battery pack is a safety-critical object, power off and move to the rear safety area with a cart.", "D. There are no other safety-critical objects."], "answer_index": 3}
{"token": "0f396009da4cfe4364c3565fc8da0d93", "waymo_split": "test", "type": "image", "frame_index": 94, "question": "What is the method to avoid blind spots when passing large vehicles?", "category": "Special Event", "options": ["A. No large vehicle", "B. Pass closely", "C. Overtake on the right", "D. Accelerate quickly"], "answer_index": 0}
{"token": "0f396009da4cfe4364c3565fc8da0d93", "waymo_split": "test", "type": "image", "frame_index": 94, "question": "What is the safest choice when approaching a yellow signal: stop vs proceed?", "category": "Special Event", "options": ["A. Priority to left turn", "B. No signal", "C. Pedestrian signal", "D. Unprotected straight"], "answer_index": 1}
{"token": "0f396009da4cfe4364c3565fc8da0d93", "waymo_split": "test", "type": "image", "frame_index": 116, "question": "Based on the current appearance of the person/vehicle (two-wheeled), how do they intend to move?", "category": "Normal Perception & Prediction", "options": ["A. Staying close to the right lane and preparing to turn right", "B. Turning on the left turn signal and entering the left turn lane", "C. Moving straight quickly until just before the intersection", "D. Slowing down just before the intersection and waiting for the signal"], "answer_index": 2}
{"token": "0f396009da4cfe4364c3565fc8da0d93", "waymo_split": "test", "type": "image", "frame_index": 116, "question": "Which is correct as an Image Caption from the perspective of Safety-critical Frame?", "category": "Safety-critical scene caption", "options": ["A. there is a safety-critical object (right bicycle)", "B. there is a safety-critical object (front traffic light)", "C. there is a safety-critical object (left pedestrian)", "D. there is no safety-critical object"], "answer_index": 3}
{"token": "0f396009da4cfe4364c3565fc8da0d93", "waymo_split": "test", "type": "image", "frame_index": 94, "question": "What potential situations could arise in the current scenario?", "category": "Counterfactual", "options": ["A. The tunnel entrance is right ahead, so the vehicle in front may suddenly decelerate due to changes in brightness.", "B. It is a railway crossing area, so the barrier may come down, leading to a sudden stop situation.", "C. A junction appears ahead, where vehicles or pedestrians may emerge from the left or right.", "D. Entering a roundabout ahead, there is a risk of collision with merging vehicles in the rotary."], "answer_index": 2}
{"token": "0f396009da4cfe4364c3565fc8da0d93", "waymo_split": "test", "type": "image", "frame_index": 116, "question": "What is the plan for yielding when an ambulance/fire truck approaches?", "category": "Special Event", "options": ["A. Keep driving at a steady speed with emergency lights on", "B. Quickly pass through intersections to clear the way", "C. Move to the right shoulder to yield space", "D. Pull over to the left shoulder to yield space"], "answer_index": 2}
{"token": "0f396009da4cfe4364c3565fc8da0d93", "waymo_split": "test", "type": "image", "frame_index": 116, "question": "Which of the following is correct as an Image Caption from the perspective of a Normal Frame?", "category": "Normal scene caption", "options": ["A. A car slowly driving through a narrow one-way alley. Parked cars are lined up on the left, and one or two pedestrians can be seen. Ahead, there is a T-intersection with no traffic lights. A small cafe is located at the right corner.", "B. A car moving slowly on a three-lane main road. Shops and pedestrians are sparsely visible on both sides. Ahead, there is a crosswalk and traffic lights, with the signal showing green. A convenience store is attached to the right corner.", "C. A car accelerating on a highway entrance ramp. There are only soundproof walls and guardrails on both sides, with no houses or sidewalks. Ahead, there are toll booth lanes, and the guide electronic sign is clear. A rest area entrance ramp is visible on the right.", "D. A car quickly driving on a two-lane road. There are sidewalks and houses on both sides, but no people. Ahead, an intersection appears with traffic lights, but the signal is not yet visible. There is an open space at the right corner."], "answer_index": 3}
{"token": "0f396009da4cfe4364c3565fc8da0d93", "waymo_split": "test", "type": "image", "frame_index": 116, "question": "Which of the following is a correct description of traffic density?", "category": "Normal scene Understanding", "options": ["A. Fast, no surrounding vehicles", "B. Slow, many surrounding vehicles", "C. Fast, few surrounding vehicles", "D. Slow, no surrounding vehicles"], "answer_index": 0}
{"token": "0f396009da4cfe4364c3565fc8da0d93", "waymo_split": "test", "type": "image", "frame_index": 116, "question": "What is the classification of the scene?", "category": "Normal scene Understanding", "options": ["A. 4-lane highway", "B. unpaved rural farm road", "C. urban 2-lane road", "D. one-way street in a residential area"], "answer_index": 2}
{"token": "0f396009da4cfe4364c3565fc8da0d93", "waymo_split": "test", "type": "image", "frame_index": 116, "question": "What is the description of a non-safety-critical object?", "category": "Normal Perception & Prediction", "options": ["A. A tunnel entrance and speed limit sign ahead. Store signs and flower beds on the left and right.", "B. A rotary and fountain ahead. Bicycle paths and benches on the left and right.", "C. A bus stop and electronic display ahead. Park fence and trash cans on the left and right.", "D. An intersection and traffic lights ahead. Sidewalks and streetlights on the left and right."], "answer_index": 3}
{"token": "0f396009da4cfe4364c3565fc8da0d93", "waymo_split": "test", "type": "image", "frame_index": 116, "question": "Which of the following is a correct description of the environment?", "category": "Normal scene Understanding", "options": ["A. Evening, rain", "B. Morning, fog", "C. Night, clear", "D. Day, cloudy"], "answer_index": 3}
{"token": "0f396009da4cfe4364c3565fc8da0d93", "waymo_split": "test", "type": "image", "frame_index": 116, "question": "Which of the following is a correct description of traffic signals?", "category": "Traffic Signal", "options": ["A. Speed limit 50", "B. Pedestrian signal", "C. None", "D. Left turn signal"], "answer_index": 2}
{"token": "0f396009da4cfe4364c3565fc8da0d93", "waymo_split": "test", "type": "image", "frame_index": 116, "question": "What are the restrictions on behavior in school zones/congested areas?", "category": "Special Event", "options": ["A. Driving while honking the horn", "B. Driving with rapid acceleration", "C. Driving at a slow speed", "D. Driving while overtaking"], "answer_index": 2}
{"token": "0f396009da4cfe4364c3565fc8da0d93", "waymo_split": "test", "type": "image", "frame_index": 116, "question": "What is the answer regarding the presence of parked vehicles on the shoulder, the existence of a center line, and whether Ego crosses the center line?", "category": "Normal Perception & Prediction", "options": ["A. There is a parked vehicle on the shoulder. There is a center line. Ego does not cross the center line.", "B. There is no parked vehicle on the shoulder. There is a center line. Ego does not cross the center line.", "C. There is no parked vehicle on the shoulder. There is a center line. Ego crosses the center line.", "D. There is no parked vehicle on the shoulder. There is no center line. Ego does not cross the center line."], "answer_index": 1}
{"token": "0f396009da4cfe4364c3565fc8da0d93", "waymo_split": "test", "type": "image", "frame_index": 116, "question": "What is a safety-critical object?", "category": "Safety-critical Perception", "options": ["A. Brake control module", "B. Emergency stop button", "C. Overheat detection sensor", "D. No safety-critical object"], "answer_index": 3}
{"token": "0f396009da4cfe4364c3565fc8da0d93", "waymo_split": "test", "type": "image", "frame_index": 116, "question": "Are there any other safety-critical objects besides the first safety-critical object? If so, how will you move?", "category": "Safety-critical Prediction", "options": ["A. There is the following safety-critical object: construction equipment ahead, proceed slowly and avoid turning right.", "B. There is the following safety-critical object: fire truck on the right, slow down and change lanes.", "C. There are no other safety-critical objects.", "D. There is the following safety-critical object: pedestrian ahead, stop and turn left."], "answer_index": 2}
{"token": "0f396009da4cfe4364c3565fc8da0d93", "waymo_split": "test", "type": "image", "frame_index": 116, "question": "How do you think safety-critical objects will move?", "category": "Safety-critical Prediction", "options": ["A. Object entering the left lane", "B. Detecting an object with a risk of frontal collision", "C. There is a safety-critical object", "D. There is no safety-critical object"], "answer_index": 3}
{"token": "0f396009da4cfe4364c3565fc8da0d93", "waymo_split": "test", "type": "image", "frame_index": 116, "question": "Is lane changing possible? Which is safer, slowing down or changing lanes?", "category": "Safety-critical Planning", "options": ["A. It is possible to change lanes to avoid slow vehicles. Changing lanes is safer.", "B. It is possible to change to the left lane. Changing lanes is safer than slowing down.", "C. It is possible to change to the right lane. Changing lanes is safer.", "D. Lane changing is not possible. Slowing down is safer."], "answer_index": 3}
{"token": "0f396009da4cfe4364c3565fc8da0d93", "waymo_split": "test", "type": "image", "frame_index": 116, "question": "Where is the area that hides danger in the current frame?", "category": "Uncertainty", "options": ["A. The central median billboard is blocking the beginning of the crosswalk, so a person may appear from behind it.", "B. The large bus in front is obstructing the view at the intersection, allowing vehicles from the opposite side to enter.", "C. The parked van on the left is blocking the entrance to the alley, so pedestrians or bicycles may appear from inside.", "D. The building on the right is blocking the open area, so a person or object may appear from that direction."], "answer_index": 3}
{"token": "0f396009da4cfe4364c3565fc8da0d93", "waymo_split": "test", "type": "image", "frame_index": 116, "question": "What is the safest choice when approaching a yellow signal: stop vs proceed?", "category": "Special Event", "options": ["A. Stop immediately", "B. Proceed slowly", "C. No signal", "D. Turn right and proceed"], "answer_index": 2}
{"token": "0f396009da4cfe4364c3565fc8da0d93", "waymo_split": "test", "type": "image", "frame_index": 116, "question": "Is there a blind spot?", "category": "Uncertainty", "options": ["A. No blind spot", "B. There is a right blind spot", "C. There is a blind spot", "D. There is a right rear blind spot"], "answer_index": 0}
{"token": "0f396009da4cfe4364c3565fc8da0d93", "waymo_split": "test", "type": "image", "frame_index": 116, "question": "What is the method to avoid the blind spot next to a large vehicle?", "category": "Special Event", "options": ["A. Passing beside the bus", "B. Passing on the right side of the large vehicle", "C. Entering the blind spot of the truck", "D. No large vehicle"], "answer_index": 3}
{"token": "0f396009da4cfe4364c3565fc8da0d93", "waymo_split": "test", "type": "image", "frame_index": 142, "question": "Based on the current appearance of the person/car (two-wheeled), how do they intend to move?", "category": "Normal Perception & Prediction", "options": ["A. Stop in front of the U-turn point and wait for the next signal", "B. Slowly prepare for a left turn while adjusting the angle of entry into the intersection", "C. Quickly drive straight ahead until just before the intersection", "D. Drive slowly while sticking to the right edge and change lanes"], "answer_index": 2}
{"token": "0f396009da4cfe4364c3565fc8da0d93", "waymo_split": "test", "type": "image", "frame_index": 142, "question": "What are the behavior restrictions in school zones/congested areas?", "category": "Special Event", "options": ["A. Drive with high beams on", "B. Honk the horn while passing", "C. Overtake in the left lane", "D. Drive slowly"], "answer_index": 3}
{"token": "0f396009da4cfe4364c3565fc8da0d93", "waymo_split": "test", "type": "image", "frame_index": 142, "question": "What is correct as an Image Caption from the perspective of a Normal Frame?", "category": "Normal scene caption", "options": ["A. A car slowly driving on a one-lane alley. The front is a continuous curve section, so intersections and traffic lights are not visible. There is a small convenience store and a parked car at the right corner. Shops are lined on both sides, and a few pedestrians are passing by.", "B. A car quickly driving on a two-lane road. There is an intersection ahead, and the traffic light is orange. There is an open space at the corner on the right. There are sidewalks and houses on both sides, but no people.", "C. A car stopped on a four-lane road. The traffic light at the intersection ahead remains red. There are landscaped flower beds and a bus stop wrapping around the corner on the right. Bicycle lanes and low-rise commercial buildings are visible on both sides, with pedestrians appearing sporadically.", "D. A car moving slowly on a narrow country road. Ahead is a T-intersection, and there are no traffic lights installed. There are rice fields and warehouses along the corner on the right. There are no sidewalks on either side, and only a few farms are visible."], "answer_index": 1}
{"token": "0f396009da4cfe4364c3565fc8da0d93", "waymo_split": "test", "type": "image", "frame_index": 142, "question": "Which of the following is correct as an Image Caption from a safety-critical Frame perspective?", "category": "Safety-critical scene caption", "options": ["A. Pedestrian entering from the front", "B. No safety-critical object", "C. Broken down vehicle stopped on the right edge", "D. Motorcycle approaching in the left lane"], "answer_index": 1}
{"token": "0f396009da4cfe4364c3565fc8da0d93", "waymo_split": "test", "type": "image", "frame_index": 142, "question": "Which of the following is a correct description of traffic density?", "category": "Normal scene Understanding", "options": ["A. Slow, few surrounding vehicles", "B. Slow, many surrounding vehicles", "C. Fast, no surrounding vehicles", "D. Fast, a few surrounding vehicles"], "answer_index": 2}
{"token": "0f396009da4cfe4364c3565fc8da0d93", "waymo_split": "test", "type": "image", "frame_index": 142, "question": "What is the plan for yielding when an ambulance/fire truck approaches?", "category": "Special Event", "options": ["A. Move to the right shoulder to yield space", "B. Pull to the left shoulder to create a passage in the middle", "C. Just turn on the hazard lights and maintain speed in the current lane", "D. Pass through the intersection first and then move aside to yield"], "answer_index": 0}
{"token": "0f396009da4cfe4364c3565fc8da0d93", "waymo_split": "test", "type": "image", "frame_index": 142, "question": "Which of the following is a correct description of the environment?", "category": "Normal scene Understanding", "options": ["A. Night, rain", "B. Morning, fog", "C. Dusk, clear", "D. Day, cloudy"], "answer_index": 3}
{"token": "0f396009da4cfe4364c3565fc8da0d93", "waymo_split": "test", "type": "image", "frame_index": 142, "question": "What is the description of a non-safety-critical object?", "category": "Normal Perception & Prediction", "options": ["A. A railway crossing and warning lights ahead. Warehouses and a parking lot on the left and right.", "B. A roundabout and a fountain ahead. Flower beds and park benches on the left and right.", "C. A tunnel entrance and a speed limit sign ahead. Sound barriers and safety fences on the left and right.", "D. An intersection and traffic lights ahead. Sidewalks and streetlights on the left and right."], "answer_index": 3}
{"token": "0f396009da4cfe4364c3565fc8da0d93", "waymo_split": "test", "type": "image", "frame_index": 142, "question": "What is the classification of the scene?", "category": "Normal scene Understanding", "options": ["A. Three-lane highway", "B. Unpaved rural road", "C. Two-lane urban road", "D. One-way street in a residential area"], "answer_index": 2}
{"token": "0f396009da4cfe4364c3565fc8da0d93", "waymo_split": "test", "type": "image", "frame_index": 142, "question": "Which of the following is a correct description of traffic signals?", "category": "Traffic Signal", "options": ["A. Stop", "B. Left turn", "C. None", "D. Go straight"], "answer_index": 2}
{"token": "0f396009da4cfe4364c3565fc8da0d93", "waymo_split": "test", "type": "image", "frame_index": 142, "question": "How do you think a safety-critical object will move?", "category": "Safety-critical Prediction", "options": ["A. Driving on the opposite side of the road", "B. Stopped on the shoulder in the same direction as the vehicle", "C. Walking on the sidewalk in the same direction as the vehicle", "D. Driving on the road in the same direction as the vehicle"], "answer_index": 3}
{"token": "0f396009da4cfe4364c3565fc8da0d93", "waymo_split": "test", "type": "image", "frame_index": 142, "question": "What is the answer regarding the presence of parked vehicles on the shoulder, the existence of a center line, and whether Ego has crossed the center line?", "category": "Normal Perception & Prediction", "options": ["A. No parked vehicles on the shoulder. No center line. Ego has not crossed the center line.", "B. No parked vehicles on the shoulder. Center line exists. Ego has not crossed the center line.", "C. Parked vehicles on the shoulder. Center line exists. Ego has crossed the center line.", "D. Parked vehicles on the shoulder. Center line exists. Ego has not crossed the center line."], "answer_index": 1}
{"token": "0f396009da4cfe4364c3565fc8da0d93", "waymo_split": "test", "type": "image", "frame_index": 142, "question": "Is there a blind spot in your field of vision?", "category": "Uncertainty", "options": ["A. No blind spot", "B. Partial blind spot", "C. There is a blind spot", "D. Right blind spot exists"], "answer_index": 0}
{"token": "0f396009da4cfe4364c3565fc8da0d93", "waymo_split": "test", "type": "image", "frame_index": 142, "question": "What is a safety-critical object?", "category": "Safety-critical Perception", "options": ["A. A motorcycle quickly approaching from the right open space on the same direction road.", "B. An electric scooter merging slowly from the right open space on the same direction road.", "C. A stationary vehicle waiting at a traffic signal in the center of the front lane.", "D. A bicycle slowly entering from the left sidewalk into the opposite direction road."], "answer_index": 0}
{"token": "0f396009da4cfe4364c3565fc8da0d93", "waymo_split": "test", "type": "image", "frame_index": 142, "question": "What is the correlation in safety-critical situations?", "category": "Safety-critical scene Understanding", "options": ["A. Car - Bicycle", "B. Person - Motorcycle", "C. Car - Motorcycle", "D. Car - Pedestrian"], "answer_index": 2}
{"token": "0f396009da4cfe4364c3565fc8da0d93", "waymo_split": "test", "type": "image", "frame_index": 142, "question": "Is lane change possible? Which is safer between slowing down and changing lanes?", "category": "Safety-critical Planning", "options": ["A. Lane change is possible. Changing lanes is safer", "B. Right lane change is possible. Maintaining speed is safer", "C. Left lane change is possible. Accelerating is safer", "D. Lane change is not possible. Slowing down is safer"], "answer_index": 3}
{"token": "0f396009da4cfe4364c3565fc8da0d93", "waymo_split": "test", "type": "image", "frame_index": 142, "question": "Are there any other safety-critical objects besides the first safety-critical object? If so, how will they be moved?", "category": "Safety-critical Prediction", "options": ["A. There is a high-pressure gas cylinder, move it towards the right wall after securing it with a chain", "B. There are no other safety-critical objects", "C. There is an emergency extinguisher, safely transport it towards the exit", "D. There is an oxygen tank, load it onto a cart and move it down the left aisle"], "answer_index": 1}
{"token": "0f396009da4cfe4364c3565fc8da0d93", "waymo_split": "test", "type": "image", "frame_index": 142, "question": "What should you do to drive safely?", "category": "Safety-critical Planning", "options": ["A. Maintain your lane and proceed as is, even if the vehicle is close (constant speed)", "B. Increase your speed to pass quickly when the vehicle approaches (acceleration)", "C. Change lanes to overtake as the vehicle approaches (overtaking)", "D. Slow down as the vehicle approaches (deceleration)"], "answer_index": 3}
{"token": "0f396009da4cfe4364c3565fc8da0d93", "waymo_split": "test", "type": "image", "frame_index": 142, "question": "What is the safer choice when approaching a yellow signal: stop or proceed?", "category": "Special Event", "options": ["A. Since the car behind is closing the gap, it is necessary to maintain speed or slightly accelerate. Therefore, even with a yellow signal, it is safer to proceed to avoid the risk of a rear-end collision from a sudden stop.", "B. Since there is no movement in the left lane or crosswalk, it is necessary to prioritize proceeding over braking. Therefore, even with a yellow signal, it is safer to maintain speed and pass through the intersection.", "C. Since a motorcycle on the right is approaching quickly, it is necessary to slow down. Therefore, even with a yellow signal, it is safer to stop for now as it would be difficult to pass quickly.", "D. Since the motorcycle on the right has already slowed down and shows signs of stopping, our car should not disrupt the flow. Therefore, even with a yellow signal, it is safer to exit the intersection quickly rather than stop."], "answer_index": 2}
{"token": "0f396009da4cfe4364c3565fc8da0d93", "waymo_split": "test", "type": "image", "frame_index": 142, "question": "What are the driving guidelines for my vehicle based on the behavior of a safety-critical object?", "category": "Safety-critical Planning", "options": ["A. If the safety-critical object appears to slowly move away from the direction of my vehicle, I should maintain my speed and pass without slowing down. Also, since there is a vehicle close behind, sudden braking would increase the risk of a collision.", "B. If the safety-critical object is approaching quickly towards my vehicle, I must brake suddenly due to the risk of a collision. Additionally, since there is no vehicle behind, there is no risk in braking suddenly.", "C. If the safety-critical object is quickly merging in from the side, I should accelerate to pass first in order to avoid a collision. Furthermore, since there is no vehicle behind, increasing my speed poses no risk to my surroundings.", "D. If the safety-critical object is approaching my vehicle, I can simply change lanes to the right without needing to brake suddenly. Also, since lane changing is possible, there is no need to check the situation behind me."], "answer_index": 1}
{"token": "0f396009da4cfe4364c3565fc8da0d93", "waymo_split": "test", "type": "image", "frame_index": 142, "question": "What is the method to avoid the blind spot next to a large vehicle?", "category": "Special Event", "options": ["A. Overtaking on the right", "B. Driving next to the bus", "C. No large vehicle", "D. Staying close behind the truck"], "answer_index": 2}
{"token": "0ff01d9ee070abfe63bbede3ef27857e", "waymo_split": "test", "type": "video", "frame_index": null, "question": "What are the classifications of scenes?", "category": "Normal scene Understanding", "options": ["A. Residential road", "B. Highway", "C. Regular road", "D. Unpaved road"], "answer_index": 2}
{"token": "0ff01d9ee070abfe63bbede3ef27857e", "waymo_split": "test", "type": "video", "frame_index": null, "question": "Where is the safety-critical situation in the video?", "category": "Temporal Grounding", "options": ["A. 2/4", "B. 3/4", "C. 4/4", "D. 1/4"], "answer_index": 2}
{"token": "0ff01d9ee070abfe63bbede3ef27857e", "waymo_split": "test", "type": "video", "frame_index": null, "question": "Is there a special situation?", "category": "Special Event", "options": ["A. An emergency vehicle with its siren on is approaching from the right lane.", "B. It seems to be a traffic jam due to a stopped school bus for boarding and alighting.", "C. It appears to be an area where construction cones are set up ahead.", "D. The road condition is inferred to be a wet road with a lot of water on it."], "answer_index": 3}
{"token": "0ff01d9ee070abfe63bbede3ef27857e", "waymo_split": "test", "type": "video", "frame_index": null, "question": "Which of the following is a correct description of road alignment?", "category": "Normal Perception & Prediction", "options": ["A. Straight", "B. Overtaking", "C. Right turn", "D. Left turn"], "answer_index": 0}
{"token": "0ff01d9ee070abfe63bbede3ef27857e", "waymo_split": "test", "type": "video", "frame_index": null, "question": "Which of the following is a correct description of traffic density?", "category": "Normal scene Understanding", "options": ["A. Turning left slowly. There is a gentle downhill. There are many vehicles in motion around, and few parked vehicles.", "B. Going straight slowly. There is a slight uphill. There are many vehicles waiting at the signal around, and few parked vehicles.", "C. Making a U-turn quickly. There is no slope. There are many parked vehicles around, and few vehicles in motion.", "D. Turning right at a normal speed. There is a slight slope. There are many vehicles in motion around, and few vehicles parked on the street."], "answer_index": 2}
{"token": "0ff01d9ee070abfe63bbede3ef27857e", "waymo_split": "test", "type": "video", "frame_index": null, "question": "Which of the following is correct from the perspective of Safety-critical Scene Video Summary?", "category": "Safety-critical scene caption", "options": ["A. While attempting to make a right turn and having the front of the vehicle close to the edge of the sidewalk, the vehicle slightly moves forward to enter the lane when a car is coming straight from the intersection into the central view. At this time, the vehicle was just slightly releasing the brake and rolling.", "B. While making a U-turn in two attempts, after the first attempt, the vehicle was stuck with its front in the shoulder and was about to reverse and turn right to return to the lane when a car was approaching from the opposite lane in the left front view. At this time, the vehicle was slowly reversing.", "C. While attempting to parallel park on the shoulder, the rear wheel got caught on a curb and stopped momentarily. As the driver was turning the steering wheel to the right to give more reverse angle, a car was approaching from the same direction in the left rear view. At this time, the vehicle was reversing relatively quickly.", "D. While trying to complete a U-turn in one go, the vehicle stopped briefly near the center line and, just as it was moving forward to align in the lane, a car was quickly approaching from behind in the same lane in the right front view. At this time, the vehicle was moving forward slowly."], "answer_index": 1}
{"token": "0ff01d9ee070abfe63bbede3ef27857e", "waymo_split": "test", "type": "video", "frame_index": null, "question": "What is the description of non-safety-critical objects?", "category": "Normal Perception & Prediction", "options": ["A. A small store visible on the left side when waiting to turn left.", "B. Vehicles parked on the right side of the street. Trash cans and streetlights on the sidewalk. A large house visible on the right side when attempting a U-turn.", "C. Bicycle racks and bus stop signs placed on the sidewalk.", "D. Vehicles parked parallel in the left alley."], "answer_index": 1}
{"token": "0ff01d9ee070abfe63bbede3ef27857e", "waymo_split": "test", "type": "video", "frame_index": null, "question": "Which of the following is correct regarding Video Summary from the perspective of a Normal Scene?", "category": "Normal scene caption", "options": ["A. While driving on a 6-lane road, the vehicle moves to the left U-turn lane. At this time, there are no parked cars on the left side of the front, providing a clear view. After the following vehicles briefly stop to give way, the vehicle completes the U-turn in one go when the rear is clear. The road is wide enough that it proceeds without stopping, aligning normally in the opposite lane.", "B. While driving on a 2-lane road, the vehicle briefly stops at the entrance of a right alley. At this time, there is only one double-parked truck on the right side in front. After all the following vehicles pass, the vehicle attempts to enter the alley by turning right instead of making a U-turn when the rear is clear. The alley is narrow, so it reverses for a moment before returning to the straight lane, and there are no approaching vehicles from the opposite lane ahead.", "C. While driving on a 4-lane road, the vehicle moves to the right shoulder. At this time, there are several parked cars on the right side in front. After all the following vehicles successfully pass in front of the vehicle, when there are no vehicles behind, the vehicle attempts a U-turn. The road may have been too narrow for a U-turn, as it only managed to get the front of the car into the opposite lane's sidewalk and stopped. It then reversed and turned left, trying to complete the U-turn to the opposite side of the original lane when a vehicle approached from the opposite lane in front.", "D. While driving on a 4-lane road, the vehicle briefly stops at a right bus stop. At this time, there are almost no parked vehicles in front on the right. After the following vehicles pass, when the rear is clear, the vehicle attempts a U-turn at the intersection and aligns in one go. Just as the vehicle is about to start in the opposite lane, a pedestrian crosses the crosswalk, blocking the entry."], "answer_index": 2}
{"token": "0ff01d9ee070abfe63bbede3ef27857e", "waymo_split": "test", "type": "video", "frame_index": null, "question": "Which of the following is a correct description of the environment?", "category": "Normal scene Understanding", "options": ["A. Dawn, fog", "B. Afternoon, snow", "C. Daytime, clear", "D. Night, cloudy"], "answer_index": 2}
{"token": "0ff01d9ee070abfe63bbede3ef27857e", "waymo_split": "test", "type": "video", "frame_index": null, "question": "Which of the following is a correct description of traffic signals?", "category": "Traffic Signal", "options": ["A. Green traffic light, clear crosswalk", "B. Red pedestrian signal, clear stop line", "C. No signal, no road markings", "D. Flashing signal, central line marking"], "answer_index": 2}
{"token": "0ff01d9ee070abfe63bbede3ef27857e", "waymo_split": "test", "type": "video", "frame_index": null, "question": "What is the correlation in safety-critical situations?", "category": "Safety-critical scene Understanding", "options": ["A. car-car", "B. person-two-wheeled", "C. car-person", "D. car-two-wheeled"], "answer_index": 0}
{"token": "0ff01d9ee070abfe63bbede3ef27857e", "waymo_split": "test", "type": "video", "frame_index": null, "question": "Is there a blind spot in your field of vision?", "category": "Uncertainty", "options": ["A. The visibility is good in front of the right lane, so there is no blind spot.", "B. There is a blind spot between parked cars on the side and behind.", "C. A blind spot is formed only behind the stopped vehicles on the left.", "D. The area next to the right sidewalk is open, so there is no blind spot."], "answer_index": 1}
{"token": "0ff01d9ee070abfe63bbede3ef27857e", "waymo_split": "test", "type": "video", "frame_index": null, "question": "How did the safety-critical object move and how did the ego vehicle behave?", "category": "Safety-critical scene Understanding", "options": ["A. Entered the right turn lane and turned right at the intersection. The ego vehicle waited for a green light in the left lane and continued straight.", "B. Maintained a straight path while gradually decelerating in the same lane. The ego vehicle slightly veered into the right lane while continuing straight.", "C. Drove straight along the opposite lane. The ego vehicle is currently attempting a U-turn and plans to complete the U-turn into the opposite lane of the vehicle's direction and continue straight.", "D. Was stopped, then changed lanes to the left and merged. The ego vehicle maintained its lane while reducing speed and following behind."], "answer_index": 2}
{"token": "0ff01d9ee070abfe63bbede3ef27857e", "waymo_split": "test", "type": "video", "frame_index": null, "question": "What is a safety-critical object?", "category": "Safety-critical Perception", "options": ["A. A vehicle slowly approaching your car from the same lane from behind while attempting a U-turn.", "B. A vehicle maintaining distance from your car while driving in the opposite lane from the front during a U-turn.", "C. A vehicle passing your car in the same direction from the left adjacent lane while attempting a U-turn.", "D. A vehicle approaching your car from the front while driving in the opposite lane during a U-turn."], "answer_index": 3}
{"token": "0ff01d9ee070abfe63bbede3ef27857e", "waymo_split": "test", "type": "video", "frame_index": null, "question": "What is the answer regarding parked vehicles on the shoulder, the presence of a center line, and whether Ego crosses the center line?", "category": "Normal Perception & Prediction", "options": ["A. No parked vehicles on the shoulder. There is a center line.", "B. Many parked vehicles on the shoulder. No center line.", "C. Almost no parked vehicles on the shoulder. There is a center line.", "D. One or two parked vehicles on the shoulder. There is a center line."], "answer_index": 1}
{"token": "0ff01d9ee070abfe63bbede3ef27857e", "waymo_split": "test", "type": "video", "frame_index": null, "question": "Summary of Ego (self-vehicle) behavior before a safety-critical situation", "category": "Normal scene Understanding", "options": ["A. Making a U-turn to the left based on the self-vehicle", "B. Changing lanes to the right based on the self-vehicle", "C. Making a U-turn to the right based on the self-vehicle", "D. Driving straight based on the self-vehicle"], "answer_index": 0}
{"token": "0ff01d9ee070abfe63bbede3ef27857e", "waymo_split": "test", "type": "video", "frame_index": null, "question": "Who is responsible in a safety-critical situation? What is the cause?", "category": "Safety-critical scene Understanding", "options": ["A. The straight-moving vehicle is responsible. This vehicle increases the risk of collision by exceeding the speed limit and entering without considering the turning space of the vehicle making a U-turn.", "B. The vehicle making the U-turn is responsible. The vehicle attempting the U-turn obstructs the path of the straight-moving vehicle, creating the potential for a collision.", "C. The vehicle in the right lane is responsible. The vehicle suddenly changes lanes without signaling and enters the U-turn pocket, blocking the path of the vehicle that is already turning, creating a hazard.", "D. The vehicle behind is responsible. Following too closely without maintaining a safe distance, the driver fails to brake or evade after recognizing the front vehicle's U-turn, causing additional risk."], "answer_index": 1}
{"token": "0ff01d9ee070abfe63bbede3ef27857e", "waymo_split": "test", "type": "image", "frame_index": 17, "question": "Based on the current appearance of the person/vehicle (two-wheeled), how do you intend to move?", "category": "Normal Perception & Prediction", "options": ["A. Maintain the center lane and go straight or accelerate while securing distance from the vehicle in front", "B. Enter the bus-only lane or prepare to go straight through the intersection", "C. Change to the right shoulder lane or prepare to stop or make a U-turn", "D. Change to the left lane or attempt to overtake or prepare to turn left"], "answer_index": 2}
{"token": "0ff01d9ee070abfe63bbede3ef27857e", "waymo_split": "test", "type": "image", "frame_index": 17, "question": "Which of the following is correct from the perspective of Safety-critical Frame regarding Image Caption?", "category": "Safety-critical scene caption", "options": ["A. The vehicle attempts to enter the left lane while a silver sedan is decelerating and moving slowly in front of the original lane.", "B. The vehicle is diagonally leaving the lane to parallel park on the right, while a white vehicle with its turn signal on is stopped in the same lane ahead.", "C. The vehicle is changing lanes as if to park on the right shoulder, while a black vehicle is directly behind it in the lane it was originally driving in.", "D. The vehicle is adjusting its angle to enter a right alley, while a black SUV is approaching straight from the opposite lane."], "answer_index": 2}
{"token": "0ff01d9ee070abfe63bbede3ef27857e", "waymo_split": "test", "type": "video", "frame_index": null, "question": "What situation might occur if the self-driving car behaved this way?", "category": "Counterfactual", "options": ["A. If the self-driving car briefly stops during a U-turn, surrounding vehicles may adjust their speed, resulting in smoother traffic.", "B. If the self-driving car stops while making a U-turn, it could obstruct the path of other vehicles and cause a collision.", "C. If the self-driving car remains stationary while maintaining its turning angle, it could actually enhance the flow of traffic in the opposite lane.", "D. If the self-driving car stops the U-turn and waits in the center, the risk of collision decreases and overall traffic stabilizes."], "answer_index": 1}
{"token": "0ff01d9ee070abfe63bbede3ef27857e", "waymo_split": "test", "type": "image", "frame_index": 17, "question": "What is the plan for yielding when an ambulance/fire truck approaches?", "category": "Special Event", "options": ["A. Pull over to the right shoulder in the direction of travel to yield", "B. Slow down in the center of the lane with hazard lights on to yield", "C. Pull over to the left shoulder regardless of the direction of travel to yield", "D. Stop in the center of the intersection after entering the intersection"], "answer_index": 0}
{"token": "0ff01d9ee070abfe63bbede3ef27857e", "waymo_split": "test", "type": "image", "frame_index": 17, "question": "Which of the following is a correct description of traffic density?", "category": "Normal scene Understanding", "options": ["A. One vehicle behind the moving vehicle. There are many parked vehicles on the side.", "B. One vehicle in the left lane of the moving vehicle, and no parked vehicles are visible.", "C. No vehicles behind the moving vehicle, and there are few parked vehicles on the side.", "D. Two vehicles in front of the moving vehicle, and there are almost no parked vehicles on the side."], "answer_index": 0}
{"token": "0ff01d9ee070abfe63bbede3ef27857e", "waymo_split": "test", "type": "image", "frame_index": 17, "question": "What are the classifications of scenes?", "category": "Normal scene Understanding", "options": ["A. Urban road", "B. Unpaved road", "C. Residential road", "D. Highway section"], "answer_index": 0}
{"token": "0ff01d9ee070abfe63bbede3ef27857e", "waymo_split": "test", "type": "image", "frame_index": 17, "question": "Which of the following is a correct description of traffic signals?", "category": "Traffic Signal", "options": ["A. No signals or signs", "B. There is a red traffic light", "C. There is a stop line marking", "D. There is a stop sign"], "answer_index": 0}
{"token": "0ff01d9ee070abfe63bbede3ef27857e", "waymo_split": "test", "type": "image", "frame_index": 17, "question": "Which of the following descriptions about the environment is correct?", "category": "Normal scene Understanding", "options": ["A. Evening, cloudy. Lights on", "B. Daytime, clear. No lights", "C. Morning, light fog. Dim lighting", "D. Night, shower. Indoor lights on"], "answer_index": 1}
{"token": "0ff01d9ee070abfe63bbede3ef27857e", "waymo_split": "test", "type": "image", "frame_index": 17, "question": "What is the answer regarding parked vehicles on the shoulder, the presence of a center line, and whether Ego crosses the center line?", "category": "Normal Perception & Prediction", "options": ["A. Many parked vehicles on the shoulder. No center line.", "B. Almost no parked vehicles on the shoulder. Solid center line.", "C. No parked vehicles on the shoulder. Clear center line.", "D. One or two parked vehicles on the shoulder. Dashed center line."], "answer_index": 0}
{"token": "0ff01d9ee070abfe63bbede3ef27857e", "waymo_split": "test", "type": "image", "frame_index": 17, "question": "How do you think a safety-critical object will move?", "category": "Safety-critical Prediction", "options": ["A. Proceed with a right turn", "B. Change lanes to the left lane", "C. Decelerate and wait to stop", "D. Drive straight according to the lane"], "answer_index": 3}
{"token": "0ff01d9ee070abfe63bbede3ef27857e", "waymo_split": "test", "type": "image", "frame_index": 17, "question": "What should I do to drive safely?", "category": "Safety-critical Planning", "options": ["A. Since my vehicle is maintaining this lane and moving slowly, I just need to keep an eye on the front and proceed.", "B. Since my vehicle is changing lanes to the left from this lane, I should be careful of the right side when entering.", "C. Since my vehicle does not need to go onto the shoulder, I can maintain my speed and go straight without hazard lights.", "D. Since my vehicle is changing to the right shoulder lane from this lane, I should be aware of the left side and complete the lane change."], "answer_index": 3}
{"token": "0ff01d9ee070abfe63bbede3ef27857e", "waymo_split": "test", "type": "image", "frame_index": 17, "question": "Is lane change possible? Which is safer, slowing down or changing lanes?", "category": "Safety-critical Planning", "options": ["A. Right lane change is not possible, and slowing down is safer.", "B. Left lane change is possible and safer.", "C. Right lane change is possible and safer.", "D. Both lane changes are possible, but slowing down is safer."], "answer_index": 2}
{"token": "0ff01d9ee070abfe63bbede3ef27857e", "waymo_split": "test", "type": "image", "frame_index": 17, "question": "What is a safety-critical object?", "category": "Safety-critical Perception", "options": ["A. A white vehicle traveling in the same direction as your vehicle in the right lane just ahead of you.", "B. A silver van waiting to turn left in the left lane just before the intersection ahead.", "C. A black vehicle traveling in the same direction as your vehicle in the left lane just behind you.", "D. A gray sedan attempting to change lanes into your vehicle's lane from the left rear."], "answer_index": 2}
{"token": "0ff01d9ee070abfe63bbede3ef27857e", "waymo_split": "test", "type": "image", "frame_index": 17, "question": "What is the correlation in safety-critical situations?", "category": "Safety-critical scene Understanding", "options": ["A. car-motorcycle", "B. car-car", "C. motorcycle-person", "D. car-person"], "answer_index": 1}
{"token": "0ff01d9ee070abfe63bbede3ef27857e", "waymo_split": "test", "type": "image", "frame_index": 17, "question": "Is there a blind spot in your field of vision?", "category": "Uncertainty", "options": ["A. There is a blind spot on the left", "B. There is no blind spot", "C. There is a blind spot on the right", "D. There is a blind spot"], "answer_index": 1}
{"token": "0ff01d9ee070abfe63bbede3ef27857e", "waymo_split": "test", "type": "image", "frame_index": 17, "question": "Is there any other safety-critical object besides the first safety-critical object? If so, how will it be moved?", "category": "Safety-critical Prediction", "options": ["A. There is a fire extinguisher. Hold the handle and move it to the left safety area.", "B. None", "C. There is a medical oxygen tank. Close the valve and load it onto a cart to move it backward.", "D. There is a high-pressure power cable. Wear insulated gloves and organize it to move it to the right."], "answer_index": 1}
{"token": "0ff01d9ee070abfe63bbede3ef27857e", "waymo_split": "test", "type": "image", "frame_index": 17, "question": "What is the safest choice when approaching a yellow signal: stop vs proceed?", "category": "Special Event", "options": ["A. Maintain speed", "B. Proceed slowly", "C. Stop immediately", "D. No signal"], "answer_index": 3}
{"token": "0ff01d9ee070abfe63bbede3ef27857e", "waymo_split": "test", "type": "image", "frame_index": 17, "question": "Where is the area that hides danger in the current frame?", "category": "Uncertainty", "options": ["A. No blind spots", "B. Blind spot behind parked vehicles", "C. Blind spot in front of the bus", "D. Blind spot on the left side of the truck"], "answer_index": 0}
{"token": "0ff01d9ee070abfe63bbede3ef27857e", "waymo_split": "test", "type": "image", "frame_index": 17, "question": "Who is responsible in a safety-critical situation? What is the cause?", "category": "Safety-critical scene Understanding", "options": ["A. The cause is the other vehicle, as my vehicle was going straight and the incident occurred due to a vehicle that suddenly changed lanes from the left lane.", "B. The cause is the stopped vehicle, as the incident occurred when a vehicle that was stopped on the shoulder suddenly started and cut in.", "C. The cause is the other vehicle, as the incident occurred when the other vehicle recklessly entered the right shoulder lane.", "D. The cause is my vehicle, as the incident occurred when my vehicle changed lanes to the right shoulder lane."], "answer_index": 3}
{"token": "0ff01d9ee070abfe63bbede3ef27857e", "waymo_split": "test", "type": "image", "frame_index": 17, "question": "What situation might occur if the autonomous vehicle behaved this way?", "category": "Counterfactual", "options": ["A. If the autonomous vehicle changes lanes to the right to avoid, the risk is low as it maintains distance from the safety-critical object.", "B. If the autonomous vehicle changes lanes to the left to return to the existing lane, there is a possibility of collision with the safety-critical object.", "C. If the autonomous vehicle slows down and maintains its current lane, the safety-critical object ahead is out of the path, reducing the risk of collision.", "D. If the autonomous vehicle accelerates and changes lanes to the left to overtake, the likelihood of collision is low as surrounding vehicles yield."], "answer_index": 1}
{"token": "0ff01d9ee070abfe63bbede3ef27857e", "waymo_split": "test", "type": "image", "frame_index": 17, "question": "What is the method to avoid the blind spot next to a large vehicle?", "category": "Special Event", "options": ["A. Entering the blind spot", "B. No large vehicle", "C. Overtaking on the right", "D. Staying close to the large vehicle"], "answer_index": 1}
{"token": "0ff01d9ee070abfe63bbede3ef27857e", "waymo_split": "test", "type": "image", "frame_index": 50, "question": "Based on the current appearance of the person/vehicle (two-wheeled), how do they intend to move?", "category": "Normal Perception & Prediction", "options": ["A. Change to the right shoulder lane to prepare for stopping or making a U-turn", "B. Change to the left lane to prepare for overtaking or accelerating straight", "C. Move to the left shoulder to prepare for a temporary stop or left turn", "D. Stay close to the right turn lane to immediately turn right or enter the side road"], "answer_index": 0}
{"token": "0ff01d9ee070abfe63bbede3ef27857e", "waymo_split": "test", "type": "image", "frame_index": 17, "question": "What is the guideline for the vehicle's behavior based on the behavior of a safety-critical object?", "category": "Safety-critical Planning", "options": ["A. If the safety-critical object changes to the right lane like the vehicle, it is safer for the vehicle to change back to the original left lane to avoid the situation.", "B. If the safety-critical object suddenly approaches from the left, it is safer for the vehicle to honk and maintain its current lane.", "C. If the safety-critical object is trying to merge into the vehicle's lane, it is safer for the vehicle to accelerate and exit first while maintaining its lane.", "D. If the safety-critical object changes to the right lane like the vehicle, it is safer for the vehicle to also enter the right lane alongside it and match the speed."], "answer_index": 0}
{"token": "0ff01d9ee070abfe63bbede3ef27857e", "waymo_split": "test", "type": "image", "frame_index": 50, "question": "What is the plan for yielding when an ambulance/fire truck approaches?", "category": "Special Event", "options": ["A. Slow down in the center of the lane and proceed to clear the passage", "B. Pull over to the right shoulder in the direction of travel to yield", "C. Stop inside the intersection and wait for the emergency vehicle to pass", "D. Pull over to the left shoulder in the direction of travel to yield"], "answer_index": 1}
{"token": "0ff01d9ee070abfe63bbede3ef27857e", "waymo_split": "test", "type": "image", "frame_index": 50, "question": "Which of the following is correct as an Image Caption from the perspective of a Normal Frame?", "category": "Normal scene caption", "options": ["A. The vehicle is driving on the right side of the road and has completed a lane change to the right shoulder. There are several parked cars behind and in front of the vehicle. There are trees and a fence on the right sidewalk. In front of the vehicle, cars are driving straight through the left lane where the vehicle originally traveled.", "B. The vehicle is slowing down while moving towards the left shoulder. There are only a few parked cars on the right side in front of the vehicle. There is a bicycle lane and a low flower bed on the right sidewalk. In front of the vehicle, a car coming from the opposite direction is making a right turn to enter.", "C. The vehicle has completed a lane change to the left lane and is driving in the center lane. There are almost no parked cars in front or behind the vehicle. The right sidewalk has shop signs and streetlights. In front of the vehicle, a car from the right lane is preparing to make a left turn.", "D. The vehicle is maintaining a straight drive without changing lanes. Only a bus stopped at a bus stop is visible around the vehicle, and there are no parked cars. The right sidewalk has construction fences and motorcycle parking. In front of the vehicle, a car is cutting in from the left lane across the lane."], "answer_index": 0}
{"token": "0ff01d9ee070abfe63bbede3ef27857e", "waymo_split": "test", "type": "image", "frame_index": 50, "question": "What are the classifications of scenes?", "category": "Normal scene Understanding", "options": ["A. Residential road", "B. Urban road", "C. Unpaved road", "D. Suburban road"], "answer_index": 1}
{"token": "0ff01d9ee070abfe63bbede3ef27857e", "waymo_split": "test", "type": "image", "frame_index": 50, "question": "Which of the following is a correct description of traffic signals?", "category": "Traffic Signal", "options": ["A. No signals or signs", "B. Red light on the traffic light", "C. Stop sign", "D. Left turn only signal"], "answer_index": 0}
{"token": "0ff01d9ee070abfe63bbede3ef27857e", "waymo_split": "test", "type": "image", "frame_index": 50, "question": "Which of the following is a correct description of traffic density?", "category": "Normal scene Understanding", "options": ["A. There are few surrounding vehicles and they are currently fast.", "B. There are almost no parked vehicles on the side streets and they are currently fast.", "C. There are few parked vehicles on the shoulder and they are currently fast.", "D. There are many parked vehicles on the side streets. They are currently slow."], "answer_index": 3}
{"token": "0ff01d9ee070abfe63bbede3ef27857e", "waymo_split": "test", "type": "image", "frame_index": 50, "question": "Which of the following descriptions about the environment is correct?", "category": "Normal scene Understanding", "options": ["A. Sunset, cloudy. Side lighting", "B. Daytime, clear. No lighting", "C. Night, drizzle. Ceiling lighting", "D. Morning, fog. Backlighting"], "answer_index": 1}
{"token": "0ff01d9ee070abfe63bbede3ef27857e", "waymo_split": "test", "type": "image", "frame_index": 50, "question": "What is the description of a non-safety-critical object?", "category": "Normal Perception & Prediction", "options": ["A. A few parked vehicles on the street. There is a wall and trees on the left side of the sidewalk. A few pedestrians are visible.", "B. Many parked vehicles on the side. There is a wall and trees on the right side of the sidewalk. There are no people.", "C. Many motorcycles and scooters parked. There is a fence and shrubs touching the sidewalk on the left side. There are one or two pedestrians.", "D. Rarely parked vehicles on the shoulder. There is a guardrail and a utility pole on the right side of the sidewalk. There is one person riding a bicycle."], "answer_index": 1}
{"token": "0ff01d9ee070abfe63bbede3ef27857e", "waymo_split": "test", "type": "image", "frame_index": 50, "question": "Do you have any blind spots in your vision?", "category": "Uncertainty", "options": ["A. There are blind spots in my vision", "B. There are blind spots on the left side", "C. There are blind spots on the right side", "D. There are no blind spots in my vision"], "answer_index": 3}
{"token": "0ff01d9ee070abfe63bbede3ef27857e", "waymo_split": "test", "type": "image", "frame_index": 50, "question": "What is the answer regarding parked vehicles on the shoulder, the presence of a center line, and whether Ego crosses the center line?", "category": "Normal Perception & Prediction", "options": ["A. There are a few parked vehicles on the shoulder. The center line is clear.", "B. There are almost no parked vehicles on the shoulder. There is a center line.", "C. There are many parked vehicles on the shoulder. There is no center line.", "D. There are no parked vehicles on the shoulder. There is no center line."], "answer_index": 2}
{"token": "0ff01d9ee070abfe63bbede3ef27857e", "waymo_split": "test", "type": "image", "frame_index": 50, "question": "What is a safety-critical object?", "category": "Safety-critical Perception", "options": ["A. Emergency button", "B. Brake", "C. Airbag", "D. None"], "answer_index": 3}
{"token": "0ff01d9ee070abfe63bbede3ef27857e", "waymo_split": "test", "type": "image", "frame_index": 50, "question": "What should I do to drive safely?", "category": "Safety-critical Planning", "options": ["A. Since my vehicle is merging into the left lane, I should be cautious of the right and gently accelerate to enter.", "B. Since my vehicle is changing to the right shoulder lane from this lane, I should be aware of the left and complete the lane change.", "C. Since maintaining the main lane without changing lanes is a priority, I just need to match the speed and go straight.", "D. Since my vehicle is planning to exit to the left shoulder after overtaking the car in front, I should just focus on the front and proceed."], "answer_index": 1}
{"token": "0ff01d9ee070abfe63bbede3ef27857e", "waymo_split": "test", "type": "image", "frame_index": 50, "question": "Are there any other safety-critical objects besides the first safety-critical object? If so, how will you move them?", "category": "Safety-critical Prediction", "options": ["A. There is a lithium battery pack: carry it in an insulated case with both hands", "B. There is an oxygen tank: securely fasten it to a cart and push it", "C. None", "D. There is a fire extinguisher: stand it up and hold the handle to move"], "answer_index": 2}
{"token": "0ff01d9ee070abfe63bbede3ef27857e", "waymo_split": "test", "type": "image", "frame_index": 50, "question": "What is the correlation in safety-critical situations?", "category": "Safety-critical scene Understanding", "options": ["A. Person - Two-wheeler", "B. Vehicle - Two-wheeler", "C. Vehicle - Vehicle", "D. Vehicle - Person"], "answer_index": 2}
{"token": "0ff01d9ee070abfe63bbede3ef27857e", "waymo_split": "test", "type": "image", "frame_index": 50, "question": "Where is the area that hides danger in the current frame?", "category": "Uncertainty", "options": ["A. There is a blind spot on the right", "B. There is no blind spot in the field of view", "C. There is a blind spot on the left", "D. There is a blind spot in front"], "answer_index": 1}
{"token": "0ff01d9ee070abfe63bbede3ef27857e", "waymo_split": "test", "type": "image", "frame_index": 50, "question": "What is the safest choice when approaching a yellow signal: stop vs proceed?", "category": "Special Event", "options": ["A. No signal", "B. Proceed slowly", "C. Wait at the stop line", "D. Stop immediately"], "answer_index": 0}
{"token": "0ff01d9ee070abfe63bbede3ef27857e", "waymo_split": "test", "type": "image", "frame_index": 50, "question": "How do you think a safety-critical object will move?", "category": "Safety-critical Prediction", "options": ["A. Expected to slow drift to the left", "B. Proceeding with a soft merge to the right lane", "C. In a rapid approach forward", "D. No safety-critical object"], "answer_index": 3}
{"token": "0ff01d9ee070abfe63bbede3ef27857e", "waymo_split": "test", "type": "image", "frame_index": 50, "question": "What is the method to avoid the blind spot next to a large vehicle?", "category": "Special Event", "options": ["A. Close driving", "B. No large vehicle", "C. Pass on the right", "D. Priority to honking"], "answer_index": 1}
{"token": "0ff01d9ee070abfe63bbede3ef27857e", "waymo_split": "test", "type": "image", "frame_index": 50, "question": "What potential situations could arise in the current scenario?", "category": "Counterfactual", "options": ["A. The vehicle may continue to move slowly straight or attempt to change lanes to the right.", "B. The vehicle may merge into the left lane or turn right to enter the auxiliary road.", "C. The vehicle may briefly reverse to adjust the distance or proceed straight through the intersection.", "D. The vehicle may maintain a simple stop or attempt to make a U-turn into the left opposite lane."], "answer_index": 3}
{"token": "0ff01d9ee070abfe63bbede3ef27857e", "waymo_split": "test", "type": "image", "frame_index": 65, "question": "Based on the current appearance of the person/vehicle (two-wheeled), how are they trying to move?", "category": "Normal Perception & Prediction", "options": ["A. Preparing to stop by sticking to the right shoulder", "B. Attempting a U-turn while accelerating rapidly in the left opposite lane", "C. Maintaining the straight lane while gradually accelerating", "D. Waiting for a left turn signal at the intersection"], "answer_index": 1}
{"token": "0ff01d9ee070abfe63bbede3ef27857e", "waymo_split": "test", "type": "image", "frame_index": 65, "question": "Which of the following is correct as an Image Caption from the perspective of a Normal Frame?", "category": "Normal scene caption", "options": ["A. The vehicle is attempting to slowly move into the right lane for a right turn. The steering angle indicates that merging into the right lane is more natural than moving left. A cargo truck is following at a certain distance behind, and vehicles moving in the same direction are seen continuously ahead. On the left, there is a construction barrier and a temporarily parked van.", "B. The vehicle is trying to change to the left lane or make a U-turn at high speed after leaving the shoulder parking state. Considering the acceleration in this situation, it seems to be changing lanes to the opposite lane rather than the left lane. No vehicles are visible behind, and ahead, there is a vehicle already driving in the opposite direction at a distance. There are no parked vehicles on the left shoulder, and buildings and a wall are present on the pedestrian side.", "C. The vehicle is currently maintaining its lane and moving straight at a constant speed. There is little change in acceleration, indicating a low intention to change lanes or make a U-turn. A motorcycle is closely following behind. Ahead, a vehicle moving in the same direction is gradually slowing down. There are no bus stops or people visible on the left sidewalk, and no shoulder parking is seen.", "D. The vehicle is slowly entering the right shoulder and preparing to stop. Based on the deceleration pattern, it seems closer to the intention of parking on the right shoulder than changing lanes. A vehicle is seen approaching quickly from behind, and the front is relatively quiet. On the left, there are several parked vehicles on the shoulder and a row of trees. Instead of a low wall on the pedestrian side, there are shop signs and a bus stop."], "answer_index": 1}
{"token": "0ff01d9ee070abfe63bbede3ef27857e", "waymo_split": "test", "type": "image", "frame_index": 65, "question": "What are the classifications of scenes?", "category": "Normal scene Understanding", "options": ["A. Main highway", "B. Unpaved forest road", "C. Residential back road", "D. Urban road"], "answer_index": 3}
{"token": "0ff01d9ee070abfe63bbede3ef27857e", "waymo_split": "test", "type": "image", "frame_index": 65, "question": "Which of the following is a correct description of traffic density?", "category": "Normal scene Understanding", "options": ["A. There are many surrounding vehicles. The current vehicle is waiting at a signal.", "B. There are few parked vehicles in the alley. The current vehicle is moving slowly.", "C. There are almost no parked vehicles on the side streets. The current vehicle is moving at a slow speed.", "D. There are many parked vehicles on the side streets. The current vehicle is moving at a fast speed."], "answer_index": 3}
{"token": "0ff01d9ee070abfe63bbede3ef27857e", "waymo_split": "test", "type": "image", "frame_index": 65, "question": "Which of the following is correct from the perspective of Safety-critical Frame regarding Image Caption?", "category": "Safety-critical scene caption", "options": ["A. Moving quickly to the left, there is a risk of colliding with the left sidewalk or fence during a U-turn.", "B. Staying close to the center line while moving slowly, there is a tendency to brush against the median during a left turn.", "C. Moving slowly to the right, there is a risk of contacting a taxi stopped on the right during a right turn.", "D. Accelerating straight, there is a risk of colliding with a motorcycle in the blind spot when changing lanes."], "answer_index": 0}
{"token": "0ff01d9ee070abfe63bbede3ef27857e", "waymo_split": "test", "type": "image", "frame_index": 65, "question": "What is the plan for yielding when an ambulance/fire truck approaches?", "category": "Special Event", "options": ["A. Yield immediately, then make a U-turn after passing.", "B. Maintain current speed, can yield after passing the intersection.", "C. Cannot yield now, can yield after completing the U-turn.", "D. Move to the left lane, can yield after going straight."], "answer_index": 2}
{"token": "0ff01d9ee070abfe63bbede3ef27857e", "waymo_split": "test", "type": "image", "frame_index": 65, "question": "What is the description of a non-safety-critical object?", "category": "Normal Perception & Prediction", "options": ["A. Both directions have no stopped vehicles while cars are driving. A low divider and flower pots are placed in the center of the road. One cyclist is confirmed. It is clear with no traces of rain.", "B. There are many parked vehicles on the side. There is a fence and trees on the sidewalk across the street. There are no people. The road surface is inferred to be wet from rain.", "C. There are many motorcycles and bicycles parked on the shoulder. There are shop signs and a bus stop on the sidewalk across the street. A person walking a dog is seen. There are only a few leaves on the road, and it is dry.", "D. There are almost no parked vehicles on the street. On the sidewalk on the same side as the street, there are flower beds and utility poles. A few pedestrians pass by. The road surface appears to be dry."], "answer_index": 1}
{"token": "0ff01d9ee070abfe63bbede3ef27857e", "waymo_split": "test", "type": "image", "frame_index": 65, "question": "Which of the following is a correct description of traffic signals?", "category": "Traffic Signal", "options": ["A. No signals or signs", "B. Stop sign present", "C. Crosswalk markings present", "D. Traffic light showing red"], "answer_index": 0}
{"token": "0ff01d9ee070abfe63bbede3ef27857e", "waymo_split": "test", "type": "image", "frame_index": 65, "question": "Which of the following descriptions about the environment is correct?", "category": "Normal scene Understanding", "options": ["A. At sunset, cloudy. Some streetlights are on. The sidewalk is dry.", "B. Early morning, foggy. Indoor lights are dimly on. There is almost no moisture on the ground.", "C. Daytime, clear. No lighting. The pavement is wet right after it rained.", "D. Night, clear. The sign lights are bright. The ground is dry before it rains."], "answer_index": 2}
{"token": "0ff01d9ee070abfe63bbede3ef27857e", "waymo_split": "test", "type": "image", "frame_index": 65, "question": "Is there a blind spot in your field of vision?", "category": "Uncertainty", "options": ["A. There is a blind spot on the right", "B. There is a blind spot in the field of vision", "C. There is no blind spot in the field of vision", "D. There is a restriction in the right field of vision"], "answer_index": 2}
{"token": "0ff01d9ee070abfe63bbede3ef27857e", "waymo_split": "test", "type": "image", "frame_index": 65, "question": "What is the answer regarding parked vehicles on the shoulder, the presence of a center line, and whether Ego has crossed the center line?", "category": "Normal Perception & Prediction", "options": ["A. Many parked vehicles on the shoulder. No center line.", "B. No parked vehicles on the shoulder. There is a center line.", "C. One or two parked vehicles on the shoulder. There is a center line.", "D. A few parked vehicles on the shoulder. The center line is dashed."], "answer_index": 0}
{"token": "0ff01d9ee070abfe63bbede3ef27857e", "waymo_split": "test", "type": "image", "frame_index": 65, "question": "What is a safety-critical object?", "category": "Safety-critical Perception", "options": ["A. Fire extinguisher", "B. None", "C. Emergency bell", "D. Warning light"], "answer_index": 1}
{"token": "0ff01d9ee070abfe63bbede3ef27857e", "waymo_split": "test", "type": "image", "frame_index": 65, "question": "How do you think safety-critical objects will move?", "category": "Safety-critical Prediction", "options": ["A. No safety-critical objects", "B. Move straight forward", "C. Move slowly from left to right", "D. Move in a zig-zag while avoiding obstacles"], "answer_index": 0}
{"token": "0ff01d9ee070abfe63bbede3ef27857e", "waymo_split": "test", "type": "image", "frame_index": 65, "question": "What should I do to drive safely?", "category": "Safety-critical Planning", "options": ["A. Accelerate more when entering the intersection and complete the left turn, as the flow of surrounding vehicles is stable, reducing the need to brake.", "B. Maintain speed while going straight through, as there is a sufficient distance between vehicles, so it's fine to proceed without slowing down.", "C. Quickly change lanes to the right, but maintain speed in this section, as there are no special hazards visible ahead.", "D. Attempt a quick U-turn to the left, but it's okay to slow down in this part, as there are currently no significant collision or danger factors."], "answer_index": 3}
{"token": "0ff01d9ee070abfe63bbede3ef27857e", "waymo_split": "test", "type": "image", "frame_index": 65, "question": "Are there any other safety-critical objects besides the first safety-critical object? If so, how would you move?", "category": "Safety-critical Prediction", "options": ["A. Entering the roadway on a bicycle, pause and then evade to the right", "B. None", "C. Pedestrian with a stroller, slow down and detour to the left", "D. Ambulance approaching, stop at the right edge"], "answer_index": 1}
{"token": "0ff01d9ee070abfe63bbede3ef27857e", "waymo_split": "test", "type": "image", "frame_index": 65, "question": "What is the safest choice when approaching a yellow signal: stop vs proceed?", "category": "Special Event", "options": ["A. Accelerate and proceed", "B. Make a right turn", "C. No signal", "D. Cross the stop line"], "answer_index": 2}
{"token": "0ff01d9ee070abfe63bbede3ef27857e", "waymo_split": "test", "type": "image", "frame_index": 65, "question": "How to pass through the blind spot of a large vehicle?", "category": "Special Event", "options": ["A. Left side of the large vehicle", "B. Behind the large vehicle", "C. Right side of the large vehicle", "D. No large vehicle"], "answer_index": 3}
{"token": "0ff01d9ee070abfe63bbede3ef27857e", "waymo_split": "test", "type": "image", "frame_index": 65, "question": "Where is the area that hides danger in the current frame?", "category": "Uncertainty", "options": ["A. Front truck's front blind spot", "B. No blind spots in the field of view", "C. Blind spot between parked cars on the right", "D. Blind spot behind the left A-pillar"], "answer_index": 1}
{"token": "0ff01d9ee070abfe63bbede3ef27857e", "waymo_split": "test", "type": "image", "frame_index": 85, "question": "Which of the following is correct from the perspective of a Normal Frame Image Caption?", "category": "Normal scene caption", "options": ["A. The vehicle is starting to parallel park on the shoulder, with a park fence and a wide sidewalk visible in front and behind. There are no obstacles in the left and right views.", "B. The vehicle is slowly merging into the same direction lane after waiting to turn left, with an intersection, crosswalk, and store signs visible in front and behind. The flow of vehicles on the left and right is clearly visible.", "C. The vehicle is attempting a U-turn, positioned perpendicular to the current lane and continuing the U-turn into the opposite lane. There are pedestrians, buildings, and a fence visible in front and behind. Visibility of vehicles on the left and right is obstructed.", "D. The vehicle is maintaining a straight path while driving parallel to the lane, with traffic lights, an open roadway, and street trees visible in front and behind. Visibility of vehicles on the left and right is good."], "answer_index": 2}
{"token": "0ff01d9ee070abfe63bbede3ef27857e", "waymo_split": "test", "type": "image", "frame_index": 65, "question": "Is lane changing possible? Which is safer, slowing down or changing lanes?", "category": "Safety-critical Planning", "options": ["A. Currently waiting to turn left, lane changing is possible, gradually accelerating is safer", "B. Currently attempting a U-turn, lane changing is not possible, slowing down is a bit safer", "C. Currently entering a merging lane, lane changing is possible, changing lanes is safer than slowing down", "D. Currently in a straight section, lane changing is possible, changing lanes is a bit safer"], "answer_index": 1}
{"token": "0ff01d9ee070abfe63bbede3ef27857e", "waymo_split": "test", "type": "image", "frame_index": 85, "question": "Which of the following is correct as an Image Caption from a Safety-critical Frame perspective?", "category": "Safety-critical scene caption", "options": ["A. The vehicle is stopped in the center of the lane with only the forward view blocked and the left and right sides visible.", "B. The vehicle is positioned parallel to the current lane with visibility of vehicles on both sides.", "C. The vehicle is merging diagonally into the right lane while moving slowly with visibility of vehicles on the left side.", "D. The vehicle is positioned perpendicular to the current lane with no visibility of vehicles on either side."], "answer_index": 3}
{"token": "0ff01d9ee070abfe63bbede3ef27857e", "waymo_split": "test", "type": "image", "frame_index": 85, "question": "What are the classifications of scenes?", "category": "Normal scene Understanding", "options": ["A. Main highway", "B. Unpaved road", "C. Urban road", "D. Residential road"], "answer_index": 2}
{"token": "0ff01d9ee070abfe63bbede3ef27857e", "waymo_split": "test", "type": "image", "frame_index": 85, "question": "Based on the current appearance of the person/vehicle (two-wheeled), how are they trying to move?", "category": "Normal Perception & Prediction", "options": ["A. Maintaining a straight lane and trying to pass the signal, at a constant speed", "B. Staying close to the right edge and trying to stop, signaling and moving slowly", "C. Making a U-turn into the left opposite lane, accelerating rapidly", "D. Changing lanes to the right lane, gradually decelerating"], "answer_index": 2}
{"token": "0ff01d9ee070abfe63bbede3ef27857e", "waymo_split": "test", "type": "image", "frame_index": 85, "question": "What is the plan for yielding when an ambulance/fire truck approaches?", "category": "Special Event", "options": ["A. Currently able to yield, immediately pull over to the right edge", "B. Currently unable to yield, can yield after completing a U-turn", "C. Currently planning to turn left, will yield after exiting the intersection", "D. Currently yielding, gradually move to the right lane"], "answer_index": 1}
{"token": "0ff01d9ee070abfe63bbede3ef27857e", "waymo_split": "test", "type": "image", "frame_index": 85, "question": "Which of the following is a correct description of traffic signals?", "category": "Traffic Signal", "options": ["A. There is a stop sign", "B. There are crosswalk markings on the road", "C. The traffic light is red", "D. There are no signals or signs"], "answer_index": 3}
{"token": "0ff01d9ee070abfe63bbede3ef27857e", "waymo_split": "test", "type": "image", "frame_index": 85, "question": "Which of the following statements about traffic density is correct?", "category": "Normal scene Understanding", "options": ["A. Vehicles approaching the intersection are rare; currently, my vehicle is moving slowly.", "B. There are almost no parked vehicles on the side streets; currently, my vehicle is moving slowly.", "C. There are a few surrounding vehicles; currently, my vehicle is moving slowly.", "D. There are many parked vehicles on the side streets; currently, my vehicle is moving fast."], "answer_index": 3}
{"token": "0ff01d9ee070abfe63bbede3ef27857e", "waymo_split": "test", "type": "image", "frame_index": 85, "question": "What is the description of a non-safety-critical object?", "category": "Normal Perception & Prediction", "options": ["A. There are almost no parked vehicles on the side street. There is an open space and a parking lot entrance in front. The rear lane is quiet with few stopped vehicles. The road surface is presumed to be dry on a clear day.", "B. There are road construction signs and cones nearby. There is a small park and playground to the right in front. There is frequent motorcycle and bicycle traffic in the rear. The ground is somewhat covered with fallen leaves, suggesting it may be slippery.", "C. There are many parked vehicles on the side street. There are sidewalks, buildings, and fences in front and behind. There are many parked vehicles in the rear lane. The road surface is inferred to be wet and slippery.", "D. There are many roadside shops and street trees. There is a crosswalk and traffic lights in front. There is a bus-only lane and stop in the rear. The road surface is only shaded and has no moisture."], "answer_index": 2}
{"token": "0ff01d9ee070abfe63bbede3ef27857e", "waymo_split": "test", "type": "image", "frame_index": 85, "question": "Which of the following descriptions about the environment is correct?", "category": "Normal scene Understanding", "options": ["A. In the early morning, the faint fog is present, only the sign lights are on, and the sidewalk is dry.", "B. At dusk, it is cloudy, the streetlights are on, and the sidewalk is already dry.", "C. During the day, it is clear. There are no lights. The sidewalk is wet from the recent rain.", "D. At night, there is a light rain, the streetlights are dimly lit, and there are puddles scattered on the road."], "answer_index": 2}
{"token": "0ff01d9ee070abfe63bbede3ef27857e", "waymo_split": "test", "type": "image", "frame_index": 85, "question": "What is a safety-critical object?", "category": "Safety-critical Perception", "options": ["A. Safety-critical collision detection sensor", "B. Safety-critical front camera", "C. No safety-critical object", "D. Safety-critical brake controller"], "answer_index": 2}
{"token": "0ff01d9ee070abfe63bbede3ef27857e", "waymo_split": "test", "type": "image", "frame_index": 85, "question": "Do you have any blind spots in your field of vision?", "category": "Uncertainty", "options": ["A. There is a blind spot on the right side", "B. There is a blind spot in the field of vision", "C. There is a blind spot on the left side", "D. There are no blind spots in the field of vision"], "answer_index": 3}
{"token": "0ff01d9ee070abfe63bbede3ef27857e", "waymo_split": "test", "type": "image", "frame_index": 85, "question": "What should I do to drive safely?", "category": "Safety-critical Planning", "options": ["A. Stop briefly at the U-turn point to let other vehicles pass first; it is safe to wait perpendicular to the road as it allows for visibility.", "B. Quickly complete the U-turn to check if there are vehicles on the left or right lanes; currently, it is impossible to check from the position perpendicular to the road.", "C. After adjusting your position by reversing, wait in the center of the road and move when there is a gap; it is safer not to rush the U-turn right now.", "D. Turn on the hazard lights and proceed slowly while maintaining the U-turn angle, only looking straight ahead; no need to check left or right as the speed is reduced."], "answer_index": 1}
{"token": "0ff01d9ee070abfe63bbede3ef27857e", "waymo_split": "test", "type": "image", "frame_index": 85, "question": "How do you think a safety-critical object will move?", "category": "Safety-critical Prediction", "options": ["A. Approaching a safety-critical object", "B. Safety-critical obstacle detected", "C. No safety-critical object", "D. Reversing a safety-critical object"], "answer_index": 2}
{"token": "0ff01d9ee070abfe63bbede3ef27857e", "waymo_split": "test", "type": "image", "frame_index": 85, "question": "What is the answer regarding parked vehicles on the shoulder, the presence of a center line, and whether Ego crosses the center line?", "category": "Normal Perception & Prediction", "options": ["A. Only a few vehicles are parked on the shoulder. There is a center line. My vehicle is proceeding close to the right.", "B. Parked vehicles on the shoulder are rare. The center line is marked with a dashed line. My vehicle does not cross the center line.", "C. There are many parked vehicles on the shoulder. There is no center line. My vehicle does not have a center line but has crossed the central position.", "D. There are almost no parked vehicles on the shoulder. The center line is clearly present. My vehicle is driving within its lane."], "answer_index": 2}
{"token": "0ff01d9ee070abfe63bbede3ef27857e", "waymo_split": "test", "type": "image", "frame_index": 85, "question": "Are there any other safety-critical objects besides the first safety-critical object? If so, how will they be moved?", "category": "Safety-critical Prediction", "options": ["A. Yes: Emergency kit, transport to the left station along the floor marking.", "B. Yes: Oxygen tank, secured on a cart and moved to the rear safety area.", "C. Yes: Fire extinguisher, slowly moved towards the front exit along the right wall.", "D. No"], "answer_index": 3}
{"token": "0ff01d9ee070abfe63bbede3ef27857e", "waymo_split": "test", "type": "image", "frame_index": 85, "question": "Is lane changing possible? Which is safer, slowing down or changing lanes?", "category": "Safety-critical Planning", "options": ["A. Currently attempting a U-turn, so lane changing is not possible. Slowing down is a bit safer.", "B. No vehicles waiting to turn left, so lane changing is possible. Accelerating is a bit safer.", "C. Right turn signal is on, so lane changing is possible. Changing lanes is safer.", "D. Currently in a straight situation, so lane changing is possible. Changing lanes is safer."], "answer_index": 0}
{"token": "0ff01d9ee070abfe63bbede3ef27857e", "waymo_split": "test", "type": "image", "frame_index": 85, "question": "What is the safest choice when approaching a yellow signal: stop vs proceed?", "category": "Special Event", "options": ["A. Stop immediately", "B. No signal", "C. Proceed slowly", "D. Proceed with acceleration"], "answer_index": 1}
{"token": "0ff01d9ee070abfe63bbede3ef27857e", "waymo_split": "test", "type": "image", "frame_index": 85, "question": "Where is the area that hides danger in the current frame?", "category": "Uncertainty", "options": ["A. It is not visible whether a pedestrian is coming out from behind the bus stop in front of the right sidewalk.", "B. The traffic light status at the front intersection is obscured by the trees and is not visible.", "C. It is not visible whether a motorcycle is coming from the rear right blind spot.", "D. It is not visible whether vehicles are coming from the left and right lanes, among other situations."], "answer_index": 3}
{"token": "0ff01d9ee070abfe63bbede3ef27857e", "waymo_split": "test", "type": "image", "frame_index": 85, "question": "What is the method to avoid the blind spot next to a large vehicle?", "category": "Special Event", "options": ["A. Right next to the bus", "B. Between trucks", "C. Behind the large vehicle", "D. No large vehicle"], "answer_index": 3}
{"token": "0ff01d9ee070abfe63bbede3ef27857e", "waymo_split": "test", "type": "image", "frame_index": 143, "question": "Which of the following is correct as an Image Caption from a Safety-critical Frame perspective?", "category": "Safety-critical scene caption", "options": ["A. A vehicle overtaking your vehicle in the adjacent lane in front.", "B. A vehicle driving away from your vehicle in the opposite lane.", "C. A vehicle driving in the same direction as your vehicle in the same lane.", "D. Your vehicle driving towards your vehicle in the opposite lane."], "answer_index": 3}
{"token": "0ff01d9ee070abfe63bbede3ef27857e", "waymo_split": "test", "type": "image", "frame_index": 143, "question": "Based on the current appearance of the person/car (two-wheeled), how do they intend to move?", "category": "Normal Perception & Prediction", "options": ["A. They have stopped with the intention of turning right, planning to slowly roll forward and temporarily stop next to the sidewalk curb (on the shoulder side).", "B. They have stopped while making a U-turn, intending to reverse and secure space in front (the space between the road and the sidewalk) before turning left to return to the lane without crossing the center line.", "C. They seem to have given up on the U-turn and have stopped, planning to accelerate after a brief wait, slightly touching the center line (to secure an angle for the opposite lane) to merge into the opposite lane.", "D. They are in a stopped position trying to avoid the sidewalk, planning to back up a little to secure space in front (toward the curb) and then lift the front wheels to proceed along the edge of the sidewalk."], "answer_index": 1}
{"token": "0ff01d9ee070abfe63bbede3ef27857e", "waymo_split": "test", "type": "image", "frame_index": 143, "question": "What are the behavioral restrictions in school zones/congested areas?", "category": "Special Event", "options": ["A. Honk the horn or frequently change lanes", "B. Vehicle traffic takes priority over pedestrians", "C. Acceleration or U-turns take priority", "D. Slow down or U-turns are not allowed"], "answer_index": 3}
{"token": "0ff01d9ee070abfe63bbede3ef27857e", "waymo_split": "test", "type": "image", "frame_index": 143, "question": "What is the yielding plan when an ambulance/fire truck approaches?", "category": "Special Event", "options": ["A. Currently yielding is possible, can yield after going straight.", "B. Currently yielding is not possible, can yield after completing a U-turn.", "C. Currently yielding is not possible, can yield after completing a left turn.", "D. Currently yielding is possible, yield immediately to the right before the U-turn."], "answer_index": 1}
{"token": "0ff01d9ee070abfe63bbede3ef27857e", "waymo_split": "test", "type": "image", "frame_index": 143, "question": "What are the classifications of scenes?", "category": "Normal scene Understanding", "options": ["A. Residential road", "B. Highway section", "C. City road", "D. Suburban road"], "answer_index": 2}
{"token": "0ff01d9ee070abfe63bbede3ef27857e", "waymo_split": "test", "type": "image", "frame_index": 143, "question": "Which of the following is a correct description of traffic density?", "category": "Normal scene Understanding", "options": ["A. Large freight vehicles are occasionally present", "B. Vehicle flow is relatively fast", "C. There are few surrounding vehicles", "D. There are many vehicles parked on the side"], "answer_index": 3}
{"token": "0ff01d9ee070abfe63bbede3ef27857e", "waymo_split": "test", "type": "image", "frame_index": 143, "question": "Which of the following descriptions about the environment is correct?", "category": "Normal scene Understanding", "options": ["A. Daytime, cloudy. No lighting. The ground is mostly dry.", "B. Early morning, clear. Some streetlights are on. The ground is dry as it hasn't rained.", "C. Dusk, clear. The sign lights are dimly on. The ground is still dry before a shower.", "D. Daytime, clear. No lighting. The ground is wet right after it has rained."], "answer_index": 3}
{"token": "0ff01d9ee070abfe63bbede3ef27857e", "waymo_split": "test", "type": "image", "frame_index": 143, "question": "What is the description of a non-safety-critical object?", "category": "Normal Perception & Prediction", "options": ["A. Numerous vehicles parked on the side of the road. There are sidewalks, buildings, and fences in the front and back. There are utility poles and trash cans right in front on the sidewalk. In the back, there are many parked vehicles in the rear lane.", "B. On the right sidewalk, there is a bus stop and a large billboard. In front, there is a small intersection and a crosswalk. Near the front, there is a fire hydrant and a delivery scooter right in front. In the back, there are only construction barriers and a temporary walkway.", "C. A wide four-lane road with a central divider. In the front and back, there are commercial signs and glass facades. There is an electric scooter rental station right in front on the sidewalk. In the back lane, there is a taxi stand, so there are almost no parked vehicles.", "D. A few parked vehicles on both sides of the alley. In the front and to the left, there is a small park and a low flower bed. There are streetlights and benches right in front on the sidewalk. The back lane is empty, with only a bicycle rack."], "answer_index": 0}
{"token": "0ff01d9ee070abfe63bbede3ef27857e", "waymo_split": "test", "type": "image", "frame_index": 143, "question": "Which of the following is a correct description of traffic signals?", "category": "Traffic Signal", "options": ["A. Left turn only traffic light", "B. Flashing yellow signal", "C. Stop line and crosswalk markings", "D. No signals or signs"], "answer_index": 3}
{"token": "0ff01d9ee070abfe63bbede3ef27857e", "waymo_split": "test", "type": "image", "frame_index": 143, "question": "What is the answer regarding parked vehicles on the shoulder, the presence of a center line, and whether Ego has crossed the center line?", "category": "Normal Perception & Prediction", "options": ["A. There are many parked vehicles on the shoulder. There is no center line. My vehicle does not have a center line but has crossed the central position.", "B. There are 1-2 parked vehicles on the shoulder. The center line is solid. My vehicle has definitely crossed the center line.", "C. There are a few parked vehicles on the shoulder. The center line is dashed. My vehicle has slightly crossed the center line.", "D. There are no parked vehicles on the shoulder. There is a center line. My vehicle maintains the center line."], "answer_index": 0}
{"token": "0ff01d9ee070abfe63bbede3ef27857e", "waymo_split": "test", "type": "image", "frame_index": 143, "question": "Is there a blind spot?", "category": "Uncertainty", "options": ["A. No blind spot", "B. Left blind spot", "C. Blind spot occurs at low speed", "D. Right blind spot"], "answer_index": 0}
{"token": "0ff01d9ee070abfe63bbede3ef27857e", "waymo_split": "test", "type": "image", "frame_index": 143, "question": "Are there any other safety-critical objects besides the first safety-critical object? If so, how will they be moved?", "category": "Safety-critical Prediction", "options": ["A. Yes, move towards the front emergency exit", "B. No", "C. Yes — moved to the left rear isolation area", "D. Yes: transported to the right safety area"], "answer_index": 1}
{"token": "0ff01d9ee070abfe63bbede3ef27857e", "waymo_split": "test", "type": "image", "frame_index": 143, "question": "What is a safety-critical object?", "category": "Safety-critical Perception", "options": ["A. A vehicle driving towards your vehicle in the opposite lane", "B. A vehicle driving in the same direction as your vehicle in the same lane", "C. A pedestrian walking parallel to your vehicle on the sidewalk", "D. A vehicle stopped on the shoulder with its hazard lights on"], "answer_index": 0}
{"token": "0ff01d9ee070abfe63bbede3ef27857e", "waymo_split": "test", "type": "image", "frame_index": 143, "question": "How do you think a safety-critical object will move?", "category": "Safety-critical Prediction", "options": ["A. The safety-critical object changes lanes to the right while avoiding the vehicle and proceeds slowly.", "B. The safety-critical object slowly enters the sidewalk from the road and then stops.", "C. The safety-critical object makes a left turn at the intersection ahead.", "D. The safety-critical object drives straight along the road towards the vehicle."], "answer_index": 3}
{"token": "0ff01d9ee070abfe63bbede3ef27857e", "waymo_split": "test", "type": "image", "frame_index": 143, "question": "How should I drive to address the first risk while also addressing the second risk?", "category": "Safety-critical Planning", "options": ["A. Next, there is a safety-critical vehicle approaching", "B. Next, there is a safety-critical object", "C. Next, there is no safety-critical object", "D. Next, there is a safety-critical object on the left"], "answer_index": 2}
{"token": "0ff01d9ee070abfe63bbede3ef27857e", "waymo_split": "test", "type": "image", "frame_index": 143, "question": "What is the correlation in safety-critical situations?", "category": "Safety-critical scene Understanding", "options": ["A. Car-Person", "B. Car-Car", "C. Two-wheeler-Car", "D. Person-Two-wheeler"], "answer_index": 1}
{"token": "0ff01d9ee070abfe63bbede3ef27857e", "waymo_split": "test", "type": "image", "frame_index": 143, "question": "Is lane change possible? Which is safer between slowing down and changing lanes?", "category": "Safety-critical Planning", "options": ["A. Only slowing down is possible", "B. Only the right lane is possible", "C. Both are impossible", "D. Slowing down is safer"], "answer_index": 2}
{"token": "0ff01d9ee070abfe63bbede3ef27857e", "waymo_split": "test", "type": "image", "frame_index": 143, "question": "Where is the area that hides danger in the current frame?", "category": "Uncertainty", "options": ["A. Behind the left A-pillar", "B. None", "C. Behind the right pillar", "D. In the shadow behind the truck"], "answer_index": 1}
{"token": "0ff01d9ee070abfe63bbede3ef27857e", "waymo_split": "test", "type": "image", "frame_index": 143, "question": "What are the new exposure risk candidates in the following section?", "category": "Safety-critical Prediction", "options": ["A. Falling objects from the front", "B. None", "C. Left merging vehicles", "D. Right pedestrians"], "answer_index": 1}
{"token": "0ff01d9ee070abfe63bbede3ef27857e", "waymo_split": "test", "type": "image", "frame_index": 143, "question": "What is the safest choice when approaching a yellow signal: stop vs. proceed?", "category": "Special Event", "options": ["A. Stop immediately", "B. Accelerate through", "C. No signal", "D. Maintain slow speed"], "answer_index": 2}
{"token": "0ff01d9ee070abfe63bbede3ef27857e", "waymo_split": "test", "type": "image", "frame_index": 143, "question": "What situation might occur if the vehicle acted this way?", "category": "Counterfactual", "options": ["A. If the vehicle made a left turn and returned to the road, it could collide with the utility pole in front or brush against a trash can while making the left turn.", "B. If the vehicle made a right turn and returned to the road, it could collide with the guardrail on the right or brush against a flower bed while making the right turn.", "C. If the vehicle went straight and returned to the road, it could get caught on the speed bump in front or scrape the underside of the vehicle on the drainage cover.", "D. If the vehicle reversed to adjust its position, it could come into contact with or push against a parked car or motorcycle behind it while reversing."], "answer_index": 0}
{"token": "0ff01d9ee070abfe63bbede3ef27857e", "waymo_split": "test", "type": "image", "frame_index": 143, "question": "What is the method to avoid blind spots when passing large vehicles?", "category": "Special Event", "options": ["A. No large vehicle", "B. Pass slowly", "C. Stay close", "D. Overtake on the right"], "answer_index": 0}
{"token": "0ff01d9ee070abfe63bbede3ef27857e", "waymo_split": "test", "type": "image", "frame_index": 143, "question": "What are the driving guidelines for my vehicle based on the behavior of a safety-critical object?", "category": "Safety-critical Planning", "options": ["A. If a safety-critical object slows down and stops, it is safe for my vehicle making a U-turn to proceed.", "B. If a safety-critical object makes a left turn, there is no risk as the paths of my vehicle making a U-turn and the object diverge.", "C. If a safety-critical object continues straight, there is a risk of collision with my vehicle making a U-turn.", "D. If a safety-critical object moves to the right lane, it secures the right of way over my vehicle making a U-turn."], "answer_index": 2}
{"token": "10e72ef3d3c1e75b3dd7bd43988ec51d", "waymo_split": "test", "type": "video", "frame_index": null, "question": "Where is the safety-critical situation in the video?", "category": "Temporal Grounding", "options": ["A. 4/4", "B. 1/4", "C. 3/4", "D. 2/4"], "answer_index": 0}
{"token": "10e72ef3d3c1e75b3dd7bd43988ec51d", "waymo_split": "test", "type": "video", "frame_index": null, "question": "What are the classifications of scenes?", "category": "Normal scene Understanding", "options": ["A. Unpaved road", "B. Main highway", "C. City intersection", "D. Residential alley"], "answer_index": 2}
{"token": "10e72ef3d3c1e75b3dd7bd43988ec51d", "waymo_split": "test", "type": "video", "frame_index": null, "question": "Which of the following is a correct description of traffic density?", "category": "Normal scene Understanding", "options": ["A. Almost no surrounding vehicles. Gentle downhill road", "B. Average surrounding vehicles. Slightly inclined road", "C. Few surrounding vehicles. Gentle uphill road", "D. Many surrounding vehicles. No incline on the road"], "answer_index": 3}
{"token": "10e72ef3d3c1e75b3dd7bd43988ec51d", "waymo_split": "test", "type": "video", "frame_index": null, "question": "Is there a special situation?", "category": "Special Event", "options": ["A. Yes", "B. Fire truck passing by", "C. No", "D. School bus stopping"], "answer_index": 2}
{"token": "10e72ef3d3c1e75b3dd7bd43988ec51d", "waymo_split": "test", "type": "video", "frame_index": null, "question": "Which of the following is a correct description of road alignment?", "category": "Normal Perception & Prediction", "options": ["A. Right turn", "B. Straight", "C. Left turn", "D. Overtaking"], "answer_index": 1}
{"token": "10e72ef3d3c1e75b3dd7bd43988ec51d", "waymo_split": "test", "type": "video", "frame_index": null, "question": "Which of the following is a correct description of the environment?", "category": "Normal scene Understanding", "options": ["A. twilight fog", "B. clear night", "C. clear day", "D. cloudy day"], "answer_index": 2}
{"token": "10e72ef3d3c1e75b3dd7bd43988ec51d", "waymo_split": "test", "type": "video", "frame_index": null, "question": "Is there a blind spot?", "category": "Uncertainty", "options": ["A. Blind spot behind the vehicle waiting to enter the right intersection and at the left corner", "B. Blind spot behind the vehicle exiting the right alley and in the front center", "C. Blind spot in front of the vehicle waiting to enter the left intersection and at the right corner", "D. Blind spot next to the vehicle waiting to turn right at the left intersection and at the left corner"], "answer_index": 2}
{"token": "10e72ef3d3c1e75b3dd7bd43988ec51d", "waymo_split": "test", "type": "video", "frame_index": null, "question": "What is the answer regarding parked vehicles on the shoulder, the presence of a center line, and whether Ego crosses the center line?", "category": "Normal Perception & Prediction", "options": ["A. No parked vehicles on the shoulder. The double solid line is clear. Ego maintains the center of the lane.", "B. Left rear shoulder-parked vehicle. Temporary markings due to construction on the center line. Ego drives over the center line.", "C. Shoulder-parked vehicle behind. The center line is blurred to the point of being nonexistent. Ego does not cross the center line.", "D. Shoulder-parked vehicle ahead. The center line is clearly visible. Ego slightly crosses the center line."], "answer_index": 2}
{"token": "10e72ef3d3c1e75b3dd7bd43988ec51d", "waymo_split": "test", "type": "video", "frame_index": null, "question": "What is a safety-critical object?", "category": "Safety-critical Perception", "options": ["A. Two pedestrians standing at the crosswalk", "B. One gray sedan merging into the left lane", "C. One bicycle coming from the right corner", "D. A group of three people walking from the left corner"], "answer_index": 3}
{"token": "10e72ef3d3c1e75b3dd7bd43988ec51d", "waymo_split": "test", "type": "video", "frame_index": null, "question": "How did the safety-critical object move and how did the ego vehicle behave?", "category": "Safety-critical scene Understanding", "options": ["A. It went straight towards the center line and then turned left to cross, while the ego vehicle changed lanes to the right and proceeded.", "B. It came close to the edge of the sidewalk, stopped briefly, and then crossed to the left, while the ego vehicle only slowed down in advance and passed through.", "C. It moved to the left behind a vehicle waiting at the signal in the right lane. Upon seeing those people, the ego vehicle entered the intersection without stopping and continued at a slow speed.", "D. It crossed in front of a vehicle waiting to enter the intersection in the left lane and moved to the right. As soon as it spotted those people, the ego vehicle slowed down and stopped while entering the intersection."], "answer_index": 3}
{"token": "10e72ef3d3c1e75b3dd7bd43988ec51d", "waymo_split": "test", "type": "video", "frame_index": null, "question": "What is the correlation in safety-critical situations?", "category": "Safety-critical scene Understanding", "options": ["A. Car-Car", "B. Person-Two-wheeler", "C. Car-Person", "D. Car-Two-wheeler"], "answer_index": 2}
{"token": "10e72ef3d3c1e75b3dd7bd43988ec51d", "waymo_split": "test", "type": "video", "frame_index": null, "question": "Summary of Ego (own vehicle) behavior before a safety-critical situation", "category": "Normal scene Understanding", "options": ["A. Slowed down and stopped after the signal changed upon entering the intersection", "B. Was waiting to enter the intersection and then accelerated to do so", "C. Attempted to change lanes while going straight and slowed down to the left", "D. Came to a temporary stop after seeing a pedestrian while waiting to turn right"], "answer_index": 1}
{"token": "10e72ef3d3c1e75b3dd7bd43988ec51d", "waymo_split": "test", "type": "video", "frame_index": null, "question": "What situation would have occurred if the self-driving car had acted like this?", "category": "Counterfactual", "options": ["A. If the self-driving car accelerated and pushed into the intersection, it would have collided with the pedestrians at the crosswalk on the right.", "B. If the self-driving car ignored and went straight, it would have slightly touched the car coming from the opposite direction.", "C. If the self-driving car ignored and accelerated into the intersection, it would have collided with the people on the left.", "D. If the self-driving car tried to make a sudden right turn to escape, it would have collided with the electric scooter user at the corner."], "answer_index": 2}
{"token": "10e72ef3d3c1e75b3dd7bd43988ec51d", "waymo_split": "test", "type": "image", "frame_index": 9, "question": "Based on the current appearance of the person/vehicle (two-wheeled), how do you intend to move?", "category": "Normal Perception & Prediction", "options": ["A. Change lanes to the left while driving and overtake the vehicle in front", "B. Stop behind the vehicle directly in front while driving", "C. Proceed straight through the intersection without slowing down", "D. Make a right turn and enter the right alley"], "answer_index": 1}
{"token": "10e72ef3d3c1e75b3dd7bd43988ec51d", "waymo_split": "test", "type": "video", "frame_index": null, "question": "Who is responsible in a safety-critical situation? What is the cause?", "category": "Safety-critical scene Understanding", "options": ["A. It is the person's responsibility. The person hurriedly entered without fully opening their left and right field of vision and continued walking without checking the slowly approaching vehicle on the right. The vehicle was approaching at a low speed and had briefly stopped to check both sides.", "B. It is the responsibility of both. The person should have been cautious and secured their view, knowing that a vehicle could come from the right. The vehicle should have considered that a person could emerge from an area where visibility was not secured on the left, especially since a person crossing from the left was visible at the beginning of the video.", "C. It is the vehicle's responsibility. The driver was only watching the right side and hastily entered from the alley while missing the pedestrian approaching from the left, and the deceleration and braking were delayed. The pedestrian had briefly looked left and right before slowly crossing.", "D. It is the road environment's responsibility. There was a significant blind spot due to parked vehicles obstructing the left view and the entrance structure, and there was a lack of deceleration guidance or pedestrian signage. Therefore, the issue was more about the site structure than individual negligence."], "answer_index": 1}
{"token": "10e72ef3d3c1e75b3dd7bd43988ec51d", "waymo_split": "test", "type": "image", "frame_index": 9, "question": "What is the plan for yielding when an ambulance/fire truck approaches?", "category": "Special Event", "options": ["A. Currently unable to yield", "B. Immediately pull over to the right", "C. Slow down and pull over to the shoulder", "D. Yield to the left lane"], "answer_index": 0}
{"token": "10e72ef3d3c1e75b3dd7bd43988ec51d", "waymo_split": "test", "type": "image", "frame_index": 9, "question": "What is correct as an Image Caption from the perspective of Safety-critical Frame?", "category": "Safety-critical scene caption", "options": ["A. A person or object may suddenly appear between the vehicles waiting to drive on the left.", "B. A motorcycle may suddenly come out between the taxis waiting to drive on the right.", "C. There is a possibility that a bus may suddenly cut into the right turn lane.", "D. The pedestrian signal is on at the crosswalk ahead, which may pose a risk when entering."], "answer_index": 0}
{"token": "10e72ef3d3c1e75b3dd7bd43988ec51d", "waymo_split": "test", "type": "image", "frame_index": 9, "question": "Which of the following is a correct description of traffic density?", "category": "Normal scene Understanding", "options": ["A. Fast, many surrounding vehicles", "B. Slow, many surrounding vehicles", "C. Slow, few surrounding vehicles", "D. Fast, few surrounding vehicles"], "answer_index": 1}
{"token": "10e72ef3d3c1e75b3dd7bd43988ec51d", "waymo_split": "test", "type": "image", "frame_index": 9, "question": "What are the behavior restrictions in school zones/congested areas?", "category": "Special Event", "options": ["A. Change lanes while proceeding", "B. Drive slowly", "C. Accelerate to pass through", "D. Honk and overtake"], "answer_index": 1}
{"token": "10e72ef3d3c1e75b3dd7bd43988ec51d", "waymo_split": "test", "type": "image", "frame_index": 9, "question": "What is the classification of the scene?", "category": "Normal scene Understanding", "options": ["A. Residential area two-lane two-way road", "B. Commercial district three-lane one-way road", "C. Residential area two-lane one-way road", "D. Urban center four-lane two-way road"], "answer_index": 2}
{"token": "10e72ef3d3c1e75b3dd7bd43988ec51d", "waymo_split": "test", "type": "image", "frame_index": 9, "question": "Which of the following is a correct description of the environment?", "category": "Normal scene Understanding", "options": ["A. Night, cloudy", "B. Evening, rain", "C. Day, clear", "D. Morning, fog"], "answer_index": 2}
{"token": "10e72ef3d3c1e75b3dd7bd43988ec51d", "waymo_split": "test", "type": "image", "frame_index": 9, "question": "Which of the following is a correct description of traffic signals?", "category": "Traffic Signal", "options": ["A. Yield sign on the left. Slow pavement marking straight ahead.", "B. No parking sign on the right. Bus-only pavement marking straight ahead.", "C. Stop sign on the right. Stop pavement marking straight ahead.", "D. Green traffic light straight ahead. Left turn only pavement marking straight ahead."], "answer_index": 2}
{"token": "10e72ef3d3c1e75b3dd7bd43988ec51d", "waymo_split": "test", "type": "image", "frame_index": 9, "question": "What is the answer regarding parked vehicles on the shoulder, the presence of a center line, and whether Ego crosses the center line?", "category": "Normal Perception & Prediction", "options": ["A. Many parked vehicles on the shoulder behind. No center line.", "B. Many parked vehicles on the shoulder in front. There is a center line.", "C. Few parked vehicles on the shoulder. There is a center line.", "D. A few parked vehicles on the shoulder in front. There is a center line."], "answer_index": 0}
{"token": "10e72ef3d3c1e75b3dd7bd43988ec51d", "waymo_split": "test", "type": "image", "frame_index": 9, "question": "What is a safety-critical object?", "category": "Safety-critical Perception", "options": ["A. None", "B. Emergency stop", "C. Battery", "D. Brake"], "answer_index": 0}
{"token": "10e72ef3d3c1e75b3dd7bd43988ec51d", "waymo_split": "test", "type": "image", "frame_index": 9, "question": "Are there any blind spots in your field of vision?", "category": "Uncertainty", "options": ["A. There are no blind spots in front of and behind the right bus stop.", "B. There is a blind spot only in the center of the intersection ahead.", "C. There are blind spots between vehicles on the left.", "D. The right shoulder is clear, so there are no blind spots."], "answer_index": 2}
{"token": "10e72ef3d3c1e75b3dd7bd43988ec51d", "waymo_split": "test", "type": "image", "frame_index": 9, "question": "Is there any other safety-critical object besides the first safety-critical object? If so, how would you move past it?", "category": "Safety-critical Prediction", "options": ["A. There is an AED, approach from the front and then turn right to avoid it.", "B. There is a fire extinguisher, slightly detour to the left to pass by.", "C. Near the emergency power panel, reduce speed and pass low.", "D. None"], "answer_index": 3}
{"token": "10e72ef3d3c1e75b3dd7bd43988ec51d", "waymo_split": "test", "type": "image", "frame_index": 9, "question": "What is the safest choice when approaching a yellow signal: stop vs. proceed?", "category": "Special Event", "options": ["A. No signal", "B. Accelerate through", "C. Stop immediately", "D. Proceed slowly"], "answer_index": 0}
{"token": "10e72ef3d3c1e75b3dd7bd43988ec51d", "waymo_split": "test", "type": "image", "frame_index": 9, "question": "Where is the area that hides danger in the current frame?", "category": "Uncertainty", "options": ["A. Blind spot behind the bus stop across the front crosswalk", "B. Blind spot between the street trees and parked cars next to the right sidewalk", "C. Blind spot between the vehicles that are stopped and waiting to drive on the left", "D. Blind spot formed between the central divider flower bed and the sign"], "answer_index": 2}
{"token": "10e72ef3d3c1e75b3dd7bd43988ec51d", "waymo_split": "test", "type": "image", "frame_index": 9, "question": "What is the method to avoid the blind spot next to a large vehicle?", "category": "Special Event", "options": ["A. Left side of the large vehicle", "B. Right side of the large vehicle", "C. Behind the large vehicle", "D. No large vehicle"], "answer_index": 3}
{"token": "10e72ef3d3c1e75b3dd7bd43988ec51d", "waymo_split": "test", "type": "image", "frame_index": 38, "question": "Based on the current appearance of the person/vehicle (two-wheeled), how do you intend to move?", "category": "Normal Perception & Prediction", "options": ["A. Stop at the right edge", "B. Overtake the vehicle directly in front", "C. Stop behind the vehicle directly in front", "D. Turn left and enter the intersection"], "answer_index": 2}
{"token": "10e72ef3d3c1e75b3dd7bd43988ec51d", "waymo_split": "test", "type": "image", "frame_index": 38, "question": "What is correct from the perspective of Safety-critical Frame regarding Image Caption?", "category": "Safety-critical scene caption", "options": ["A. A person may suddenly appear from the corner of the building on the right. The people walking on the left may also engage in similar behavior.", "B. The road ahead has a clear view, so the likelihood of sudden appearances is low. The flow of vehicles and pedestrians is consistent, making sudden stops rare.", "C. The right corner is a glass surface, so the interior is visible, leaving almost no blind spots. The pedestrians on the left are far away, reducing the risk of entering the roadway.", "D. A bicycle may suddenly emerge from the corner of the building on the left. The people on the right sidewalk are standing still, so there is currently little danger."], "answer_index": 0}
{"token": "10e72ef3d3c1e75b3dd7bd43988ec51d", "waymo_split": "test", "type": "image", "frame_index": 38, "question": "What are the restrictions on behavior in school zones/congested areas?", "category": "Special Event", "options": ["A. Honk the horn while proceeding", "B. Change lanes while driving", "C. Accelerate rapidly to pass through", "D. Drive slowly"], "answer_index": 3}
{"token": "10e72ef3d3c1e75b3dd7bd43988ec51d", "waymo_split": "test", "type": "image", "frame_index": 38, "question": "What is your plan for yielding when an ambulance/fire truck approaches?", "category": "Special Event", "options": ["A. Currently unable to yield", "B. Move to the left lane", "C. Pull over to the right shoulder", "D. Stop before the intersection"], "answer_index": 0}
{"token": "10e72ef3d3c1e75b3dd7bd43988ec51d", "waymo_split": "test", "type": "image", "frame_index": 9, "question": "What are the newly exposed risk candidates in the following section?", "category": "Safety-critical Prediction", "options": ["A. A delivery truck may suddenly back out from the right alley exit.", "B. A person or object may pop out from the blind spots between parked and waiting vehicles on the left.", "C. An electric scooter may suddenly cut into the lane at the boundary between the right sidewalk and the bike lane.", "D. A two-wheeled vehicle may ignore the signal and weave through the vehicles near the stop line at the upcoming intersection."], "answer_index": 1}
{"token": "10e72ef3d3c1e75b3dd7bd43988ec51d", "waymo_split": "test", "type": "image", "frame_index": 38, "question": "What is the classification of the scene?", "category": "Normal scene Understanding", "options": ["A. Urban commercial district four-lane two-way road", "B. Highway three-lane one-way section", "C. Residential area two-lane one-way road", "D. Unpaved rural road two-lane two-way road"], "answer_index": 2}
{"token": "10e72ef3d3c1e75b3dd7bd43988ec51d", "waymo_split": "test", "type": "image", "frame_index": 38, "question": "Which of the following is a correct description of traffic density?", "category": "Normal scene Understanding", "options": ["A. Slow, few surrounding vehicles", "B. Fast, many surrounding vehicles", "C. Slow, many surrounding vehicles", "D. Fast, few surrounding vehicles"], "answer_index": 2}
{"token": "10e72ef3d3c1e75b3dd7bd43988ec51d", "waymo_split": "test", "type": "image", "frame_index": 38, "question": "Which of the following descriptions about the environment is correct?", "category": "Normal scene Understanding", "options": ["A. Day, clear", "B. Dusk, fog", "C. Evening, cloudy", "D. Night, shower"], "answer_index": 0}
{"token": "10e72ef3d3c1e75b3dd7bd43988ec51d", "waymo_split": "test", "type": "image", "frame_index": 38, "question": "Which of the following is a correct description of traffic signals?", "category": "Traffic Signal", "options": ["A. A speed limit sign of 30 on the right, waiting for the pedestrian signal", "B. A STOP pavement marking ahead, traffic light flashing at the intersection", "C. A YIELD sign on the left, traffic light operating", "D. A STOP sign on the right. No traffic light"], "answer_index": 3}
{"token": "10e72ef3d3c1e75b3dd7bd43988ec51d", "waymo_split": "test", "type": "image", "frame_index": 38, "question": "What is the description of a non-safety-critical object?", "category": "Normal Perception & Prediction", "options": ["A. A vehicle in the left lane waiting to enter the intersection on the left. A vehicle parked on the side behind. A building and its wall or window right next to your vehicle on the right.", "B. A vehicle in the right lane waiting to enter the intersection on the right.", "C. A vehicle parked on the side in front.", "D. The shop wall and its display window or sign right next to your vehicle on the left."], "answer_index": 0}
{"token": "10e72ef3d3c1e75b3dd7bd43988ec51d", "waymo_split": "test", "type": "image", "frame_index": 38, "question": "What is the answer regarding parked vehicles on the shoulder, the presence of a center line, and whether Ego crosses the center line?", "category": "Normal Perception & Prediction", "options": ["A. Some parked vehicles on the shoulder ahead. There is a center line.", "B. One or two parked vehicles on the right side of the shoulder. The center line is dashed.", "C. Many parked vehicles behind on the shoulder. There is no center line.", "D. Almost no parked vehicles on the shoulder. The center line is solid."], "answer_index": 2}
{"token": "10e72ef3d3c1e75b3dd7bd43988ec51d", "waymo_split": "test", "type": "image", "frame_index": 38, "question": "Are there any blind spots?", "category": "Uncertainty", "options": ["A. Blind spot between vehicles on the left. Blind spot at the corner of the building on the right.", "B. The corner of the building on the right is open, so there are no blind spots.", "C. The left lane has a wide gap, so there are no blind spots.", "D. The parking space on the front right is empty, ensuring visibility, so there are no blind spots."], "answer_index": 0}
{"token": "10e72ef3d3c1e75b3dd7bd43988ec51d", "waymo_split": "test", "type": "image", "frame_index": 38, "question": "Are there any other safety-critical objects besides the first safety-critical object? If so, how will you move?", "category": "Safety-critical Prediction", "options": ["A. None", "B. Yes, stop briefly and detour", "C. Yes, slightly veer to the right", "D. Yes, move to the left lane"], "answer_index": 0}
{"token": "10e72ef3d3c1e75b3dd7bd43988ec51d", "waymo_split": "test", "type": "image", "frame_index": 38, "question": "How do you think a safety-critical object will move?", "category": "Safety-critical Prediction", "options": ["A. No safety-critical object", "B. Safety-critical object moves to the right", "C. Safety-critical object changes lanes", "D. Safety-critical object approaches slowly"], "answer_index": 0}
{"token": "10e72ef3d3c1e75b3dd7bd43988ec51d", "waymo_split": "test", "type": "image", "frame_index": 38, "question": "What should I do to drive safely?", "category": "Safety-critical Planning", "options": ["A. I need to speed up to pass through alleys quickly for safety.", "B. I should be careful of people coming out from the buildings on the left and right.", "C. I should only focus on the front and look at the mirrors on the sides.", "D. I shouldn't stop at crosswalks because cars have the priority."], "answer_index": 1}
{"token": "10e72ef3d3c1e75b3dd7bd43988ec51d", "waymo_split": "test", "type": "image", "frame_index": 38, "question": "What is a safety-critical object?", "category": "Safety-critical Perception", "options": ["A. A safety-critical object is an electric scooter approaching from the left lane in the wrong direction, especially since there are few pedestrians on the right side, making it not a major issue for now.", "B. There are no safety-critical objects. However, one should be cautious of people who may emerge from the blind spots of the buildings on both sides, especially since there are already people walking slowly on the left.", "C. A safety-critical object is a stroller crossing the crosswalk directly ahead; in the blind spot of the right building, the flow of people is interrupted, resulting in less obstruction of view.", "D. A safety-critical object is a motorcycle suddenly emerging from the corner of the right alley building, but the left sidewalk is quiet and there are almost no people walking slowly."], "answer_index": 1}
{"token": "10e72ef3d3c1e75b3dd7bd43988ec51d", "waymo_split": "test", "type": "image", "frame_index": 38, "question": "Is lane changing possible? Which is safer, slowing down or changing lanes?", "category": "Safety-critical Planning", "options": ["A. Lane changing is not possible. Slowing down is safer.", "B. Lane changing is possible after turning on the hazard lights. Changing lanes is safer than slowing down.", "C. Lane changing to the right is possible. Changing lanes is safer than slowing down.", "D. Lane changing is possible. Changing lanes is safer."], "answer_index": 0}
{"token": "10e72ef3d3c1e75b3dd7bd43988ec51d", "waymo_split": "test", "type": "image", "frame_index": 38, "question": "What is the safest choice when approaching a yellow signal: stop vs. proceed?", "category": "Special Event", "options": ["A. Accelerate through", "B. Proceed slowly", "C. No signal", "D. Stop immediately"], "answer_index": 2}
{"token": "10e72ef3d3c1e75b3dd7bd43988ec51d", "waymo_split": "test", "type": "image", "frame_index": 38, "question": "Where is the area that hides danger in the current frame?", "category": "Uncertainty", "options": ["A. The blind spot behind the bus stopped at the right bus stop", "B. The hidden section in front of the waiting vehicles for a right turn at the intersection ahead", "C. The blind spot at the merging point of the opposite lane beyond the median", "D. The blind spot between the vehicles that are stopped and waiting to drive on the left"], "answer_index": 3}
{"token": "10e72ef3d3c1e75b3dd7bd43988ec51d", "waymo_split": "test", "type": "image", "frame_index": 64, "question": "Which is correct as an Image Caption from a Safety-critical Frame perspective?", "category": "Safety-critical scene caption", "options": ["A. A person riding a bicycle on the left side of the black vehicle is currently only showing their arm, while the rest is obscured.", "B. A pedestrian crossing from the front in front of the gray vehicle is currently only showing their back, while their face is obscured.", "C. People approaching from the right in front of the white vehicle are currently only showing their shoulders, while their bodies are obscured.", "D. People passing from the left in front of the black vehicle are currently only showing their heads, while their bodies are obscured."], "answer_index": 3}
{"token": "10e72ef3d3c1e75b3dd7bd43988ec51d", "waymo_split": "test", "type": "image", "frame_index": 38, "question": "What situation might occur if the self-driving car behaved like this?", "category": "Counterfactual", "options": ["A. Risk of contact with pedestrians waiting at the signal ahead if the self-driving car accelerates suddenly.", "B. Risk of a side collision with a bus stopped in the right lane if the self-driving car accelerates suddenly.", "C. Risk of a collision with a vehicle waiting to enter the intersection ahead if the self-driving car accelerates suddenly.", "D. Risk of a rear-end collision with the vehicle in front if the self-driving car accelerates suddenly."], "answer_index": 2}
{"token": "10e72ef3d3c1e75b3dd7bd43988ec51d", "waymo_split": "test", "type": "image", "frame_index": 38, "question": "What are the newly exposed risk candidates in the following section?", "category": "Safety-critical Prediction", "options": ["A. An electric scooter may suddenly enter the roadway from the blind spot behind the central median flower bed.", "B. A pedestrian may jump into the roadway from the blind spot in front of a bus that is stopped at the bus stop ahead.", "C. A passenger may suddenly open the door and get out from the blind spot between the taxis that are stopped on the right.", "D. A person or object may suddenly emerge from the blind spot between the vehicles that are stopped and waiting to drive on the left."], "answer_index": 3}
{"token": "10e72ef3d3c1e75b3dd7bd43988ec51d", "waymo_split": "test", "type": "image", "frame_index": 64, "question": "Which of the following is a correct description of traffic density?", "category": "Normal scene Understanding", "options": ["A. Fast, few surrounding vehicles", "B. Slow, few surrounding vehicles", "C. Fast, many surrounding vehicles", "D. Slow, many surrounding vehicles"], "answer_index": 3}
{"token": "10e72ef3d3c1e75b3dd7bd43988ec51d", "waymo_split": "test", "type": "image", "frame_index": 64, "question": "Based on the current appearance of the person/vehicle (two-wheeled), how do they intend to move?", "category": "Normal Perception & Prediction", "options": ["A. Approaching the left turn lane slowly", "B. Proceeding straight through the intersection", "C. Stopping and waiting to enter the intersection", "D. Preparing to turn right and driving slowly"], "answer_index": 2}
{"token": "10e72ef3d3c1e75b3dd7bd43988ec51d", "waymo_split": "test", "type": "image", "frame_index": 64, "question": "What is the plan for yielding when an ambulance/fire truck approaches?", "category": "Special Event", "options": ["A. Move to the left lane", "B. Pull over to the right immediately", "C. Yield at the next intersection", "D. Yield not possible at the moment"], "answer_index": 3}
{"token": "10e72ef3d3c1e75b3dd7bd43988ec51d", "waymo_split": "test", "type": "image", "frame_index": 64, "question": "What are the restrictions on behavior in school zones/congested areas?", "category": "Special Event", "options": ["A. Driving while honking the horn", "B. Driving slowly", "C. Maintaining a constant speed while driving", "D. Driving with high beams on"], "answer_index": 1}
{"token": "10e72ef3d3c1e75b3dd7bd43988ec51d", "waymo_split": "test", "type": "image", "frame_index": 64, "question": "Which of the following is a correct description of the environment?", "category": "Normal scene Understanding", "options": ["A. Evening, rain", "B. Night, cloudy", "C. Day, clear", "D. Dawn, fog"], "answer_index": 2}
{"token": "10e72ef3d3c1e75b3dd7bd43988ec51d", "waymo_split": "test", "type": "image", "frame_index": 64, "question": "What is the classification of the scene?", "category": "Normal scene Understanding", "options": ["A. Three-lane one-way highway", "B. Two-lane one-way residential road", "C. Four-lane two-way residential road", "D. Four-lane two-way urban road"], "answer_index": 1}
{"token": "10e72ef3d3c1e75b3dd7bd43988ec51d", "waymo_split": "test", "type": "image", "frame_index": 64, "question": "What is the answer regarding parked vehicles on the shoulder, the presence of a center line, and whether Ego crosses the center line?", "category": "Normal Perception & Prediction", "options": ["A. Multiple parked vehicles behind the shoulder.", "B. One parked vehicle on the left shoulder. Solid center line.", "C. No parked vehicles on the shoulder. Dashed center line.", "D. Few parked vehicles in front of the shoulder. Center line present."], "answer_index": 0}
{"token": "10e72ef3d3c1e75b3dd7bd43988ec51d", "waymo_split": "test", "type": "image", "frame_index": 64, "question": "Which of the following is a correct description of traffic signals?", "category": "Traffic Signal", "options": ["A. STOP sign on the left. There is a traffic light.", "B. YIELD sign on the right. There is a traffic light.", "C. STOP sign on the right. There is no traffic light.", "D. Intersection warning sign ahead. The traffic light is red."], "answer_index": 2}
{"token": "10e72ef3d3c1e75b3dd7bd43988ec51d", "waymo_split": "test", "type": "image", "frame_index": 64, "question": "What should I do to drive safely?", "category": "Safety-critical Planning", "options": ["A. I should trust the flow of traffic and accelerate to enter the intersection.", "B. I should consider the vehicles behind me and enter the intersection without stopping.", "C. I should pay attention to this and proceed slowly to enter the intersection.", "D. I should skip checking left and right and enter immediately by just looking at the signal."], "answer_index": 2}
{"token": "10e72ef3d3c1e75b3dd7bd43988ec51d", "waymo_split": "test", "type": "image", "frame_index": 64, "question": "How do you think a safety-critical object will move?", "category": "Safety-critical Prediction", "options": ["A. It seems like it will cross the road from right to left (currently on the sidewalk)", "B. It seems like it will cross the road from left to right (currently on the sidewalk)", "C. It seems like it will move along the sidewalk from left to right (currently on the sidewalk)", "D. It seems like it will go straight on the road from left to right (currently on the road)"], "answer_index": 1}
{"token": "10e72ef3d3c1e75b3dd7bd43988ec51d", "waymo_split": "test", "type": "image", "frame_index": 64, "question": "Are there any other safety-critical objects besides the first safety-critical object? If so, how will you move?", "category": "Safety-critical Prediction", "options": ["A. None", "B. Yes: construction zone ahead, change to the right lane", "C. Yes: pedestrian present, detour to the left", "D. Yes: stopped vehicle, proceed while avoiding the center line"], "answer_index": 0}
{"token": "10e72ef3d3c1e75b3dd7bd43988ec51d", "waymo_split": "test", "type": "image", "frame_index": 64, "question": "What is the correlation in safety-critical situations?", "category": "Safety-critical scene Understanding", "options": ["A. Person - Two-wheeler", "B. Car - Car", "C. Car - Two-wheeler", "D. Car - Person"], "answer_index": 3}
{"token": "10e72ef3d3c1e75b3dd7bd43988ec51d", "waymo_split": "test", "type": "image", "frame_index": 64, "question": "Is lane change possible? Which is safer, slowing down or changing lanes?", "category": "Safety-critical Planning", "options": ["A. Lane change not possible. Slowing down is safer", "B. Lane change to the right is possible. Accelerating is safer", "C. Lane change to the left is possible. Maintaining speed is safer", "D. Lane change is possible. Changing lanes is safer"], "answer_index": 0}
{"token": "10e72ef3d3c1e75b3dd7bd43988ec51d", "waymo_split": "test", "type": "image", "frame_index": 64, "question": "How should I drive to address the first risk while also resolving the second risk?", "category": "Safety-critical Planning", "options": ["A. Need to avoid the next safety-critical object on the left", "B. No next safety-critical object", "C. Approaching the next safety-critical object, slow down", "D. The next safety-critical object is in front on the right"], "answer_index": 1}
{"token": "10e72ef3d3c1e75b3dd7bd43988ec51d", "waymo_split": "test", "type": "image", "frame_index": 64, "question": "Who is responsible in a safety-critical situation? What is the cause?", "category": "Safety-critical scene Understanding", "options": ["A. The driver of the vehicle going straight from the right. This driver increased the risk with pedestrians crossing from the left by proceeding without checking the pedestrian path.", "B. The vehicle making an unprotected left turn from the opposite side. This vehicle obstructed the view of pedestrians by hesitating in the middle of the intersection, causing them to misjudge the roadway.", "C. The people crossing from the left. They are crossing the roadway while ignoring the vehicle on their right, which poses a danger.", "D. The illegally parked vehicles on the right side of the road. They blocked the entrance to the crosswalk, pushing the pedestrian path into the roadway and creating a risk."], "answer_index": 2}
{"token": "10e72ef3d3c1e75b3dd7bd43988ec51d", "waymo_split": "test", "type": "image", "frame_index": 64, "question": "Where is the area that hides danger in the current frame?", "category": "Uncertainty", "options": ["A. Blind spot created next to the central median flower bed at the front intersection", "B. Blind spot created between the wall at the entrance of the right alley and the street trees", "C. Blind spot between the vehicles that are parked and waiting to drive on the left", "D. Blind spot behind the large bus stopped at the bus stop on the right"], "answer_index": 2}
{"token": "10e72ef3d3c1e75b3dd7bd43988ec51d", "waymo_split": "test", "type": "image", "frame_index": 64, "question": "What is the safest choice just before entering a yellow signal: stop vs. pass?", "category": "Special Event", "options": ["A. Immediate stop", "B. Accelerate through", "C. Proceed with a right turn", "D. No signal"], "answer_index": 3}
{"token": "10e72ef3d3c1e75b3dd7bd43988ec51d", "waymo_split": "test", "type": "image", "frame_index": 64, "question": "What are the newly exposed risk candidates in the following section?", "category": "Safety-critical Prediction", "options": ["A. There may be people or objects suddenly appearing from the blind spots between vehicles that are stopped and waiting to drive on the left.", "B. A vehicle going the wrong way may suddenly enter through the opening in the central divider and cross the path.", "C. A worker may walk onto the roadway through the barriers in the construction area at the entrance of the intersection ahead.", "D. A bicycle may suddenly emerge from behind a bus that is stopped in the lane in front of the bus stop on the right."], "answer_index": 0}
{"token": "10e72ef3d3c1e75b3dd7bd43988ec51d", "waymo_split": "test", "type": "image", "frame_index": 97, "question": "Based on the current appearance of the person/vehicle (two-wheeled), how do they intend to move?", "category": "Normal Perception & Prediction", "options": ["A. Starting to drive to enter the intersection", "B. Approaching slowly to make a right turn", "C. Waiting to stop to make a left turn", "D. Moving to the shoulder to stop"], "answer_index": 0}
{"token": "10e72ef3d3c1e75b3dd7bd43988ec51d", "waymo_split": "test", "type": "image", "frame_index": 97, "question": "Which is correct as an Image Caption from a Safety-critical Frame perspective?", "category": "Safety-critical scene caption", "options": ["A. Three people crossing the road to the left in front of the black vehicle on the left.", "B. Two people crossing the road to the right in front of the black vehicle on the left.", "C. Three people crossing the road to the right in front of the black vehicle on the left.", "D. Three people crossing the road to the right in front of the white vehicle on the right."], "answer_index": 2}
{"token": "10e72ef3d3c1e75b3dd7bd43988ec51d", "waymo_split": "test", "type": "image", "frame_index": 64, "question": "What is the method to avoid blind spots when passing large vehicles?", "category": "Special Event", "options": ["A. No large vehicle", "B. Overtake on the right", "C. Pass closely", "D. Stay close to the large vehicle"], "answer_index": 0}
{"token": "10e72ef3d3c1e75b3dd7bd43988ec51d", "waymo_split": "test", "type": "image", "frame_index": 97, "question": "What are the behavioral restrictions in school zones/congested areas?", "category": "Special Event", "options": ["A. Driving over the speed limit", "B. Honking while driving", "C. Overtaking", "D. Driving slowly"], "answer_index": 3}
{"token": "10e72ef3d3c1e75b3dd7bd43988ec51d", "waymo_split": "test", "type": "image", "frame_index": 97, "question": "Which of the following is a correct description of traffic density?", "category": "Normal scene Understanding", "options": ["A. Fast, few surrounding vehicles", "B. Slow, few surrounding vehicles", "C. Slow, many surrounding vehicles", "D. Fast, many surrounding vehicles"], "answer_index": 2}
{"token": "10e72ef3d3c1e75b3dd7bd43988ec51d", "waymo_split": "test", "type": "image", "frame_index": 97, "question": "What is the classification of the scene?", "category": "Normal scene Understanding", "options": ["A. Unpaved farm road two-way", "B. Highway one-way with 3 lanes", "C. Residential area two-lane one-way road", "D. Urban area two-lane two-way road"], "answer_index": 2}
{"token": "10e72ef3d3c1e75b3dd7bd43988ec51d", "waymo_split": "test", "type": "image", "frame_index": 97, "question": "What is the plan for yielding when an ambulance/fire truck approaches?", "category": "Special Event", "options": ["A. Only reduce speed", "B. Yield immediately to the right", "C. Change to the left lane", "D. Currently unable to yield"], "answer_index": 3}
{"token": "10e72ef3d3c1e75b3dd7bd43988ec51d", "waymo_split": "test", "type": "image", "frame_index": 97, "question": "Which of the following is a correct description of the environment?", "category": "Normal scene Understanding", "options": ["A. Night, cloudy", "B. Dawn, fog", "C. Evening, rain", "D. Day, clear"], "answer_index": 3}
{"token": "10e72ef3d3c1e75b3dd7bd43988ec51d", "waymo_split": "test", "type": "image", "frame_index": 97, "question": "What is the description of a non-safety-critical object?", "category": "Normal Perception & Prediction", "options": ["A. A motorcycle waiting to make a U-turn on the left. A minivan parked parallel behind. A convenience store entrance and sign right next to the vehicle on the right. Safety posts on the median.", "B. A bus at a bus stop waiting for a signal on the right. A passenger car entering an alley ahead. A house wall and mailbox right next to the vehicle on the left. A trash collection bin on the right sidewalk.", "C. A vehicle in the left lane waiting to enter an intersection on the left. A vehicle parked on the side behind. A building and its wall or window right next to the vehicle on the right. A streetlight on the left sidewalk.", "D. A vehicle in the right lane passing through an intersection on the right. A parked vehicle along the road ahead. A park fence and bench right next to the vehicle on the left. A street tree on the right sidewalk."], "answer_index": 2}
{"token": "10e72ef3d3c1e75b3dd7bd43988ec51d", "waymo_split": "test", "type": "image", "frame_index": 97, "question": "Is there a blind spot in your field of vision?", "category": "Uncertainty", "options": ["A. There is a slight blind spot", "B. There is a partial blind spot", "C. It is on the right side", "D. There is no blind spot"], "answer_index": 3}
{"token": "10e72ef3d3c1e75b3dd7bd43988ec51d", "waymo_split": "test", "type": "image", "frame_index": 97, "question": "Which of the following is a correct description of traffic signals?", "category": "Traffic Signal", "options": ["A. Yield sign on the left / traffic light in operation", "B. No right turn sign straight ahead / pedestrian signal is on", "C. Dedicated left turn arrow on the road / intersection traffic light is on", "D. STOP sign on the right. No traffic light"], "answer_index": 3}
{"token": "10e72ef3d3c1e75b3dd7bd43988ec51d", "waymo_split": "test", "type": "image", "frame_index": 97, "question": "What is a safety-critical object?", "category": "Safety-critical Perception", "options": ["A. Four people stopped in front of the crosswalk", "B. Two people trying to cross the road from the right", "C. Three people coming across the road from the left", "D. Three people stepping onto the sidewalk from the left"], "answer_index": 2}
{"token": "10e72ef3d3c1e75b3dd7bd43988ec51d", "waymo_split": "test", "type": "image", "frame_index": 97, "question": "How do you think safety-critical objects will move?", "category": "Safety-critical Prediction", "options": ["A. Cross the road from right to left", "B. Cross the road from left to right", "C. Stop at the stop line before entering the road", "D. Move along the sidewalk from left to right"], "answer_index": 1}
{"token": "10e72ef3d3c1e75b3dd7bd43988ec51d", "waymo_split": "test", "type": "image", "frame_index": 97, "question": "What is the answer regarding parked vehicles on the shoulder, the presence of a center line, and whether Ego crosses the center line?", "category": "Normal Perception & Prediction", "options": ["A. Many parked vehicles on the shoulder behind. No center line.", "B. Many parked vehicles on the shoulder in front. There is a center line.", "C. A few parked vehicles on the shoulder in front. There is a center line.", "D. A few parked vehicles on the shoulder behind. There is a center line."], "answer_index": 0}
{"token": "10e72ef3d3c1e75b3dd7bd43988ec51d", "waymo_split": "test", "type": "image", "frame_index": 97, "question": "What should I do to drive safely?", "category": "Safety-critical Planning", "options": ["A. Proceed as is while only looking at the signals, regardless of their movements.", "B. Stop and refrain from entering the intersection based on their appearance and movement.", "C. Quickly detour by changing lanes to avoid their path.", "D. Pass through the intersection at a low speed in accordance with their appearance and movement."], "answer_index": 1}
{"token": "10e72ef3d3c1e75b3dd7bd43988ec51d", "waymo_split": "test", "type": "image", "frame_index": 97, "question": "Is there any other safety-critical object besides the first safety-critical object? If so, how will it be moved?", "category": "Safety-critical Prediction", "options": ["A. Yes: Check power off, support from below and move to the left", "B. No", "C. Yes: Wrap with cushioning material and move forward with a cart", "D. Yes: Wear insulated gloves, lift with both hands and move to the right"], "answer_index": 1}
{"token": "10e72ef3d3c1e75b3dd7bd43988ec51d", "waymo_split": "test", "type": "image", "frame_index": 97, "question": "How should I drive to address the first risk while also resolving the second risk?", "category": "Safety-critical Planning", "options": ["A. No more safety-critical objects ahead", "B. Next safety-critical object: bicycle on the left", "C. Next safety-critical object: merging vehicle", "D. Next safety-critical object: pedestrian ahead"], "answer_index": 0}
{"token": "10e72ef3d3c1e75b3dd7bd43988ec51d", "waymo_split": "test", "type": "image", "frame_index": 97, "question": "Is lane change possible? Which is safer, slowing down or changing lanes?", "category": "Safety-critical Planning", "options": ["A. Right lane change is possible. Acceleration is safer.", "B. Left lane change is possible. Maintaining speed is safer.", "C. Lane change is possible. Changing lanes is safer.", "D. Lane change is not possible. Slowing down is safer."], "answer_index": 3}
{"token": "10e72ef3d3c1e75b3dd7bd43988ec51d", "waymo_split": "test", "type": "image", "frame_index": 97, "question": "What is the correlation in safety-critical situations?", "category": "Safety-critical scene Understanding", "options": ["A. Two-wheeler - Two-wheeler", "B. Car - Person", "C. Person - Two-wheeler", "D. Car - Two-wheeler"], "answer_index": 1}
{"token": "10e72ef3d3c1e75b3dd7bd43988ec51d", "waymo_split": "test", "type": "image", "frame_index": 97, "question": "What are the new exposure risk candidates in the following section?", "category": "Safety-critical Prediction", "options": ["A. Falling rocks", "B. Falling", "C. Entanglement", "D. None"], "answer_index": 3}
{"token": "10e72ef3d3c1e75b3dd7bd43988ec51d", "waymo_split": "test", "type": "image", "frame_index": 97, "question": "Where is the area that hides danger in the current frame?", "category": "Uncertainty", "options": ["A. None", "B. Rear right", "C. Lower left", "D. Behind the A-pillar"], "answer_index": 0}
{"token": "10e72ef3d3c1e75b3dd7bd43988ec51d", "waymo_split": "test", "type": "image", "frame_index": 97, "question": "What is the method to avoid the blind spot next to a large vehicle?", "category": "Special Event", "options": ["A. Pass by closely", "B. Approach the large vehicle", "C. No large vehicle", "D. Check only the mirrors"], "answer_index": 2}
{"token": "10e72ef3d3c1e75b3dd7bd43988ec51d", "waymo_split": "test", "type": "image", "frame_index": 97, "question": "Who is responsible in a safety-critical situation? What is the cause?", "category": "Safety-critical scene Understanding", "options": ["A. The vehicle on the right that was going straight... because it attempted to pass without slowing down even though the pedestrian had already entered the roadway.", "B. The people crossing from the left... because when they cross the roadway, they ignore the vehicle on their right and cross the street.", "C. The user of the electric scooter approaching from behind... because they quickly cut in from the left blind spot, obstructing the view of both the pedestrian and the vehicle.", "D. The vehicle that turned right from the front... because it failed to check for pedestrian movement and skipped the temporary stop before the crosswalk."], "answer_index": 1}
{"token": "10e72ef3d3c1e75b3dd7bd43988ec51d", "waymo_split": "test", "type": "image", "frame_index": 97, "question": "What situation might have occurred if the self-driving car acted like this?", "category": "Counterfactual", "options": ["A. If the self-driving car changed lanes recklessly, there would be a risk of colliding with the median.", "B. If the self-driving car ignored this and continued driving, there would be a risk of contact with vehicles on the right.", "C. If the self-driving car suddenly braked, there would be a risk of a collision with the following vehicle.", "D. If the self-driving car ignored this and continued driving, there would be a risk of colliding with people on the left."], "answer_index": 3}
{"token": "10e72ef3d3c1e75b3dd7bd43988ec51d", "waymo_split": "test", "type": "image", "frame_index": 97, "question": "What is the safest choice when approaching a yellow signal: stop vs. proceed?", "category": "Special Event", "options": ["A. No signal", "B. Stop immediately", "C. Proceed while slowing down", "D. Maintain speed"], "answer_index": 0}
{"token": "10e72ef3d3c1e75b3dd7bd43988ec51d", "waymo_split": "test", "type": "image", "frame_index": 97, "question": "What are the driving guidelines for my vehicle based on the behavior of a safety-critical object?", "category": "Safety-critical Planning", "options": ["A. If they move slowly parallel to the right edge, the risk of collision is low (my vehicle is currently driving at a constant speed).", "B. Even if they suddenly cross to the left, there is enough distance maintained (my vehicle is currently not slowing down and is expected to pass).", "C. If they run and cross to the right, there is a possibility of collision with my vehicle (my vehicle is currently slowing down and has come to a stop, however).", "D. If they stop and back away to the left, there is no obstruction to progress (my vehicle is currently driving without slowing down)."], "answer_index": 2}
{"token": "10e72ef3d3c1e75b3dd7bd43988ec51d", "waymo_split": "test", "type": "image", "frame_index": 132, "question": "Based on the current appearance of the person/vehicle (two-wheeled), how do they intend to move?", "category": "Normal Perception & Prediction", "options": ["A. Stop just before entering the intersection", "B. Stay close to the right lane and make a right turn", "C. Proceed straight while entering the intersection", "D. Start immediately as the signal changes"], "answer_index": 0}
{"token": "10e72ef3d3c1e75b3dd7bd43988ec51d", "waymo_split": "test", "type": "image", "frame_index": 132, "question": "Which of the following is a correct description of traffic density?", "category": "Normal scene Understanding", "options": ["A. Fast, many surrounding vehicles", "B. Slow, few surrounding vehicles", "C. Fast, few surrounding vehicles", "D. Slow, many surrounding vehicles"], "answer_index": 3}
{"token": "10e72ef3d3c1e75b3dd7bd43988ec51d", "waymo_split": "test", "type": "image", "frame_index": 132, "question": "What are the behavior restrictions in school zones/congested areas?", "category": "Special Event", "options": ["A. Drive slowly", "B. Overtake on the right", "C. Honk while passing", "D. Proceed with hazard lights on"], "answer_index": 0}
{"token": "10e72ef3d3c1e75b3dd7bd43988ec51d", "waymo_split": "test", "type": "image", "frame_index": 132, "question": "Which is correct as an Image Caption from the perspective of Safety-critical Frame?", "category": "Safety-critical scene caption", "options": ["A. Three people crossing the road to the right in front of a black vehicle.", "B. Three people crossing the road to the left in front of a black vehicle.", "C. Two people crossing the road to the right in front of a black vehicle.", "D. Three people crossing the road to the right in front of a white vehicle."], "answer_index": 0}
{"token": "10e72ef3d3c1e75b3dd7bd43988ec51d", "waymo_split": "test", "type": "image", "frame_index": 132, "question": "What is your plan for yielding when an ambulance/fire truck approaches?", "category": "Special Event", "options": ["A. Currently unable to yield", "B. Wait on the left shoulder", "C. Maintain speed and pass", "D. Pull over to the right immediately"], "answer_index": 0}
{"token": "10e72ef3d3c1e75b3dd7bd43988ec51d", "waymo_split": "test", "type": "image", "frame_index": 132, "question": "What is the classification of the scene?", "category": "Normal scene Understanding", "options": ["A. city two-lane one-way road", "B. residential area one-lane one-way road", "C. residential area two-lane one-way road", "D. residential area two-lane two-way road"], "answer_index": 2}
{"token": "10e72ef3d3c1e75b3dd7bd43988ec51d", "waymo_split": "test", "type": "image", "frame_index": 132, "question": "Which of the following is a correct description of the environment?", "category": "Normal scene Understanding", "options": ["A. Early morning, fog", "B. Dusk, cloudy", "C. Night, rain", "D. Daytime, clear"], "answer_index": 3}
{"token": "10e72ef3d3c1e75b3dd7bd43988ec51d", "waymo_split": "test", "type": "image", "frame_index": 132, "question": "Which of the following is a correct description of traffic signals?", "category": "Traffic Signal", "options": ["A. A STOP sign on the left. A ONE WAY sign in front. There is a traffic light.", "B. A STOP sign on the right. A ONE WAY sign on the right. There is no traffic light.", "C. A YIELD sign on the right. A ONE WAY sign on the left. The pedestrian signal is on.", "D. A SPEED LIMIT 25 sign on the right. A DO NOT ENTER sign in front. The traffic light is operational."], "answer_index": 1}
{"token": "10e72ef3d3c1e75b3dd7bd43988ec51d", "waymo_split": "test", "type": "image", "frame_index": 132, "question": "Which of the following describes a non-safety-critical object?", "category": "Normal Perception & Prediction", "options": ["A. A vehicle in the right lane waiting to enter an intersection on the right. A vehicle parked parallel in front. A store and its entrance or sign next to your vehicle on the left. A utility pole on the right sidewalk.", "B. A vehicle in the left lane waiting to enter an intersection on the left. A vehicle parked on the side behind. A building and its fence or window next to your vehicle on the right. A streetlight on the left sidewalk.", "C. A motorcycle entering a roundabout on the left. A cargo van parked on the shoulder behind. A park fence and bench next to your vehicle on the right. A traffic light pole at the crosswalk in front.", "D. A city bus waiting to turn left on the right. A taxi waiting in the U-turn lane ahead. A street tree and its flowerbed next to the front fender of your vehicle on the right. A bus stop sign on the left sidewalk."], "answer_index": 1}
{"token": "10e72ef3d3c1e75b3dd7bd43988ec51d", "waymo_split": "test", "type": "image", "frame_index": 132, "question": "Is there a blind spot in your field of vision?", "category": "Uncertainty", "options": ["A. Only on the left", "B. Yes", "C. No", "D. Partial"], "answer_index": 2}
{"token": "10e72ef3d3c1e75b3dd7bd43988ec51d", "waymo_split": "test", "type": "image", "frame_index": 132, "question": "How do you think a safety-critical object will move?", "category": "Safety-critical Prediction", "options": ["A. Crossing the road from left to right", "B. Moving along the sidewalk from right to left", "C. Making a right turn while passing through an intersection", "D. Driving along the lane from front to back"], "answer_index": 0}
{"token": "10e72ef3d3c1e75b3dd7bd43988ec51d", "waymo_split": "test", "type": "image", "frame_index": 132, "question": "What is the answer regarding parked vehicles on the shoulder, the presence of a center line, and whether Ego has crossed the center line?", "category": "Normal Perception & Prediction", "options": ["A. Many parked vehicles on the shoulder behind. No center line.", "B. Few parked vehicles on the shoulder behind. There is a center line.", "C. Many parked vehicles on the shoulder in front. There is a center line.", "D. Scattered parked vehicles on the shoulder in front and behind. There is a center line."], "answer_index": 0}
{"token": "10e72ef3d3c1e75b3dd7bd43988ec51d", "waymo_split": "test", "type": "image", "frame_index": 132, "question": "What is a safety-critical object?", "category": "Safety-critical Perception", "options": ["A. Two people stepping down onto the road on the left", "B. Three people crossing the road in front", "C. An electric scooter encroaching on the lane in front", "D. Three people standing in front of the crosswalk on the right"], "answer_index": 1}
{"token": "10e72ef3d3c1e75b3dd7bd43988ec51d", "waymo_split": "test", "type": "image", "frame_index": 132, "question": "Are there any other safety-critical objects besides the first safety-critical object? If so, how will they be moved?", "category": "Safety-critical Prediction", "options": ["A. Yes: Emergency stop panel — relocated to the front left of the equipment after organizing cables", "B. No", "C. Yes: Fire extinguisher — moved 0.5m towards the right wall to clear the passage", "D. Yes: First aid kit — moved to the shelf next to the entrance to improve accessibility"], "answer_index": 1}
{"token": "10e72ef3d3c1e75b3dd7bd43988ec51d", "waymo_split": "test", "type": "image", "frame_index": 132, "question": "What should I do to drive safely?", "category": "Safety-critical Planning", "options": ["A. Stop and wait until their lane crossing is finished before entering the intersection.", "B. Change to the left lane to avoid them and hurry through the intersection.", "C. Turn right to enter after signaling with hazard lights and horn.", "D. Proceed slowly through the intersection while they are in the center of the lane."], "answer_index": 0}
{"token": "10e72ef3d3c1e75b3dd7bd43988ec51d", "waymo_split": "test", "type": "image", "frame_index": 132, "question": "How should I drive to resolve the first risk while also addressing the second risk?", "category": "Safety-critical Planning", "options": ["A. No subsequent safety-critical objects", "B. Detect safety-critical object on the right", "C. Existence of subsequent safety-critical object", "D. Approaching pedestrian hazard ahead"], "answer_index": 0}
{"token": "10e72ef3d3c1e75b3dd7bd43988ec51d", "waymo_split": "test", "type": "image", "frame_index": 132, "question": "What is the correlation in safety-critical situations?", "category": "Safety-critical scene Understanding", "options": ["A. Car-Car", "B. Car-Two-wheeler", "C. Two-wheeler-Person", "D. Car-Person"], "answer_index": 3}
{"token": "10e72ef3d3c1e75b3dd7bd43988ec51d", "waymo_split": "test", "type": "image", "frame_index": 132, "question": "Is lane changing possible? Which is safer, slowing down or changing lanes?", "category": "Safety-critical Planning", "options": ["A. Lane changing is not possible. Slowing down is safer", "B. If there's room, it's possible. Changing lanes is safer", "C. Only to the left is possible. Changing lanes is safer", "D. Lane changing is possible. Changing lanes is safer"], "answer_index": 0}
{"token": "10e72ef3d3c1e75b3dd7bd43988ec51d", "waymo_split": "test", "type": "image", "frame_index": 132, "question": "What is the safest choice just before entering a yellow signal: stop vs. pass?", "category": "Special Event", "options": ["A. pass while slowing down", "B. wait for pedestrians", "C. stop immediately", "D. no signal"], "answer_index": 3}
{"token": "10e72ef3d3c1e75b3dd7bd43988ec51d", "waymo_split": "test", "type": "image", "frame_index": 132, "question": "What are the new exposure risk candidates in the following interval?", "category": "Safety-critical Prediction", "options": ["A. Flooding", "B. Falling rocks", "C. None", "D. Icy roads"], "answer_index": 2}
{"token": "10e72ef3d3c1e75b3dd7bd43988ec51d", "waymo_split": "test", "type": "image", "frame_index": 132, "question": "What situation might have occurred if the vehicle had acted this way?", "category": "Counterfactual", "options": ["A. If the vehicle had swerved to the right, there would have been a risk of contact with the electric scooter at the edge of the sidewalk.", "B. If the vehicle had ignored it and continued driving, there would have been a risk of collision with the people in front.", "C. If the vehicle had made a sudden stop, there would have been a risk of collision with the following vehicle.", "D. If the vehicle had attempted to turn left, there would have been a risk of competition with the oncoming left-turning vehicle."], "answer_index": 1}
{"token": "10e72ef3d3c1e75b3dd7bd43988ec51d", "waymo_split": "test", "type": "image", "frame_index": 132, "question": "Where is the area that hides danger in the current frame?", "category": "Uncertainty", "options": ["A. Left A-pillar", "B. Right tree", "C. None", "D. Behind the truck"], "answer_index": 2}
{"token": "10e72ef3d3c1e75b3dd7bd43988ec51d", "waymo_split": "test", "type": "image", "frame_index": 132, "question": "Who is responsible in a safety-critical situation? What is the cause?", "category": "Safety-critical scene Understanding", "options": ["A. A vehicle turning right from the opposite lane. It distracted the attention of the vehicle approaching from the right by drawing the pedestrian's gaze.", "B. The road management authority. Inadequate guidance for crosswalks and insufficient visibility caused the paths of pedestrians and vehicles to overlap.", "C. The people crossing. Their act of crossing the road was done without awareness of the vehicle approaching from their right.", "D. The driver of the vehicle on the right. They increased the risk of collision by not slowing down or stopping despite being aware of the approaching pedestrians."], "answer_index": 2}
{"token": "10e72ef3d3c1e75b3dd7bd43988ec51d", "waymo_split": "test", "type": "image", "frame_index": 132, "question": "What are the driving guidelines for my vehicle based on the behavior of safety-critical objects?", "category": "Safety-critical Planning", "options": ["A. If they turn left and exit to the opposite side, my vehicle can accelerate and pass through.", "B. If they turn right and run towards my vehicle, my vehicle may collide while stationary.", "C. If they scatter and stop on the right sidewalk, my vehicle can pass without changing lanes.", "D. If they increase speed and move away while going straight, my vehicle can proceed without stopping."], "answer_index": 1}
{"token": "1184c8a0a1b8bfe776c3c47939d7a9c4", "waymo_split": "test", "type": "video", "frame_index": null, "question": "Where is the safety-critical situation in the video?", "category": "Temporal Grounding", "options": ["A. 4/4", "B. 2/4", "C. 1/4", "D. 3/4"], "answer_index": 0}
{"token": "1184c8a0a1b8bfe776c3c47939d7a9c4", "waymo_split": "test", "type": "video", "frame_index": null, "question": "What are the divisions of the scene?", "category": "Normal scene Understanding", "options": ["A. Residential area", "B. Urban area", "C. Highway", "D. Rural road"], "answer_index": 0}
{"token": "1184c8a0a1b8bfe776c3c47939d7a9c4", "waymo_split": "test", "type": "video", "frame_index": null, "question": "Is there a special situation?", "category": "Special Event", "options": ["A. Emergency vehicle approaching", "B. None", "C. Fire truck passing by", "D. School bus stopping"], "answer_index": 1}
{"token": "1184c8a0a1b8bfe776c3c47939d7a9c4", "waymo_split": "test", "type": "video", "frame_index": null, "question": "Which of the following is a correct description of road alignment?", "category": "Normal Perception & Prediction", "options": ["A. Unprotected left turn", "B. Right turn", "C. Left turn", "D. Straight"], "answer_index": 3}
{"token": "1184c8a0a1b8bfe776c3c47939d7a9c4", "waymo_split": "test", "type": "video", "frame_index": null, "question": "Which of the following is a correct description of Spatial Relationship?", "category": "Spatial Relationship", "options": ["A. The vehicle that is ahead makes a left turn at the intersection in accordance with the yellow light signal.", "B. The vehicle that is ahead makes a right turn at the intersection in accordance with the green light signal.", "C. The vehicle that is ahead stops at the intersection in accordance with the red light signal.", "D. The vehicle that is ahead passes straight through the intersection in accordance with the green light signal."], "answer_index": 1}
{"token": "1184c8a0a1b8bfe776c3c47939d7a9c4", "waymo_split": "test", "type": "video", "frame_index": null, "question": "Which of the following statements about traffic density is correct?", "category": "Normal scene Understanding", "options": ["A. Usually, the center of the intersection is a smooth flat area.", "B. Slow, there is a slight downhill at the entrance of the intersection.", "C. Fast, there is a gentle uphill on the outskirts of the intersection.", "D. Fast, there is a bumpy slope in the center of the intersection."], "answer_index": 3}
{"token": "1184c8a0a1b8bfe776c3c47939d7a9c4", "waymo_split": "test", "type": "video", "frame_index": null, "question": "Which of the following is a correct description of the environment?", "category": "Normal scene Understanding", "options": ["A. Cloudy during the day", "B. Clear during the day", "C. Cloudy at night", "D. Clear in the evening"], "answer_index": 0}
{"token": "1184c8a0a1b8bfe776c3c47939d7a9c4", "waymo_split": "test", "type": "video", "frame_index": null, "question": "What is the description of a non-safety-critical object?", "category": "Normal Perception & Prediction", "options": ["A. There are no crosswalks or traffic lights at the intersection, only warning signs. A young man preparing for busking is organizing his equipment at the left corner of the wall. The straight section is lined with warehouse-type buildings and vacant lots, and most of the parking spaces are empty. The sidewalk is long and divided by metal guardrails, with a few flower pots placed along it.", "B. There is a roundabout at the intersection with a fountain in the middle. A person pulling an electric scooter is stopped at the right corner. The straight section continues with high-rise apartment complexes, and only occasional signs for underground parking entrances are visible. The edge of the sidewalk is densely lined with utility poles and cables, and there are no street trees.", "C. In the center of the intersection, there is a small rotary and a flower bed. A person with a bicycle is standing at the left entry corner. The straight road continues with small commercial buildings, and several delivery motorcycles are visible in front of the stores. There are only sporadic streetlights on the sidewalk, and there are almost no trees.", "D. There are crosswalks and traffic lights at the intersection. A person walking is present at the right entry corner of the intersection. The straight road continues with several houses that have gardens, and vehicles are parked in the parking lots of these houses. Many trees are planted along the sidewalk."], "answer_index": 3}
{"token": "1184c8a0a1b8bfe776c3c47939d7a9c4", "waymo_split": "test", "type": "video", "frame_index": null, "question": "What is the answer regarding parked vehicles on the shoulder, the presence of a center line, and whether Ego crosses the center line?", "category": "Normal Perception & Prediction", "options": ["A. No parked vehicles on the shoulder. There is a center line.", "B. There are parked vehicles on the shoulder. No center line.", "C. There are vehicles driving on the shoulder. There is a center line.", "D. No stopped vehicles on the shoulder. There is a center line."], "answer_index": 1}
{"token": "1184c8a0a1b8bfe776c3c47939d7a9c4", "waymo_split": "test", "type": "video", "frame_index": null, "question": "How did the safety-critical object move and how did the ego vehicle behave?", "category": "Safety-critical scene Understanding", "options": ["A. Changed lanes to the left. The ego vehicle slowed down and maintained distance.", "B. Drove straight towards the ego vehicle. The ego vehicle also drove straight in the direction it was heading.", "C. Made a U-turn towards the opposite lane. The ego vehicle stopped briefly and then restarted.", "D. Stopped in front of the ego vehicle. The ego vehicle changed lanes to the right."], "answer_index": 1}
{"token": "1184c8a0a1b8bfe776c3c47939d7a9c4", "waymo_split": "test", "type": "video", "frame_index": null, "question": "What is a safety-critical object?", "category": "Safety-critical Perception", "options": ["A. A yellow van parked on the right shoulder of a two-lane road", "B. A white vehicle driving towards your car from the opposite side of a two-lane road", "C. A gray pedestrian standing next to a crosswalk waiting for the signal", "D. A black vehicle driving forward in the same lane on a two-lane road"], "answer_index": 1}
{"token": "1184c8a0a1b8bfe776c3c47939d7a9c4", "waymo_split": "test", "type": "video", "frame_index": null, "question": "Is there a blind spot in your field of vision?", "category": "Uncertainty", "options": ["A. There is a blind spot next to the parked vehicle on the right.", "B. There is a blind spot behind the parked vehicle on the left.", "C. There is no blind spot near the no parking zone on the right.", "D. There is a blind spot in front of the parked vehicle on the right."], "answer_index": 3}
{"token": "1184c8a0a1b8bfe776c3c47939d7a9c4", "waymo_split": "test", "type": "video", "frame_index": null, "question": "Which of the following statements about traffic signals is correct?", "category": "Traffic Signal", "options": ["A. Traffic lights are present at the intersection (based on vehicle signal green light)", "B. Traffic lights are not installed at the intersection (priority to signs · stop temporarily)", "C. Traffic lights are present at the intersection (based on pedestrian signal green light)", "D. Traffic lights at the intersection are flashing yellow (proceed with caution)"], "answer_index": 0}
{"token": "1184c8a0a1b8bfe776c3c47939d7a9c4", "waymo_split": "test", "type": "video", "frame_index": null, "question": "What is the correlation in safety-critical situations?", "category": "Safety-critical scene Understanding", "options": ["A. car-car", "B. car-two-wheeler", "C. car-person", "D. person-two-wheeler"], "answer_index": 0}
{"token": "1184c8a0a1b8bfe776c3c47939d7a9c4", "waymo_split": "test", "type": "video", "frame_index": null, "question": "Summary of Ego (own vehicle) behavior before a safety-critical situation", "category": "Normal scene Understanding", "options": ["A. Turning left on a two-lane road", "B. Going straight on a three-lane road", "C. Going straight on a two-lane road", "D. Stopped on a two-lane road"], "answer_index": 2}
{"token": "1184c8a0a1b8bfe776c3c47939d7a9c4", "waymo_split": "test", "type": "video", "frame_index": null, "question": "Who is responsible in a safety-critical situation? What is the cause?", "category": "Safety-critical scene Understanding", "options": ["A. Not the driver. It is a situation unrelated to speed because it is an area where signals are clearly visible.", "B. The pedestrian is responsible. It is a straight section with almost no surrounding parked cars, so it is acceptable to pass at normal speed.", "C. The other vehicle is responsible. It is a road with sufficient lane width, so the vehicle that entered first should maintain speed to keep the flow.", "D. Both are responsible. It is necessary to reduce speed and proceed cautiously on a road with many surrounding parked cars."], "answer_index": 3}
{"token": "1184c8a0a1b8bfe776c3c47939d7a9c4", "waymo_split": "test", "type": "image", "frame_index": 9, "question": "What is the plan for yielding when an ambulance/fire truck approaches?", "category": "Special Event", "options": ["A. Yield by pulling over to the left shoulder", "B. Stop inside the intersection to yield", "C. Yield by staying close to the center lane and proceeding slowly", "D. Yield by pulling over to the right shoulder"], "answer_index": 3}
{"token": "1184c8a0a1b8bfe776c3c47939d7a9c4", "waymo_split": "test", "type": "image", "frame_index": 9, "question": "Based on the current appearance of the person/vehicle (two-wheeled), how do you intend to move?", "category": "Normal Perception & Prediction", "options": ["A. Preparing for a U-turn (moving towards the center line)", "B. Entering the intersection (going straight)", "C. Entering the intersection (turning right)", "D. Entering the intersection (turning left)"], "answer_index": 1}
{"token": "1184c8a0a1b8bfe776c3c47939d7a9c4", "waymo_split": "test", "type": "video", "frame_index": null, "question": "What situation might have occurred if the self-driving car behaved like this?", "category": "Counterfactual", "options": ["A. If the self-driving car slightly encroached on the center while driving and moved to the left, it could collide with a safety-critical vehicle on the left.", "B. If the self-driving car avoided the center and slightly moved to the right while driving, it might have maintained a safe distance from the safety-critical vehicle on the right, preventing a collision.", "C. If the self-driving car had maintained a straight path without turning left, it might have kept a safe distance from the vehicle on the left, avoiding a dangerous situation.", "D. If the self-driving car had changed to the right lane instead of the left, it could have passed smoothly while only being cautious of obstacles on the shoulder."], "answer_index": 0}
{"token": "1184c8a0a1b8bfe776c3c47939d7a9c4", "waymo_split": "test", "type": "video", "frame_index": null, "question": "What potential situations may arise depending on the type/condition of the road?", "category": "Normal Perception & Prediction", "options": ["A. Near the rotary median, there is little impact, so steering correction is not needed.", "B. At the connection point of an overpass, there is no height difference, so there is almost no shaking when passing.", "C. At the entrance of an intersection, the road surface is flat, so it is fine to pass without changing speed.", "D. In the center of the intersection, there is a bumpy area, so caution is needed at this time."], "answer_index": 3}
{"token": "1184c8a0a1b8bfe776c3c47939d7a9c4", "waymo_split": "test", "type": "image", "frame_index": 9, "question": "Which of the following is correct from the perspective of a Normal Frame Image Caption?", "category": "Normal scene caption", "options": ["A. A vehicle entering an intersection in a residential area (currently a two-lane road). In front, among two leading vehicles, one is going straight and the other is turning right. The traffic light is green. There is one vehicle following behind.", "B. A vehicle passing through an intersection in a residential area (a four-lane road). In front, both leading vehicles are waiting to turn left, and the traffic light is yellow. There is a delivery motorcycle closely following behind.", "C. A vehicle approaching an intersection in front of a school (narrow one-way street). In front, there is only one leading vehicle moving slowly and preparing to turn right. The traffic light is flashing. There is a bus right behind.", "D. A vehicle entering a busy intersection (a one-lane road). In front, among two leading vehicles, one is waiting to turn left and the other is waiting to make a U-turn. The traffic light is red. There are no vehicles following behind."], "answer_index": 0}
{"token": "1184c8a0a1b8bfe776c3c47939d7a9c4", "waymo_split": "test", "type": "image", "frame_index": 9, "question": "Which of the following is a correct description of traffic density?", "category": "Normal scene Understanding", "options": ["A. Fast, many surrounding vehicles", "B. Slow, few surrounding vehicles", "C. Slow, many surrounding vehicles", "D. Fast, few surrounding vehicles"], "answer_index": 3}
{"token": "1184c8a0a1b8bfe776c3c47939d7a9c4", "waymo_split": "test", "type": "image", "frame_index": 9, "question": "Which of the following is a correct description of the environment?", "category": "Normal scene Understanding", "options": ["A. Day, clear", "B. Evening, clear", "C. Morning, cloudy", "D. Day, cloudy"], "answer_index": 3}
{"token": "1184c8a0a1b8bfe776c3c47939d7a9c4", "waymo_split": "test", "type": "image", "frame_index": 9, "question": "What are the divisions of the scene?", "category": "Normal scene Understanding", "options": ["A. Alley", "B. Commercial area", "C. Residential area", "D. Unpaved"], "answer_index": 2}
{"token": "1184c8a0a1b8bfe776c3c47939d7a9c4", "waymo_split": "test", "type": "image", "frame_index": 9, "question": "Which description is not safety-critical?", "category": "Normal Perception & Prediction", "options": ["A. A parking sign on the right, a red traffic light at the intersection ahead, shops and a bench on the left sidewalk, and street trees.", "B. A bicycle rack and information sign on the right sidewalk, a traffic light with only the pedestrian signal on at the intersection ahead, and an apartment, utility pole, and flower bed in the left alley.", "C. A speed limit sign of 30 on the right, a yellow flashing light at the intersection ahead, and a pine tree, mailbox, and small cafe next to the left fence.", "D. A no parking sign on the right, a green traffic light at the intersection ahead, and palm trees, streetlights, and a house on the left sidewalk."], "answer_index": 3}
{"token": "1184c8a0a1b8bfe776c3c47939d7a9c4", "waymo_split": "test", "type": "image", "frame_index": 9, "question": "Which of the following is a correct description of traffic signals?", "category": "Traffic Signal", "options": ["A. Green traffic light. No parking sign on the right.", "B. Red traffic light. No parking sign on the left.", "C. Pedestrian signal green light. No left turn sign ahead.", "D. Flashing yellow traffic light. No stopping or parking sign on the left."], "answer_index": 0}
{"token": "1184c8a0a1b8bfe776c3c47939d7a9c4", "waymo_split": "test", "type": "image", "frame_index": 9, "question": "What is the answer regarding the presence of parked vehicles on the shoulder, the existence of a center line, and whether Ego has crossed the center line?", "category": "Normal Perception & Prediction", "options": ["A. There is a parked vehicle on the shoulder. There is a center line. No crossing.", "B. There is no parked vehicle on the shoulder. There is a center line. No crossing.", "C. There is a parked vehicle on the shoulder. There is no center line. No crossing.", "D. There is a parked vehicle on the shoulder. There is a center line. Crossing."], "answer_index": 0}
{"token": "1184c8a0a1b8bfe776c3c47939d7a9c4", "waymo_split": "test", "type": "image", "frame_index": 9, "question": "What is a safety-critical object?", "category": "Safety-critical Perception", "options": ["A. Emergency stop button", "B. Power switch", "C. None", "D. Braking system"], "answer_index": 2}
{"token": "1184c8a0a1b8bfe776c3c47939d7a9c4", "waymo_split": "test", "type": "image", "frame_index": 9, "question": "Is there a blind spot in your field of vision?", "category": "Uncertainty", "options": ["A. No blind spot", "B. Left blind spot", "C. There is a blind spot", "D. Right blind spot"], "answer_index": 0}
{"token": "1184c8a0a1b8bfe776c3c47939d7a9c4", "waymo_split": "test", "type": "image", "frame_index": 9, "question": "How do you think a safety-critical object will be moved?", "category": "Safety-critical Prediction", "options": ["A. Approach the safety-critical object from the left", "B. No safety-critical object", "C. Cross in front of the safety-critical object", "D. Cross to the right of the safety-critical object"], "answer_index": 1}
{"token": "1184c8a0a1b8bfe776c3c47939d7a9c4", "waymo_split": "test", "type": "image", "frame_index": 9, "question": "How should I drive to address the first risk while also addressing the second risk?", "category": "Safety-critical Planning", "options": ["A. Next safety-critical object is a central drop in the lane", "B. No next safety-critical object", "C. Next safety-critical object is on the left front", "D. Next safety-critical object is a merging vehicle on the right"], "answer_index": 1}
{"token": "1184c8a0a1b8bfe776c3c47939d7a9c4", "waymo_split": "test", "type": "image", "frame_index": 9, "question": "Are there any other safety-critical objects besides the first safety-critical object? If so, how will you move?", "category": "Safety-critical Prediction", "options": ["A. Flammable cargo on the left, move through the central aisle", "B. No other safety-critical objects", "C. Floor leak point, move to the left to avoid", "D. High voltage power lines ahead, detour to the right"], "answer_index": 1}
{"token": "1184c8a0a1b8bfe776c3c47939d7a9c4", "waymo_split": "test", "type": "image", "frame_index": 9, "question": "Where is the area that hides danger in the current frame?", "category": "Uncertainty", "options": ["A. None", "B. Right in front of the hood", "C. Bottom left", "D. Behind the right A-pillar"], "answer_index": 0}
{"token": "1184c8a0a1b8bfe776c3c47939d7a9c4", "waymo_split": "test", "type": "image", "frame_index": 9, "question": "Is lane changing possible? Which is safer between slowing down and changing lanes?", "category": "Safety-critical Planning", "options": ["A. Changing to the left lane is possible (overtaking allowed). Changing lanes is safer.", "B. Changing lanes is possible (multiple lanes). Changing lanes is safer.", "C. Changing lanes is not possible (single lane). Slowing down is safer.", "D. Merging into the right lane is possible (variable lane operation). Changing lanes is safer."], "answer_index": 2}
{"token": "1184c8a0a1b8bfe776c3c47939d7a9c4", "waymo_split": "test", "type": "image", "frame_index": 9, "question": "What is the safest choice just before entering a yellow signal: stop vs. proceed?", "category": "Special Event", "options": ["A. Accelerate and proceed past the stop line if the car behind is closely following.", "B. Skip checking left and right and enter by only looking at the front signal.", "C. Stop first to check for vehicles on the left and right roads.", "D. Maintain speed to quickly pass through the intersection before the signal changes."], "answer_index": 2}
{"token": "1184c8a0a1b8bfe776c3c47939d7a9c4", "waymo_split": "test", "type": "image", "frame_index": 40, "question": "Based on the current appearance of the person/vehicle (two-wheeled), how do they intend to move?", "category": "Normal Perception & Prediction", "options": ["A. Entering the intersection and turning left to exit the intersection", "B. Entering the intersection and turning right to enter the side road", "C. Entering the intersection and going straight to cross the intersection", "D. Stopping at the stop line in front of the intersection to wait for the signal"], "answer_index": 2}
{"token": "1184c8a0a1b8bfe776c3c47939d7a9c4", "waymo_split": "test", "type": "image", "frame_index": 40, "question": "Which of the following is correct from the perspective of a Normal Frame Image Caption?", "category": "Normal scene caption", "options": ["A. A vehicle just exiting a residential intersection (two-way road). The vehicle in front is slowing down to make a right turn. The traffic light is changing to yellow. Parked cars are lined up on both sides.", "B. A vehicle stopped at an intersection in a downtown shopping area (one-way three-lane road). The vehicle in front is waiting to turn left. The traffic light is red. There are a few pedestrians at the crosswalk on the left, and the right side is empty.", "C. A vehicle entering an intersection in a residential area (currently a two-way road). The vehicle in front continues straight after passing the intersection. The traffic light is green. There are crosswalks on both sides, and no cars are visible.", "D. A vehicle entering a T-intersection at the end of an alley (one-way road). There are no vehicles in front, and one car merges from the right. There are no traffic lights, only a stop sign is visible. The crosswalk is faintly marked on the right."], "answer_index": 2}
{"token": "1184c8a0a1b8bfe776c3c47939d7a9c4", "waymo_split": "test", "type": "image", "frame_index": 40, "question": "What is the plan for yielding when an ambulance/fire truck approaches?", "category": "Special Event", "options": ["A. Maintain speed and continue driving", "B. Yield by pulling over to the right shoulder", "C. Yield by pulling over to the left shoulder", "D. Pull over towards the center line and stop"], "answer_index": 1}
{"token": "1184c8a0a1b8bfe776c3c47939d7a9c4", "waymo_split": "test", "type": "image", "frame_index": 40, "question": "Which of the following is a correct description of traffic density?", "category": "Normal scene Understanding", "options": ["A. Fast, few surrounding vehicles", "B. Slow, few surrounding vehicles", "C. Fast, many surrounding vehicles", "D. Slow, many surrounding vehicles"], "answer_index": 0}
{"token": "1184c8a0a1b8bfe776c3c47939d7a9c4", "waymo_split": "test", "type": "image", "frame_index": 40, "question": "What are the restrictions on behavior in school zones/congested areas?", "category": "Special Event", "options": ["A. Stop", "B. Accelerate", "C. Overtake", "D. Slow down"], "answer_index": 3}
{"token": "1184c8a0a1b8bfe776c3c47939d7a9c4", "waymo_split": "test", "type": "image", "frame_index": 40, "question": "What are the divisions of a scene?", "category": "Normal scene Understanding", "options": ["A. Industrial area", "B. Commercial district", "C. Residential area", "D. Highway"], "answer_index": 2}
{"token": "1184c8a0a1b8bfe776c3c47939d7a9c4", "waymo_split": "test", "type": "image", "frame_index": 40, "question": "Which of the following is a correct description of the environment?", "category": "Normal scene Understanding", "options": ["A. Evening, clear", "B. Day, clear", "C. Day, cloudy", "D. Night, rain"], "answer_index": 2}
{"token": "1184c8a0a1b8bfe776c3c47939d7a9c4", "waymo_split": "test", "type": "image", "frame_index": 40, "question": "Which description is not safety-critical?", "category": "Normal Perception & Prediction", "options": ["A. A gas station sign on the right side of the road. A green pedestrian signal at the crosswalk in front. A CCTV pole and a low fence on the left sidewalk, along with a cafe.", "B. A speed limit sign of 60 next to the right lane. A non-functioning traffic light at the intersection in front. A bench and an electrical box on the left sidewalk, along with an open space.", "C. A sign prohibiting something unknown across the street on the right. A green traffic light at the intersection in front. Palm trees and a streetlight on the left sidewalk, along with a house.", "D. A blue guide sign on the right sidewalk. A red traffic light at the intersection in front. A pine tree and a bus stop on the left sidewalk, along with commercial buildings."], "answer_index": 2}
{"token": "1184c8a0a1b8bfe776c3c47939d7a9c4", "waymo_split": "test", "type": "image", "frame_index": 40, "question": "How do you think a safety-critical object will move?", "category": "Safety-critical Prediction", "options": ["A. In reality, there is no safety-critical object.", "B. I see one object slightly converging towards the center of the lane.", "C. A safety-critical object is slowly drifting to the left ahead.", "D. Detecting a small object gradually approaching in the direction of the pedestrian."], "answer_index": 0}
{"token": "1184c8a0a1b8bfe776c3c47939d7a9c4", "waymo_split": "test", "type": "image", "frame_index": 40, "question": "What is a safety-critical object?", "category": "Safety-critical Perception", "options": ["A. There may be vehicles approaching from the blind spots on the left and right sides towards the intersection of your vehicle.", "B. There may be a motorcycle moving away from your vehicle in the rear left or right blind spots.", "C. There may be vehicles waiting to turn left at the intersection across from you.", "D. There may be pedestrians waiting for the crosswalk signal on the right sidewalk."], "answer_index": 0}
{"token": "1184c8a0a1b8bfe776c3c47939d7a9c4", "waymo_split": "test", "type": "image", "frame_index": 40, "question": "Which of the following is a correct description of traffic signals?", "category": "Traffic Signal", "options": ["A. Red traffic light. No parking sign on the left.", "B. Flashing yellow light. Speed limit of 30 sign ahead.", "C. Green traffic light. Unknown prohibition sign on the right.", "D. Left turn signal illuminated. One-way sign on the right."], "answer_index": 2}
{"token": "1184c8a0a1b8bfe776c3c47939d7a9c4", "waymo_split": "test", "type": "image", "frame_index": 40, "question": "Is there any other safety-critical object besides the first safety-critical object? If so, how will you move?", "category": "Safety-critical Prediction", "options": ["A. Pass slowly to the left of the next safety-critical object", "B. There is no next safety-critical object", "C. Avoid to the left of the next safety-critical object", "D. Detour to the right in front of the next safety-critical object"], "answer_index": 1}
{"token": "1184c8a0a1b8bfe776c3c47939d7a9c4", "waymo_split": "test", "type": "image", "frame_index": 40, "question": "How should I drive to address the first risk while also resolving the second risk?", "category": "Safety-critical Planning", "options": ["A. No subsequent safety-critical objects", "B. Decelerate before the next safety-critical stop line", "C. Yield to the next safety-critical pedestrian", "D. Be aware of the next safety-critical merging vehicle on the right"], "answer_index": 0}
{"token": "1184c8a0a1b8bfe776c3c47939d7a9c4", "waymo_split": "test", "type": "image", "frame_index": 40, "question": "What is the correlation in safety-critical situations?", "category": "Safety-critical scene Understanding", "options": ["A. car-person", "B. car-car", "C. car-two-wheeler", "D. two-wheeler-two-wheeler"], "answer_index": 1}
{"token": "1184c8a0a1b8bfe776c3c47939d7a9c4", "waymo_split": "test", "type": "image", "frame_index": 40, "question": "What is the safest choice when approaching a yellow signal: stop or proceed?", "category": "Special Event", "options": ["A. First, stop and check for vehicles on the left and right roads.", "B. Only check for pedestrians and proceed slowly.", "C. Honk the horn and proceed slowly with the hazard lights on.", "D. Accelerate before the signal changes and quickly pass through the intersection."], "answer_index": 0}
{"token": "1184c8a0a1b8bfe776c3c47939d7a9c4", "waymo_split": "test", "type": "image", "frame_index": 40, "question": "Is lane change possible? Which is safer, slowing down or changing lanes?", "category": "Safety-critical Planning", "options": ["A. Changing to the right lane is possible (dashed line section). Accelerating before entering is safer.", "B. Using the overtaking lane is possible (congestion relief section). Changing lanes is safer than maintaining the lane.", "C. Lane change is possible (two-way two-lane). Changing lanes is safer.", "D. Lane change is not possible (single lane). Slowing down is safer."], "answer_index": 3}
{"token": "1184c8a0a1b8bfe776c3c47939d7a9c4", "waymo_split": "test", "type": "image", "frame_index": 40, "question": "Where is the area that hides danger in the current frame?", "category": "Uncertainty", "options": ["A. Front intersection", "B. Rear lane", "C. Left and right side roads", "D. Right sidewalk"], "answer_index": 2}
{"token": "1184c8a0a1b8bfe776c3c47939d7a9c4", "waymo_split": "test", "type": "image", "frame_index": 40, "question": "What is the method to avoid the blind spot next to a large vehicle?", "category": "Special Event", "options": ["A. Entering the blind spot", "B. Overtaking on the right", "C. Getting close to the large vehicle", "D. No large vehicle"], "answer_index": 3}
{"token": "1184c8a0a1b8bfe776c3c47939d7a9c4", "waymo_split": "test", "type": "image", "frame_index": 40, "question": "Who is responsible in a safety-critical situation? What is the cause?", "category": "Safety-critical scene Understanding", "options": ["A. If a pedestrian was standing in front of the crosswalk, the responsibility lies with my vehicle because the area around the pedestrian must stop regardless of the signal, and it should not enter the intersection.", "B. If there is a vehicle approaching from the intersection, that vehicle is responsible. This is because my vehicle has a green light, and the vehicles coming from the left and right should have a red light, so they should not enter the intersection and must stop.", "C. If a vehicle making a protected left turn from the left side poked its head out first, my vehicle is responsible because left-turning vehicles should be prioritized over straight-going vehicles, and we should have stopped and yielded after coming to a complete stop.", "D. If I saw a vehicle approaching quickly from the right side of the intersection, my vehicle is responsible because the principle of right-hand priority takes precedence over signals at intersections, so I should have stopped even with a green light."], "answer_index": 1}
{"token": "1184c8a0a1b8bfe776c3c47939d7a9c4", "waymo_split": "test", "type": "image", "frame_index": 40, "question": "Which of the following is a newly exposed risk candidate in the next section?", "category": "Safety-critical Prediction", "options": ["A. Pedestrians entering the crosswalk", "B. Motorcycle approaching from behind", "C. Car coming from the opposite lane", "D. Car coming from the left or right side roads"], "answer_index": 3}
{"token": "1184c8a0a1b8bfe776c3c47939d7a9c4", "waymo_split": "test", "type": "image", "frame_index": 71, "question": "Based on the current appearance of the person/vehicle (two-wheeled), how do they intend to move?", "category": "Normal Perception & Prediction", "options": ["A. Make a left turn on a two-lane road", "B. Go straight on a two-lane road", "C. Change to the right lane on a two-lane road", "D. Make a U-turn on a two-lane road"], "answer_index": 1}
{"token": "1184c8a0a1b8bfe776c3c47939d7a9c4", "waymo_split": "test", "type": "image", "frame_index": 40, "question": "What situation might occur if the vehicle acted like this?", "category": "Counterfactual", "options": ["A. If the vehicle accelerates suddenly before entering the intersection, the following vehicles may also increase their speed, reducing the risk of a collision.", "B. If the vehicle stops in the middle of the intersection with the hazard lights off, surrounding vehicles can easily determine the direction of travel, which may alleviate congestion.", "C. If the vehicle passes through the yellow light, the oncoming vehicles may stop, reducing the likelihood of a collision.", "D. If the vehicle suddenly stops in the middle of the intersection, it may collide with vehicles approaching from behind."], "answer_index": 3}
{"token": "1184c8a0a1b8bfe776c3c47939d7a9c4", "waymo_split": "test", "type": "image", "frame_index": 71, "question": "Which of the following is correct as an Image Caption from the perspective of a Normal Frame?", "category": "Normal scene caption", "options": ["A. A vehicle that has turned right and entered a one-way alley. The sides are narrowed by walls and parked cars. A delivery motorcycle crosses in front.", "B. A vehicle that has passed an intersection and entered a four-lane road in a commercial area. Shops and bus stops are lined on both sides. A white passenger car is coming from the opposite lane ahead.", "C. A section gently rising along a two-lane road in the suburbs after passing an intersection. There are street trees and open spaces on both sides. There are no vehicles ahead, providing a clear view.", "D. A vehicle that has passed an intersection and entered a two-lane road in a residential area. Sidewalks and houses are spread out on both sides. Ahead, there is a black vehicle traveling in the same direction."], "answer_index": 3}
{"token": "1184c8a0a1b8bfe776c3c47939d7a9c4", "waymo_split": "test", "type": "image", "frame_index": 71, "question": "What is the plan for yielding when an ambulance/fire truck approaches?", "category": "Special Event", "options": ["A. Stop in the center of the intersection and wait", "B. Pull over to the right shoulder to yield", "C. Just turn on the hazard lights and maintain speed", "D. Pull over to the left shoulder to yield"], "answer_index": 1}
{"token": "1184c8a0a1b8bfe776c3c47939d7a9c4", "waymo_split": "test", "type": "image", "frame_index": 71, "question": "Which of the following is a correct description of traffic density?", "category": "Normal scene Understanding", "options": ["A. Slow, many surrounding vehicles", "B. Fast, few surrounding vehicles", "C. Fast, many surrounding vehicles", "D. Slow, few surrounding vehicles"], "answer_index": 1}
{"token": "1184c8a0a1b8bfe776c3c47939d7a9c4", "waymo_split": "test", "type": "image", "frame_index": 71, "question": "Which of the following is a correct description of the environment?", "category": "Normal scene Understanding", "options": ["A. sunset, rain", "B. night, clear", "C. morning, snow", "D. day, cloudy"], "answer_index": 3}
{"token": "1184c8a0a1b8bfe776c3c47939d7a9c4", "waymo_split": "test", "type": "image", "frame_index": 71, "question": "What are the behavior restrictions in school zones/congested areas?", "category": "Special Event", "options": ["A. Must accelerate", "B. Must drive slowly", "C. Must turn on high beams", "D. Must honk the horn"], "answer_index": 1}
{"token": "1184c8a0a1b8bfe776c3c47939d7a9c4", "waymo_split": "test", "type": "image", "frame_index": 71, "question": "What are the divisions of the scene?", "category": "Normal scene Understanding", "options": ["A. City", "B. Highway", "C. Unpaved", "D. Residential area"], "answer_index": 3}
{"token": "1184c8a0a1b8bfe776c3c47939d7a9c4", "waymo_split": "test", "type": "image", "frame_index": 71, "question": "What is the description of a non-safety-critical object?", "category": "Normal Perception & Prediction", "options": ["A. A long shopping street extending on both sides with several bicycles parked on the sidewalk (pedestrians passing by)", "B. Low-rise offices and a bus stop on both sides, the sidewalk is empty and a bus is stopped on the road (few people around)", "C. A residential area extending on both sides with a sidewalk. A parked kickboard is visible on the sidewalk (no people present)", "D. A park with many trees and a walking path, benches and a fountain are visible on the path (families are sitting)"], "answer_index": 2}
{"token": "1184c8a0a1b8bfe776c3c47939d7a9c4", "waymo_split": "test", "type": "image", "frame_index": 71, "question": "What is a safety-critical object?", "category": "Safety-critical Perception", "options": ["A. No safety-critical object", "B. Emergency stop button", "C. Pressure relief valve", "D. Main power cutoff switch"], "answer_index": 0}
{"token": "1184c8a0a1b8bfe776c3c47939d7a9c4", "waymo_split": "test", "type": "image", "frame_index": 71, "question": "Is there a blind spot?", "category": "Uncertainty", "options": ["A. No blind spot", "B. There is a blind spot", "C. Right front blind spot", "D. Left blind spot"], "answer_index": 0}
{"token": "1184c8a0a1b8bfe776c3c47939d7a9c4", "waymo_split": "test", "type": "image", "frame_index": 71, "question": "Which of the following statements about traffic signals is correct?", "category": "Traffic Signal", "options": ["A. There is a traffic light at the left intersection. A road sign (arrow) is visible in the right lane.", "B. There is no traffic light at the front intersection. The sign at the front intersection is clear.", "C. There is a traffic light at the rear intersection. There is a sign at the rear intersection (not visible).", "D. There is no traffic light at the rear intersection. There is no sign at the rear intersection."], "answer_index": 2}
{"token": "1184c8a0a1b8bfe776c3c47939d7a9c4", "waymo_split": "test", "type": "image", "frame_index": 71, "question": "How do you think a safety-critical object will move?", "category": "Safety-critical Prediction", "options": ["A. Merge into the right lane", "B. Start rapid acceleration forward", "C. Slowly move to the left", "D. No safety-critical object"], "answer_index": 3}
{"token": "1184c8a0a1b8bfe776c3c47939d7a9c4", "waymo_split": "test", "type": "image", "frame_index": 71, "question": "What is the answer regarding parked vehicles on the shoulder, the presence of a center line, and whether Ego crosses the center line?", "category": "Normal Perception & Prediction", "options": ["A. Parked vehicles on the shoulder are sparsely present in the distance on the opposite side. There is a center line, and it crosses the center line.", "B. No parked vehicles on the shoulder are visible. There is no center line, and it does not cross the center line.", "C. Parked vehicles on the shoulder are closely present directly ahead. There is a center line, and it crosses the center line.", "D. Parked vehicles on the shoulder are sparsely present in the distance directly ahead. There is a center line, and it does not cross the center line."], "answer_index": 3}
{"token": "1184c8a0a1b8bfe776c3c47939d7a9c4", "waymo_split": "test", "type": "image", "frame_index": 71, "question": "Is there a safety-critical object other than the first safety-critical object? If so, how will you move?", "category": "Safety-critical Prediction", "options": ["A. There is a next safety-critical object, divert to the right", "B. There is a next safety-critical object, avoid forward and then go straight", "C. There is no next safety-critical object", "D. Next safety-critical object detected, avoid to the left"], "answer_index": 2}
{"token": "1184c8a0a1b8bfe776c3c47939d7a9c4", "waymo_split": "test", "type": "image", "frame_index": 71, "question": "Where is the area that hides danger in the current frame?", "category": "Uncertainty", "options": ["A. Front bus blind spot", "B. None", "C. Behind the right sidewalk tree", "D. Behind the vehicle on the left bottom"], "answer_index": 1}
{"token": "1184c8a0a1b8bfe776c3c47939d7a9c4", "waymo_split": "test", "type": "image", "frame_index": 71, "question": "Is lane changing possible? Which is safer between slowing down and changing lanes?", "category": "Safety-critical Planning", "options": ["A. Lane changing is possible (there is an overtaking lane). Changing lanes is safer", "B. Lane changing is not possible (single lane). Slowing down is safer", "C. Lane changing is possible (two-way two lanes). Changing lanes is safer", "D. Lane changing is possible (variable lane section). Changing lanes is safer"], "answer_index": 1}
{"token": "1184c8a0a1b8bfe776c3c47939d7a9c4", "waymo_split": "test", "type": "image", "frame_index": 71, "question": "How should I drive to resolve the first risk while also addressing the second risk?", "category": "Safety-critical Planning", "options": ["A. Merge immediately into the left lane to avoid", "B. No next safety-critical object", "C. Maintain proactive deceleration for the second risk", "D. Next safety-critical object is in the left front"], "answer_index": 1}
{"token": "1184c8a0a1b8bfe776c3c47939d7a9c4", "waymo_split": "test", "type": "image", "frame_index": 71, "question": "What are the new potential hazards in the following section?", "category": "Safety-critical Prediction", "options": ["A. Left merging entry vehicles", "B. Right shoulder parked vehicles", "C. Pedestrians jaywalking ahead", "D. No current potential hazards"], "answer_index": 3}
{"token": "1184c8a0a1b8bfe776c3c47939d7a9c4", "waymo_split": "test", "type": "image", "frame_index": 71, "question": "What is the safer choice just before entering a yellow signal: stop vs pass?", "category": "Special Event", "options": ["A. Red light directly in front", "B. Only on the right side of the signal", "C. Not in front of the signal", "D. Pedestrian signal is green"], "answer_index": 2}
{"token": "1184c8a0a1b8bfe776c3c47939d7a9c4", "waymo_split": "test", "type": "image", "frame_index": 118, "question": "Based on the current appearance of the person/vehicle (two-wheeled), how do they intend to move?", "category": "Normal Perception & Prediction", "options": ["A. Proceed straight on a two-lane road", "B. Make a U-turn at the intersection", "C. Change to the right lane", "D. Turn left on a two-lane road"], "answer_index": 0}
{"token": "1184c8a0a1b8bfe776c3c47939d7a9c4", "waymo_split": "test", "type": "image", "frame_index": 118, "question": "Which of the following is correct as an Image Caption from a Safety-critical Frame perspective?", "category": "Safety-critical scene caption", "options": ["A. A vehicle slowly merging into the lane of the subject vehicle from the left at an intersection", "B. A vehicle in the opposite lane driving towards the subject vehicle", "C. A vehicle in the opposite lane moving away from the subject vehicle", "D. A vehicle in the right lane moving ahead in the same direction as the subject vehicle"], "answer_index": 1}
{"token": "1184c8a0a1b8bfe776c3c47939d7a9c4", "waymo_split": "test", "type": "image", "frame_index": 118, "question": "What is the plan for yielding when an ambulance/fire truck approaches?", "category": "Special Event", "options": ["A. Yield by pulling over to the left shoulder", "B. Yield by stopping in the center of the lane", "C. Yield by increasing speed to pass through the intersection", "D. Yield by pulling over to the right shoulder"], "answer_index": 3}
{"token": "1184c8a0a1b8bfe776c3c47939d7a9c4", "waymo_split": "test", "type": "image", "frame_index": 118, "question": "Which of the following is a correct description of traffic density?", "category": "Normal scene Understanding", "options": ["A. Slow, few surrounding vehicles", "B. Fast, few surrounding vehicles", "C. Slow, many surrounding vehicles", "D. Fast, many surrounding vehicles"], "answer_index": 1}
{"token": "1184c8a0a1b8bfe776c3c47939d7a9c4", "waymo_split": "test", "type": "image", "frame_index": 118, "question": "Which of the following is correct as an Image Caption from the perspective of a Normal Frame?", "category": "Normal scene caption", "options": ["A. A vehicle moving slowly on a residential back road. There are parked cars only on the right side. Only one vehicle is approaching from the opposite direction, and there are no vehicles in the same direction.", "B. A vehicle driving on a two-lane road in a residential area. There are parked cars on both sides. There is one vehicle in the same direction and one vehicle in the opposite direction approaching from the front.", "C. A vehicle driving on a one-way road near a commercial area. No parked cars are visible on either side. Only one vehicle is driving in the same direction in front.", "D. A vehicle driving on a four-lane road with two-way traffic in a residential area. Both sides are empty due to no parking zones. A bus is stopped in front, and the opposite lane is clear."], "answer_index": 1}
{"token": "1184c8a0a1b8bfe776c3c47939d7a9c4", "waymo_split": "test", "type": "image", "frame_index": 118, "question": "What are the behavior restrictions in school zones/congested areas?", "category": "Special Event", "options": ["A. Must drive slowly", "B. Must accelerate", "C. Must change lanes", "D. Must overtake"], "answer_index": 0}
{"token": "1184c8a0a1b8bfe776c3c47939d7a9c4", "waymo_split": "test", "type": "image", "frame_index": 71, "question": "What is the method to avoid the blind spot next to a large vehicle?", "category": "Special Event", "options": ["A. Entering the blind spot", "B. No large vehicle", "C. Overtaking the large vehicle", "D. Staying close to the large vehicle"], "answer_index": 1}
{"token": "1184c8a0a1b8bfe776c3c47939d7a9c4", "waymo_split": "test", "type": "image", "frame_index": 118, "question": "What are the divisions of the scene?", "category": "Normal scene Understanding", "options": ["A. Residential area", "B. Commercial district", "C. Unpaved", "D. Highway"], "answer_index": 0}
{"token": "1184c8a0a1b8bfe776c3c47939d7a9c4", "waymo_split": "test", "type": "image", "frame_index": 118, "question": "Which of the following is a correct description of traffic signals?", "category": "Traffic Signal", "options": ["A. Red signal", "B. No left turn", "C. Stop line marking", "D. None"], "answer_index": 3}
{"token": "1184c8a0a1b8bfe776c3c47939d7a9c4", "waymo_split": "test", "type": "image", "frame_index": 118, "question": "Which of the following descriptions about the environment is correct?", "category": "Normal scene Understanding", "options": ["A. Night, clear", "B. Day, cloudy", "C. Evening, rain", "D. Morning, fog"], "answer_index": 1}
{"token": "1184c8a0a1b8bfe776c3c47939d7a9c4", "waymo_split": "test", "type": "image", "frame_index": 118, "question": "What is the description of a non-safety-critical object?", "category": "Normal Perception & Prediction", "options": ["A. A residential area and sidewalk stretching long on both sides. Trees on the sidewalk and parked cars in the residential parking lot. Cars parked on both sides.", "B. A shopping street and sidewalk extending on both sides, with signs next to the sidewalk and a bus stop. Cars are in motion, and there is almost no street parking.", "C. A riverside promenade and wide roadway on both sides, with benches and streetlights on the sidewalk, and taxis picking up and dropping off next to the central divider.", "D. A high-rise apartment complex on the left and a bicycle lane, a small park and playground on the right, with delivery motorcycles and scooters briefly stopped on the shoulder."], "answer_index": 0}
{"token": "1184c8a0a1b8bfe776c3c47939d7a9c4", "waymo_split": "test", "type": "image", "frame_index": 118, "question": "Is there a blind spot in your field of vision?", "category": "Uncertainty", "options": ["A. There is a blind spot", "B. There is no blind spot", "C. Right side vision obstruction", "D. Left side blind spot exists"], "answer_index": 1}
{"token": "1184c8a0a1b8bfe776c3c47939d7a9c4", "waymo_split": "test", "type": "image", "frame_index": 118, "question": "What is a safety-critical object?", "category": "Safety-critical Perception", "options": ["A. A black SUV merging into the right lane of my vehicle.", "B. A white taxi waiting on the left side of my vehicle's direction.", "C. A blue bus stopped in front of my vehicle.", "D. A white vehicle driving against the direction of my vehicle."], "answer_index": 3}
{"token": "1184c8a0a1b8bfe776c3c47939d7a9c4", "waymo_split": "test", "type": "image", "frame_index": 118, "question": "What should you do to drive safely?", "category": "Safety-critical Planning", "options": ["A. You should maintain your speed before the intersection.", "B. You should reduce your speed as you approach.", "C. You should accelerate as you approach.", "D. You should decrease the distance as you get closer to the car in front."], "answer_index": 1}
{"token": "1184c8a0a1b8bfe776c3c47939d7a9c4", "waymo_split": "test", "type": "image", "frame_index": 118, "question": "How do you think a safety-critical object will move?", "category": "Safety-critical Prediction", "options": ["A. Approaching directly towards your vehicle", "B. Turning right and moving close to the shoulder", "C. Reversing away from your vehicle", "D. Turning left to avoid your vehicle"], "answer_index": 0}
{"token": "1184c8a0a1b8bfe776c3c47939d7a9c4", "waymo_split": "test", "type": "image", "frame_index": 118, "question": "What is the answer regarding parked vehicles on the shoulder, the presence of a central line, and whether Ego crosses the central line?", "category": "Normal Perception & Prediction", "options": ["A. Parked vehicles on the shoulder are sparsely present in front.. No central line", "B. Parked vehicles on the shoulder are closely lined up in front, obstructing the view.. There is a central line", "C. Several parked vehicles are stopped on the left shoulder.. There is a central line", "D. Parked vehicles on the shoulder are continuously visible up ahead.. There is a central line"], "answer_index": 0}
{"token": "1184c8a0a1b8bfe776c3c47939d7a9c4", "waymo_split": "test", "type": "image", "frame_index": 118, "question": "Is there any other safety-critical object besides the first safety-critical object? If so, how will you move?", "category": "Safety-critical Prediction", "options": ["A. There is another safety-critical object, move to the right", "B. There is a next safety-critical object, evade to the left", "C. A next safety-critical object is found, move straight", "D. There is no next safety-critical object"], "answer_index": 3}
{"token": "1184c8a0a1b8bfe776c3c47939d7a9c4", "waymo_split": "test", "type": "image", "frame_index": 118, "question": "What is the correlation in safety-critical situations?", "category": "Safety-critical scene Understanding", "options": ["A. Car-Person", "B. Car-Two-wheeler", "C. Car-Car", "D. Two-wheeler-Person"], "answer_index": 2}
{"token": "1184c8a0a1b8bfe776c3c47939d7a9c4", "waymo_split": "test", "type": "image", "frame_index": 118, "question": "Is lane change possible? Which is safer, slowing down or changing lanes?", "category": "Safety-critical Planning", "options": ["A. Lane change possible (overtaking lane open). Changing lanes is safer than slowing down.", "B. Lane change possible (2 lanes, left side clear). Changing lanes is safer.", "C. Lane change possible (variable lane in operation). Changing lanes is safer.", "D. Lane change not possible (single lane). Slowing down is safer."], "answer_index": 3}
{"token": "1184c8a0a1b8bfe776c3c47939d7a9c4", "waymo_split": "test", "type": "image", "frame_index": 118, "question": "How should I drive to address the first risk while also addressing the second risk?", "category": "Safety-critical Planning", "options": ["A. Next safety-critical object is a pedestrian entering from the right", "B. Next safety-critical object is a stopped vehicle ahead", "C. No next safety-critical object", "D. Next safety-critical object is merging in from the left"], "answer_index": 2}
{"token": "1184c8a0a1b8bfe776c3c47939d7a9c4", "waymo_split": "test", "type": "image", "frame_index": 118, "question": "What is the safest choice just before entering a yellow signal: stop vs. proceed?", "category": "Special Event", "options": ["A. Proceed only by looking at the left signal", "B. Proceed due to concern about a rear-end collision", "C. No signal in front, no signal", "D. Slow down just before the stop line and proceed"], "answer_index": 2}
{"token": "1184c8a0a1b8bfe776c3c47939d7a9c4", "waymo_split": "test", "type": "image", "frame_index": 118, "question": "Where is the area that hides danger in the current frame?", "category": "Uncertainty", "options": ["A. None", "B. Behind the left bottom A-pillar", "C. Behind the right sidewalk utility pole", "D. Behind the front bus stop billboard"], "answer_index": 0}
{"token": "1184c8a0a1b8bfe776c3c47939d7a9c4", "waymo_split": "test", "type": "image", "frame_index": 118, "question": "What are the new potential risks that will be exposed in the following section?", "category": "Safety-critical Prediction", "options": ["A. Currently no potential risks", "B. Potential risks in the construction zone ahead", "C. Potential risks from merging vehicles on the right", "D. Potential risks from pedestrians unexpectedly"], "answer_index": 0}
{"token": "1184c8a0a1b8bfe776c3c47939d7a9c4", "waymo_split": "test", "type": "image", "frame_index": 118, "question": "If the vehicle behaved this way, what situation might have occurred?", "category": "Counterfactual", "options": ["A. If the vehicle continues straight after completing a lane change to the left, there is a risk of colliding with the vehicle in front going in the same direction.", "B. If the vehicle moves closer to the right edge of the lane while going straight, there is a possibility of contact with parked vehicles on the right.", "C. If the vehicle encroaches further to the left while going straight, there is a possibility of a collision with an oncoming vehicle.", "D. If the vehicle stops near the center line, the vehicles on both sides can naturally avoid it, reducing the likelihood of a collision."], "answer_index": 2}
{"token": "1184c8a0a1b8bfe776c3c47939d7a9c4", "waymo_split": "test", "type": "image", "frame_index": 118, "question": "What are the driving guidelines for your vehicle based on the behavior of a safety-critical object?", "category": "Safety-critical Planning", "options": ["A. If a safety-critical object quickly passes by in the opposite direction of your vehicle, the risk is reduced, so you can continue straight without slowing down, slightly moving towards the left center line.", "B. If a safety-critical object shows signs of approaching from the left towards your vehicle, it is better to accelerate before being blocked and use the right lane widely to overtake.", "C. If a safety-critical object suddenly stops in front of your vehicle, slamming on the brakes is more dangerous for the vehicle behind, so it is appropriate to alert them with the horn and high beams while maintaining your speed.", "D. If a safety-critical object is rapidly rushing towards your vehicle, a collision could occur, so your vehicle should be positioned on the shoulder to slightly avoid between parked cars on the right."], "answer_index": 3}
{"token": "1184c8a0a1b8bfe776c3c47939d7a9c4", "waymo_split": "test", "type": "image", "frame_index": 118, "question": "What is the method to avoid the blind spot next to a large vehicle?", "category": "Special Event", "options": ["A. Accelerate next to the large vehicle", "B. No large vehicle", "C. Pass on the right side of the large vehicle", "D. Drive close to the large vehicle"], "answer_index": 1}
{"token": "1184c8a0a1b8bfe776c3c47939d7a9c4", "waymo_split": "test", "type": "image", "frame_index": 142, "question": "Which of the following is correct as an Image Caption from a Safety-critical Frame perspective?", "category": "Safety-critical scene caption", "options": ["A. A vehicle coming from the opposite side waiting to turn left at the intersection stop line", "B. A vehicle changing lanes from the right and cutting in front of my car", "C. A vehicle in the opposite lane driving towards my car", "D. A leading vehicle driving ahead in the same lane"], "answer_index": 2}
{"token": "1184c8a0a1b8bfe776c3c47939d7a9c4", "waymo_split": "test", "type": "image", "frame_index": 142, "question": "Which of the following is correct as an Image Caption from the perspective of a Normal Frame?", "category": "Normal scene caption", "options": ["A. A vehicle driving on a secondary road in a residential area. There are parked cars on both sides. In front, there is one vehicle driving in the same direction and one in the opposite direction. A large tree is on the right side of the sidewalk, and this area is dark due to the tree's shade.", "B. A vehicle driving in a one-way alley near a school. A delivery truck is temporarily stopped on the right, and there is a store entrance on the left. Only one motorcycle is visible in the same direction ahead, and there are no vehicles in the opposite lane. The large tree on the left casts a shadow over the road, making the visibility slightly dark.", "C. A vehicle driving on a secondary road in a residential area. The parking spaces on both sides are empty, making the shoulder appear wide. In front, a bicycle is passing in the same direction, and there are no oncoming vehicles. There are no large trees on the right sidewalk, allowing strong sunlight to shine through.", "D. A vehicle waiting at a traffic signal on a secondary road in a residential area. There are parked cars lined up only on the left, while the right side is empty. In front, there are two vehicles stopped in the same direction, and there are no vehicles in the opposite direction. The left sidewalk is bright overall due to sparse street trees."], "answer_index": 0}
{"token": "1184c8a0a1b8bfe776c3c47939d7a9c4", "waymo_split": "test", "type": "image", "frame_index": 142, "question": "Based on the current appearance of the person/vehicle (two-wheeled), how do they intend to move?", "category": "Normal Perception & Prediction", "options": ["A. Entering the U-turn area", "B. Turning left at the intersection", "C. Changing to the right turn lane", "D. Going straight on a two-lane road"], "answer_index": 3}
{"token": "1184c8a0a1b8bfe776c3c47939d7a9c4", "waymo_split": "test", "type": "image", "frame_index": 142, "question": "What is the plan for yielding when an ambulance/fire truck approaches?", "category": "Special Event", "options": ["A. Stop on the side of the center line to yield", "B. Just turn on the hazard lights and continue driving", "C. Move to the left lane to give way", "D. Pull over to the right shoulder to yield"], "answer_index": 3}
{"token": "1184c8a0a1b8bfe776c3c47939d7a9c4", "waymo_split": "test", "type": "image", "frame_index": 142, "question": "Which of the following is a correct description of traffic density?", "category": "Normal scene Understanding", "options": ["A. Slow, many parked cars on the shoulder", "B. Slow, few parked cars on side streets", "C. Fast, many parked cars on side streets", "D. Fast, sparse surrounding vehicles"], "answer_index": 2}
{"token": "1184c8a0a1b8bfe776c3c47939d7a9c4", "waymo_split": "test", "type": "image", "frame_index": 142, "question": "What are the divisions of the scene?", "category": "Normal scene Understanding", "options": ["A. Urban area", "B. Commercial district", "C. Residential area", "D. Industrial zone"], "answer_index": 2}
{"token": "1184c8a0a1b8bfe776c3c47939d7a9c4", "waymo_split": "test", "type": "image", "frame_index": 142, "question": "Which of the following is a correct description of the environment?", "category": "Normal scene Understanding", "options": ["A. Evening, rain", "B. Day, cloudy", "C. Dawn, fog", "D. Night, clear"], "answer_index": 1}
{"token": "1184c8a0a1b8bfe776c3c47939d7a9c4", "waymo_split": "test", "type": "image", "frame_index": 142, "question": "What are the behavioral restrictions in school zones/congested areas?", "category": "Special Event", "options": ["A. Must turn on high beams", "B. Must honk the horn", "C. Must turn on hazard lights", "D. Must drive slowly"], "answer_index": 3}
{"token": "1184c8a0a1b8bfe776c3c47939d7a9c4", "waymo_split": "test", "type": "image", "frame_index": 142, "question": "What is the description of a non-safety-critical object?", "category": "Normal Perception & Prediction", "options": ["A. On the left is a walking path along the river, and on the right is a school fence and playground. A pedestrian bridge and bicycle ramp are visible under the bridge. There are no parked cars along the road, and there are people jogging. The young street trees on the right cast a small amount of shade.", "B. In the center is a small park and fountain, with the entrance to an apartment complex on the left. On the right, there is a dedicated bike lane and a public bike rack. There is almost no on-street parking, and one lane is empty. The street trees are low, so there is hardly any shade.", "C. There are long residential areas and sidewalks on both sides. There are cars parked on the sidewalk side and in the parking lots within the residential area. There are vehicles parked on both sides of the side street. The tree on the sidewalk side to the right is very large, providing shade.", "D. There is a shopping street extending on both sides and a wide sidewalk. On the sidewalk side, there are street planters and outdoor tables. A few delivery motorcycles are temporarily parked at the edge of the road. The right side is near a bus stop, so it receives direct sunlight."], "answer_index": 2}
{"token": "1184c8a0a1b8bfe776c3c47939d7a9c4", "waymo_split": "test", "type": "image", "frame_index": 142, "question": "Which of the following is a correct description of traffic signals?", "category": "Traffic Signal", "options": ["A. Stop", "B. No U-turn", "C. None", "D. Left turn signal"], "answer_index": 2}
{"token": "1184c8a0a1b8bfe776c3c47939d7a9c4", "waymo_split": "test", "type": "image", "frame_index": 142, "question": "What is the answer regarding parked vehicles on the shoulder, the presence of a center line, and whether Ego crosses the center line?", "category": "Normal Perception & Prediction", "options": ["A. One or two parked vehicles on the shoulder confirmed. There is a center line.", "B. Almost no parked vehicles on the shoulder. There is a center line.", "C. Many parked vehicles on the shoulder. There is no center line.", "D. Rarely parked vehicles on the shoulder. There is a center line."], "answer_index": 2}
{"token": "1184c8a0a1b8bfe776c3c47939d7a9c4", "waymo_split": "test", "type": "image", "frame_index": 142, "question": "Is there a blind spot?", "category": "Uncertainty", "options": ["A. No blind spot", "B. Blind spot occurs when turning right", "C. There is a blind spot", "D. There is a left blind spot"], "answer_index": 0}
{"token": "1184c8a0a1b8bfe776c3c47939d7a9c4", "waymo_split": "test", "type": "image", "frame_index": 142, "question": "What is a safety-critical object?", "category": "Safety-critical Perception", "options": ["A. A silver sedan driving in the same direction as your vehicle", "B. A white van parked on the shoulder", "C. A white vehicle driving against the direction of your vehicle", "D. A black SUV moving slowly in the opposite lane"], "answer_index": 2}
{"token": "1184c8a0a1b8bfe776c3c47939d7a9c4", "waymo_split": "test", "type": "image", "frame_index": 142, "question": "How do you think a safety-critical object will move?", "category": "Safety-critical Prediction", "options": ["A. Change lanes to the left and increase the distance from your vehicle (move away)", "B. Briefly stop on the right shoulder (stop)", "C. Move straight towards your vehicle (get closer)", "D. Move straight past your vehicle and move away (move away)"], "answer_index": 2}
{"token": "1184c8a0a1b8bfe776c3c47939d7a9c4", "waymo_split": "test", "type": "image", "frame_index": 142, "question": "What should I do to drive safely?", "category": "Safety-critical Planning", "options": ["A. Since it's a short distance, I need to slow down or come to a complete stop when passing by.", "B. Since the view is clear, I can accelerate and pass through at once, just turning on the hazard lights.", "C. Since it's a long distance, I should maintain my speed and stay close to the center line when passing.", "D. If I see pedestrians or bicycles, I can just honk the horn and pass through without slowing down."], "answer_index": 0}
{"token": "1184c8a0a1b8bfe776c3c47939d7a9c4", "waymo_split": "test", "type": "image", "frame_index": 142, "question": "How should I drive to address the first risk while also addressing the second risk?", "category": "Safety-critical Planning", "options": ["A. Next, a safety-critical object needs to be stopped", "B. Next, a safety-critical object should be avoided to the right", "C. There is no next safety-critical object", "D. Next, respond by decelerating to the safety-critical object"], "answer_index": 2}
{"token": "1184c8a0a1b8bfe776c3c47939d7a9c4", "waymo_split": "test", "type": "image", "frame_index": 142, "question": "Is lane changing possible? Which is safer between slowing down and changing lanes?", "category": "Safety-critical Planning", "options": ["A. Lane changing is possible (variable lane operation). Changing lanes is safer.", "B. Lane changing is possible (two-lane section in one direction). Changing lanes is safer.", "C. Lane changing is possible (there is a passing lane). Changing lanes is safer.", "D. Lane changing is not possible (single lane). Slowing down is safer."], "answer_index": 3}
{"token": "1184c8a0a1b8bfe776c3c47939d7a9c4", "waymo_split": "test", "type": "image", "frame_index": 142, "question": "Is there any other safety-critical object besides the first safety-critical object? If so, how will it be moved?", "category": "Safety-critical Prediction", "options": ["A. No other safety-critical object", "B. There is an oxygen cylinder by the window, cover it and move slowly to the left", "C. There is a lithium battery pack under the workbench, place it on an insulated tray and move forward", "D. There is a fire extinguisher on the left wall, move to the right along the corridor"], "answer_index": 0}
{"token": "1184c8a0a1b8bfe776c3c47939d7a9c4", "waymo_split": "test", "type": "image", "frame_index": 142, "question": "What is the correlation in safety-critical situations?", "category": "Safety-critical scene Understanding", "options": ["A. car-animal", "B. car-car", "C. car-two-wheeler", "D. car-person"], "answer_index": 1}
{"token": "1184c8a0a1b8bfe776c3c47939d7a9c4", "waymo_split": "test", "type": "image", "frame_index": 142, "question": "What are the new risk candidates that will be exposed in the following period?", "category": "Safety-critical Prediction", "options": ["A. No current risk candidates", "B. 1 new risk candidate", "C. 1 risk candidate detected", "D. Risk candidate just added"], "answer_index": 0}
{"token": "1184c8a0a1b8bfe776c3c47939d7a9c4", "waymo_split": "test", "type": "image", "frame_index": 142, "question": "Where is the area that hides danger in the current frame?", "category": "Uncertainty", "options": ["A. Behind the right cargo truck", "B. Inside the front guardrail", "C. None", "D. Behind the left A-pillar"], "answer_index": 2}
{"token": "1184c8a0a1b8bfe776c3c47939d7a9c4", "waymo_split": "test", "type": "image", "frame_index": 142, "question": "What is the safest choice just before entering a yellow signal: stop vs. pass?", "category": "Special Event", "options": ["A. Stop - ensure safety at the intersection", "B. In front of the stop line - come to a complete stop", "C. Decelerate and pass - prevent rear-end collisions", "D. No signal - unable to make a judgment"], "answer_index": 3}
{"token": "1184c8a0a1b8bfe776c3c47939d7a9c4", "waymo_split": "test", "type": "image", "frame_index": 142, "question": "What is the method to avoid the blind spot next to a large vehicle?", "category": "Special Event", "options": ["A. Passing on the right side of the large vehicle", "B. Driving close to the large vehicle", "C. Right next to the large vehicle", "D. No large vehicle"], "answer_index": 3}
{"token": "1184c8a0a1b8bfe776c3c47939d7a9c4", "waymo_split": "test", "type": "image", "frame_index": 142, "question": "What situation might occur if the self-driving car behaved like this?", "category": "Counterfactual", "options": ["A. If the self-driving car moves closer to the right edge and goes straight, it may come into contact with pedestrians on the sidewalk.", "B. If the self-driving car suddenly brakes and stops in front of the stop line, it may collide with vehicles approaching from behind.", "C. If the self-driving car encroaches further to the left center and goes straight, it may collide with vehicles coming head-on.", "D. If the self-driving car enters the right turn lane and continues straight, it may collide with vehicles merging from the right."], "answer_index": 2}
{"token": "1184c8a0a1b8bfe776c3c47939d7a9c4", "waymo_split": "test", "type": "image", "frame_index": 142, "question": "What potential situations could arise in the current scenario?", "category": "Counterfactual", "options": ["A. The vehicle accelerates and closes the gap with the car in front.", "B. The vehicle decelerates to avoid a collision.", "C. The vehicle changes to the left lane to attempt an overtaking.", "D. The vehicle continues to drive straight without decelerating while honking the horn."], "answer_index": 1}
{"token": "12643bac32dc219cf204529b8d73bbc9", "waymo_split": "test", "type": "video", "frame_index": null, "question": "Where is the safety-critical situation in the video?", "category": "Temporal Grounding", "options": ["A. 2/4", "B. 4/4", "C. 1/4", "D. 3/4"], "answer_index": 1}
{"token": "12643bac32dc219cf204529b8d73bbc9", "waymo_split": "test", "type": "video", "frame_index": null, "question": "What are the classifications of scenes?", "category": "Normal scene Understanding", "options": ["A. Unpaved", "B. Highway", "C. Residential area", "D. City"], "answer_index": 2}
{"token": "12643bac32dc219cf204529b8d73bbc9", "waymo_split": "test", "type": "video", "frame_index": null, "question": "Is there a special situation?", "category": "Special Event", "options": ["A. Detour around construction site cones", "B. Ambulance with siren on", "C. Very dark night street", "D. Car windows covered with rainwater"], "answer_index": 2}
{"token": "12643bac32dc219cf204529b8d73bbc9", "waymo_split": "test", "type": "video", "frame_index": null, "question": "Which of the following is a correct description of traffic density?", "category": "Normal scene Understanding", "options": ["A. Slow, few surrounding vehicles. Uphill slope", "B. Fast, many surrounding vehicles. Uphill slope", "C. Fast, few surrounding vehicles. Downhill slope", "D. Slow, many surrounding vehicles. No slope"], "answer_index": 3}
{"token": "12643bac32dc219cf204529b8d73bbc9", "waymo_split": "test", "type": "video", "frame_index": null, "question": "Which of the following is a correct description of road alignment?", "category": "Normal Perception & Prediction", "options": ["A. Right turn", "B. Straight", "C. Left turn", "D. U-turn"], "answer_index": 1}
{"token": "12643bac32dc219cf204529b8d73bbc9", "waymo_split": "test", "type": "video", "frame_index": null, "question": "What is correct regarding Video Summary from a safety-critical scene perspective?", "category": "Safety-critical scene caption", "options": ["A. Bicycles approaching from the front, with a pedestrian priority area, so the vehicle proceeds slowly while maintaining its path.", "B. A motorcycle approaching quickly from behind, on a narrow road, so the vehicle stays close to the left edge to let it pass first.", "C. A truck trying to merge from the right at an intersection, with enough lane space, so the vehicle maintains the center and passes through.", "D. Vehicles approaching from the front. Since it's a narrow road, the vehicle moves to the empty space on the right to avoid them and secure space."], "answer_index": 3}
{"token": "12643bac32dc219cf204529b8d73bbc9", "waymo_split": "test", "type": "video", "frame_index": null, "question": "Which of the following descriptions about the environment is correct?", "category": "Normal scene Understanding", "options": ["A. At dusk, light rain, high surface reflection (wet road, vehicle taillights, traffic lights)", "B. At night, darkness, very little lighting (residential area lights, vehicle headlights, streetlights)", "C. Early morning, light fog, mainly diffuse light (convenience store neon signs, bus stop billboards, window lights)", "D. During the day, clear, strong direct sunlight (intense sunlight, building reflections, glare from car windows)"], "answer_index": 1}
{"token": "12643bac32dc219cf204529b8d73bbc9", "waymo_split": "test", "type": "video", "frame_index": null, "question": "Which of the following is a correct description of traffic signals?", "category": "Traffic Signal", "options": ["A. There is a left turn guiding arrow on the road, nothing else.", "B. There is a stop sign on the left, nothing else.", "C. There is a green traffic light ahead, nothing else.", "D. There is a red traffic light behind, nothing else."], "answer_index": 3}
{"token": "12643bac32dc219cf204529b8d73bbc9", "waymo_split": "test", "type": "video", "frame_index": null, "question": "What is the answer regarding parked vehicles on the shoulder, the presence of a center line, and whether Ego is crossing the center line?", "category": "Normal Perception & Prediction", "options": ["A. No parked vehicles on the shoulder. Solid center line. Ego is driving close to the right lane.", "B. A few parked vehicles on the shoulder. Center line present. Ego is maintaining the lane and going straight.", "C. One or two parked vehicles on the shoulder. Dashed center line. Ego is driving straight without crossing the center line.", "D. Many parked vehicles on the shoulder. No center line. Ego is effectively crossing the center line and going straight."], "answer_index": 3}
{"token": "12643bac32dc219cf204529b8d73bbc9", "waymo_split": "test", "type": "video", "frame_index": null, "question": "Is there a blind spot in the field of view?", "category": "Uncertainty", "options": ["A. There is no blind spot in the empty area in front of the right bus stop (no parked vehicles).", "B. A blind spot exists only between the large vehicles on the left (the right side is open).", "C. A blind spot exists between the parked vehicles on the right (especially darker, making it worse).", "D. There is no blind spot thanks to the streetlights and shop lights on the right (it's bright enough for good visibility)."], "answer_index": 2}
{"token": "12643bac32dc219cf204529b8d73bbc9", "waymo_split": "test", "type": "video", "frame_index": null, "question": "What is a safety-critical object?", "category": "Safety-critical Perception", "options": ["A. A vehicle stopped on the shoulder with its hazard lights on", "B. A bus driving in the opposite lane from the front", "C. A vehicle driving in the same direction as my car from the front", "D. A motorcycle moving away from my car from behind"], "answer_index": 2}
{"token": "12643bac32dc219cf204529b8d73bbc9", "waymo_split": "test", "type": "video", "frame_index": null, "question": "What is the correlation in safety-critical situations?", "category": "Safety-critical scene Understanding", "options": ["A. car-person", "B. car-two-wheeler", "C. car-car", "D. two-wheeler-two-wheeler"], "answer_index": 2}
{"token": "12643bac32dc219cf204529b8d73bbc9", "waymo_split": "test", "type": "video", "frame_index": null, "question": "How did the safety-critical object move and how did the ego vehicle behave?", "category": "Safety-critical scene Understanding", "options": ["A. The ego vehicle moved straight in its direction. The ego vehicle was also moving straight but moved to the right empty space to avoid an oncoming vehicle.", "B. The ego vehicle turned left in its direction. The ego vehicle slowed down and moved to the left empty space to wait.", "C. The ego vehicle slowly reversed in its direction. The ego vehicle stopped in front of the stop line and waited while observing the situation.", "D. The ego vehicle moved straight in the opposite direction. The ego vehicle maintained its straight path and passed close to the center line."], "answer_index": 0}
{"token": "12643bac32dc219cf204529b8d73bbc9", "waymo_split": "test", "type": "video", "frame_index": null, "question": "Summary of Ego (self-vehicle) behavior before safety-critical situations", "category": "Normal scene Understanding", "options": ["A. Stop", "B. Turn right", "C. Go straight", "D. Turn left"], "answer_index": 2}
{"token": "12643bac32dc219cf204529b8d73bbc9", "waymo_split": "test", "type": "image", "frame_index": 15, "question": "Based on the current appearance of the person/vehicle (two-wheeled), how do you intend to move?", "category": "Normal Perception & Prediction", "options": ["A. Turn left", "B. Go straight", "C. Turn right", "D. Make a U-turn"], "answer_index": 1}
{"token": "12643bac32dc219cf204529b8d73bbc9", "waymo_split": "test", "type": "video", "frame_index": null, "question": "What situation would have occurred if the self-driving car acted like this?", "category": "Counterfactual", "options": ["A. If the self-driving car only reduced speed, it would safely stop in front of the intersection.", "B. If the self-driving car chose to turn left, it would pass by avoiding the oncoming lane.", "C. If the self-driving car slightly turned right, it would make contact with the vehicle in the adjacent lane.", "D. If the self-driving car went straight, it would collide with the vehicle in front."], "answer_index": 3}
{"token": "12643bac32dc219cf204529b8d73bbc9", "waymo_split": "test", "type": "video", "frame_index": null, "question": "Who is responsible in a safety-critical situation? What is the cause?", "category": "Safety-critical scene Understanding", "options": ["A. The road management is responsible. The construction area guidance and lighting were inadequate, causing a conflict in the timing of vehicle movements.", "B. The vehicle has some responsibility. It was daytime and visibility was sufficient, but the vehicle did not leave enough space on the left, resulting in an excessively narrow gap with the oncoming vehicle.", "C. The other vehicle is responsible. There was enough space to wait at the entrance of the alley, but when the two vehicles met, it pushed into the center.", "D. There is no responsibility. Due to the nature of the narrow night road, it is difficult for two vehicles to pass simultaneously, and the vehicle yielded to the empty space on the right."], "answer_index": 3}
{"token": "12643bac32dc219cf204529b8d73bbc9", "waymo_split": "test", "type": "image", "frame_index": 15, "question": "Which of the following is correct as an Image Caption from the perspective of a Normal Frame?", "category": "Normal scene caption", "options": ["A. At night, a personal vehicle driving on a wide four-lane road. Shops and a bus stop are lined up on both sides. A green traffic light and a no-protect left turn sign are visible ahead. Several vehicle headlights are following from behind.", "B. At night, a personal vehicle driving on a narrow two-lane road. Residential houses and several parked vehicles are present on both sides. Headlights are visible ahead. There are no vehicles behind, and a red traffic light is visible in the distance.", "C. On a rainy night, a personal vehicle slowly passing through a one-way alley. Construction site barriers and abandoned shops are sporadically visible on both sides. A pedestrian with an umbrella is visible on the crosswalk ahead. A yellow taxi is closely following from behind.", "D. At dusk, a personal vehicle driving on a two-lane road on the outskirts of the city. A park and school walls are long and continuous on both sides. There are almost no cars ahead, and the traffic lights are off. A small truck is closely following from behind."], "answer_index": 1}
{"token": "12643bac32dc219cf204529b8d73bbc9", "waymo_split": "test", "type": "image", "frame_index": 15, "question": "What are the behavioral restrictions in school zones/congested areas?", "category": "Special Event", "options": ["A. Pass through as quickly as possible", "B. Maintain driving speed", "C. Honk the horn frequently", "D. Always drive slowly"], "answer_index": 3}
{"token": "12643bac32dc219cf204529b8d73bbc9", "waymo_split": "test", "type": "image", "frame_index": 15, "question": "What are the classifications of scenes?", "category": "Normal scene Understanding", "options": ["A. Residential area", "B. Highway", "C. Unpaved", "D. City"], "answer_index": 0}
{"token": "12643bac32dc219cf204529b8d73bbc9", "waymo_split": "test", "type": "image", "frame_index": 15, "question": "What is the plan for yielding when an ambulance/fire truck approaches?", "category": "Special Event", "options": ["A. Turn on the emergency lights, pull over to the left empty space, and yield", "B. Turn on the lights, pull over to the right empty space, and yield", "C. Notify with the horn and slightly move towards the median to yield", "D. Just turn on the lights and maintain speed in the current lane"], "answer_index": 1}
{"token": "12643bac32dc219cf204529b8d73bbc9", "waymo_split": "test", "type": "image", "frame_index": 15, "question": "Which of the following is a correct description of traffic density?", "category": "Normal scene Understanding", "options": ["A. Fast. Many vehicles on the surrounding main road", "B. Fast. Few vehicles on the surrounding road", "C. Slow. Almost no vehicles around", "D. Slow. Many vehicles on the surrounding side roads"], "answer_index": 3}
{"token": "12643bac32dc219cf204529b8d73bbc9", "waymo_split": "test", "type": "image", "frame_index": 15, "question": "Which of the following is a correct description of the environment?", "category": "Normal scene Understanding", "options": ["A. Cloudy, light rain. Early morning", "B. Bright lighting. Noon", "C. Streetlights are brightly lit. Early evening", "D. Almost no lighting. Night"], "answer_index": 3}
{"token": "12643bac32dc219cf204529b8d73bbc9", "waymo_split": "test", "type": "image", "frame_index": 15, "question": "What is the description of non-safety-critical objects?", "category": "Normal Perception & Prediction", "options": ["A. A parked vehicle on the shoulder. Light leaking from a storefront and sign. Green light of the traffic signal ahead.", "B. Several bicycle racks on the right. Soft lighting coming over the school fence. Blue pedestrian signal on the side.", "C. Multiple parked vehicles on both sides of the side street. Light coming from the residential area in between. Red light of the traffic signal behind.", "D. A few passengers waiting at the bus stop. Light leaking from the entrance of the underground parking lot. Yellow flashing light in the center of the intersection."], "answer_index": 2}
{"token": "12643bac32dc219cf204529b8d73bbc9", "waymo_split": "test", "type": "image", "frame_index": 15, "question": "Which of the following is a correct description of traffic signals?", "category": "Traffic Signal", "options": ["A. Green traffic light ahead", "B. Red traffic light behind", "C. Stop line road marking on the right", "D. Stop sign on the left"], "answer_index": 1}
{"token": "12643bac32dc219cf204529b8d73bbc9", "waymo_split": "test", "type": "image", "frame_index": 15, "question": "What is a safety-critical object?", "category": "Safety-critical Perception", "options": ["A. Safety-critical object battery management unit", "B. Safety-critical object emergency stop button", "C. Safety-critical object brake control module", "D. No safety-critical object"], "answer_index": 3}
{"token": "12643bac32dc219cf204529b8d73bbc9", "waymo_split": "test", "type": "image", "frame_index": 15, "question": "Is there a blind spot in your field of vision?", "category": "Uncertainty", "options": ["A. The left streetlight is bright, eliminating the blind spot (adequate even at night)", "B. The right lane has good visibility, with little impact from street parking", "C. There is a blind spot between parked cars on the left and right (especially darker)", "D. The right side is a no-parking zone, ensuring visibility (easy to see pedestrians)"], "answer_index": 2}
{"token": "12643bac32dc219cf204529b8d73bbc9", "waymo_split": "test", "type": "image", "frame_index": 15, "question": "Is there any other safety-critical object besides the first safety-critical object? If so, how will it be moved?", "category": "Safety-critical Prediction", "options": ["A. There is a risk of breakage with a glass panel; two people will carry it while wearing protective gear and move it to a cushioned storage area.", "B. There are no other safety-critical objects.", "C. There is a leaking chemical drum; it will be sealed and labeled before being moved to the waste area.", "D. There is a gas cylinder; after closing the valve, it will be moved to a safe area using a secured cart."], "answer_index": 1}
{"token": "12643bac32dc219cf204529b8d73bbc9", "waymo_split": "test", "type": "image", "frame_index": 15, "question": "How should I drive to address the first risk while also addressing the second risk?", "category": "Safety-critical Planning", "options": ["A. Stop in front of the next safety-critical object", "B. No next safety-critical object", "C. Avoid the next safety-critical object on the left", "D. Slow down next to the safety-critical object on the right"], "answer_index": 1}
{"token": "12643bac32dc219cf204529b8d73bbc9", "waymo_split": "test", "type": "image", "frame_index": 15, "question": "How do you think a safety-critical object will be moved?", "category": "Safety-critical Prediction", "options": ["A. Approaching a safety-critical object from the left", "B. No safety-critical object", "C. There is a safety-critical pedestrian ahead", "D. A safety-critical vehicle is merging in from the right"], "answer_index": 1}
{"token": "12643bac32dc219cf204529b8d73bbc9", "waymo_split": "test", "type": "image", "frame_index": 15, "question": "What is the answer regarding parked vehicles on the shoulder, the presence of a center line, and whether Ego has crossed the center line?", "category": "Normal Perception & Prediction", "options": ["A. Scattered parked vehicles on the shoulder. Center line marked. My vehicle is slightly to the right and going straight.", "B. Multiple parked vehicles on the shoulder. No center line. My vehicle is almost crossing the center line while going straight.", "C. Few parked vehicles on the shoulder. Solid center line. My vehicle has completely crossed the center line while going straight.", "D. No parked vehicles on the shoulder. There is a center line. My vehicle is maintaining the center of the lane while going straight."], "answer_index": 1}
{"token": "12643bac32dc219cf204529b8d73bbc9", "waymo_split": "test", "type": "image", "frame_index": 15, "question": "Where is the area that hides danger in the current frame?", "category": "Uncertainty", "options": ["A. Blind spot in front of a large truck", "B. Inside corner of a right turn intersection", "C. Space between vehicles on both sides", "D. Behind the front left sidewalk corner"], "answer_index": 2}
{"token": "12643bac32dc219cf204529b8d73bbc9", "waymo_split": "test", "type": "image", "frame_index": 15, "question": "Is lane changing possible? Which is safer, slowing down or changing lanes?", "category": "Safety-critical Planning", "options": ["A. Lane change allowed. Slowing down not recommended", "B. Lane change possible. Changing is safer than slowing down", "C. Right lane change possible. Changing is safer", "D. Lane change not possible. Slowing down is possible"], "answer_index": 3}
{"token": "12643bac32dc219cf204529b8d73bbc9", "waymo_split": "test", "type": "image", "frame_index": 15, "question": "What is the safer choice just before entering a yellow signal: stop vs proceed?", "category": "Special Event", "options": ["A. No signal. Unable to judge", "B. Intersection is clear. Proceed slowly", "C. Yellow light. Stop is prioritized", "D. No pedestrians waiting. Proceed is recommended"], "answer_index": 0}
{"token": "12643bac32dc219cf204529b8d73bbc9", "waymo_split": "test", "type": "image", "frame_index": 15, "question": "What is the method to avoid the blind spot next to a large vehicle?", "category": "Special Event", "options": ["A. No large vehicle", "B. Maintain speed", "C. Overtake on the right", "D. Approach the large vehicle"], "answer_index": 0}
{"token": "12643bac32dc219cf204529b8d73bbc9", "waymo_split": "test", "type": "image", "frame_index": 15, "question": "What are the new exposure risk candidates in the following section?", "category": "Safety-critical Prediction", "options": ["A. A kickboard may suddenly come down from the edge of the opposite sidewalk into the road.", "B. A vehicle may suddenly emerge from the right-side shopping center parking lot without a signal.", "C. A person or object may suddenly appear from the space between vehicles on both sides.", "D. A motorcycle may cross over to the opposite lane from the opening in the central divider."], "answer_index": 2}
{"token": "12643bac32dc219cf204529b8d73bbc9", "waymo_split": "test", "type": "image", "frame_index": 46, "question": "Which of the following is correct as an Image Caption from the perspective of a Normal Frame?", "category": "Normal scene caption", "options": ["A. During the daytime, driving on a wide four-lane road, the brake lights of the vehicle in front are visible, with a concentration of shops on both sides and a few roadside parking spots, and a vehicle approaching from behind.", "B. At night, the headlights of an oncoming vehicle are visible in front of my car on a narrow two-lane road. There are many residential houses and parked cars on both sides. There are no vehicles behind.", "C. Early evening, driving through a tunnel with no vehicles coming from the opposite direction, only concrete walls on both sides, and several vehicles behind.", "D. On a rural outskirts road at night, a pedestrian and a bicycle are visible ahead on an unpaved single lane, with only rice fields on both sides, and a truck approaching from behind."], "answer_index": 1}
{"token": "12643bac32dc219cf204529b8d73bbc9", "waymo_split": "test", "type": "image", "frame_index": 46, "question": "Which is correct as an Image Caption from a Safety-critical Frame perspective?", "category": "Safety-critical scene caption", "options": ["A. The left side parking is empty, providing clear visibility with no blind spots.", "B. There is a blind spot that cannot be seen between the vehicles parked on the left and right.", "C. The intersection ahead is open, with no factors obstructing visibility to the left or right.", "D. Parking is prohibited on the right shoulder, making it easy to check ahead."], "answer_index": 1}
{"token": "12643bac32dc219cf204529b8d73bbc9", "waymo_split": "test", "type": "image", "frame_index": 46, "question": "Based on the current appearance of the person/vehicle (two-wheeled), how are they trying to move?", "category": "Normal Perception & Prediction", "options": ["A. Changing to the left lane", "B. Crossing the crosswalk", "C. Turning left on a two-lane road", "D. Going straight on a two-lane road"], "answer_index": 3}
{"token": "12643bac32dc219cf204529b8d73bbc9", "waymo_split": "test", "type": "image", "frame_index": 46, "question": "What is the plan for yielding when an ambulance/fire truck approaches?", "category": "Special Event", "options": ["A. Slightly increase speed and move to the left edge after passing the intersection.", "B. Honk once and briefly stop near the center line to clear the way.", "C. Turn on the lights and pull over to the right empty space to yield.", "D. Only turn on the hazard lights and stay close to the left lane to let them pass."], "answer_index": 2}
{"token": "12643bac32dc219cf204529b8d73bbc9", "waymo_split": "test", "type": "image", "frame_index": 46, "question": "What are the classifications of scenes?", "category": "Normal scene Understanding", "options": ["A. Residential area", "B. Highway", "C. City", "D. Unpaved"], "answer_index": 0}
{"token": "12643bac32dc219cf204529b8d73bbc9", "waymo_split": "test", "type": "image", "frame_index": 46, "question": "Which of the following is a correct description of traffic density?", "category": "Normal scene Understanding", "options": ["A. Several vehicles passing by in the fast lane", "B. A slow vehicle approaching from a distance", "C. Two slow vehicles moving right in front", "D. Several vehicles overtaking closely"], "answer_index": 1}
{"token": "12643bac32dc219cf204529b8d73bbc9", "waymo_split": "test", "type": "image", "frame_index": 46, "question": "Which of the following descriptions about the environment is correct?", "category": "Normal scene Understanding", "options": ["A. It's dawn and foggy.", "B. It's dusk and the streetlights have just turned on.", "C. It's daytime and sunny.", "D. It's night and there is almost no lighting."], "answer_index": 3}
{"token": "12643bac32dc219cf204529b8d73bbc9", "waymo_split": "test", "type": "image", "frame_index": 46, "question": "Which of the following is a correct description of traffic signals?", "category": "Traffic Signal", "options": ["A. Yellow flashing signal on the left", "B. Green traffic light ahead", "C. U-turn arrow on the right pavement", "D. Red traffic light behind"], "answer_index": 3}
{"token": "12643bac32dc219cf204529b8d73bbc9", "waymo_split": "test", "type": "image", "frame_index": 46, "question": "What is the description of non-safety-critical objects?", "category": "Normal Perception & Prediction", "options": ["A. Numerous parked vehicles on both sides. Lights coming out from the residential area.", "B. Many empty parking spaces on one side of a one-way three-lane road. Streetlights spreading towards a wide open area.", "C. Central median flower beds and low fences. Sign lights in a densely packed commercial area.", "D. Bicycle lanes and scooter parking racks. Faint lights coming over the school fence."], "answer_index": 0}
{"token": "12643bac32dc219cf204529b8d73bbc9", "waymo_split": "test", "type": "image", "frame_index": 46, "question": "What are the behavioral restrictions in school zones/congested areas?", "category": "Special Event", "options": ["A. Must overtake", "B. Must drive slowly", "C. Must accelerate", "D. Must turn right"], "answer_index": 1}
{"token": "12643bac32dc219cf204529b8d73bbc9", "waymo_split": "test", "type": "image", "frame_index": 46, "question": "What is a safety-critical object?", "category": "Safety-critical Perception", "options": ["A. A safety-critical object is a steering motor", "B. There is no safety-critical object", "C. Safety-critical object: brake sensor", "D. A safety-critical object is a front camera"], "answer_index": 1}
{"token": "12643bac32dc219cf204529b8d73bbc9", "waymo_split": "test", "type": "image", "frame_index": 46, "question": "Is there a blind spot in your field of vision?", "category": "Uncertainty", "options": ["A. There is a blind spot between parked cars on the left and right sides (especially since it's dark).", "B. There are few parked cars, so the front and side visibility is good (even at night).", "C. Only a slight obstruction on the left side from parked cars, no blind spot on the right.", "D. Visibility is clear on the right sidewalk and lane, so there is no blind spot (the streetlights are bright)."], "answer_index": 0}
{"token": "12643bac32dc219cf204529b8d73bbc9", "waymo_split": "test", "type": "image", "frame_index": 46, "question": "What is the answer regarding parked vehicles on the shoulder, the presence of a center line, and whether Ego has crossed the center line?", "category": "Normal Perception & Prediction", "options": ["A. Many parked vehicles on the shoulder. No center line, but my vehicle is almost crossing the center while going straight.", "B. One truck parked on the shoulder. No center line, but my vehicle is staying close to the right edge and moving slowly.", "C. Almost no parked vehicles on the shoulder. Clear center line, my vehicle is maintaining the center of the lane while going straight.", "D. Few parked vehicles on the shoulder. There is a center line, and my vehicle is attempting to overtake by crossing the center line."], "answer_index": 0}
{"token": "12643bac32dc219cf204529b8d73bbc9", "waymo_split": "test", "type": "image", "frame_index": 46, "question": "How do you think safety-critical objects will be moved?", "category": "Safety-critical Prediction", "options": ["A. No safety-critical objects", "B. Safety-critical pedestrian access", "C. There are safety-critical objects", "D. Safety-critical bicycle entry"], "answer_index": 0}
{"token": "12643bac32dc219cf204529b8d73bbc9", "waymo_split": "test", "type": "image", "frame_index": 46, "question": "How should I drive to address the first risk while also addressing the second risk?", "category": "Safety-critical Planning", "options": ["A. There are no safety-critical objects ahead", "B. There is a safety-critical object on the left", "C. Need to slow down for the upcoming pedestrian risk", "D. There is a merging vehicle in the next lane, so slow down"], "answer_index": 0}
{"token": "12643bac32dc219cf204529b8d73bbc9", "waymo_split": "test", "type": "image", "frame_index": 46, "question": "Are there any other safety-critical objects besides the first safety-critical object? If so, how will you move?", "category": "Safety-critical Prediction", "options": ["A. No other safety-critical objects", "B. Gas valve present → detour to the left", "C. High-pressure cable exposed → advance while avoiding the center", "D. Close to oxygen tank → pass along the right wall"], "answer_index": 0}
{"token": "12643bac32dc219cf204529b8d73bbc9", "waymo_split": "test", "type": "image", "frame_index": 46, "question": "Is lane changing possible? Which is safer between slowing down and changing lanes?", "category": "Safety-critical Planning", "options": ["A. Minimize slowing down, recommend changing to the left lane", "B. Avoid slowing down, prioritize changing to the right lane", "C. Slowing down is possible, lane changing is not allowed", "D. Slowing down is not possible, lane changing is allowed"], "answer_index": 2}
{"token": "12643bac32dc219cf204529b8d73bbc9", "waymo_split": "test", "type": "image", "frame_index": 46, "question": "Where is the area that hides danger in the current frame?", "category": "Uncertainty", "options": ["A. Right behind the large truck in front", "B. The space between the vehicles on both sides", "C. Behind the street tree on the left sidewalk", "D. The corner of the alley entrance on the right"], "answer_index": 1}
{"token": "12643bac32dc219cf204529b8d73bbc9", "waymo_split": "test", "type": "image", "frame_index": 46, "question": "What is the method to avoid the blind spot next to a large vehicle?", "category": "Special Event", "options": ["A. To the right of the large vehicle", "B. Close to the large vehicle", "C. Entering the blind spot", "D. No large vehicle"], "answer_index": 3}
{"token": "12643bac32dc219cf204529b8d73bbc9", "waymo_split": "test", "type": "image", "frame_index": 46, "question": "What is the safest choice when approaching a yellow signal: stop or proceed?", "category": "Special Event", "options": ["A. No signal. Unable to judge", "B. Waiting car for a left turn. Proceed immediately on yellow", "C. Rainy night. Accelerate and proceed", "D. Proceed when close. Safer than stopping"], "answer_index": 0}
{"token": "12643bac32dc219cf204529b8d73bbc9", "waymo_split": "test", "type": "image", "frame_index": 46, "question": "What situation might occur if the car behaved like this?", "category": "Counterfactual", "options": ["A. If it accelerates abruptly, there is a possibility of a collision with someone emerging from a blind spot.", "B. If it accelerates abruptly as soon as the signal changes, the distance from the car in front increases, raising the risk.", "C. If it accelerates abruptly, it quickly exits the blind spot, making it safer.", "D. If it accelerates abruptly in an alley with many pedestrians, it quickly passes through, reducing the risk."], "answer_index": 0}
{"token": "12643bac32dc219cf204529b8d73bbc9", "waymo_split": "test", "type": "image", "frame_index": 80, "question": "Based on the current appearance of the person/vehicle (two-wheeled), how are they trying to move?", "category": "Normal Perception & Prediction", "options": ["A. Making a right turn on a two-lane road", "B. Changing to the left lane", "C. Going straight on a two-lane road", "D. Entering the crosswalk"], "answer_index": 2}
{"token": "12643bac32dc219cf204529b8d73bbc9", "waymo_split": "test", "type": "image", "frame_index": 80, "question": "What is the plan for yielding when an ambulance/fire truck approaches?", "category": "Special Event", "options": ["A. Turn on the lights and pull over to the right empty space to yield.", "B. Just keep the lights on and stay close to the left lane while proceeding slowly to yield.", "C. Turn on the hazard lights and stop briefly in the middle of the intersection to clear the way.", "D. Just reduce speed and continue moving while maintaining the center of the lane."], "answer_index": 0}
{"token": "12643bac32dc219cf204529b8d73bbc9", "waymo_split": "test", "type": "image", "frame_index": 80, "question": "Which of the following is correct as an Image Caption from a Safety-critical Frame perspective?", "category": "Safety-critical scene caption", "options": ["A. There is a blind spot where visibility is obstructed between vehicles parked on both sides.", "B. A pedestrian emerges from behind a vehicle parked on the right.", "C. A bicycle suddenly enters from the left alley exit.", "D. There is a jaywalking pedestrian at the crosswalk ahead."], "answer_index": 0}
{"token": "12643bac32dc219cf204529b8d73bbc9", "waymo_split": "test", "type": "image", "frame_index": 80, "question": "Which of the following is a correct description of traffic density?", "category": "Normal scene Understanding", "options": ["A. Slow. A single oncoming vehicle with headlights on.", "B. Fast. Vehicles with lights on approaching quickly from behind.", "C. Fast. Vehicles continuously overtaking in the left lane.", "D. Fast. Multiple vehicles with headlights on from the front and side."], "answer_index": 0}
{"token": "12643bac32dc219cf204529b8d73bbc9", "waymo_split": "test", "type": "image", "frame_index": 80, "question": "Which of the following is a correct description of the environment?", "category": "Normal scene Understanding", "options": ["A. At sunset, surrounding lighting is bright (neon signs, store signs)", "B. Clear midday, strong sunlight (almost no shade)", "C. At night with almost no lighting (streetlights, residential area lights)", "D. Early morning with thick fog (obscured visibility, wet ground)"], "answer_index": 2}
{"token": "12643bac32dc219cf204529b8d73bbc9", "waymo_split": "test", "type": "image", "frame_index": 80, "question": "What are the classifications of scenes?", "category": "Normal scene Understanding", "options": ["A. Residential road", "B. Urban road", "C. Highway", "D. Unpaved road"], "answer_index": 0}
{"token": "12643bac32dc219cf204529b8d73bbc9", "waymo_split": "test", "type": "image", "frame_index": 80, "question": "What are the behavioral restrictions in school zones/congested areas?", "category": "Special Event", "options": ["A. Vehicles must take priority over pedestrians", "B. It should be a wide road and speed must be maintained", "C. If the signal is normal, it should be treated as a regular speed road", "D. It is a narrow road and must be driven slowly"], "answer_index": 3}
{"token": "12643bac32dc219cf204529b8d73bbc9", "waymo_split": "test", "type": "image", "frame_index": 80, "question": "What is the description of a non-safety-critical object?", "category": "Normal Perception & Prediction", "options": ["A. Bicycle racks lined up on one side", "B. The light from signs scattered around the shopping alley", "C. Numerous parked cars on both sides of the side street. The light coming from the residential area and the distant streetlights occasionally visible", "D. The low landscape lighting around the nearby park trail"], "answer_index": 2}
{"token": "12643bac32dc219cf204529b8d73bbc9", "waymo_split": "test", "type": "image", "frame_index": 80, "question": "Which of the following is a correct description of traffic signals?", "category": "Traffic Signal", "options": ["A. Flashing yellow light on the left", "B. Red traffic light in the rear", "C. Green traffic light in the front", "D. Speed limit sign on the right"], "answer_index": 1}
{"token": "12643bac32dc219cf204529b8d73bbc9", "waymo_split": "test", "type": "image", "frame_index": 80, "question": "What is the answer regarding parked vehicles on the shoulder, the presence of a center line, and whether Ego has crossed the center line?", "category": "Normal Perception & Prediction", "options": ["A. No parked vehicles on the shoulder. There is a center line, and my vehicle is going straight while maintaining the center of the lane.", "B. Multiple parked vehicles on the shoulder. There is a center line, and my vehicle is temporarily entering the opposite lane by crossing the center line.", "C. Few parked vehicles on the shoulder. There is a center line, and my vehicle is driving close to the right edge.", "D. Multiple parked vehicles on the shoulder. There is no center line, but my vehicle is going straight while almost crossing the center."], "answer_index": 3}
{"token": "12643bac32dc219cf204529b8d73bbc9", "waymo_split": "test", "type": "image", "frame_index": 80, "question": "Is there a blind spot in your field of vision?", "category": "Uncertainty", "options": ["A. Obstruction occurs only on the left side near the center line, no blind spot on the right side (good visibility)", "B. There is a blind spot between parked cars on the left and right sides (especially darker)", "C. The edge of the right lane has clear visibility with no blind spot (streetlight is bright)", "D. There are no parked cars at the entrance of the alley, so no blind spot occurs (during the day)"], "answer_index": 1}
{"token": "12643bac32dc219cf204529b8d73bbc9", "waymo_split": "test", "type": "image", "frame_index": 80, "question": "How do you think a safety-critical object would move?", "category": "Safety-critical Prediction", "options": ["A. Turn right and enter the adjacent alley (intersection)", "B. Go straight towards the vehicle (two-lane road)", "C. Change lanes to the right lane (two-lane road)", "D. Move diagonally to the left (near the center line)"], "answer_index": 1}
{"token": "12643bac32dc219cf204529b8d73bbc9", "waymo_split": "test", "type": "image", "frame_index": 80, "question": "Is there any other safety-critical object besides the first one? If so, how will it be moved?", "category": "Safety-critical Prediction", "options": ["A. There is another safety-critical object, secured with cushioning and moved to the right.", "B. There is no other safety-critical object.", "C. There is another safety-critical object, loaded onto a cart and slowly moved to the left.", "D. There is another safety-critical object, supported with both hands and moved forward."], "answer_index": 1}
{"token": "12643bac32dc219cf204529b8d73bbc9", "waymo_split": "test", "type": "image", "frame_index": 80, "question": "How should I drive to resolve the first risk while also addressing the second risk?", "category": "Safety-critical Planning", "options": ["A. Avoid the next safety-critical object to the right", "B. Stop in front of the next safety-critical object", "C. There is no next safety-critical object", "D. Gradually decelerate compared to the next safety-critical object"], "answer_index": 2}
{"token": "12643bac32dc219cf204529b8d73bbc9", "waymo_split": "test", "type": "image", "frame_index": 80, "question": "What should I do to drive safely?", "category": "Safety-critical Planning", "options": ["A. Slow down when getting close (or yield the road)", "B. On curves, turn the steering wheel more instead of using the brakes (or maintain the line)", "C. If you see a pedestrian, honk the horn first (or maintain speed)", "D. Accelerate when getting close (or pass first)"], "answer_index": 0}
{"token": "12643bac32dc219cf204529b8d73bbc9", "waymo_split": "test", "type": "image", "frame_index": 80, "question": "What is a safety-critical object?", "category": "Safety-critical Perception", "options": ["A. A vehicle moving straight away from your vehicle in the opposite direction from a distance", "B. A vehicle driving parallel to your vehicle at the same speed from a close distance", "C. A vehicle stopped on the roadside with its hazard lights on", "D. A vehicle moving straight towards your vehicle from a distance"], "answer_index": 3}
{"token": "12643bac32dc219cf204529b8d73bbc9", "waymo_split": "test", "type": "image", "frame_index": 80, "question": "What is the correlation in safety-critical situations?", "category": "Safety-critical scene Understanding", "options": ["A. Car-Person", "B. Two-wheeler-Car", "C. Car-Car", "D. Two-wheeler-Person"], "answer_index": 2}
{"token": "12643bac32dc219cf204529b8d73bbc9", "waymo_split": "test", "type": "image", "frame_index": 80, "question": "Is lane change possible? Which is safer between slowing down and changing lanes?", "category": "Safety-critical Planning", "options": ["A. Can slow down, can change to the right lane", "B. Can slow down, cannot change lanes", "C. Cannot slow down, can change to the left lane", "D. Cannot slow down, can change lanes"], "answer_index": 1}
{"token": "12643bac32dc219cf204529b8d73bbc9", "waymo_split": "test", "type": "image", "frame_index": 80, "question": "Who is responsible in a safety-critical situation? What is the cause?", "category": "Safety-critical scene Understanding", "options": ["A. There is mutual responsibility because we must drive slowly on narrow roads and yield to each other.", "B. At alley intersections, straight traffic has priority, so the left-turning vehicle is responsible for not yielding.", "C. According to the right-hand priority principle, the vehicle entering from the left has full responsibility.", "D. Since the one-way rule was violated, the vehicle going the wrong way is solely responsible."], "answer_index": 0}
{"token": "12643bac32dc219cf204529b8d73bbc9", "waymo_split": "test", "type": "image", "frame_index": 80, "question": "What is the safest choice when approaching a yellow signal: stop vs proceed?", "category": "Special Event", "options": ["A. Accelerate through", "B. Proceed with a right turn", "C. No signal. Unable to judge", "D. Stop immediately"], "answer_index": 2}
{"token": "12643bac32dc219cf204529b8d73bbc9", "waymo_split": "test", "type": "image", "frame_index": 80, "question": "Where is the area that hides danger in the current frame?", "category": "Uncertainty", "options": ["A. Open space at the right edge of the sidewalk", "B. Space between the vehicles on both sides", "C. The rear lane clearly visible in the rearview mirror", "D. Open section in the center of the front lane"], "answer_index": 1}
{"token": "12643bac32dc219cf204529b8d73bbc9", "waymo_split": "test", "type": "image", "frame_index": 80, "question": "What situation might have occurred if the self-driving car acted like this?", "category": "Counterfactual", "options": ["A. If it had only checked the side mirror, there would be no blind spot, making contact with the motorcycle in the adjacent lane impossible.", "B. If it had only made a sudden deceleration, the car behind would automatically maintain distance, eliminating the risk of a collision.", "C. Even if it made a sudden right turn at an intersection, if the pedestrian signal was on, vehicles would have priority, preventing a collision.", "D. If it accelerated recklessly, there could be a collision if someone suddenly appeared from the surrounding blind spots."], "answer_index": 3}
{"token": "12643bac32dc219cf204529b8d73bbc9", "waymo_split": "test", "type": "image", "frame_index": 80, "question": "What is the method to avoid the blind spot next to a large vehicle?", "category": "Special Event", "options": ["A. No large vehicle", "B. Left side of the large vehicle", "C. Between large vehicles", "D. Right side of the large vehicle"], "answer_index": 0}
{"token": "12643bac32dc219cf204529b8d73bbc9", "waymo_split": "test", "type": "image", "frame_index": 122, "question": "Which of the following is correct as an Image Caption from a Safety-critical Frame perspective?", "category": "Safety-critical scene caption", "options": ["A. A motorcycle cutting in from the left", "B. A truck stopped in front of the intersection stop line", "C. A vehicle approaching from the front", "D. A vehicle moving away from the rear"], "answer_index": 2}
{"token": "12643bac32dc219cf204529b8d73bbc9", "waymo_split": "test", "type": "image", "frame_index": 80, "question": "What are the potential situations that could arise in the current circumstances?", "category": "Counterfactual", "options": ["A. Be careful of people suddenly appearing in the dark and narrow alley.", "B. Be careful of vehicles making sudden right turns on the bright and wide road.", "C. Be careful of electric scooters going the wrong way on the bright pedestrian path.", "D. Be careful of bicycles passing by on the wide park path."], "answer_index": 0}
{"token": "12643bac32dc219cf204529b8d73bbc9", "waymo_split": "test", "type": "image", "frame_index": 122, "question": "Based on the current appearance of the person/vehicle (two-wheeled), how are they trying to move?", "category": "Normal Perception & Prediction", "options": ["A. Currently moving slowly on a two-lane road while shifting to the right space.", "B. Approaching an intersection, moving slowly and trying to enter the left turn lane.", "C. Currently moving straight on a two-lane road while increasing speed and merging into the left lane.", "D. Moving towards the center line while adjusting the angle for a U-turn."], "answer_index": 0}
{"token": "12643bac32dc219cf204529b8d73bbc9", "waymo_split": "test", "type": "image", "frame_index": 122, "question": "What is the plan for yielding when an ambulance/fire truck approaches?", "category": "Special Event", "options": ["A. Yield by keeping the emergency lights on and maintaining a slow speed in the center lane.", "B. Quickly pass through the intersection with the car in front and yield by stopping on the side.", "C. Yield by staying close to the left side space and moving slowly as before.", "D. Yield by moving the car to the right empty space and parking as before."], "answer_index": 3}
{"token": "12643bac32dc219cf204529b8d73bbc9", "waymo_split": "test", "type": "image", "frame_index": 122, "question": "What are the restrictions on behavior in school zones/congested areas?", "category": "Special Event", "options": ["A. It's a narrow road and you must drive slowly", "B. There are no pedestrians and you can speed up", "C. It's a wide road and you can accelerate", "D. There are few cars and you can overtake"], "answer_index": 0}
{"token": "12643bac32dc219cf204529b8d73bbc9", "waymo_split": "test", "type": "image", "frame_index": 122, "question": "What are the classifications of scenes?", "category": "Normal scene Understanding", "options": ["A. Highway, nighttime", "B. Residential road, darkness", "C. Unpaved road, dusk", "D. Urban road, brightness"], "answer_index": 1}
{"token": "12643bac32dc219cf204529b8d73bbc9", "waymo_split": "test", "type": "image", "frame_index": 122, "question": "Which of the following is a correct description of the environment?", "category": "Normal scene Understanding", "options": ["A. It's a clear midday with strong sunlight (almost no shade)", "B. It's a rainy night with many sign lights (bright even in the alleys)", "C. It's dusk with a deep sunset color (only the western sky is bright)", "D. It's night with almost no lighting (streetlights and residential lights)"], "answer_index": 3}
{"token": "12643bac32dc219cf204529b8d73bbc9", "waymo_split": "test", "type": "image", "frame_index": 122, "question": "Which of the following is a correct description of traffic density?", "category": "Normal scene Understanding", "options": ["A. Fast. Two vehicles closely following each other by increasing speed from behind.", "B. Fast. Opposing vehicles passing quickly through an intersection.", "C. Slow. One vehicle approaching with its headlights on.", "D. Fast. Several vehicles overtaking with their headlights on from the left."], "answer_index": 2}
{"token": "12643bac32dc219cf204529b8d73bbc9", "waymo_split": "test", "type": "image", "frame_index": 122, "question": "Which of the following is a correct description of traffic signals?", "category": "Traffic Signal", "options": ["A. No left turn", "B. None", "C. Pedestrian signal", "D. Stop line"], "answer_index": 1}
{"token": "12643bac32dc219cf204529b8d73bbc9", "waymo_split": "test", "type": "image", "frame_index": 122, "question": "What is the description of a non-safety-critical object?", "category": "Normal Perception & Prediction", "options": ["A. Numerous parked cars on both sides. Lights coming out from the residential area in between. The light of a streetlamp visible far to the left. An empty space to enter a parking lot between houses on the right.", "B. A central divider and a low flower bed in the middle of the road. A traffic light and pedestrian button close to the right. The neon light of a shop sign on the left is strongly diffused. A crosswalk with a white stripe at a small intersection ahead.", "C. Several large puddles on a wet road. A blue bicycle lane marking continues. A person walking a dog on the left sidewalk. Outdoor tables and chairs in front of a café on the right.", "D. A large bus standing at a bus stop. The silhouette of an excavator behind a construction site barrier. The entrance of a convenience store on the left is open with people coming in and out. Several trash bins at the entrance of an alley on the right."], "answer_index": 0}
{"token": "12643bac32dc219cf204529b8d73bbc9", "waymo_split": "test", "type": "image", "frame_index": 122, "question": "Is there a blind spot in your field of vision?", "category": "Uncertainty", "options": ["A. There are almost no blind spots as there are no parked vehicles on the left and right shoulders (visibility is good)", "B. The section adjacent to the central divider is open, so there are no blind spots (even at night, it's fine)", "C. Visibility is good in front of the right bus stop (thanks to the streetlights, it's bright)", "D. There are blind spots between parked vehicles on the left and right shoulders (especially darker)"], "answer_index": 3}
{"token": "12643bac32dc219cf204529b8d73bbc9", "waymo_split": "test", "type": "image", "frame_index": 122, "question": "What is the answer regarding parked vehicles on the shoulder, the presence of a center line, and whether Ego is crossing the center line?", "category": "Normal Perception & Prediction", "options": ["A. One or two parked vehicles on the shoulder. No center line, my vehicle is driving straight while keeping to the right edge.", "B. Many parked vehicles on the shoulder. No center line, but my vehicle is driving straight while almost crossing the center.", "C. A few parked vehicles on the shoulder. Clear center line, my vehicle is driving slowly without crossing the center line.", "D. No parked vehicles on the shoulder. There is a center line, my vehicle is driving straight within the lane."], "answer_index": 1}
{"token": "12643bac32dc219cf204529b8d73bbc9", "waymo_split": "test", "type": "image", "frame_index": 122, "question": "What should I do to drive safely?", "category": "Safety-critical Planning", "options": ["A. Since there seems to be enough space to pass, it's better for my car to keep going straight with the hazard lights on.", "B. Since there are hardly any oncoming vehicles, it's better for my car to move closer to the center line.", "C. As I get closer, the left lane is spacious, so it's better for my car to increase speed and overtake.", "D. As I get closer, the space to pass is narrowing, so it's better for my car to stop on the right shoulder."], "answer_index": 3}
{"token": "12643bac32dc219cf204529b8d73bbc9", "waymo_split": "test", "type": "image", "frame_index": 122, "question": "What is a safety-critical object?", "category": "Safety-critical Perception", "options": ["A. A vehicle waiting at a signal in the opposite lane and preparing to turn left", "B. A vehicle moving straight in the opposite lane towards your vehicle", "C. A vehicle moving slowly in the same lane and direction as your vehicle", "D. A pedestrian standing at the edge of the sidewalk and looking around"], "answer_index": 1}
{"token": "12643bac32dc219cf204529b8d73bbc9", "waymo_split": "test", "type": "image", "frame_index": 122, "question": "How do you think a safety-critical object will be moved?", "category": "Safety-critical Prediction", "options": ["A. Move left into the opposite lane (one-way two-lane)", "B. Reverse towards the rear parking area (adjacent to the shoulder)", "C. Drive straight towards the vehicle (two-lane road)", "D. Turn right towards the sidewalk (one-way street)"], "answer_index": 2}
{"token": "12643bac32dc219cf204529b8d73bbc9", "waymo_split": "test", "type": "image", "frame_index": 122, "question": "Are there any other safety-critical objects besides the first safety-critical object? If so, how will they be moved?", "category": "Safety-critical Prediction", "options": ["A. There is a fire extinguisher, move it towards the wall", "B. There is an oxygen cylinder, move it towards the entrance with a cart", "C. There is an AED, relocate it in front of the desk", "D. There are no other safety-critical objects"], "answer_index": 3}
{"token": "12643bac32dc219cf204529b8d73bbc9", "waymo_split": "test", "type": "image", "frame_index": 122, "question": "How should I drive to address the first risk while also addressing the second risk?", "category": "Safety-critical Planning", "options": ["A. No safety-critical objects ahead", "B. Safety-critical objects present in the right lane", "C. Safety-critical objects nearby", "D. Safety-critical objects appearing at the intersection ahead"], "answer_index": 0}
{"token": "12643bac32dc219cf204529b8d73bbc9", "waymo_split": "test", "type": "image", "frame_index": 122, "question": "What is the correlation in safety-critical situations?", "category": "Safety-critical scene Understanding", "options": ["A. Two-wheeler - Two-wheeler", "B. Car - Person", "C. Car - Car", "D. Car - Two-wheeler"], "answer_index": 2}
{"token": "12643bac32dc219cf204529b8d73bbc9", "waymo_split": "test", "type": "image", "frame_index": 122, "question": "Is lane changing possible? Which is safer between deceleration and lane changing?", "category": "Safety-critical Planning", "options": ["A. Acceleration recommended, lane changing not possible (stop only at the exit)", "B. Deceleration not possible, lane changing possible (enter left lane recommended)", "C. Deceleration possible, lane changing not possible (stopping on the right shoulder is possible)", "D. Deceleration possible, lane changing possible (stopping on the left shoulder is also possible)"], "answer_index": 2}
{"token": "12643bac32dc219cf204529b8d73bbc9", "waymo_split": "test", "type": "image", "frame_index": 122, "question": "Where is the area that hides danger in the current frame?", "category": "Uncertainty", "options": ["A. The edge of the opposite sidewalk", "B. The middle of the crosswalk ahead", "C. The space between the vehicles on both sides", "D. On the road marking in the center of the lane"], "answer_index": 2}
{"token": "12643bac32dc219cf204529b8d73bbc9", "waymo_split": "test", "type": "image", "frame_index": 122, "question": "What is the safest choice just before entering a yellow signal: stop vs. proceed?", "category": "Special Event", "options": ["A. Come to a complete stop before the stop line", "B. Proceed immediately if close from behind", "C. Proceed slowly if there are no pedestrians", "D. No signal. Unable to judge"], "answer_index": 3}
{"token": "12643bac32dc219cf204529b8d73bbc9", "waymo_split": "test", "type": "image", "frame_index": 122, "question": "What is the method to avoid passing through the blind spot of a large vehicle?", "category": "Special Event", "options": ["A. Approach the large vehicle", "B. Enter the blind spot", "C. Overtake on the right", "D. No large vehicle"], "answer_index": 3}
{"token": "12643bac32dc219cf204529b8d73bbc9", "waymo_split": "test", "type": "image", "frame_index": 122, "question": "What are the new exposure risk candidates in the following section?", "category": "Safety-critical Prediction", "options": ["A. A vehicle turning left from the opposite alley may cross the center line.", "B. Cargo from the truck ahead may fall onto the road.", "C. A bus from the right bus stop may come directly into the lane.", "D. A person or object may suddenly appear from the space between vehicles on both sides."], "answer_index": 3}
{"token": "12643bac32dc219cf204529b8d73bbc9", "waymo_split": "test", "type": "image", "frame_index": 122, "question": "What situation might occur if the self-driving car behaved this way?", "category": "Counterfactual", "options": ["A. There is no concern of collision with the safety critical object if the self-driving car continues straight.", "B. If the self-driving car changes to the right lane, it is sufficiently safe from the safety critical object.", "C. If the self-driving car continues straight, there is a risk of collision with the safety critical object.", "D. Even if the self-driving car turns left without decelerating, the possibility of collision with the safety critical object is low."], "answer_index": 2}
{"token": "12643bac32dc219cf204529b8d73bbc9", "waymo_split": "test", "type": "image", "frame_index": 122, "question": "What potential situations could arise in the current circumstances?", "category": "Counterfactual", "options": ["A. The road is dry and straight, so there is little concern about sudden braking or skidding.", "B. It's a dark and narrow passage, so be careful of people or objects that may suddenly appear.", "C. The road is bright and wide, making it easy to identify pedestrians and vehicles from a distance.", "D. At the intersection, visibility is clear, so there are few sudden risks and driving can be done comfortably."], "answer_index": 1}
{"token": "12643bac32dc219cf204529b8d73bbc9", "waymo_split": "test", "type": "image", "frame_index": 143, "question": "Which of the following is correct as an Image Caption from a Safety-critical Frame perspective?", "category": "Safety-critical scene caption", "options": ["A. A vehicle changing lanes to the right from the front while driving parallel to your vehicle.", "B. A vehicle going straight in the same lane from the front, moving ahead in the same direction as your vehicle.", "C. A vehicle coming straight from the opposite lane towards your vehicle.", "D. A vehicle turning left from the opposite lane at the front and exiting the intersection."], "answer_index": 2}
{"token": "12643bac32dc219cf204529b8d73bbc9", "waymo_split": "test", "type": "image", "frame_index": 122, "question": "What are the driving guidelines for my vehicle based on the behavior of a safety-critical object?", "category": "Safety-critical Planning", "options": ["A. If the safety-critical object overtakes closely, the risk of collision with my vehicle is low.", "B. If the safety-critical object changes lanes without signaling, my vehicle has more room to drive.", "C. If the safety-critical object accelerates, there is a risk of collision with my vehicle.", "D. If the safety-critical object makes a sudden stop, my vehicle should maintain a safe distance."], "answer_index": 2}
{"token": "12643bac32dc219cf204529b8d73bbc9", "waymo_split": "test", "type": "image", "frame_index": 143, "question": "Based on the current appearance of the person/car (two-wheeled), how are they trying to move?", "category": "Normal Perception & Prediction", "options": ["A. While proceeding straight on a two-lane road, they are slowing down and parking the car in the right shoulder space.", "B. Approaching an intersection, they are signaling a right turn and trying to enter the corner from the inside.", "C. While proceeding straight on a two-lane road, they are accelerating and changing lanes to the left to overtake the car in front.", "D. Standing behind a traffic signal line, they are preparing to make a U-turn by moving closer to the center line."], "answer_index": 0}
{"token": "12643bac32dc219cf204529b8d73bbc9", "waymo_split": "test", "type": "image", "frame_index": 143, "question": "What is the plan for yielding when an ambulance/fire truck approaches?", "category": "Special Event", "options": ["A. Move to the left shoulder and stop to yield", "B. Briefly stop in the center of the intersection to clear the path", "C. Stop in the right empty space as before to yield", "D. Keep the emergency lights on and continue at the same speed"], "answer_index": 2}
{"token": "12643bac32dc219cf204529b8d73bbc9", "waymo_split": "test", "type": "image", "frame_index": 143, "question": "Which of the following is a correct description of traffic density?", "category": "Normal scene Understanding", "options": ["A. Slow, almost no parked cars on the shoulder, three cars following behind my car.", "B. Slow, many parked cars on the shoulder. Two cars approaching head-on towards my car.", "C. Fast, no parked cars on the shoulder, two cars driving in the same direction ahead.", "D. Fast, few stopped cars in the right lane, one car overtaking my car from the left."], "answer_index": 1}
{"token": "12643bac32dc219cf204529b8d73bbc9", "waymo_split": "test", "type": "image", "frame_index": 143, "question": "What are the restrictions on behavior in school zones/congested areas?", "category": "Special Event", "options": ["A. Maintain speed due to low traffic", "B. Narrow road and must drive slowly", "C. Traffic signals are smooth, overtaking is possible", "D. Wide road and can accelerate"], "answer_index": 1}
{"token": "12643bac32dc219cf204529b8d73bbc9", "waymo_split": "test", "type": "image", "frame_index": 143, "question": "What are the distinctions of the scene?", "category": "Normal scene Understanding", "options": ["A. Urban road, night", "B. Residential road, darkness", "C. Highway, cloudy evening", "D. Unpaved country road, dusk"], "answer_index": 1}
{"token": "12643bac32dc219cf204529b8d73bbc9", "waymo_split": "test", "type": "image", "frame_index": 143, "question": "Which of the following descriptions about the environment is correct?", "category": "Normal scene Understanding", "options": ["A. Clear day with strong sunlight (distinct shadows, clear sky)", "B. Dusk with spreading orange light (intense sunset, band of clouds)", "C. Night with almost no lighting (streetlights, residential area lights)", "D. Rainy night with flashing neon (many signs, road reflections)"], "answer_index": 2}
{"token": "12643bac32dc219cf204529b8d73bbc9", "waymo_split": "test", "type": "image", "frame_index": 143, "question": "What is the description of a non-safety-critical object?", "category": "Normal Perception & Prediction", "options": ["A. Motorcycles lined up at both ends of the road. A warm light spilling from a small cafe window. A crosswalk sign visible in the distance ahead. An entrance to a small open space next to the right wall.", "B. Several temporary construction signs in the center of the road. A sparkling balcony light from the direction of the laundry drying rack. A bus stop sign standing close to the left. A narrow passage leading to a warehouse between the right walls.", "C. A few parked cars only on the right side of the one-way street. Light spilling out between the shop signs. A traffic light visible in the distance on the right. An empty space that leads into an alley between the houses on the left.", "D. Numerous vehicles parked on both sides of the side street. Light spilling out from the residential area. A streetlight visible in the distance on the left. An empty space that leads into a parking lot between the houses on the right."], "answer_index": 3}
{"token": "12643bac32dc219cf204529b8d73bbc9", "waymo_split": "test", "type": "image", "frame_index": 143, "question": "Which of the following is a correct description of traffic signals?", "category": "Traffic Signal", "options": ["A. No right turn", "B. Stop line marking", "C. Traffic light red", "D. None"], "answer_index": 3}
{"token": "12643bac32dc219cf204529b8d73bbc9", "waymo_split": "test", "type": "image", "frame_index": 143, "question": "What is the answer regarding parked vehicles on the shoulder, the presence of a center line, and whether Ego is crossing the center line?", "category": "Normal Perception & Prediction", "options": ["A. No parked vehicles on the shoulder. The center line is clear, and my vehicle is maintaining the center of the lane while going straight.", "B. One parked vehicle on the shoulder. The center line is clearly marked, and my vehicle is slightly avoiding the center line to the left.", "C. A few parked vehicles on the shoulder. There is a center line, and my vehicle is driving close to the right without crossing the center line.", "D. Multiple parked vehicles on the shoulder. There is no center line, but my vehicle is going straight while almost crossing the center."], "answer_index": 3}
{"token": "12643bac32dc219cf204529b8d73bbc9", "waymo_split": "test", "type": "image", "frame_index": 143, "question": "Is there a blind spot in your field of vision?", "category": "Uncertainty", "options": ["A. There is a blind spot between parked vehicles on the left and right sides (especially darker).", "B. There is no blind spot on the right side as the shoulder is clear (the streetlight is bright).", "C. Only left-turning vehicles beyond the central divider are a variable, the right side is clear (during the day).", "D. Only the left bus stop is obstructed, there is no blind spot on the right side (adjacent to the intersection)."], "answer_index": 0}
{"token": "12643bac32dc219cf204529b8d73bbc9", "waymo_split": "test", "type": "image", "frame_index": 143, "question": "How do you think a safety-critical object would move?", "category": "Safety-critical Prediction", "options": ["A. Drive straight in the opposite direction (two-lane road)", "B. Slowly move towards the shoulder (two-lane road)", "C. Drive straight towards the vehicle (two-lane road)", "D. Cross into the opposite lane diagonally (two-way two-lane road)"], "answer_index": 2}
{"token": "12643bac32dc219cf204529b8d73bbc9", "waymo_split": "test", "type": "image", "frame_index": 143, "question": "What is a safety-critical object?", "category": "Safety-critical Perception", "options": ["A. A vehicle making a right turn from the adjacent lane into a side road", "B. A vehicle in the same lane as yours moving slowly at the same speed as your car", "C. A vehicle going straight in the opposite lane approaching your car", "D. A pedestrian waiting at the edge of the sidewalk for the signal"], "answer_index": 2}
{"token": "12643bac32dc219cf204529b8d73bbc9", "waymo_split": "test", "type": "image", "frame_index": 143, "question": "What should I do to drive safely?", "category": "Safety-critical Planning", "options": ["A. As you get closer, the passing space becomes narrower, so it's better for your vehicle to speed up and pass quickly.", "B. As you get closer, your view is obstructed, so it's better for your vehicle to move to the left lane and continue straight.", "C. As you get closer, the opposite lane becomes congested, so it's better for your vehicle to stay close to the center line.", "D. As you get closer, the passing space becomes narrower, so it's better for your vehicle to stop on the right shoulder."], "answer_index": 3}
{"token": "12643bac32dc219cf204529b8d73bbc9", "waymo_split": "test", "type": "image", "frame_index": 143, "question": "What is the correlation in safety-critical situations?", "category": "Safety-critical scene Understanding", "options": ["A. Car-Car", "B. Person-Two-wheeler", "C. Car-Person", "D. Car-Two-wheeler"], "answer_index": 0}
{"token": "12643bac32dc219cf204529b8d73bbc9", "waymo_split": "test", "type": "image", "frame_index": 143, "question": "Are there any other safety-critical objects besides the first safety-critical object? If so, how would you move?", "category": "Safety-critical Prediction", "options": ["A. There are vehicles approaching from the opposite lane behind.", "B. Vehicles merging from the left lane, slowing down and yielding.", "C. An ambulance approaching from behind, moving to the right shoulder.", "D. No hazards in the same lane ahead, maintaining a straight path."], "answer_index": 0}
{"token": "12643bac32dc219cf204529b8d73bbc9", "waymo_split": "test", "type": "image", "frame_index": 143, "question": "Is lane change possible? Which is safer between slowing down and changing lanes?", "category": "Safety-critical Planning", "options": ["A. Unable to slow down, evade by changing lanes (temporary stop possible towards the central divider)", "B. Lane change possible, changing lanes is safer than slowing down (recommended to stop on the left shoulder)", "C. Able to slow down, unable to change lanes (stopping on the right shoulder is possible)", "D. Able to slow down, prioritize changing lanes (can move to the left lane)"], "answer_index": 2}
{"token": "12643bac32dc219cf204529b8d73bbc9", "waymo_split": "test", "type": "image", "frame_index": 143, "question": "How should I drive to resolve the first risk while also addressing the second risk?", "category": "Safety-critical Planning", "options": ["A. The car should change to the left lane first after the car in front passes.", "B. The car should slowly move forward from the shoulder with the hazard lights on.", "C. If this car slows down, the car should re-enter the main lane at a reduced speed.", "D. The car should maintain a stop on the right shoulder until this car passes."], "answer_index": 3}
{"token": "12643bac32dc219cf204529b8d73bbc9", "waymo_split": "test", "type": "image", "frame_index": 143, "question": "What is the safest choice just before entering a yellow signal: stop vs. pass?", "category": "Special Event", "options": ["A. No signal. Unable to judge", "B. Stop immediately in the right lane", "C. Slow down and pass on a wet road", "D. Accelerate and pass just before a left turn"], "answer_index": 0}
{"token": "12643bac32dc219cf204529b8d73bbc9", "waymo_split": "test", "type": "image", "frame_index": 143, "question": "Where is the area that hides danger by being obscured in the current frame?", "category": "Uncertainty", "options": ["A. Shadow area next to the central divider flower bed", "B. Narrow area behind the traffic light pole at the front intersection", "C. Shaded area behind the street trees on the right sidewalk", "D. Space between parked vehicles on the shoulders on both sides"], "answer_index": 3}
{"token": "12643bac32dc219cf204529b8d73bbc9", "waymo_split": "test", "type": "image", "frame_index": 143, "question": "Who is responsible in a safety-critical situation? What is the cause?", "category": "Safety-critical scene Understanding", "options": ["A. Since the road is wide enough and there is no obligation to yield, our car can continue, and the other party is fully responsible (currently, our car stopped unnecessarily while trying to avoid to the right).", "B. The rear vehicle worsened the situation by not maintaining a safe distance and honking excessively, making the rear vehicle responsible (currently, our car is maintaining speed and going straight).", "C. The oncoming vehicle ignored the right of way and approached speeding while crossing the center line, so the other party is responsible (currently, the other party is blocking the path by coming too close head-on).", "D. In a narrow road situation where we must proceed slowly and yield, both parties share responsibility (currently, our car is attempting to stop on the right shoulder to yield)."], "answer_index": 3}
{"token": "12643bac32dc219cf204529b8d73bbc9", "waymo_split": "test", "type": "image", "frame_index": 143, "question": "What are the new exposure risk candidates in the following section?", "category": "Safety-critical Prediction", "options": ["A. There may be people or objects emerging from the space between parked cars on both sides.", "B. An electric scooter may quickly cross from the right alley exit.", "C. A U-turning vehicle may merge from the opening in the central divider ahead.", "D. A construction vehicle may be stopped at the end of the left lane."], "answer_index": 0}
{"token": "12643bac32dc219cf204529b8d73bbc9", "waymo_split": "test", "type": "image", "frame_index": 143, "question": "What situation might have occurred if the vehicle had acted this way?", "category": "Counterfactual", "options": ["A. If the vehicle had gone straight without stopping on the right shoulder, there would be a risk of collision with a safety critical object.", "B. If the vehicle had slowed down and slightly veered to the right, it would have maintained a sufficient distance from the safety critical object.", "C. If the vehicle had stopped on the right shoulder and turned on the hazard lights, the situation would have ended without additional risk.", "D. If the vehicle had changed to the left lane and proceeded slowly, it would have passed safely while maintaining distance from the car in front."], "answer_index": 0}
{"token": "12643bac32dc219cf204529b8d73bbc9", "waymo_split": "test", "type": "image", "frame_index": 143, "question": "What are the driving guidelines for my vehicle based on the behavior of a safety-critical object?", "category": "Safety-critical Planning", "options": ["A. If the safety-critical object drives along the right edge of the lane according to the vehicle's standards while keeping the center line, there is a risk of collision with my vehicle.", "B. If the safety-critical object changes lanes to the right, away from the left side, according to the vehicle's standards, there is a risk of collision with my vehicle.", "C. If the safety-critical object pulls over to the shoulder and makes an emergency stop, there is a risk of collision with my vehicle.", "D. If the safety-critical object drives to the left side beyond the center line according to the vehicle's standards, there is a risk of collision with my vehicle."], "answer_index": 3}
{"token": "12643bac32dc219cf204529b8d73bbc9", "waymo_split": "test", "type": "image", "frame_index": 143, "question": "What is the method to avoid the blind spot next to a large vehicle?", "category": "Special Event", "options": ["A. No large vehicle", "B. Maintain lane", "C. Pass while slowing down", "D. To the right of the large vehicle"], "answer_index": 0}
{"token": "12643bac32dc219cf204529b8d73bbc9", "waymo_split": "test", "type": "image", "frame_index": 143, "question": "What are the potential situations that could arise in the current scenario?", "category": "Counterfactual", "options": ["A. The road is separated from India, making pedestrian emergencies rare.", "B. The signal cycle is long, allowing passage without sudden stops.", "C. The road is wide and bright, providing a clear view for relaxed driving.", "D. The path is dark and narrow, requiring caution for people or objects that may appear."], "answer_index": 3}
{"token": "128227ac9e2741dfce423db2762dc690", "waymo_split": "test", "type": "video", "frame_index": null, "question": "Where is the safety-critical situation in the video?", "category": "Temporal Grounding", "options": ["A. 1/4", "B. 2/4", "C. 4/4", "D. 3/4"], "answer_index": 3}
{"token": "128227ac9e2741dfce423db2762dc690", "waymo_split": "test", "type": "video", "frame_index": null, "question": "What are the classifications of scenes?", "category": "Normal scene Understanding", "options": ["A. Unpaved", "B. Urban", "C. Residential area", "D. Highway"], "answer_index": 1}
{"token": "128227ac9e2741dfce423db2762dc690", "waymo_split": "test", "type": "video", "frame_index": null, "question": "Is there a special situation?", "category": "Special Event", "options": ["A. None", "B. School bus stop", "C. Emergency vehicle access", "D. Construction site cone placement"], "answer_index": 0}
{"token": "128227ac9e2741dfce423db2762dc690", "waymo_split": "test", "type": "video", "frame_index": null, "question": "Which of the following is a correct description of traffic density?", "category": "Normal scene Understanding", "options": ["A. Fast, almost no parked vehicles on the shoulder. Slight incline.", "B. Normal, many moving vehicles in the left lane. Gentle uphill.", "C. Slow, many parked vehicles on the shoulder. No incline.", "D. Fast, few moving vehicles around. Gentle downhill."], "answer_index": 2}
{"token": "128227ac9e2741dfce423db2762dc690", "waymo_split": "test", "type": "video", "frame_index": null, "question": "Which of the following is a correct description of road alignment?", "category": "Normal Perception & Prediction", "options": ["A. Overtaking", "B. Left turn", "C. Straight", "D. Right turn"], "answer_index": 2}
{"token": "128227ac9e2741dfce423db2762dc690", "waymo_split": "test", "type": "video", "frame_index": null, "question": "What is correct regarding Video Summary from a Safety-critical Scene perspective?", "category": "Safety-critical scene caption", "options": ["A. The vehicle attempts to start driving left from the right shoulder, at which point a bicycle is approaching from a blind spot on the left, traveling in the same direction as the vehicle. Upon seeing this, the vehicle starts to drive but is in a stopped state.", "B. The vehicle attempts to start driving left from the right shoulder, at which point a pedestrian enters in front of the vehicle from an open area on the right. Upon seeing this, the vehicle only reduces speed and continues forward.", "C. The vehicle attempts to enter the lane from the right shoulder and starts to go straight, at which point a bicycle is approaching from the opposite direction on the left and passes by. Upon seeing this, the vehicle hesitates briefly and then accelerates again.", "D. The vehicle comes out to the left to make a left turn from the right shoulder, at which point a motorcycle quickly approaches from the right in the same direction as the vehicle. Upon seeing this, the vehicle does not stop and completes the lane change."], "answer_index": 0}
{"token": "128227ac9e2741dfce423db2762dc690", "waymo_split": "test", "type": "video", "frame_index": null, "question": "Which of the following is a correct description of traffic signals?", "category": "Traffic Signal", "options": ["A. Arrow on the road", "B. Sign on the left", "C. Traffic light behind", "D. Traffic light ahead"], "answer_index": 2}
{"token": "128227ac9e2741dfce423db2762dc690", "waymo_split": "test", "type": "video", "frame_index": null, "question": "What is the description of a non-safety-critical object?", "category": "Normal Perception & Prediction", "options": ["A. On the left are a river and a walking path, and on the right are an empty lot and a temporary parking area. Behind is a T-intersection with a flashing yellow signal. There are few vehicles passing through the block across the intersection, with only a few bicycles passing by (in the latter part of the video). In front is a wide one-way three-lane road that is empty, with a median and streetlights.", "B. There are sidewalks and buildings on both sides. Behind is an intersection with a traffic light (red light). In the block across the intersection behind, there are vehicles in motion and waiting at the signal (at the end of the video, one vehicle enters the road in the direction of the viewer from the intersection behind). In front are many parked vehicles on the shoulder and utility poles with wires.", "C. There are street trees and a low fence on both sides. Behind is a small roundabout with no traffic lights. Across the roundabout, there are rarely parked motorcycles and pedestrians. In front are construction site barriers, a bus stop, and roadside debris.", "D. There are almost no sidewalks on both sides, with low houses and small gardens. Behind is a railway crossing with a barrier, and no traffic lights are visible. Across the crossing, there is a cargo truck working, and other vehicles are rare. In front are market stalls and tents, with street trees present but no utility poles or wires."], "answer_index": 1}
{"token": "128227ac9e2741dfce423db2762dc690", "waymo_split": "test", "type": "video", "frame_index": null, "question": "What is the answer regarding parked vehicles on the shoulder, the presence of a center line, and whether Ego crosses the center line?", "category": "Normal Perception & Prediction", "options": ["A. There are almost no parked vehicles on the shoulder. The center line is faint.", "B. There are 1-2 parked vehicles on the shoulder. The center line is double.", "C. There are many parked vehicles on the shoulder. There is no center line.", "D. There are a few parked vehicles on the shoulder. There is a center line."], "answer_index": 2}
{"token": "128227ac9e2741dfce423db2762dc690", "waymo_split": "test", "type": "video", "frame_index": null, "question": "Which of the following descriptions about the environment is correct?", "category": "Normal scene Understanding", "options": ["A. Night, clear day", "B. Dawn, light fog", "C. Evening, light rain", "D. Day, cloudy backlight"], "answer_index": 0}
{"token": "128227ac9e2741dfce423db2762dc690", "waymo_split": "test", "type": "video", "frame_index": null, "question": "Is there a blind spot in the field of view?", "category": "Uncertainty", "options": ["A. There is a blind spot in front of the parked vehicle on the right shoulder.", "B. There is a blind spot behind the parked vehicle on the right shoulder.", "C. There is no blind spot at the entrance of the intersection on the right.", "D. There is a blind spot in front of the large vehicle in the left lane."], "answer_index": 0}
{"token": "128227ac9e2741dfce423db2762dc690", "waymo_split": "test", "type": "video", "frame_index": null, "question": "How did the safety-critical object move and how did the ego vehicle behave?", "category": "Safety-critical scene Understanding", "options": ["A. Turned left into the opposite lane and exited, the ego vehicle continued straight without any special action", "B. Quickly turned right just before entering the intersection, the ego vehicle only sounded a warning and continued to attempt a left lane change", "C. Moved from right to left across the direction of the ego vehicle, the ego vehicle slightly turned right and slowed down upon seeing this", "D. Moved straight in the direction of the ego vehicle, the ego vehicle stopped trying to start driving left as soon as it saw this"], "answer_index": 3}
{"token": "128227ac9e2741dfce423db2762dc690", "waymo_split": "test", "type": "video", "frame_index": null, "question": "What is the correlation in safety-critical situations?", "category": "Safety-critical scene Understanding", "options": ["A. Car-Person", "B. Truck-Scooter", "C. Car-Bicycle", "D. Bus-Motorcycle"], "answer_index": 2}
{"token": "128227ac9e2741dfce423db2762dc690", "waymo_split": "test", "type": "video", "frame_index": null, "question": "What is a safety-critical object?", "category": "Safety-critical Perception", "options": ["A. A bicycle (with two passengers) traveling straight in the same direction from the left side of the vehicle.", "B. An electric scooter (one passenger) approaching from the left front of the vehicle in the wrong direction.", "C. A motorcycle (single rider) waiting to turn left in the same direction from the left side of the vehicle.", "D. A bicycle (with one passenger) traveling straight in the same direction from the right side of the vehicle."], "answer_index": 0}
{"token": "128227ac9e2741dfce423db2762dc690", "waymo_split": "test", "type": "video", "frame_index": null, "question": "Summary of Ego (self-vehicle) behavior before safety-critical situations", "category": "Normal scene Understanding", "options": ["A. Driving in the right lane", "B. Stopping on the left shoulder", "C. Stopping on the right shoulder", "D. Stopping in the center lane"], "answer_index": 2}
{"token": "128227ac9e2741dfce423db2762dc690", "waymo_split": "test", "type": "video", "frame_index": null, "question": "What situations may potentially occur depending on the type/state of the road?", "category": "Normal Perception & Prediction", "options": ["A. None", "B. Road surface freezing", "C. Hydroplaning", "D. Pothole formation"], "answer_index": 0}
{"token": "128227ac9e2741dfce423db2762dc690", "waymo_split": "test", "type": "video", "frame_index": null, "question": "What situation might have occurred if the vehicle had acted this way?", "category": "Counterfactual", "options": ["A. If the vehicle had briefly stopped to consider the bicycle on the left, it could have collided with the vehicle behind.", "B. If the vehicle had only honked and passed to the right, it could have collided with a pedestrian.", "C. If the vehicle had ignored the bicycle on the left and continued straight, it could have collided with the bicycle.", "D. If the vehicle had changed lanes to the left to avoid the bicycle, it could have made contact with the central divider."], "answer_index": 2}
{"token": "128227ac9e2741dfce423db2762dc690", "waymo_split": "test", "type": "image", "frame_index": 29, "question": "Which of the following is correct as an Image Caption from the perspective of a Normal Frame?", "category": "Normal scene caption", "options": ["A. A vehicle stopped on the left shoulder of a two-lane road. The vehicle in front is moving slowly with its orange hazard lights on. The streetlight illuminates the road. The shoulders on both sides are mostly empty. The rear view shows a long straight section with no intersection and few moving vehicles.", "B. A vehicle stopped on the right shoulder of a two-lane road. A vehicle stopped in front is similarly displaying red lights. Light is coming from a building on the left. There are many parked vehicles on both shoulders. There is an intersection behind, and while there are many moving vehicles, none are entering the lane of the stopped vehicle.", "C. A vehicle that has briefly stopped near the center line of a two-lane road. In front, a van is picking up passengers with only the interior lights on. A sign on the building to the right is shining brightly. Only motorcycles and a few vehicles are gathered on the left shoulder. A vehicle from the back alley merges into the lane of the stopped vehicle.", "D. A vehicle moving slowly in the center lane of a two-lane road. A vehicle coming from the opposite direction has its white lights on. Light is seeping out from a commercial building on the right. Only a few parked vehicles are visible on the right shoulder, while the left is empty. Ahead, there is a signalized intersection with a vehicle trying to enter the lane of the stopped vehicle."], "answer_index": 1}
{"token": "128227ac9e2741dfce423db2762dc690", "waymo_split": "test", "type": "image", "frame_index": 29, "question": "What is the plan for yielding when an ambulance/fire truck approaches?", "category": "Special Event", "options": ["A. Keep the emergency lights on and maintain the current lane", "B. Move to the left lane to open the right lane for passage", "C. Stop in the center lane to yield the right lane", "D. Maintain a stop on the shoulder to yield the left lane"], "answer_index": 3}
{"token": "128227ac9e2741dfce423db2762dc690", "waymo_split": "test", "type": "image", "frame_index": 29, "question": "What are the restrictions on behavior in school zones/congested areas?", "category": "Special Event", "options": ["A. Drive with emergency lights on", "B. Drive slowly", "C. Proceed with high beams on", "D. Pass while honking the horn"], "answer_index": 1}
{"token": "128227ac9e2741dfce423db2762dc690", "waymo_split": "test", "type": "image", "frame_index": 29, "question": "Which of the following is a correct description of traffic density?", "category": "Normal scene Understanding", "options": ["A. Fast, few vehicles behind", "B. Fast, few vehicles ahead", "C. Slow, many vehicles behind", "D. Slow, few vehicles on the left"], "answer_index": 2}
{"token": "128227ac9e2741dfce423db2762dc690", "waymo_split": "test", "type": "image", "frame_index": 29, "question": "Based on the current appearance of the person/vehicle (two-wheeled), how do they intend to move?", "category": "Normal Perception & Prediction", "options": ["A. Pull over to the right shoulder", "B. Accelerate straight ahead", "C. Prepare to turn right", "D. Change to the left lane"], "answer_index": 0}
{"token": "128227ac9e2741dfce423db2762dc690", "waymo_split": "test", "type": "image", "frame_index": 29, "question": "What is the classification of the scene?", "category": "Normal scene Understanding", "options": ["A. Narrow alley in a residential area", "B. Quiet side road in the suburbs", "C. Narrow alley in the city", "D. Wide street in the city"], "answer_index": 2}
{"token": "128227ac9e2741dfce423db2762dc690", "waymo_split": "test", "type": "image", "frame_index": 29, "question": "Which of the following is a correct description of traffic signals?", "category": "Traffic Signal", "options": ["A. Traffic light at the intersection behind (red signal)", "B. Road sign ahead (left turn only lane)", "C. Traffic light at the intersection ahead (green signal)", "D. T-intersection traffic light on the left (yellow flashing)"], "answer_index": 0}
{"token": "128227ac9e2741dfce423db2762dc690", "waymo_split": "test", "type": "image", "frame_index": 29, "question": "What is the answer regarding parked vehicles on the shoulder, the presence of a center line, and whether Ego has crossed the center line?", "category": "Normal Perception & Prediction", "options": ["A. No parked vehicles on the shoulder, center line present", "B. Multiple parked vehicles on the shoulder, no center line", "C. One or two parked vehicles on the shoulder, center line present", "D. No parked vehicles on the shoulder, no center line"], "answer_index": 1}
{"token": "128227ac9e2741dfce423db2762dc690", "waymo_split": "test", "type": "image", "frame_index": 29, "question": "What is the description of a non-safety-critical object?", "category": "Normal Perception & Prediction", "options": ["A. There are bus stops and construction barriers on the left and right sides, infrequent parked cars on the shoulder, a small square with benches in front, and a roundabout behind with no traffic lights.", "B. There are more walls on the left and right sides, a few electric scooters parked, few street trees in front, and only flower pots arranged along the central divider, with a green signal at the T-junction behind.", "C. There are residential fences and a few bicycle racks on the left and right sides, buildings are sparse, almost no street trees in front, only flower beds, and a yellow flashing light at the T-junction behind.", "D. There are many parked cars on the shoulder on the left and right sides, and many buildings. In front, there are many trees planted on both sidewalks, and behind, there is an intersection with a red traffic light."], "answer_index": 3}
{"token": "128227ac9e2741dfce423db2762dc690", "waymo_split": "test", "type": "image", "frame_index": 29, "question": "Which of the following descriptions about the environment is correct?", "category": "Normal scene Understanding", "options": ["A. It is evening and the weather is dim. Clear.", "B. It is dusk and the sunset is vivid. There are many clouds.", "C. It is midday and the sunlight is strong. It is humid.", "D. It is dawn and there is a light fog. It is chilly."], "answer_index": 0}
{"token": "128227ac9e2741dfce423db2762dc690", "waymo_split": "test", "type": "image", "frame_index": 29, "question": "Is there a blind spot in your field of vision?", "category": "Uncertainty", "options": ["A. It is on the right", "B. Yes", "C. There is some", "D. No"], "answer_index": 3}
{"token": "128227ac9e2741dfce423db2762dc690", "waymo_split": "test", "type": "image", "frame_index": 29, "question": "How do you think safety-critical objects should be moved?", "category": "Safety-critical Prediction", "options": ["A. Retreat", "B. Rotate", "C. Advance", "D. None"], "answer_index": 3}
{"token": "128227ac9e2741dfce423db2762dc690", "waymo_split": "test", "type": "image", "frame_index": 29, "question": "What is a safety-critical object?", "category": "Safety-critical Perception", "options": ["A. Valve", "B. Sensor", "C. Engine", "D. None"], "answer_index": 3}
{"token": "128227ac9e2741dfce423db2762dc690", "waymo_split": "test", "type": "image", "frame_index": 29, "question": "Are there any other safety-critical objects besides the first safety-critical object? If so, how will they be moved?", "category": "Safety-critical Prediction", "options": ["A. AED, move towards the right wall", "B. None", "C. Fire extinguisher, slightly move next to the exit sign", "D. First aid kit, move to the edge of the aisle"], "answer_index": 1}
{"token": "128227ac9e2741dfce423db2762dc690", "waymo_split": "test", "type": "image", "frame_index": 29, "question": "How should I drive to resolve the first risk while also addressing the second risk?", "category": "Safety-critical Planning", "options": ["A. Maintain speed and go straight", "B. Accelerate to pass through both risks", "C. None", "D. Immediately change to the left lane"], "answer_index": 2}
{"token": "128227ac9e2741dfce423db2762dc690", "waymo_split": "test", "type": "image", "frame_index": 29, "question": "Where is the area that hides danger in the current frame?", "category": "Uncertainty", "options": ["A. Empty space on the right shoulder, or directly below the traffic light", "B. Between parked cars on the left and right sides, or in the blind spot behind", "C. In the middle of the left sidewalk, or on the crosswalk ahead", "D. In the open lane directly in front, or next to the median"], "answer_index": 1}
{"token": "128227ac9e2741dfce423db2762dc690", "waymo_split": "test", "type": "image", "frame_index": 29, "question": "Is lane changing possible? Which is safer between slowing down and changing lanes?", "category": "Safety-critical Planning", "options": ["A. Slowing down is the priority, and entering the driving lane should be postponed", "B. Changing lanes to the left is not possible, but entry into the driving lane is possible.", "C. Immediate lane change to the left is possible", "D. Changing lanes to the right is safer"], "answer_index": 1}
{"token": "128227ac9e2741dfce423db2762dc690", "waymo_split": "test", "type": "image", "frame_index": 58, "question": "Based on the current appearance of the person/vehicle (two-wheeled), how do you intend to move?", "category": "Normal Perception & Prediction", "options": ["A. Change to the left lane", "B. Wait to turn left", "C. Stop on the right shoulder", "D. Accelerate straight ahead"], "answer_index": 2}
{"token": "128227ac9e2741dfce423db2762dc690", "waymo_split": "test", "type": "image", "frame_index": 58, "question": "Which of the following is correct as an Image Caption from a Safety-critical Frame perspective?", "category": "Safety-critical scene caption", "options": ["A. A bicycle is in the opposite lane while driving towards the left front side of the vehicle.", "B. A bicycle is stopped on the left front shoulder.", "C. A bicycle is moving in the opposite direction to the vehicle in the opposite lane on the left front.", "D. A bicycle is in the same lane as the vehicle, driving in the same direction on the right front side."], "answer_index": 0}
{"token": "128227ac9e2741dfce423db2762dc690", "waymo_split": "test", "type": "image", "frame_index": 58, "question": "What is the plan for yielding when an ambulance/fire truck approaches?", "category": "Special Event", "options": ["A. Slow down and move to the left to yield the right lane", "B. Just turn on the hazard lights and wait in the current lane", "C. Maintain the center lane to yield the right driving lane", "D. Stay parked on the shoulder to yield the left driving lane"], "answer_index": 3}
{"token": "128227ac9e2741dfce423db2762dc690", "waymo_split": "test", "type": "image", "frame_index": 58, "question": "What are the behavior restrictions in school zones/congested areas?", "category": "Special Event", "options": ["A. Proceed while honking", "B. Drive slowly", "C. Overtake while driving", "D. Drive with high beams on"], "answer_index": 1}
{"token": "128227ac9e2741dfce423db2762dc690", "waymo_split": "test", "type": "image", "frame_index": 58, "question": "Which of the following is a correct description of traffic density?", "category": "Normal scene Understanding", "options": ["A. Slow, many vehicles behind", "B. Slow, many vehicles ahead", "C. Fast, few vehicles behind", "D. Fast, few vehicles ahead"], "answer_index": 0}
{"token": "128227ac9e2741dfce423db2762dc690", "waymo_split": "test", "type": "image", "frame_index": 58, "question": "What are the divisions of the scene?", "category": "Normal scene Understanding", "options": ["A. Highway tunnel section", "B. Narrow alley in the city", "C. Quiet alley in a residential area", "D. Unpaved rural road"], "answer_index": 1}
{"token": "128227ac9e2741dfce423db2762dc690", "waymo_split": "test", "type": "image", "frame_index": 58, "question": "What is the description of a non-safety-critical object?", "category": "Normal Perception & Prediction", "options": ["A. There are long taxi stands and bicycle racks on both sides, with only a few streetlights in front, and a roundabout in the back where the traffic light is flashing yellow.", "B. There are many parked cars on the shoulders on both sides, and many buildings. In front, there are many trees planted on both sidewalks, and there is an intersection in the back with a red traffic light.", "C. There are occasional street vendors and bus stops on both sides, with almost no parked cars. In front, there is a small flower bed instead of a median, and in the back, a T-intersection has a green light on.", "D. There are empty shoulders and a few low houses on both sides, with construction barriers and shop signs densely packed in front, and it leads to a narrow alley in the back with no traffic light."], "answer_index": 1}
{"token": "128227ac9e2741dfce423db2762dc690", "waymo_split": "test", "type": "image", "frame_index": 58, "question": "Which of the following is a correct description of traffic signals?", "category": "Traffic Signal", "options": ["A. Traffic light at the intersection behind (yellow flashing light)", "B. Left turn signal (green arrow) on the left", "C. Traffic light at the intersection behind (red light)", "D. Traffic light at the intersection ahead (green light)"], "answer_index": 2}
{"token": "128227ac9e2741dfce423db2762dc690", "waymo_split": "test", "type": "image", "frame_index": 58, "question": "Which of the following descriptions about the environment is correct?", "category": "Normal scene Understanding", "options": ["A. It's early morning and the air is cool. Light clouds.", "B. It's evening and the weather is dim. Clear.", "C. It's midday and the sunlight is strong. Hot.", "D. It's late at night and only the streetlights are dim. Light rain."], "answer_index": 1}
{"token": "128227ac9e2741dfce423db2762dc690", "waymo_split": "test", "type": "image", "frame_index": 58, "question": "What is the answer regarding parked vehicles on the shoulder, the presence of a center line, and whether Ego crosses the center line?", "category": "Normal Perception & Prediction", "options": ["A. Many parked vehicles on the shoulder, no center line", "B. Few parked vehicles on the shoulder, there is a center line", "C. One or two parked vehicles on the shoulder, there is a center line", "D. No parked vehicles on the shoulder, there is a center line"], "answer_index": 0}
{"token": "128227ac9e2741dfce423db2762dc690", "waymo_split": "test", "type": "image", "frame_index": 58, "question": "Is there a blind spot in your field of vision?", "category": "Uncertainty", "options": ["A. There is one on the right", "B. Yes", "C. There is a slight one", "D. No"], "answer_index": 3}
{"token": "128227ac9e2741dfce423db2762dc690", "waymo_split": "test", "type": "image", "frame_index": 58, "question": "How do you think a safety-critical object will move?", "category": "Safety-critical Prediction", "options": ["A. Proceed to turn right from the right lane", "B. Make a U-turn at the intersection", "C. Change lanes from the left lane", "D. Drive straight from the opposite lane"], "answer_index": 3}
{"token": "128227ac9e2741dfce423db2762dc690", "waymo_split": "test", "type": "image", "frame_index": 58, "question": "What is a safety-critical object?", "category": "Safety-critical Perception", "options": ["A. A truck stopped on the right shoulder with its hazard lights on.", "B. A bicycle traveling towards your vehicle in the left front opposite lane.", "C. A bicycle traveling away from your vehicle in the left front opposite lane.", "D. A pedestrian moving parallel to the roadway at the edge of the right front sidewalk."], "answer_index": 1}
{"token": "128227ac9e2741dfce423db2762dc690", "waymo_split": "test", "type": "image", "frame_index": 58, "question": "What should I do to drive safely?", "category": "Safety-critical Planning", "options": ["A. I need to change lanes and maintain speed (currently moving slowly)", "B. I should pay attention to the vehicle's movement while driving my own car (currently stopped)", "C. I should just look at the signal and pass at the planned speed (currently waiting at the signal)", "D. I need to wait until the vehicle has completely passed (currently driving)"], "answer_index": 1}
{"token": "128227ac9e2741dfce423db2762dc690", "waymo_split": "test", "type": "image", "frame_index": 58, "question": "How should I drive to solve the first risk while also addressing the second risk?", "category": "Safety-critical Planning", "options": ["A. Accelerate and pass", "B. None", "C. Gradually decelerate", "D. Change to the right lane"], "answer_index": 1}
{"token": "128227ac9e2741dfce423db2762dc690", "waymo_split": "test", "type": "image", "frame_index": 58, "question": "Are there any other safety-critical objects besides the first safety-critical object? If so, how will they be moved?", "category": "Safety-critical Prediction", "options": ["A. Lithium battery, moved to a shaded shelf", "B. Oxygen tank, secured to the wall mount", "C. None", "D. Fire extinguisher, positioned towards the entrance"], "answer_index": 2}
{"token": "128227ac9e2741dfce423db2762dc690", "waymo_split": "test", "type": "image", "frame_index": 58, "question": "What is the correlation in safety-critical situations?", "category": "Safety-critical scene Understanding", "options": ["A. Car - Motorcycle", "B. Person - Bicycle", "C. Car - Pedestrian", "D. Car - Bicycle"], "answer_index": 3}
{"token": "128227ac9e2741dfce423db2762dc690", "waymo_split": "test", "type": "image", "frame_index": 58, "question": "What is the safest choice just before entering a yellow signal: stop vs. pass?", "category": "Special Event", "options": ["A. Proceed with caution", "B. Continue straight", "C. Stop immediately", "D. No signal"], "answer_index": 3}
{"token": "128227ac9e2741dfce423db2762dc690", "waymo_split": "test", "type": "image", "frame_index": 58, "question": "Who is responsible in a safety-critical situation? What is the cause?", "category": "Safety-critical scene Understanding", "options": ["A. There is no responsibility for the event. The left bicycle is riding closely next to the left shoulder vehicle, ensuring maximum space for vehicles to pass.", "B. The responsibility for the event lies with the rear vehicle. It attempted to overtake recklessly without maintaining a safe distance next to the bicycle.", "C. The responsibility for the event lies with the left bicycle. The left bicycle narrowed the lane by riding close to the road, obstructing vehicle progress.", "D. The responsibility for the event lies with the vehicle parked on the shoulder. Its long stop created a situation where the bicycle had no choice but to urgently retreat into the lane."], "answer_index": 0}
{"token": "128227ac9e2741dfce423db2762dc690", "waymo_split": "test", "type": "image", "frame_index": 58, "question": "Where is the area that hides danger in the current frame?", "category": "Uncertainty", "options": ["A. The open driving lane directly in front, or the center of the intersection", "B. The center of the left lane, or the open area near the stop line", "C. The middle of the opposite sidewalk, or just in front of the median", "D. Between parked cars on the left and right sides, or in the blind spot behind"], "answer_index": 3}
{"token": "128227ac9e2741dfce423db2762dc690", "waymo_split": "test", "type": "image", "frame_index": 58, "question": "Is lane changing possible? Which is safer between deceleration and lane changing?", "category": "Safety-critical Planning", "options": ["A. It is not possible to change to the left lane, but entry into the driving lane is possible. Currently at a stop, deceleration is not possible.", "B. It is possible to change directly to the left lane; it is recommended to proceed slowly while entering.", "C. It is possible to change lanes following the guiding line; maintaining speed is safer.", "D. Changing lanes to the right is a priority; deceleration is safer."], "answer_index": 0}
{"token": "128227ac9e2741dfce423db2762dc690", "waymo_split": "test", "type": "image", "frame_index": 58, "question": "What is the method to avoid the blind spot next to a large vehicle?", "category": "Special Event", "options": ["A. Check only the side mirror", "B. Pass closely beside the bus", "C. Overtake in the right lane", "D. No large vehicle"], "answer_index": 3}
{"token": "128227ac9e2741dfce423db2762dc690", "waymo_split": "test", "type": "image", "frame_index": 89, "question": "Which of the following is correct as an Image Caption from a Safety-critical Frame perspective?", "category": "Safety-critical scene caption", "options": ["A. A pedestrian moving towards the vehicle on the left front is in the opposite lane.", "B. A bicycle driving towards the vehicle on the right front is in the opposite lane.", "C. A bicycle driving towards the vehicle on the left front is in the opposite lane.", "D. A bicycle driving in the same direction as the vehicle on the left front is in the opposite lane."], "answer_index": 2}
{"token": "128227ac9e2741dfce423db2762dc690", "waymo_split": "test", "type": "image", "frame_index": 58, "question": "What situation might occur if the vehicle acted this way?", "category": "Counterfactual", "options": ["A. If the vehicle quickly turns right and abruptly enters the right lane, it may come into contact with an electric scooter.", "B. If the vehicle quickly turns left and approaches the opposite lane, it may collide with a bicycle.", "C. If the vehicle attempts a U-turn at a slow speed while straddling the center line, it may collide with a bus on the side.", "D. If the vehicle suddenly stops and then immediately reverses, it may collide with a motorcycle following behind."], "answer_index": 1}
{"token": "128227ac9e2741dfce423db2762dc690", "waymo_split": "test", "type": "image", "frame_index": 89, "question": "Based on the current appearance of the person/vehicle (two-wheeled), how do you intend to move?", "category": "Normal Perception & Prediction", "options": ["A. Exit from the right shoulder and move to the left driving lane", "B. Exit from the left shoulder and move to the right driving lane", "C. Move towards the center line and enter the opposite lane", "D. Maintain lane while reducing speed in the right driving lane"], "answer_index": 0}
{"token": "128227ac9e2741dfce423db2762dc690", "waymo_split": "test", "type": "image", "frame_index": 58, "question": "What is the guideline for the behavior of my vehicle in response to the actions of a safety-critical object?", "category": "Safety-critical Planning", "options": ["A. If approaching the opposite lane by turning left, there is a possibility of collision with my vehicle; my vehicle must remain stopped.", "B. If briefly crossing the center line while going straight, it is just a temporary deviation; my vehicle should honk and continue driving.", "C. If urgently merging into my lane by turning right, the risk of collision is low; my vehicle should maintain speed.", "D. If making a U-turn and moving away in the opposite direction, there is no additional risk; my vehicle should accelerate and pass first."], "answer_index": 0}
{"token": "128227ac9e2741dfce423db2762dc690", "waymo_split": "test", "type": "image", "frame_index": 89, "question": "What is the plan for yielding when an ambulance/fire truck approaches?", "category": "Special Event", "options": ["A. You should stop in the center lane and yield to the right driving lane.", "B. Do not stop at intersections and pass through quickly.", "C. Turn on your hazard lights and maintain your current lane while driving slowly.", "D. Maintain a stop on the shoulder and yield to the left driving lane."], "answer_index": 3}
{"token": "128227ac9e2741dfce423db2762dc690", "waymo_split": "test", "type": "image", "frame_index": 89, "question": "What is the classification of the scene?", "category": "Normal scene Understanding", "options": ["A. narrow alley in the city", "B. residential back road", "C. unpaved country road", "D. wide avenue in the city"], "answer_index": 0}
{"token": "128227ac9e2741dfce423db2762dc690", "waymo_split": "test", "type": "image", "frame_index": 89, "question": "What are the behavioral restrictions in school zones/congested areas?", "category": "Special Event", "options": ["A. You must drive with your high beams on.", "B. You should honk the horn frequently.", "C. You must drive slowly.", "D. You should increase your speed to pass quickly."], "answer_index": 2}
{"token": "128227ac9e2741dfce423db2762dc690", "waymo_split": "test", "type": "image", "frame_index": 89, "question": "Which of the following is a correct description of traffic density?", "category": "Normal scene Understanding", "options": ["A. Fast, few vehicles in the rear intersection. Merging vehicles in front.", "B. Fast, many vehicles in the right lane. Empty lane in front.", "C. Slow, many vehicles in the rear intersection. Parked vehicles on the shoulder in front.", "D. Fast, few vehicles in the front intersection. Parked vehicles on the shoulder in the rear."], "answer_index": 2}
{"token": "128227ac9e2741dfce423db2762dc690", "waymo_split": "test", "type": "image", "frame_index": 89, "question": "Which of the following is a correct description of traffic signals?", "category": "Traffic Signal", "options": ["A. Traffic light at the intersection behind (red signal)", "B. Pedestrian signal on the left (green signal)", "C. Lane guidance sign on the right (right turn arrow)", "D. Traffic light at the intersection ahead (green signal)"], "answer_index": 0}
{"token": "128227ac9e2741dfce423db2762dc690", "waymo_split": "test", "type": "image", "frame_index": 89, "question": "Which of the following descriptions about the environment is correct?", "category": "Normal scene Understanding", "options": ["A. It is midday with strong sunlight and clear weather.", "B. It is evening with dim weather. Clear.", "C. It is night with only streetlights shining and rainy weather.", "D. It is dawn with light fog and cloudy weather."], "answer_index": 1}
{"token": "128227ac9e2741dfce423db2762dc690", "waymo_split": "test", "type": "image", "frame_index": 89, "question": "What is the description of a non-safety-critical object?", "category": "Normal Perception & Prediction", "options": ["A. There are almost no parked cars on the left and right sides, mostly low-rise houses, and commercial signs are sparse. In front, there are few street trees, and it is only a wide road. Behind, a straight road continues, and the traffic light is green.", "B. The left and right sides are open with vacant lots and small parks, and commercial buildings are sparse. In front, construction barriers and a bus stop are visible first. Behind, there is a T-intersection, and the signal is flashing yellow.", "C. The roads on the left and right sides have bike racks and scooters lined up, and there are almost no parked cars. In front, there is only a railing at the entrance to a bridge, and there are no street trees. Behind, it is in a rotary shape, and no traffic signals are visible.", "D. There are many parked cars on the shoulders on the left and right sides, and there are many buildings. In front, many trees are planted on both sidewalks. Behind, there is an intersection, and the traffic light is red."], "answer_index": 3}
{"token": "128227ac9e2741dfce423db2762dc690", "waymo_split": "test", "type": "image", "frame_index": 89, "question": "Is there a blind spot in your field of vision?", "category": "Uncertainty", "options": ["A. There is some on the right", "B. Yes, there is", "C. No, there isn't", "D. There is when changing lanes"], "answer_index": 2}
{"token": "128227ac9e2741dfce423db2762dc690", "waymo_split": "test", "type": "image", "frame_index": 89, "question": "What is the answer regarding parked vehicles on the shoulder, the presence of a center line, and whether Ego crosses the center line?", "category": "Normal Perception & Prediction", "options": ["A. No parked vehicles on the shoulder, center line present", "B. Many parked vehicles on the shoulder, no center line", "C. Few parked vehicles on the shoulder, no center line", "D. Many parked vehicles on the shoulder, center line present"], "answer_index": 1}
{"token": "128227ac9e2741dfce423db2762dc690", "waymo_split": "test", "type": "image", "frame_index": 89, "question": "How do you think a safety-critical object will move?", "category": "Safety-critical Prediction", "options": ["A. Change lanes to the right", "B. Make a left turn in the same lane", "C. Attempt a U-turn before the intersection", "D. Drive straight in the opposite lane"], "answer_index": 3}
{"token": "128227ac9e2741dfce423db2762dc690", "waymo_split": "test", "type": "image", "frame_index": 89, "question": "What is a safety-critical object?", "category": "Safety-critical Perception", "options": ["A. A bicycle traveling towards your vehicle in the left front opposite lane.", "B. A bicycle moving away from your vehicle in the left rear opposite lane.", "C. A bus traveling at a constant speed in the same lane at a distance ahead.", "D. A bicycle that is stopped on the right front shoulder."], "answer_index": 0}
{"token": "128227ac9e2741dfce423db2762dc690", "waymo_split": "test", "type": "image", "frame_index": 89, "question": "What should I do to drive safely?", "category": "Safety-critical Planning", "options": ["A. I should just pass through while only watching the signals (currently at an intersection)", "B. I need to pay attention to the vehicle's movement while also driving my own car (currently stopped)", "C. I should follow closely behind the car in front since it is moving steadily (currently driving)", "D. I should proceed trusting only the navigation guidance (currently going straight)"], "answer_index": 1}
{"token": "128227ac9e2741dfce423db2762dc690", "waymo_split": "test", "type": "image", "frame_index": 89, "question": "Are there any other safety-critical objects besides the first safety-critical object? If so, how would you move around them?", "category": "Safety-critical Prediction", "options": ["A. Yes — ambulance, pull over to the shoulder and clear the way", "B. No", "C. Yes — pedestrian, slow down and gently go around to the right after stopping", "D. Yes — construction worker, proceed slowly and slightly veer to the left"], "answer_index": 1}
{"token": "128227ac9e2741dfce423db2762dc690", "waymo_split": "test", "type": "image", "frame_index": 89, "question": "How should I drive to address the first risk while also resolving the second risk?", "category": "Safety-critical Planning", "options": ["A. None", "B. Decelerate and go straight", "C. Proceed with a right turn", "D. Change to the left lane"], "answer_index": 0}
{"token": "128227ac9e2741dfce423db2762dc690", "waymo_split": "test", "type": "image", "frame_index": 89, "question": "What are the correlations in safety-critical situations?", "category": "Safety-critical scene Understanding", "options": ["A. Taxi - Bicycle", "B. Car - Scooter", "C. Car - Pedestrian", "D. Car - Bicycle"], "answer_index": 3}
{"token": "128227ac9e2741dfce423db2762dc690", "waymo_split": "test", "type": "image", "frame_index": 89, "question": "Is lane changing possible? Which is safer, slowing down or changing lanes?", "category": "Safety-critical Planning", "options": ["A. Lane change to the left is possible, and gradually slowing down is safer.", "B. Maintaining the lane and accelerating straight is appropriate; changing lanes is dangerous.", "C. It is recommended to change to the right lane immediately; slowing down is a priority now.", "D. Changing lanes to the left is not possible, but entering the driving lane is. Currently, it is at a stop, so slowing down is not possible."], "answer_index": 3}
{"token": "128227ac9e2741dfce423db2762dc690", "waymo_split": "test", "type": "image", "frame_index": 89, "question": "Who is responsible in a safety-critical situation? What is the cause?", "category": "Safety-critical scene Understanding", "options": ["A. The responsibility for the event lies with the left bicycle, which is encroaching towards the center of the lane without staying close to the right, obstructing vehicle flow.", "B. The responsibility for the event lies with the driver of the vehicle parked on the shoulder, who suddenly opened the left door, blocking the bicycle's path and causing the need for evasive action.", "C. There is no responsibility for the event. The left bicycle is riding as close as possible to the vehicle on the left shoulder, ensuring a clear path for vehicles.", "D. The responsibility for the event is shared between the two bicycles, which are riding side by side and reducing speed without checking behind, occupying the path of the following vehicle."], "answer_index": 2}
{"token": "128227ac9e2741dfce423db2762dc690", "waymo_split": "test", "type": "image", "frame_index": 89, "question": "Where is the area that hides danger in the current frame?", "category": "Uncertainty", "options": ["A. Outside edge of the right sidewalk, or straight ahead at a long distance", "B. Center of the open driving lane directly ahead, or in the middle of the intersection", "C. In front of the left distant bus stop, or the area under the traffic light", "D. Between parked cars on both sides, or in the blind spot behind"], "answer_index": 3}
{"token": "128227ac9e2741dfce423db2762dc690", "waymo_split": "test", "type": "image", "frame_index": 89, "question": "What is the safest choice just before entering a yellow signal: stop vs. proceed?", "category": "Special Event", "options": ["A. Maintain straight", "B. No signal", "C. Immediate stop", "D. Slow down and proceed"], "answer_index": 1}
{"token": "128227ac9e2741dfce423db2762dc690", "waymo_split": "test", "type": "image", "frame_index": 89, "question": "What is the method to avoid the blind spot next to a large vehicle?", "category": "Special Event", "options": ["A. No large vehicle", "B. Overtake on the right", "C. Stay close to the large vehicle", "D. Enter the blind spot"], "answer_index": 0}
{"token": "128227ac9e2741dfce423db2762dc690", "waymo_split": "test", "type": "image", "frame_index": 112, "question": "Which of the following is correct as an Image Caption from a Safety-critical Frame perspective?", "category": "Safety-critical scene caption", "options": ["A. A motorcycle blocking the front of the vehicle at an intersection (two passengers)", "B. A bicycle appearing in front of the vehicle from a blind spot on the right (one passenger)", "C. An electric scooter crossing the path of the vehicle from a blind spot on the left (one passenger)", "D. A bicycle appearing in front of the vehicle from a blind spot on the left (two passengers)"], "answer_index": 3}
{"token": "128227ac9e2741dfce423db2762dc690", "waymo_split": "test", "type": "image", "frame_index": 89, "question": "What are the driving guidelines for your vehicle based on the behavior of a safety-critical object?", "category": "Safety-critical Planning", "options": ["A. If you veer into the opposite lane after a left turn, the risk of conflict is minimal; your vehicle should accelerate to quickly pass through the intersection.", "B. If you maintain the center line while going straight, there is no overlap with your vehicle's path; your vehicle should change to the right lane and continue driving.", "C. If you slowly merge into your lane after a right turn, the possibility of a collision is low; your vehicle should maintain speed and pass through.", "D. If you approach the opposite lane after a left turn, there is a possibility of collision with your vehicle; your vehicle should remain stationary."], "answer_index": 3}
{"token": "128227ac9e2741dfce423db2762dc690", "waymo_split": "test", "type": "image", "frame_index": 112, "question": "Based on the current appearance of the person/vehicle (two-wheeled), how are they trying to move?", "category": "Normal Perception & Prediction", "options": ["A. Emerging from a stop on the right shoulder and stopping while moving to the left driving lane", "B. Emerging from a stop on the left shoulder and stopping while merging into the right driving lane", "C. Stopping while trying to move from the right driving lane to the shoulder", "D. Stopping in the center of the lane while changing direction towards the center line"], "answer_index": 0}
{"token": "128227ac9e2741dfce423db2762dc690", "waymo_split": "test", "type": "image", "frame_index": 112, "question": "What are the behavior restrictions in school zones/congested areas?", "category": "Special Event", "options": ["A. Must pass without stopping", "B. Must drive slowly", "C. Must proceed while honking", "D. Must overtake while proceeding"], "answer_index": 1}
{"token": "128227ac9e2741dfce423db2762dc690", "waymo_split": "test", "type": "image", "frame_index": 112, "question": "What is the classification of the scene?", "category": "Normal scene Understanding", "options": ["A. Residential back road", "B. Narrow alley in the city", "C. Wide avenue in the suburbs", "D. Highway entrance ramp"], "answer_index": 1}
{"token": "128227ac9e2741dfce423db2762dc690", "waymo_split": "test", "type": "image", "frame_index": 112, "question": "What is the description of a non-safety-critical object?", "category": "Normal Perception & Prediction", "options": ["A. On both sides, there are cafe terraces and a bicycle path, with no roadside parking, mostly small shops, a bus stop and an advertisement board are prominent in front, there are few trees on the sidewalk, and behind is a small roundabout with no traffic lights, also a taxi is turning from the direction of the back roundabout without crossing the private vehicle.", "B. There are many parked cars on the shoulders on both sides, and there are many buildings. In front, there are many trees planted on both sidewalks. Behind, there is an intersection with a red traffic light. Additionally, there is a vehicle approaching from the back intersection towards the private vehicle direction.", "C. Only clutter in front of the shops is visible on both sides, with few parked cars, and the buildings are low. In front, there is a construction barrier and an empty lot, indicating a section without street trees. Behind, there is a T-junction with a green traffic light, and a motorcycle is exiting into the opposite lane from the back intersection.", "D. There are a few bicycle racks without roadside parking on both sides, and only low buildings sparsely. In front, there is a central divider with a flower bed, and there are almost no street trees. Behind is a dead-end road with no intersection and a yellow flashing light, and a van is moving away from the private vehicle in the opposite direction."], "answer_index": 1}
{"token": "128227ac9e2741dfce423db2762dc690", "waymo_split": "test", "type": "image", "frame_index": 112, "question": "Which of the following is a correct description of traffic signals?", "category": "Traffic Signal", "options": ["A. Traffic light at the intersection behind (red signal)", "B. Traffic light at the intersection ahead (green signal)", "C. Traffic light at the T-junction behind (yellow flashing)", "D. Left turn signal (green arrow) on the left"], "answer_index": 0}
{"token": "128227ac9e2741dfce423db2762dc690", "waymo_split": "test", "type": "image", "frame_index": 112, "question": "Which of the following descriptions about the environment is correct?", "category": "Normal scene Understanding", "options": ["A. It's early morning and the fog is thick and cool.", "B. It's evening and the weather is dim. Clear.", "C. It's late at night and light rain is falling. Humid.", "D. It's midday and the sunlight is strong. Hot."], "answer_index": 1}
{"token": "128227ac9e2741dfce423db2762dc690", "waymo_split": "test", "type": "image", "frame_index": 112, "question": "What is the answer regarding parked vehicles on the shoulder, the presence of a center line, and whether Ego crosses the center line?", "category": "Normal Perception & Prediction", "options": ["A. Many parked vehicles on the shoulder, no center line", "B. Few parked vehicles on the shoulder, there is a center line", "C. No parked vehicles on the shoulder, there is a center line", "D. Many parked vehicles on the shoulder, there is a center line"], "answer_index": 0}
{"token": "128227ac9e2741dfce423db2762dc690", "waymo_split": "test", "type": "image", "frame_index": 112, "question": "Which of the following is a correct description of traffic density?", "category": "Normal scene Understanding", "options": ["A. Slow, many vehicles in the rear intersection. There is a parked vehicle on the shoulder in front.", "B. Slow, many vehicles in the front intersection. There is a construction vehicle moving in front.", "C. Fast, few vehicles in the front view. The shoulder is clear in front.", "D. Normal, many vehicles in the left lane. There are merging vehicles from the right in front."], "answer_index": 0}
{"token": "128227ac9e2741dfce423db2762dc690", "waymo_split": "test", "type": "image", "frame_index": 112, "question": "Is there a blind spot in your field of vision?", "category": "Uncertainty", "options": ["A. None", "B. Only at night", "C. Yes", "D. Only on the left"], "answer_index": 0}
{"token": "128227ac9e2741dfce423db2762dc690", "waymo_split": "test", "type": "image", "frame_index": 112, "question": "How do you think a safety-critical object should be moved?", "category": "Safety-critical Prediction", "options": ["A. Overtake in front of my vehicle and go straight", "B. Pull back behind my vehicle and proceed slowly", "C. Slow down in front of my vehicle and stop", "D. Merge beside my vehicle and turn right"], "answer_index": 0}
{"token": "128227ac9e2741dfce423db2762dc690", "waymo_split": "test", "type": "image", "frame_index": 112, "question": "Is lane changing possible? Which is safer between slowing down and changing lanes?", "category": "Safety-critical Planning", "options": ["A. Currently, slowing down is safer (because the bicycle is right in front of the vehicle)", "B. Slight acceleration is safer (because the car behind is approaching quickly, making slowing down more dangerous)", "C. Maintaining the current speed is safer (because the bicycle is about to move aside near the bus stop)", "D. Currently, changing lanes is safer (because there is plenty of space in the right lane)"], "answer_index": 0}
{"token": "128227ac9e2741dfce423db2762dc690", "waymo_split": "test", "type": "image", "frame_index": 112, "question": "What is a safety-critical object?", "category": "Safety-critical Perception", "options": ["A. A bicycle of two passengers protruding in front of the vehicle from the left blind spot.", "B. An electric scooter of one passenger approaching in front of the vehicle from the left blind spot.", "C. A bicycle of one passenger entering the lane in front of the vehicle from the left blind spot.", "D. A bicycle of one passenger brushing past the side of the vehicle from the right blind spot."], "answer_index": 0}
{"token": "128227ac9e2741dfce423db2762dc690", "waymo_split": "test", "type": "image", "frame_index": 112, "question": "What should I do to drive safely?", "category": "Safety-critical Planning", "options": ["A. Overtake the bicycle while driving slowly", "B. Proceed slowly while reducing the distance to the bicycle", "C. Just honk the horn at the bicycle and proceed", "D. Stop until the bicycle passes"], "answer_index": 3}
{"token": "128227ac9e2741dfce423db2762dc690", "waymo_split": "test", "type": "image", "frame_index": 112, "question": "Is there any other safety-critical object besides the first safety-critical object? If so, how will it be moved?", "category": "Safety-critical Prediction", "options": ["A. There is a high-pressure gas cylinder, secure it upright with a chain and move it on a cart", "B. There is an acidic reagent, place it in a sealed container and move it slowly", "C. There is a lithium-ion battery, place it in an explosion-proof box and move it down the right aisle", "D. None"], "answer_index": 3}
{"token": "128227ac9e2741dfce423db2762dc690", "waymo_split": "test", "type": "image", "frame_index": 112, "question": "How should I drive to resolve the first risk while also addressing the second risk?", "category": "Safety-critical Planning", "options": ["A. Proceed after stopping", "B. None", "C. Change to the left lane", "D. Slow down and go straight"], "answer_index": 1}
{"token": "128227ac9e2741dfce423db2762dc690", "waymo_split": "test", "type": "image", "frame_index": 112, "question": "What is the correlation in safety-critical situations?", "category": "Safety-critical scene Understanding", "options": ["A. Bus-Bicycle", "B. Car-Motorcycle", "C. Car-Pedestrian", "D. Car-Bicycle"], "answer_index": 3}
{"token": "128227ac9e2741dfce423db2762dc690", "waymo_split": "test", "type": "image", "frame_index": 112, "question": "Where is the area that hides danger in the current frame?", "category": "Uncertainty", "options": ["A. Behind the A-pillar", "B. End of the hood", "C. None", "D. Bottom left"], "answer_index": 2}
{"token": "128227ac9e2741dfce423db2762dc690", "waymo_split": "test", "type": "image", "frame_index": 112, "question": "Who is responsible in a safety-critical situation? What is the cause?", "category": "Safety-critical scene Understanding", "options": ["A. The vehicle is responsible because it encroached on the path of the bicycle that was going straight from the left while the vehicle was moving out to the right.", "B. The bicycle is responsible because it suddenly darted in front of the vehicle while the vehicle was trying to move left.", "C. The vehicle is responsible because it blocked the bicycle's path without checking the blind spot while entering left.", "D. Both parties are responsible because the bicycle occupied the center of the lane and the vehicle hastily attempted to change to the left lane, failing to exercise due care."], "answer_index": 1}
{"token": "128227ac9e2741dfce423db2762dc690", "waymo_split": "test", "type": "image", "frame_index": 112, "question": "What is the safest choice when approaching a yellow signal: stop vs proceed?", "category": "Special Event", "options": ["A. no signal", "B. immediate stop", "C. slow pass", "D. wait at the stop line"], "answer_index": 0}
{"token": "128227ac9e2741dfce423db2762dc690", "waymo_split": "test", "type": "image", "frame_index": 112, "question": "What are the new exposure risk candidates in the following section?", "category": "Safety-critical Prediction", "options": ["A. None", "B. Cable electrocution", "C. Falling objects from above", "D. Right-side fall"], "answer_index": 0}
{"token": "128227ac9e2741dfce423db2762dc690", "waymo_split": "test", "type": "image", "frame_index": 112, "question": "What situation might occur if the vehicle acted this way?", "category": "Counterfactual", "options": ["A. If the vehicle merges into the right lane and continues driving, there is a risk of collision with a motorcycle.", "B. If the vehicle maintains its lane in the center lane and continues driving, there is a risk of collision with a bus.", "C. If the vehicle moves into the left lane and continues driving, there is a risk of collision with a bicycle.", "D. If the vehicle continues straight without stopping at the intersection, there is a risk of collision with a pedestrian."], "answer_index": 2}
{"token": "128227ac9e2741dfce423db2762dc690", "waymo_split": "test", "type": "image", "frame_index": 112, "question": "What is the method to avoid the blind spot next to a large vehicle?", "category": "Special Event", "options": ["A. Next to a large vehicle", "B. No large vehicle", "C. To the right of a large vehicle", "D. Behind a large vehicle"], "answer_index": 1}
{"token": "128227ac9e2741dfce423db2762dc690", "waymo_split": "test", "type": "image", "frame_index": 112, "question": "What are the driving guidelines for the vehicle in response to the behavior of a safety-critical object?", "category": "Safety-critical Planning", "options": ["A. If the safety-critical object is moving erratically in front, the vehicle should honk the horn, maintain its lane, and continue driving.", "B. If the safety-critical object encroaches into the vehicle's lane from the left, the vehicle should accelerate and exit first.", "C. If the safety-critical object continues to drive in front of the vehicle on the right, the vehicle should stop to avoid a collision.", "D. If the safety-critical object continues to drive in front of the vehicle on the right, the vehicle should maintain its speed and pass through."], "answer_index": 2}
{"token": "128227ac9e2741dfce423db2762dc690", "waymo_split": "test", "type": "image", "frame_index": 141, "question": "Based on the current appearance of the person/vehicle (two-wheeled), how are they trying to move?", "category": "Normal Perception & Prediction", "options": ["A. Emerging from a stop on the right shoulder and stopping while moving to the left driving lane", "B. Emerging from a stop on the left shoulder and stopping while moving to the right driving lane", "C. Entering the center lane and stopping while waiting to turn right at the intersection", "D. Maintaining a straight path in the right driving lane and trying to stop by moving to the right shoulder"], "answer_index": 0}
{"token": "128227ac9e2741dfce423db2762dc690", "waymo_split": "test", "type": "image", "frame_index": 141, "question": "Which is correct as an Image Caption from the perspective of Safety-critical Frame?", "category": "Safety-critical scene caption", "options": ["A. There is a bicycle (with two riders) traveling in front of the vehicle from the right.", "B. There is a motorcycle (with two riders) traveling in front of the vehicle from the left.", "C. There is a bicycle (with two riders) traveling in front of the vehicle from the left.", "D. There is a bicycle (with one rider) traveling behind the vehicle from the left."], "answer_index": 2}
{"token": "128227ac9e2741dfce423db2762dc690", "waymo_split": "test", "type": "image", "frame_index": 141, "question": "Which of the following is a correct description of traffic density?", "category": "Normal scene Understanding", "options": ["A. Slow, few vehicles around, left shoulder is empty", "B. Slow, many vehicles at the rear intersection. There are parked cars in front on the shoulder", "C. Fast, few vehicles at the rear intersection, the front lane is smooth", "D. Fast, many vehicles at the front intersection, the right lane is clear"], "answer_index": 1}
{"token": "128227ac9e2741dfce423db2762dc690", "waymo_split": "test", "type": "image", "frame_index": 141, "question": "What is the classification of the scene?", "category": "Normal scene Understanding", "options": ["A. Residential narrow side road", "B. Urban narrow alley", "C. Highway shoulder section", "D. Rural unpaved farm road"], "answer_index": 1}
{"token": "128227ac9e2741dfce423db2762dc690", "waymo_split": "test", "type": "image", "frame_index": 141, "question": "What is the plan for yielding when an ambulance/fire truck approaches?", "category": "Special Event", "options": ["A. Stop in the middle of the intersection to allow following vehicles to detour.", "B. Move to the left shoulder and clear the right lane.", "C. Turn on the hazard lights and maintain the current lane while driving slowly.", "D. Move closely to the right to yield the left driving lane for shoulder parking."], "answer_index": 3}
{"token": "128227ac9e2741dfce423db2762dc690", "waymo_split": "test", "type": "image", "frame_index": 141, "question": "What is the description of a non-safety-critical object?", "category": "Normal Perception & Prediction", "options": ["A. On the left, there are river railings, and on the right, only a few warehouse-type buildings are visible. In front, there is only a median strip flower bed, and there are almost no street trees. In the back, there is a small roundabout with only a yield sign instead of traffic lights, and the vehicle flow towards the roundabout is light.", "B. There are almost no parked cars on the left and right sides, and only a few low houses are visible. In front, street trees are sparse, and the sidewalk is narrow. In the back, there is a T-junction with a green light, and no vehicles are visible approaching from behind.", "C. On the left and right sides, there are construction site barriers and vacant lots, and commercial buildings are rare. In front, there is a bus stop and a bicycle rack, with a few pedestrians standing. In the back, it is a one-way alley with no traffic lights, and a delivery motorcycle is moving slowly from a distance.", "D. There are many parked cars on the shoulders on both sides, and there are many buildings. In front, there are many trees planted on both sidewalks. In the back, there is an intersection with a red traffic light, and a vehicle is almost approaching from the direction of the intersection."], "answer_index": 3}
{"token": "128227ac9e2741dfce423db2762dc690", "waymo_split": "test", "type": "image", "frame_index": 141, "question": "Which of the following is a correct description of traffic signals?", "category": "Traffic Signal", "options": ["A. Traffic light at the intersection ahead (green signal)", "B. Traffic light at the intersection behind (red signal)", "C. Traffic light at the T-junction on the left (yellow signal)", "D. Pedestrian signal at the crosswalk behind (green signal)"], "answer_index": 1}
{"token": "128227ac9e2741dfce423db2762dc690", "waymo_split": "test", "type": "image", "frame_index": 141, "question": "Which of the following descriptions about the environment is correct?", "category": "Normal scene Understanding", "options": ["A. It is dawn and the weather is cloudy with light fog.", "B. It is evening and the weather is dim. Clear.", "C. It is early morning and the weather is cloudy with light rain.", "D. It is midday and the weather is sunny and hot."], "answer_index": 1}
{"token": "128227ac9e2741dfce423db2762dc690", "waymo_split": "test", "type": "image", "frame_index": 141, "question": "What is the answer regarding parked vehicles on the shoulder, the presence of a center line, and whether Ego crosses the center line?", "category": "Normal Perception & Prediction", "options": ["A. Many parked vehicles on the shoulder, center line present", "B. Few parked vehicles on the shoulder, center line present", "C. Many parked vehicles on the shoulder, no center line", "D. No parked vehicles on the shoulder, center line present"], "answer_index": 2}
{"token": "128227ac9e2741dfce423db2762dc690", "waymo_split": "test", "type": "image", "frame_index": 141, "question": "Is there a blind spot?", "category": "Uncertainty", "options": ["A. On the left", "B. In the right rear", "C. None", "D. Yes"], "answer_index": 2}
{"token": "128227ac9e2741dfce423db2762dc690", "waymo_split": "test", "type": "image", "frame_index": 141, "question": "How do you think a safety-critical object will move?", "category": "Safety-critical Prediction", "options": ["A. Waiting to stop on the right shoulder", "B. Continuing straight after overtaking in front of my car", "C. Changing to the left lane and waiting to turn left", "D. Slowing down while falling behind my car"], "answer_index": 1}
{"token": "128227ac9e2741dfce423db2762dc690", "waymo_split": "test", "type": "image", "frame_index": 141, "question": "What is a safety-critical object?", "category": "Safety-critical Perception", "options": ["A. A bicycle traveling in the opposite direction in front of the vehicle", "B. A passenger car parked on the left front shoulder", "C. A pedestrian waiting for the signal at the right crosswalk", "D. A bicycle traveling in the same direction as the vehicle in front"], "answer_index": 0}
{"token": "128227ac9e2741dfce423db2762dc690", "waymo_split": "test", "type": "image", "frame_index": 141, "question": "How should I drive to resolve the first hazard while also addressing the second hazard?", "category": "Safety-critical Planning", "options": ["A. After sending this vehicle away, my car should enter the driving lane and resume driving.", "B. Without waiting for this vehicle, my car should enter the driving lane first and resume driving.", "C. To avoid this vehicle, my car should slightly move to the shoulder, stop, and then resume driving.", "D. When this vehicle approaches, my car should change to the left lane and pass first."], "answer_index": 0}
{"token": "128227ac9e2741dfce423db2762dc690", "waymo_split": "test", "type": "image", "frame_index": 141, "question": "What should I do to drive safely?", "category": "Safety-critical Planning", "options": ["A. To do this, honk the horn and proceed when a bicycle approaches.", "B. To do this, quickly overtake the bicycle and pass first.", "C. To do this, stop until the bicycle passes.", "D. To do this, pass slowly while staying close to the bicycle."], "answer_index": 2}
{"token": "128227ac9e2741dfce423db2762dc690", "waymo_split": "test", "type": "image", "frame_index": 141, "question": "What is the correlation in safety-critical situations?", "category": "Safety-critical scene Understanding", "options": ["A. Car - Bicycle", "B. Car - Motorcycle", "C. Car - Pedestrian", "D. Person - Bicycle"], "answer_index": 0}
{"token": "128227ac9e2741dfce423db2762dc690", "waymo_split": "test", "type": "image", "frame_index": 141, "question": "Is lane changing possible? Which is safer between slowing down and changing lanes?", "category": "Safety-critical Planning", "options": ["A. Currently, changing to the right lane is safer (there is enough space on the right and the flow ahead is smooth)", "B. Currently, slowing down is safer (a bicycle is right in front of the vehicle)", "C. Currently, changing lanes is safer (a large vehicle is approaching from behind, and the speed difference is significant)", "D. Currently, changing to the left lane is safer (there is ample space in the left lane and the vehicle behind is moving slowly)"], "answer_index": 1}
{"token": "128227ac9e2741dfce423db2762dc690", "waymo_split": "test", "type": "image", "frame_index": 141, "question": "Is there any other safety-critical object besides the first safety-critical object? If so, how will it move?", "category": "Safety-critical Prediction", "options": ["A. A motorcycle that is merging into my lane from the left rear (approaching while changing lanes in front of the bus stop)", "B. A bicycle merging into my lane from the left front (entering this lane at the end of the crosswalk)", "C. A vehicle driving towards my car from behind (entering this road after crossing the intersection)", "D. A vehicle turning left into my direction from the opposite side (crossing the center line to enter this lane)"], "answer_index": 2}
{"token": "128227ac9e2741dfce423db2762dc690", "waymo_split": "test", "type": "image", "frame_index": 141, "question": "Where is the area that hides danger in the current frame?", "category": "Uncertainty", "options": ["A. Behind the parked vehicle on the left shoulder", "B. In front of the large bus on the right side", "C. In front of the front edge of the truck in the center", "D. In front of the parked vehicle on the right shoulder"], "answer_index": 3}
{"token": "128227ac9e2741dfce423db2762dc690", "waymo_split": "test", "type": "image", "frame_index": 141, "question": "What is the safest choice when approaching a yellow signal: stop vs proceed?", "category": "Special Event", "options": ["A. no signal", "B. lane change", "C. slow down and proceed", "D. turn right and proceed"], "answer_index": 0}
{"token": "128227ac9e2741dfce423db2762dc690", "waymo_split": "test", "type": "image", "frame_index": 141, "question": "Who is responsible in a safety-critical situation? What is the cause?", "category": "Safety-critical scene Understanding", "options": ["A. The bicycle on the right was waiting at the stop line, but the vehicle cut in diagonally without a gap and brushed against the front wheel, so the vehicle is responsible for not maintaining a safe distance.", "B. In a situation with limited visibility due to backlighting on a rainy evening, the vehicle emerged without signaling and invaded the bicycle's path, so the vehicle is responsible for violating visibility and signaling obligations.", "C. The vehicle changed lanes to the left without checking for bicycles behind and abruptly turned, obstructing the path of the bicycle that was going straight, so the vehicle is responsible.", "D. The bicycle on the left suddenly darted in front of the vehicle while the vehicle was trying to move left, so the bicycle is responsible for continuing this maneuver."], "answer_index": 3}
{"token": "128227ac9e2741dfce423db2762dc690", "waymo_split": "test", "type": "image", "frame_index": 141, "question": "What situation might occur if the self-driving car behaved like this?", "category": "Counterfactual", "options": ["A. If the self-driving car continues to drive without stopping, there is a risk of colliding with the vehicle in front.", "B. If the self-driving car pushes forward without changing lanes, there is a risk of colliding with a vehicle on the side.", "C. If the self-driving car enters beyond the stop line, there is a risk of contact with pedestrians.", "D. If the self-driving car continues to drive without stopping, there is a risk of colliding with the vehicle behind."], "answer_index": 3}
{"token": "128227ac9e2741dfce423db2762dc690", "waymo_split": "test", "type": "image", "frame_index": 141, "question": "Which of the following is a newly exposed risk candidate in the next segment?", "category": "Safety-critical Prediction", "options": ["A. A motorcycle merging into the right lane after coming out of a side alley at the intersection.", "B. A vehicle turning left after passing through the intersection from behind and entering the outer lane.", "C. A vehicle driving towards its own lane from behind after passing the intersection.", "D. A vehicle driving towards the opposite lane after passing through the intersection ahead."], "answer_index": 2}
{"token": "128227ac9e2741dfce423db2762dc690", "waymo_split": "test", "type": "image", "frame_index": 141, "question": "What is the method to avoid the blind spot next to a large vehicle?", "category": "Special Event", "options": ["A. Approaching from behind the large vehicle", "B. Stopping the large vehicle", "C. Passing on the right side of the large vehicle", "D. No large vehicle"], "answer_index": 3}
{"token": "14b8a5ea097ddf985f7916241ca4e4ff", "waymo_split": "test", "type": "video", "frame_index": null, "question": "Where is the safety-critical situation in the video?", "category": "Temporal Grounding", "options": ["A. 2/4", "B. 4/4", "C. 1/4", "D. 3/4"], "answer_index": 1}
{"token": "14b8a5ea097ddf985f7916241ca4e4ff", "waymo_split": "test", "type": "video", "frame_index": null, "question": "Is there a special situation?", "category": "Special Event", "options": ["A. A fire truck just passed by.", "B. A situation where it is raining or has rained.", "C. A situation where a school bus is stopped.", "D. A situation where the lane is blocked by construction cones."], "answer_index": 1}
{"token": "14b8a5ea097ddf985f7916241ca4e4ff", "waymo_split": "test", "type": "video", "frame_index": null, "question": "What is the classification of the scene?", "category": "Normal scene Understanding", "options": ["A. Residential alley", "B. City road", "C. Unpaved road", "D. Highway"], "answer_index": 1}
{"token": "14b8a5ea097ddf985f7916241ca4e4ff", "waymo_split": "test", "type": "video", "frame_index": null, "question": "Which of the following is a correct description of traffic density?", "category": "Normal scene Understanding", "options": ["A. Slow. Surrounding vehicles are dense and parked vehicles on the shoulder are rare. Gentle slope.", "B. Fast. Surrounding vehicles are few and there are many parked vehicles on the shoulder. Flat terrain.", "C. Normal. Surrounding vehicles are average and the shoulder is empty. Downhill slope.", "D. Slow. Surrounding vehicles are many and there are no parked vehicles on the shoulder. Uphill slope."], "answer_index": 1}
{"token": "14b8a5ea097ddf985f7916241ca4e4ff", "waymo_split": "test", "type": "video", "frame_index": null, "question": "Which of the following is a correct description of road alignment?", "category": "Normal Perception & Prediction", "options": ["A. Right turn", "B. Straight", "C. Overtaking", "D. Left turn"], "answer_index": 1}
{"token": "14b8a5ea097ddf985f7916241ca4e4ff", "waymo_split": "test", "type": "video", "frame_index": null, "question": "Which of the following is correct as a Video Summary from the perspective of a Normal Scene?", "category": "Normal scene caption", "options": ["A. A vehicle driving on the road (in the left lane of three lanes) with cars continuously passing in the opposite lane, and a pedestrian wearing a raincoat standing at the bus stop on the left side ahead.", "B. A vehicle driving on the road (in the middle lane of three lanes) with almost no vehicles in the opposite lane, and a bicycle wearing a raincoat upside down driving in the right shoulder lane directly next to the vehicle.", "C. A vehicle driving on the road (in the right lane of three lanes) with a steady flow of vehicles in the opposite lane, and a motorcycle stopped without a raincoat in the right shoulder lane directly next to the vehicle.", "D. A vehicle driving on the road (in the middle lane of three lanes) with large vehicles occasionally passing in the opposite lane, and an electric scooter driving without a raincoat in the left shoulder lane directly next to the vehicle."], "answer_index": 1}
{"token": "14b8a5ea097ddf985f7916241ca4e4ff", "waymo_split": "test", "type": "video", "frame_index": null, "question": "What is correct regarding Video Summary from a Safety-critical Scene perspective?", "category": "Safety-critical scene caption", "options": ["A. A pedestrian wearing a raincoat is slowly moving along the edge of the road in the left shoulder lane.", "B. There is a bicycle riding in the right shoulder lane wearing a plastic similar to a raincoat.", "C. An electric scooter wearing a raincoat is riding according to the signal in the center lane.", "D. A motorcycle wearing a plastic is moving slowly in the right lane following the flow of traffic."], "answer_index": 1}
{"token": "14b8a5ea097ddf985f7916241ca4e4ff", "waymo_split": "test", "type": "video", "frame_index": null, "question": "Which of the following is a correct description of traffic signals?", "category": "Traffic Signal", "options": ["A. Red light", "B. Stop line", "C. Left turn", "D. None"], "answer_index": 3}
{"token": "14b8a5ea097ddf985f7916241ca4e4ff", "waymo_split": "test", "type": "video", "frame_index": null, "question": "Which of the following descriptions about the environment is correct?", "category": "Normal scene Understanding", "options": ["A. Evening, clear and dry but lighting is needed", "B. Dawn, thick fog and dew but auxiliary lighting is on", "C. Daytime, cloudy and raining. But lighting is not needed", "D. Dusk, light snow and wind but lighting is essential"], "answer_index": 2}
{"token": "14b8a5ea097ddf985f7916241ca4e4ff", "waymo_split": "test", "type": "video", "frame_index": null, "question": "Is there a blind spot in the field of view?", "category": "Uncertainty", "options": ["A. There is no blind spot in front of the right bus stop.", "B. There is a blind spot between parked vehicles on the right shoulder.", "C. There is a blind spot between parked vehicles on the left shoulder.", "D. The right shoulder has no blind spot due to clear visibility."], "answer_index": 1}
{"token": "14b8a5ea097ddf985f7916241ca4e4ff", "waymo_split": "test", "type": "video", "frame_index": null, "question": "What is the answer regarding parked vehicles on the shoulder, the presence of a center line, and whether Ego crosses the center line?", "category": "Normal Perception & Prediction", "options": ["A. There is a center line, and my vehicle does not cross the center line.", "B. There is no center line, and my vehicle does not cross the center line.", "C. There is a center line, and my vehicle crosses the center line.", "D. There is a dashed center line, and my vehicle slightly crosses over it."], "answer_index": 0}
{"token": "14b8a5ea097ddf985f7916241ca4e4ff", "waymo_split": "test", "type": "video", "frame_index": null, "question": "How did the safety-critical object move and how did the ego vehicle behave?", "category": "Safety-critical scene Understanding", "options": ["A. Made a U-turn, the ego vehicle made a right turn", "B. Changed to the right lane, the ego vehicle reduced speed and proceeded slowly", "C. Moved straight, the ego vehicle also moved straight", "D. Made a left turn, the ego vehicle stopped in front of the intersection"], "answer_index": 2}
{"token": "14b8a5ea097ddf985f7916241ca4e4ff", "waymo_split": "test", "type": "video", "frame_index": null, "question": "What is the correlation in safety-critical situations?", "category": "Safety-critical scene Understanding", "options": ["A. Bus - Kickboard", "B. Car - Bicycle", "C. Car - Pedestrian", "D. Car - Motorcycle"], "answer_index": 1}
{"token": "14b8a5ea097ddf985f7916241ca4e4ff", "waymo_split": "test", "type": "video", "frame_index": null, "question": "What is a safety-critical object?", "category": "Safety-critical Perception", "options": ["A. A bicycle wearing a plastic cover on the right side, riding against traffic in the right lane.", "B. A motorcycle wearing a plastic cover on the left side, going the wrong way in the left lane.", "C. A bicycle wearing a plastic cover on the right side, riding in the same direction as the car in the right lane.", "D. An electric scooter wearing a raincoat on the right side, stopped in the right lane."], "answer_index": 2}
{"token": "14b8a5ea097ddf985f7916241ca4e4ff", "waymo_split": "test", "type": "video", "frame_index": null, "question": "Who is responsible in a safety-critical situation? What is the cause?", "category": "Safety-critical scene Understanding", "options": ["A. It is the bicycle's fault. The plastic covering the bicycle is long, and if it gets tangled with the vehicle's wheels, there is a risk of the vehicle slipping.", "B. It is the road manager's fault. The marking of the construction area on the edge was inadequate, causing the bicycle to be pushed into the lane, resulting in unnecessary close encounters.", "C. It is the pedestrian's fault. The pedestrian suddenly extended their foot onto the road from the sidewalk, blocking the bicycle's path, which caused both the vehicle and the bicycle to have to brake suddenly, increasing the danger.", "D. It is the vehicle's fault. The driver made a sudden lane change right before turning right, coming very close to the bicycle, which increased the risk of contact due to not maintaining a safe distance."], "answer_index": 0}
{"token": "14b8a5ea097ddf985f7916241ca4e4ff", "waymo_split": "test", "type": "video", "frame_index": null, "question": "Summary of Ego (own vehicle) behavior before a safety-critical situation", "category": "Normal scene Understanding", "options": ["A. stop", "B. decelerate", "C. go straight", "D. crawl"], "answer_index": 2}
{"token": "14b8a5ea097ddf985f7916241ca4e4ff", "waymo_split": "test", "type": "image", "frame_index": 30, "question": "Based on the current appearance of the person/vehicle (two-wheeled), how do you intend to move?", "category": "Normal Perception & Prediction", "options": ["A. Going straight", "B. Left turn", "C. Right turn", "D. Lane change"], "answer_index": 0}
{"token": "14b8a5ea097ddf985f7916241ca4e4ff", "waymo_split": "test", "type": "video", "frame_index": null, "question": "What potential situations may arise depending on the type/condition of the road?", "category": "Normal Perception & Prediction", "options": ["A. In a tunnel section, you should turn off the lights and open the windows for ventilation while driving.", "B. Due to strong sunlight, the road surface may freeze, so chains need to be installed.", "C. On unpaved roads, to reduce the risk of stones bouncing, you should speed up and pass through quickly.", "D. Since it is raining, the road is a bit slippery, so you should drive slowly on wet roads."], "answer_index": 3}
{"token": "14b8a5ea097ddf985f7916241ca4e4ff", "waymo_split": "test", "type": "video", "frame_index": null, "question": "What situation might occur if the self-driving car behaved this way?", "category": "Counterfactual", "options": ["A. If the self-driving car moves to the left lane, the risk of collision with a bicycle is low.", "B. If the self-driving car maintains its lane while going straight, it is unrelated to the bicycle, so the risk of collision is low.", "C. If the self-driving car moves to the right lane, there is a risk of collision or crash with a bicycle.", "D. If the self-driving car enters the right turn lane, there is a risk of contact with pedestrians."], "answer_index": 2}
{"token": "14b8a5ea097ddf985f7916241ca4e4ff", "waymo_split": "test", "type": "image", "frame_index": 30, "question": "What are the behavioral restrictions in school zones/congested areas?", "category": "Special Event", "options": ["A. Increase speed to pass quickly (staying longer on wet roads is more dangerous)", "B. Drive with high beams on and stay close to the center line (visibility is poor due to rain)", "C. Drive slowly (especially since it's a wet road)", "D. Honk frequently to alert pedestrians (especially since it's a wet road)"], "answer_index": 2}
{"token": "14b8a5ea097ddf985f7916241ca4e4ff", "waymo_split": "test", "type": "image", "frame_index": 30, "question": "What is the classification of the scene?", "category": "Normal scene Understanding", "options": ["A. Mountain unpaved road", "B. Suburban residential road", "C. One-way two-lane national road", "D. Urban city road"], "answer_index": 3}
{"token": "14b8a5ea097ddf985f7916241ca4e4ff", "waymo_split": "test", "type": "image", "frame_index": 30, "question": "Which of the following is a correct description of traffic density?", "category": "Normal scene Understanding", "options": ["A. Fast, with almost no surrounding vehicles", "B. Slow, with no surrounding vehicles", "C. Slow, with dense vehicles in adjacent lanes", "D. Fast, with vehicles lined up in front and behind"], "answer_index": 0}
{"token": "14b8a5ea097ddf985f7916241ca4e4ff", "waymo_split": "test", "type": "image", "frame_index": 30, "question": "What is the plan for yielding when an ambulance/fire truck approaches?", "category": "Special Event", "options": ["A. Move to the left lane and slow down to yield", "B. Stay close to the center line and continue driving", "C. Proceed through the intersection according to the traffic signal", "D. Pull over to the right shoulder to yield space"], "answer_index": 3}
{"token": "14b8a5ea097ddf985f7916241ca4e4ff", "waymo_split": "test", "type": "image", "frame_index": 30, "question": "Which of the following is a correct description of the environment?", "category": "Normal scene Understanding", "options": ["A. Morning, clear (light wind)", "B. Dusk, fog (thick)", "C. Daytime, cloudy (rain)", "D. Night, clear (stars visible)"], "answer_index": 2}
{"token": "14b8a5ea097ddf985f7916241ca4e4ff", "waymo_split": "test", "type": "image", "frame_index": 30, "question": "What is the description of a non-safety-critical object?", "category": "Normal Perception & Prediction", "options": ["A. Left bicycle lane and a bicycle in motion", "B. Right shoulder-parked vehicles and a person walking on the right sidewalk. Left sidewalk and shoulder-parked vehicles. Utility poles on both sides and the wires connecting them", "C. The crosswalk ahead and pedestrians waiting for the signal", "D. Right bus stop and a bus that is stopped"], "answer_index": 1}
{"token": "14b8a5ea097ddf985f7916241ca4e4ff", "waymo_split": "test", "type": "image", "frame_index": 30, "question": "Which of the following is correct regarding traffic signals?", "category": "Traffic Signal", "options": ["A. There are road markings", "B. There are traffic lights", "C. None", "D. There are signs"], "answer_index": 2}
{"token": "14b8a5ea097ddf985f7916241ca4e4ff", "waymo_split": "test", "type": "image", "frame_index": 30, "question": "What is the answer regarding parked vehicles on the shoulder, the presence of a center line, and whether Ego crosses the center line?", "category": "Normal Perception & Prediction", "options": ["A. Rarely parked vehicles on the shoulder. Faint center line. Center line crossed.", "B. No parked vehicles on the shoulder. Center line unverified. Center line crossed.", "C. Many parked vehicles on the shoulder. Center line present. No center line crossing.", "D. Few parked vehicles on the shoulder. No center line. Center line crossed."], "answer_index": 2}
{"token": "14b8a5ea097ddf985f7916241ca4e4ff", "waymo_split": "test", "type": "image", "frame_index": 30, "question": "What is a safety-critical object?", "category": "Safety-critical Perception", "options": ["A. Emergency stop button for a safety-critical object", "B. Autonomous driving control module for a safety-critical object", "C. No safety-critical object", "D. Gas leak detection sensor for a safety-critical object"], "answer_index": 2}
{"token": "14b8a5ea097ddf985f7916241ca4e4ff", "waymo_split": "test", "type": "image", "frame_index": 30, "question": "How should I drive to address the first risk while also resolving the second risk?", "category": "Safety-critical Planning", "options": ["A. Slow down in front of the next safety-critical object", "B. Stop first at the next safety-critical object", "C. Avoid the next safety-critical object to the left", "D. There is no next safety-critical object"], "answer_index": 3}
{"token": "14b8a5ea097ddf985f7916241ca4e4ff", "waymo_split": "test", "type": "image", "frame_index": 30, "question": "How do you think safety-critical objects will be moved?", "category": "Safety-critical Prediction", "options": ["A. Approach the safety-critical object from the front", "B. Safety-critical object detected", "C. Approach the safety-critical object from the left", "D. No safety-critical object"], "answer_index": 3}
{"token": "14b8a5ea097ddf985f7916241ca4e4ff", "waymo_split": "test", "type": "image", "frame_index": 30, "question": "Is there any other safety-critical object besides the first safety-critical object? If so, how will it be moved?", "category": "Safety-critical Prediction", "options": ["A. There is another safety-critical object, slowly transport it to the left safety zone", "B. Another safety-critical object found, quickly transport it to the lower right station", "C. Confirm the next safety-critical object, detour along the front corridor", "D. There is no other safety-critical object"], "answer_index": 3}
{"token": "14b8a5ea097ddf985f7916241ca4e4ff", "waymo_split": "test", "type": "image", "frame_index": 30, "question": "Are there any blind spots?", "category": "Uncertainty", "options": ["A. In front of the right entry ramp of the blind spot and the center of the lane", "B. In front of the parked vehicles on the right shoulder of the blind spot and outside", "C. Behind the parked vehicles on the right shoulder of the blind spot and in between", "D. Behind the parked vehicles on the left shoulder of the blind spot and in between"], "answer_index": 2}
{"token": "14b8a5ea097ddf985f7916241ca4e4ff", "waymo_split": "test", "type": "image", "frame_index": 30, "question": "Is lane changing possible? Which is safer between slowing down and changing lanes?", "category": "Safety-critical Planning", "options": ["A. Currently, only changing to the left lane is possible and it is safer.", "B. Currently, only slowing down is possible and it is safer.", "C. Currently, both are possible and both are safe.", "D. Currently, neither is possible and both are dangerous."], "answer_index": 2}
{"token": "14b8a5ea097ddf985f7916241ca4e4ff", "waymo_split": "test", "type": "image", "frame_index": 30, "question": "What is the safest choice just before entering a yellow signal: stop vs proceed?", "category": "Special Event", "options": ["A. No signal. Unable to judge", "B. Priority to pedestrian green signal", "C. Proceed while slowing down with yellow flashing", "D. Stop immediately in the left turn lane"], "answer_index": 0}
{"token": "14b8a5ea097ddf985f7916241ca4e4ff", "waymo_split": "test", "type": "image", "frame_index": 30, "question": "Where is the area that is hidden and conceals danger in the current frame?", "category": "Uncertainty", "options": ["A. Area hidden behind the central divider bushes", "B. Area hidden behind the parked vehicle on the right shoulder", "C. Area hidden behind the large truck on the left", "D. Area hidden behind the corner of the building ahead"], "answer_index": 1}
{"token": "14b8a5ea097ddf985f7916241ca4e4ff", "waymo_split": "test", "type": "image", "frame_index": 30, "question": "What is the method to avoid blind spots when passing large vehicles?", "category": "Special Event", "options": ["A. Honk and pass immediately", "B. Pass closely on the right side of the large vehicle", "C. No large vehicle. Unable to judge", "D. Increase speed to escape the blind spot"], "answer_index": 2}
{"token": "14b8a5ea097ddf985f7916241ca4e4ff", "waymo_split": "test", "type": "image", "frame_index": 30, "question": "What are the new potential hazards that may be exposed in the following section?", "category": "Safety-critical Prediction", "options": ["A. A motorcycle that can quickly approach from behind and cross the lane.", "B. A person or object that may suddenly emerge from behind a parked vehicle on the right shoulder.", "C. A vehicle that may suddenly cut in from the blind spot in the left lane.", "D. A pedestrian that may jump into the crosswalk as the signal changes ahead."], "answer_index": 1}
{"token": "14b8a5ea097ddf985f7916241ca4e4ff", "waymo_split": "test", "type": "image", "frame_index": 54, "question": "What are the behavioral restrictions in school zones/congested areas?", "category": "Special Event", "options": ["A. You should honk the horn frequently (for pedestrian caution)", "B. You must drive slowly (especially since it's rainy)", "C. You should accelerate to get out quickly (because it's congested)", "D. You should change lanes quickly when there's a gap (to save time)"], "answer_index": 1}
{"token": "14b8a5ea097ddf985f7916241ca4e4ff", "waymo_split": "test", "type": "image", "frame_index": 54, "question": "Which of the following is correct from the perspective of Normal Frame Image Caption?", "category": "Normal scene caption", "options": ["A. A car stopped in the left turn lane while approaching a three-lane intersection. There are shops and wide sidewalks on both sides, with almost no parked cars on the shoulder. A long line of vehicles waiting at the traffic signal is visible ahead, and a motorcycle is approaching from behind. Only street trees and a bicycle rack are visible on the right sidewalk, with no buckets or puddles.", "B. A car driving in the middle lane on a six-lane road. There are many buildings and sidewalks on both sides, as well as numerous parked cars on the shoulder. No vehicles are visible ahead, and two cars can be seen far behind. In front of the parked cars on the right shoulder, there are puddles and buckets between the sidewalk and the roadway.", "C. A car driving in the outer lane on the left side of a six-lane road. Shops and sidewalks are present on both sides, but parked cars on the shoulder are rare. A single passenger car is moving slowly ahead, and there are almost no vehicles behind. Construction cones and signs are placed between the sidewalk and the roadway near the left shoulder.", "D. A car driving along the central lane of an eight-lane boulevard. There are tall buildings and a bus stop on both sides of the road, with no parked cars on the shoulder. A bus and a taxi are driving ahead, and vehicles are clustered behind. The right edge of the roadway is dry with no puddles and no signs of construction."], "answer_index": 1}
{"token": "14b8a5ea097ddf985f7916241ca4e4ff", "waymo_split": "test", "type": "image", "frame_index": 54, "question": "What is the plan for yielding when an ambulance/fire truck approaches?", "category": "Special Event", "options": ["A. Turn on emergency lights and proceed slowly while securing a path (follow behind the ambulance at a distance)", "B. Stop temporarily in the center of the intersection to give way (start immediately when the signal changes)", "C. Move to the left lane and increase speed to get out of the way (check the rear frequently)", "D. Pull over to the right shoulder to yield space (be careful of puddles and buckets at this time)"], "answer_index": 3}
{"token": "14b8a5ea097ddf985f7916241ca4e4ff", "waymo_split": "test", "type": "image", "frame_index": 54, "question": "What are the classifications of scenes?", "category": "Normal scene Understanding", "options": ["A. General suburban road", "B. Main highway", "C. Residential alley", "D. City street"], "answer_index": 3}
{"token": "14b8a5ea097ddf985f7916241ca4e4ff", "waymo_split": "test", "type": "image", "frame_index": 54, "question": "Based on the current appearance of the person/vehicle (two-wheeled), how do you intend to move?", "category": "Normal Perception & Prediction", "options": ["A. Moving straight", "B. Turning right", "C. Waiting at a stop", "D. Turning left"], "answer_index": 0}
{"token": "14b8a5ea097ddf985f7916241ca4e4ff", "waymo_split": "test", "type": "image", "frame_index": 54, "question": "Which of the following is a correct description of traffic density?", "category": "Normal scene Understanding", "options": ["A. Fast, there are several vehicles in front and behind.", "B. Fast, there are hardly any surrounding vehicles.", "C. Slow, there are quite a few surrounding vehicles.", "D. Slow, surrounding vehicles are occasionally visible."], "answer_index": 1}
{"token": "14b8a5ea097ddf985f7916241ca4e4ff", "waymo_split": "test", "type": "image", "frame_index": 54, "question": "What is the answer regarding parked vehicles on the shoulder, the presence of a center line, and whether Ego has crossed the center line?", "category": "Normal Perception & Prediction", "options": ["A. No parked vehicles on the shoulder. Center line exists. No center line crossing.", "B. Many parked vehicles on the shoulder. No center line. No center line crossing.", "C. Many parked vehicles on the shoulder. Center line exists. No center line crossing.", "D. Few parked vehicles on the shoulder. Center line exists. Center line crossing."], "answer_index": 2}
{"token": "14b8a5ea097ddf985f7916241ca4e4ff", "waymo_split": "test", "type": "image", "frame_index": 54, "question": "What is a safety-critical object?", "category": "Safety-critical Perception", "options": ["A. Emergency stop switch", "B. No safety-critical object", "C. Brake actuator", "D. Pressure relief valve"], "answer_index": 1}
{"token": "14b8a5ea097ddf985f7916241ca4e4ff", "waymo_split": "test", "type": "image", "frame_index": 54, "question": "Which of the following descriptions about the environment is correct?", "category": "Normal scene Understanding", "options": ["A. At sunset, clear (sunset)", "B. At night, clear (starlight)", "C. During the day, cloudy (rain)", "D. In the morning, foggy (thick)"], "answer_index": 2}
{"token": "14b8a5ea097ddf985f7916241ca4e4ff", "waymo_split": "test", "type": "image", "frame_index": 54, "question": "How do you think safety-critical objects will be moved?", "category": "Safety-critical Prediction", "options": ["A. Accessing a safety-critical object", "B. No safety-critical objects", "C. There is a safety-critical object", "D. Multiple safety-critical objects"], "answer_index": 1}
{"token": "14b8a5ea097ddf985f7916241ca4e4ff", "waymo_split": "test", "type": "image", "frame_index": 54, "question": "Which of the following is a correct description of traffic signals?", "category": "Traffic Signal", "options": ["A. Red signal", "B. None", "C. No right turn", "D. Stop sign"], "answer_index": 1}
{"token": "14b8a5ea097ddf985f7916241ca4e4ff", "waymo_split": "test", "type": "image", "frame_index": 54, "question": "How should I drive to address the first risk while also addressing the second risk?", "category": "Safety-critical Planning", "options": ["A. Need to decelerate for the safety-critical object ahead", "B. There is a next safety-critical object", "C. Need to avoid the safety-critical object on the left", "D. There is no next safety-critical object"], "answer_index": 3}
{"token": "14b8a5ea097ddf985f7916241ca4e4ff", "waymo_split": "test", "type": "image", "frame_index": 54, "question": "Is lane change possible? Which is safer between slowing down and changing lanes?", "category": "Safety-critical Planning", "options": ["A. Both are possible now, but slowing down is safer (the left side has limited space, making a right lane change more favorable)", "B. Both are possible now and both are safe. (However, the right side has limited space for a lane change, so a left lane change is necessary)", "C. Both are possible now, but changing lanes is safer (the right side has ample space, so a right lane change is necessary)", "D. Only slowing down is possible now, and slowing down is the safest option (the right side has ample space, but it's a solid line area, so lane change is not possible)"], "answer_index": 1}
{"token": "14b8a5ea097ddf985f7916241ca4e4ff", "waymo_split": "test", "type": "image", "frame_index": 54, "question": "What is the safest choice when approaching a yellow signal: stop vs proceed?", "category": "Special Event", "options": ["A. Stop immediately", "B. Proceed slowly", "C. No signal. Unable to judge", "D. Proceed straight"], "answer_index": 2}
{"token": "14b8a5ea097ddf985f7916241ca4e4ff", "waymo_split": "test", "type": "image", "frame_index": 54, "question": "Is there a safety-critical object other than the first safety-critical object? If so, how will you move?", "category": "Safety-critical Prediction", "options": ["A. There is a next safety-critical object, proceed at a constant speed to the right", "B. There is no next safety-critical object", "C. There is a next safety-critical object, change to the left lane", "D. There is a next safety-critical object, proceed slowly ahead"], "answer_index": 1}
{"token": "14b8a5ea097ddf985f7916241ca4e4ff", "waymo_split": "test", "type": "image", "frame_index": 54, "question": "Where is the area that hides danger by being obscured in the current frame?", "category": "Uncertainty", "options": ["A. Area hidden behind the parked vehicle on the right shoulder", "B. Area hidden in front of the large bus on the right", "C. Area hidden behind the parked vehicle on the left shoulder", "D. Area in the right bend of the intersection ahead"], "answer_index": 0}
{"token": "14b8a5ea097ddf985f7916241ca4e4ff", "waymo_split": "test", "type": "image", "frame_index": 81, "question": "Based on the current appearance of the person/vehicle (two-wheeled), how do they intend to move?", "category": "Normal Perception & Prediction", "options": ["A. Entering a left turn", "B. Preparing for a U-turn", "C. Going straight", "D. Driving to the right"], "answer_index": 2}
{"token": "14b8a5ea097ddf985f7916241ca4e4ff", "waymo_split": "test", "type": "image", "frame_index": 54, "question": "What are the new potential hazards that may be exposed in the following section?", "category": "Safety-critical Prediction", "options": ["A. Passengers getting off who may jump into the lane from behind the bus at the left bus stop.", "B. A motorcycle that may suddenly turn in after only checking the signal from the blind spot of the right turn lane at the upcoming intersection.", "C. A passenger car that may recklessly make a U-turn and cut in near the center line of the opposite lane.", "D. A person or object that may suddenly emerge from an area hidden behind a parked vehicle on the right shoulder."], "answer_index": 3}
{"token": "14b8a5ea097ddf985f7916241ca4e4ff", "waymo_split": "test", "type": "image", "frame_index": 81, "question": "Which is correct as an Image Caption from the perspective of Safety-critical Frame?", "category": "Safety-critical scene caption", "options": ["A. A person walking behind a parked vehicle on the right shoulder (opposite direction of the vehicle) (located on the roadway)", "B. A person walking towards a parked vehicle on the left shoulder (same direction as the vehicle) (located on the roadway)", "C. A person crossing towards the opposite lane from the front of a parked vehicle on the right shoulder (opposite direction of the vehicle) (located on the roadway)", "D. A person walking towards a parked vehicle on the right shoulder (same direction as the vehicle) (located on the roadway)"], "answer_index": 3}
{"token": "14b8a5ea097ddf985f7916241ca4e4ff", "waymo_split": "test", "type": "image", "frame_index": 81, "question": "Which of the following is a correct description of traffic density?", "category": "Normal scene Understanding", "options": ["A. Fast, with almost no surrounding vehicles", "B. Fast, with several surrounding vehicles", "C. Slow, with many surrounding vehicles", "D. Slow, with surrounding vehicles rarely seen"], "answer_index": 0}
{"token": "14b8a5ea097ddf985f7916241ca4e4ff", "waymo_split": "test", "type": "image", "frame_index": 81, "question": "What are the classifications of scenes?", "category": "Normal scene Understanding", "options": ["A. Mountain unpaved road", "B. Residential area side road", "C. Urban downtown road", "D. Highway section"], "answer_index": 2}
{"token": "14b8a5ea097ddf985f7916241ca4e4ff", "waymo_split": "test", "type": "image", "frame_index": 81, "question": "What is the plan for yielding when an ambulance/fire truck approaches?", "category": "Special Event", "options": ["A. Continue straight and pull over to the left edge to stop", "B. Go a little further and enter the intersection to stop", "C. Immediately slow down, stop in the middle of the lane, and turn on the hazard lights", "D. Continue straight and pull over to the right empty space to stop"], "answer_index": 3}
{"token": "14b8a5ea097ddf985f7916241ca4e4ff", "waymo_split": "test", "type": "image", "frame_index": 81, "question": "What are the behavioral restrictions in school zones/congested areas?", "category": "Special Event", "options": ["A. You should quickly change lanes to get out (especially to reduce delays)", "B. You should frequently honk to secure passage (especially during school dismissal times)", "C. You should pass with hazard lights on to avoid disrupting the flow (especially when there is congestion)", "D. You should drive slowly (especially since it's rainy)"], "answer_index": 3}
{"token": "14b8a5ea097ddf985f7916241ca4e4ff", "waymo_split": "test", "type": "image", "frame_index": 81, "question": "Which of the following descriptions about the environment is correct?", "category": "Normal scene Understanding", "options": ["A. Day, clear (sunny)", "B. Night, clear (bright moon)", "C. Morning, fog (light)", "D. Day, cloudy (raining)"], "answer_index": 3}
{"token": "14b8a5ea097ddf985f7916241ca4e4ff", "waymo_split": "test", "type": "image", "frame_index": 81, "question": "What is the description of a non-safety-critical object?", "category": "Normal Perception & Prediction", "options": ["A. A bicycle lane and a roadside café table on the right, several warehouse buildings on both sides, and a flower bed on the left sidewalk without any utility poles.", "B. A low divider in the center of the road with streetlights on both sides, houses and low fences on either side, and small street trees on the left sidewalk.", "C. Vehicles parked on the left sidewalk and shoulder, with buildings (shops) on both sides. Utility poles and wires connecting them on the left and right. A large tree on the right sidewalk.", "D. A bus stop on the right with people waiting, a park fence and benches on the left, only streetlights above with no wires."], "answer_index": 2}
{"token": "14b8a5ea097ddf985f7916241ca4e4ff", "waymo_split": "test", "type": "image", "frame_index": 81, "question": "Which of the following is a correct description of traffic signals?", "category": "Traffic Signal", "options": ["A. Stop", "B. Left turn signal", "C. None", "D. Stop line"], "answer_index": 2}
{"token": "14b8a5ea097ddf985f7916241ca4e4ff", "waymo_split": "test", "type": "image", "frame_index": 81, "question": "What is the answer regarding parked vehicles on the shoulder, the presence of a center line, and whether Ego crosses the center line?", "category": "Normal Perception & Prediction", "options": ["A. A few parked vehicles on the shoulder. No center line. Does not cross the center line.", "B. Many parked vehicles on the shoulder. Center line present. Does not cross the center line.", "C. No parked vehicles on the shoulder. Center line present. Crosses the center line.", "D. A few parked vehicles on the shoulder. Center line present. Crosses the center line."], "answer_index": 1}
{"token": "14b8a5ea097ddf985f7916241ca4e4ff", "waymo_split": "test", "type": "image", "frame_index": 81, "question": "What is a safety-critical object?", "category": "Safety-critical Perception", "options": ["A. A person walking towards the vehicle on the right shoulder in front of a parked vehicle (located on the roadway)", "B. A person walking away from the vehicle on the right shoulder next to a parked vehicle (located on the sidewalk)", "C. A person walking away from the vehicle on the right shoulder in front of a parked vehicle (located on the sidewalk)", "D. A person walking away from the vehicle on the left shoulder behind a parked vehicle (located on the sidewalk)"], "answer_index": 0}
{"token": "14b8a5ea097ddf985f7916241ca4e4ff", "waymo_split": "test", "type": "image", "frame_index": 81, "question": "Is there a safety-critical object other than the first safety-critical object? If so, how will you move?", "category": "Safety-critical Prediction", "options": ["A. There is a next safety-critical object, move slightly to the left", "B. There is a next safety-critical object, move carefully forward", "C. There is no next safety-critical object", "D. There is a next safety-critical object, move slowly to the right"], "answer_index": 2}
{"token": "14b8a5ea097ddf985f7916241ca4e4ff", "waymo_split": "test", "type": "image", "frame_index": 81, "question": "How should I drive to address the first risk while also resolving the second risk?", "category": "Safety-critical Planning", "options": ["A. Change lanes to the right to avoid the safety-critical object", "B. There are no safety-critical objects ahead", "C. Avoid the safety-critical object on the left", "D. Slow down for the safety-critical object ahead"], "answer_index": 1}
{"token": "14b8a5ea097ddf985f7916241ca4e4ff", "waymo_split": "test", "type": "image", "frame_index": 81, "question": "How do you think a safety-critical object would move?", "category": "Safety-critical Prediction", "options": ["A. Coming from the opposite lane, running on the shoulder", "B. Walking on the shoulder in the direction of my car", "C. Rolling in the direction of my car, inside the lane", "D. Walking on the sidewalk in the opposite direction of my car"], "answer_index": 1}
{"token": "14b8a5ea097ddf985f7916241ca4e4ff", "waymo_split": "test", "type": "image", "frame_index": 81, "question": "What is the correlation in safety-critical situations?", "category": "Safety-critical scene Understanding", "options": ["A. Car-Person", "B. Car-Two-wheeler", "C. Car-Car", "D. Two-wheeler-Person"], "answer_index": 0}
{"token": "14b8a5ea097ddf985f7916241ca4e4ff", "waymo_split": "test", "type": "image", "frame_index": 81, "question": "What should I do to drive safely?", "category": "Safety-critical Planning", "options": ["A. It is safe to stay closer to the center line and pass slowly while making eye contact with pedestrians.", "B. It is safe to honk the horn and make an emergency stop to observe the situation from this point.", "C. It is safe to turn on the hazard lights, reverse to create distance, and then move slowly since there are no cars behind.", "D. It is safe to drive quickly to get out of the danger zone before this person approaches since I am already going fast."], "answer_index": 3}
{"token": "14b8a5ea097ddf985f7916241ca4e4ff", "waymo_split": "test", "type": "image", "frame_index": 81, "question": "Who is responsible in a safety-critical situation? What is the cause?", "category": "Safety-critical scene Understanding", "options": ["A. The cause is a bus that couldn't brake from behind while my vehicle stopped at the stop line.", "B. The cause is a person walking onto the road while my vehicle was driving at a high speed.", "C. The cause is a vehicle that made a sudden U-turn from the opposite lane while my vehicle was moving slowly.", "D. The cause is a person crossing the street in accordance with the pedestrian signal while my vehicle was making a right turn."], "answer_index": 1}
{"token": "14b8a5ea097ddf985f7916241ca4e4ff", "waymo_split": "test", "type": "image", "frame_index": 81, "question": "What is the safest choice when approaching a yellow signal: stop or proceed?", "category": "Special Event", "options": ["A. Proceed if the car behind is close", "B. Maintain speed and proceed", "C. No signal. Unable to judge", "D. Proceed if there are no pedestrians"], "answer_index": 2}
{"token": "14b8a5ea097ddf985f7916241ca4e4ff", "waymo_split": "test", "type": "image", "frame_index": 81, "question": "Where is the area that hides danger by being obscured in the current frame?", "category": "Uncertainty", "options": ["A. Area obscured behind the parked vehicle on the left shoulder", "B. Area obscured behind the parked vehicle on the right shoulder", "C. Area obscured by the side of the large truck in front", "D. Area obscured behind the central divider at the intersection ahead"], "answer_index": 1}
{"token": "14b8a5ea097ddf985f7916241ca4e4ff", "waymo_split": "test", "type": "image", "frame_index": 81, "question": "What are the new exposure risk candidates in the following section?", "category": "Safety-critical Prediction", "options": ["A. Passengers who may jump into the road from the area hidden behind the left bus stop.", "B. Bicycles that may come over from a narrow space near the central divider of the opposite lane.", "C. People or objects that may suddenly emerge from the area hidden behind parked vehicles on the right shoulder.", "D. Cars that may suddenly emerge from a narrow gap between the waiting lines at the intersection ahead."], "answer_index": 2}
{"token": "14b8a5ea097ddf985f7916241ca4e4ff", "waymo_split": "test", "type": "image", "frame_index": 126, "question": "Which of the following is correct as an Image Caption from the perspective of a Normal Frame?", "category": "Normal scene caption", "options": ["A. A vehicle driving in the middle lane on a six-lane road. There are many buildings and sidewalks on both sides, as well as parked cars on the shoulder. In front, there is one vehicle in the opposite lane, and several vehicles behind. A bicycle is seen on the right shoulder, covered with a plastic bag (located on the roadway).", "B. A vehicle driving in the leftmost lane on a four-lane road. There are few shops and street trees on both sides, and almost no parked cars on the shoulder. In front, there are several vehicles going in the same direction, and the opposite lane is relatively sparse. On the right shoulder, a pedestrian with an umbrella has come down onto the roadway and is moving.", "C. A vehicle driving in the middle lane on a one-way three-lane road. On both sides are residential areas and narrow alleys, with no visible parked cars on the street. At the intersection ahead, vehicles are waiting for the pedestrian signal, and there are no vehicles behind. A motorcycle quickly overtakes between the right lanes.", "D. A vehicle moving slowly in the rightmost lane on a wide eight-lane road. On both sides of the road, construction fences and large equipment obscure the sidewalk. Ahead, there is a city bus stopped in the same lane, and vehicles behind are sparse. On the right, a scooter user is riding on the sidewalk."], "answer_index": 0}
{"token": "14b8a5ea097ddf985f7916241ca4e4ff", "waymo_split": "test", "type": "image", "frame_index": 81, "question": "What situation might occur if the self-driving car behaved like this?", "category": "Counterfactual", "options": ["A. If the self-driving car changes lanes, there is a risk of colliding with a pedestrian ahead.", "B. If the self-driving car accelerates, there is a risk of colliding with the vehicle on the left.", "C. If the self-driving car suddenly brakes, there is a risk of colliding with a motorcycle behind.", "D. If the self-driving car slows down, there is a risk of colliding with a person on the right."], "answer_index": 3}
{"token": "14b8a5ea097ddf985f7916241ca4e4ff", "waymo_split": "test", "type": "image", "frame_index": 81, "question": "What is the method to avoid the blind spot next to a large vehicle?", "category": "Special Event", "options": ["A. No large vehicle. Unable to judge", "B. Driving in the blind spot", "C. Slowly driving alongside", "D. Staying close to the right side of the large vehicle"], "answer_index": 0}
{"token": "14b8a5ea097ddf985f7916241ca4e4ff", "waymo_split": "test", "type": "image", "frame_index": 81, "question": "What is the guideline for my vehicle's behavior in response to the actions of a safety-critical object?", "category": "Safety-critical Planning", "options": ["A. If a person runs towards my car from the center line, I should accelerate and pass quickly (there is enough distance from the car in front, so it's safe).", "B. If a pedestrian suddenly appears from the right, I should slowly change to the right lane to avoid them (there is a car in the right lane, but there is enough space to do so).", "C. If a person quickly runs into my lane, I should only honk the horn and maintain my speed (even if the left lane is empty, a sudden lane change is dangerous).", "D. If a person quickly runs into my lane, I should quickly change to the left lane to avoid them (this is possible since there is no car in the left lane)."], "answer_index": 3}
{"token": "14b8a5ea097ddf985f7916241ca4e4ff", "waymo_split": "test", "type": "image", "frame_index": 126, "question": "Based on the current appearance of the person/vehicle (two-wheeled), how do they intend to move?", "category": "Normal Perception & Prediction", "options": ["A. Right turn", "B. Left turn", "C. Waiting to stop", "D. Going straight"], "answer_index": 3}
{"token": "14b8a5ea097ddf985f7916241ca4e4ff", "waymo_split": "test", "type": "image", "frame_index": 126, "question": "What are the classifications of scenes?", "category": "Normal scene Understanding", "options": ["A. Main highway", "B. Urban road", "C. Residential side road", "D. Unpaved country road"], "answer_index": 1}
{"token": "14b8a5ea097ddf985f7916241ca4e4ff", "waymo_split": "test", "type": "image", "frame_index": 126, "question": "What are the behavioral restrictions in school zones/congested areas?", "category": "Special Event", "options": ["A. You must drive with your high beams on (for pedestrian identification)", "B. You must drive slowly (especially since it's rainy)", "C. You should honk your horn frequently (to alert others due to congestion)", "D. You should minimize the distance between cars (to reduce traffic congestion)"], "answer_index": 1}
{"token": "14b8a5ea097ddf985f7916241ca4e4ff", "waymo_split": "test", "type": "image", "frame_index": 126, "question": "Which of the following is a correct description of traffic density?", "category": "Normal scene Understanding", "options": ["A. Fast, there are hardly any surrounding vehicles", "B. Fast, there are quite a few surrounding vehicles", "C. Slow, surrounding vehicles are occasionally visible", "D. Slow, there are many surrounding vehicles"], "answer_index": 0}
{"token": "14b8a5ea097ddf985f7916241ca4e4ff", "waymo_split": "test", "type": "image", "frame_index": 126, "question": "Which is correct as an Image Caption from the perspective of Safety-critical Frame?", "category": "Safety-critical scene caption", "options": ["A. A bicycle is seen riding on the right shoulder covered with a plastic bag (located on the roadway).", "B. A motorcycle covered with a plastic bag is seen stopped on the right shoulder (located on the shoulder).", "C. A pedestrian wearing a raincoat made of plastic is seen on the left sidewalk (located on the sidewalk).", "D. A plastic bag obstacle is seen fallen in the center of the front lane (located in the center of the roadway)."], "answer_index": 0}
{"token": "14b8a5ea097ddf985f7916241ca4e4ff", "waymo_split": "test", "type": "image", "frame_index": 126, "question": "What is the plan for yielding when an ambulance/fire truck approaches?", "category": "Special Event", "options": ["A. Turn on emergency lights and increase speed to exit the intersection first and clear the way", "B. Continue straight until a free space appears on the right, then pull over or slow down to yield", "C. Continue straight until a free space appears on the left, then pull over or slow down towards the center line to yield", "D. Stop immediately in place when it approaches, halting in the center of the lane to create a passage"], "answer_index": 1}
{"token": "14b8a5ea097ddf985f7916241ca4e4ff", "waymo_split": "test", "type": "image", "frame_index": 126, "question": "What is the description of a non-safety-critical object?", "category": "Normal Perception & Prediction", "options": ["A. Several motorcycles are parked on the right shoulder, with parking lot entrances on both sides. There is a pedestrian overpass and a sign crossing the road. A bicycle is slowly riding in the left lane.", "B. On the left sidewalk, there are parked cars on the shoulder and buildings (shops) on both sides. Utility poles and connecting wires are on the left and right. A vehicle is driving in the opposite lane on the left.", "C. On the left, there is a flower bed and a bicycle rack, and across the street are low houses. There are traffic lights and a CCTV camera above. The opposite lane is empty with no vehicles.", "D. On the right sidewalk, there is a bus stop and several street vendors along the roadside. There are streetlights and hanging banners on both sides. A taxi is slowly driving in the same direction on the right lane."], "answer_index": 1}
{"token": "14b8a5ea097ddf985f7916241ca4e4ff", "waymo_split": "test", "type": "image", "frame_index": 126, "question": "Which of the following descriptions about the environment is correct?", "category": "Normal scene Understanding", "options": ["A. Daytime, cloudy (raining)", "B. Indoors, incandescent light (warm tone)", "C. Dusk, clear (intense sunset)", "D. Night, clear (stars visible)"], "answer_index": 0}
{"token": "14b8a5ea097ddf985f7916241ca4e4ff", "waymo_split": "test", "type": "image", "frame_index": 126, "question": "Which of the following is a correct description of traffic signals?", "category": "Traffic Signal", "options": ["A. Traffic light", "B. Sign", "C. Stop line", "D. None"], "answer_index": 3}
{"token": "14b8a5ea097ddf985f7916241ca4e4ff", "waymo_split": "test", "type": "image", "frame_index": 126, "question": "How do you think a safety-critical object will move?", "category": "Safety-critical Prediction", "options": ["A. Proceeding with a right turn (outside the intersection)", "B. Driving straight (in the opposite direction of the vehicle)", "C. Moving backward (toward the shoulder)", "D. Changing to the left lane (in the same direction as the vehicle)"], "answer_index": 1}
{"token": "14b8a5ea097ddf985f7916241ca4e4ff", "waymo_split": "test", "type": "image", "frame_index": 126, "question": "What is the answer regarding parked vehicles on the shoulder, the presence of a center line, and whether Ego crosses the center line?", "category": "Normal Perception & Prediction", "options": ["A. There are many parked vehicles on the shoulder. There is a center line. No crossing of the center line.", "B. There are many parked vehicles on the shoulder. There is no center line. Crossing the center line.", "C. There are no parked vehicles on the shoulder. There is no center line. No crossing of the center line.", "D. There are few parked vehicles on the shoulder. There is a center line. Crossing the center line."], "answer_index": 0}
{"token": "14b8a5ea097ddf985f7916241ca4e4ff", "waymo_split": "test", "type": "image", "frame_index": 126, "question": "Is there a blind spot?", "category": "Uncertainty", "options": ["A. In the middle of the stop area in front of the bus stop on the right side of the blind spot", "B. Between the parked cars on the left shoulder behind the blind spot", "C. Between the parked cars on the right shoulder behind the blind spot", "D. In front of and outside the parked cars on the right shoulder of the blind spot"], "answer_index": 2}
{"token": "14b8a5ea097ddf985f7916241ca4e4ff", "waymo_split": "test", "type": "image", "frame_index": 126, "question": "What is a safety-critical object?", "category": "Safety-critical Perception", "options": ["A. A bicycle riding on the right shoulder while covered with plastic (located on the roadway)", "B. A motorcycle riding against traffic with a load covered in plastic in the front lane (near the center line)", "C. A pedestrian standing on the left shoulder while covered with plastic (located on the sidewalk)", "D. An electric scooter covered with plastic is parked on the right sidewalk (located on the sidewalk)"], "answer_index": 0}
{"token": "14b8a5ea097ddf985f7916241ca4e4ff", "waymo_split": "test", "type": "image", "frame_index": 126, "question": "What should I do to drive safely?", "category": "Safety-critical Planning", "options": ["A. When approaching this bicycle, use the horn or high beams to guide the bicycle to the right and continue straight.", "B. When approaching this bicycle, accelerate to pass quickly so that the plastic does not stick to the vehicle body.", "C. When approaching this bicycle, maintain a distance to prevent the plastic from getting caught in the wheels and either continue straight or change to the left lane.", "D. When approaching this bicycle, stay as close to the right edge as possible and slowly overtake in the same lane."], "answer_index": 2}
{"token": "14b8a5ea097ddf985f7916241ca4e4ff", "waymo_split": "test", "type": "image", "frame_index": 126, "question": "Are there any other safety-critical objects besides the first one? If so, how will you move past them?", "category": "Safety-critical Prediction", "options": ["A. Next safety-critical object is a fire hydrant, detour to the left", "B. Next safety-critical object is a fallen power line, avoid the center line", "C. Next safety-critical object is an ambulance, avoid the right lane", "D. No other safety-critical objects"], "answer_index": 3}
{"token": "14b8a5ea097ddf985f7916241ca4e4ff", "waymo_split": "test", "type": "image", "frame_index": 126, "question": "How should I drive to address the first hazard while also resolving the second hazard?", "category": "Safety-critical Planning", "options": ["A. Decelerate in anticipation of the next safety-critical object", "B. Prioritize evasive steering for the second hazard", "C. Stop immediately after addressing the first hazard", "D. There are no more safety-critical objects ahead"], "answer_index": 3}
{"token": "14b8a5ea097ddf985f7916241ca4e4ff", "waymo_split": "test", "type": "image", "frame_index": 126, "question": "What is the correlation in safety-critical situations?", "category": "Safety-critical scene Understanding", "options": ["A. Car - Pedestrian", "B. Taxi - Motorcycle", "C. Truck - Kickboard", "D. Car - Bicycle"], "answer_index": 3}
{"token": "14b8a5ea097ddf985f7916241ca4e4ff", "waymo_split": "test", "type": "image", "frame_index": 126, "question": "Is lane changing possible? Which is safer between slowing down and changing lanes?", "category": "Safety-critical Planning", "options": ["A. Lane changing not possible, only slowing down is possible", "B. Lane changing to the left is possible, slowing down is also possible", "C. Maintaining lane is recommended, slowing down is not recommended", "D. Lane changing to the right is possible, changing lanes is safer"], "answer_index": 1}
{"token": "14b8a5ea097ddf985f7916241ca4e4ff", "waymo_split": "test", "type": "image", "frame_index": 126, "question": "What is the safest choice when approaching a yellow signal: stop vs proceed?", "category": "Special Event", "options": ["A. No signal. Unable to judge", "B. Partially entered the stop line", "C. Proceed with a left turn priority", "D. Slow down and proceed through the yellow light"], "answer_index": 0}
{"token": "14b8a5ea097ddf985f7916241ca4e4ff", "waymo_split": "test", "type": "image", "frame_index": 126, "question": "What are the new potential hazards that may be exposed in the following area?", "category": "Safety-critical Prediction", "options": ["A. A person or object that may emerge from behind a parked vehicle on the right shoulder", "B. A pet that could jump onto the road from the gap in the central divider ahead", "C. A passenger who may walk out from behind the shelter at the left bus stop", "D. An electric scooter that could emerge in the opposite direction from the entrance of the right alley"], "answer_index": 0}
{"token": "14b8a5ea097ddf985f7916241ca4e4ff", "waymo_split": "test", "type": "image", "frame_index": 126, "question": "Who is responsible in a safety-critical situation? What is the cause?", "category": "Safety-critical scene Understanding", "options": ["A. The driver of the vehicle in front is responsible because the vehicle ran over a plastic bag and it bounced back, creating a hazard.", "B. The cyclist is responsible because they were covered by a large plastic bag, posing a threat to other vehicles on the road (including their own).", "C. The road management authority is responsible for leaving the plastic bag on the road, which created a hazard.", "D. There is no liability due to force majeure, as the large plastic bag was blown by strong winds and obstructed the driver's view."], "answer_index": 1}
{"token": "14b8a5ea097ddf985f7916241ca4e4ff", "waymo_split": "test", "type": "image", "frame_index": 126, "question": "What is the method to avoid the blind spot next to a large vehicle?", "category": "Special Event", "options": ["A. Driving in the center of the lane next to the bus", "B. No large vehicle. Unable to judge", "C. Accelerating past the large vehicle on the right", "D. Driving closely behind the truck"], "answer_index": 1}
{"token": "14b8a5ea097ddf985f7916241ca4e4ff", "waymo_split": "test", "type": "image", "frame_index": 149, "question": "Which of the following is correct from the perspective of Safety-critical Frame regarding Image Caption?", "category": "Safety-critical scene caption", "options": ["A. There is a motorcycle driving on the left shoulder with a plastic bag flipped over it.", "B. An electric scooter covered with plastic is moving slowly in the center of the front lane.", "C. There is a bicycle driving on the right shoulder with a plastic bag flipped over it.", "D. A pedestrian wearing a raincoat is waiting next to a parked bicycle on the right sidewalk."], "answer_index": 2}
{"token": "14b8a5ea097ddf985f7916241ca4e4ff", "waymo_split": "test", "type": "image", "frame_index": 149, "question": "Based on the current appearance of the person/vehicle (two-wheeled), how do they intend to move?", "category": "Normal Perception & Prediction", "options": ["A. Attempting a U-turn", "B. Entering a left turn", "C. Preparing for a right turn", "D. Going straight"], "answer_index": 3}
{"token": "14b8a5ea097ddf985f7916241ca4e4ff", "waymo_split": "test", "type": "image", "frame_index": 149, "question": "What are the behavioral restrictions in school zones/congested areas?", "category": "Special Event", "options": ["A. Drive slowly (especially since it's rainy)", "B. Actively alert others with honks and high beams (because there are many pedestrians)", "C. Change lanes and overtake according to the flow (to reduce delays)", "D. Accelerate quickly when the signal is green to get out fast (to prevent congestion)"], "answer_index": 0}
{"token": "14b8a5ea097ddf985f7916241ca4e4ff", "waymo_split": "test", "type": "image", "frame_index": 149, "question": "What is the plan for yielding when an ambulance/fire truck approaches?", "category": "Special Event", "options": ["A. Change to the left lane and move close to the edge of the central divider to yield", "B. Increase speed to pass through the section first and guide those behind to follow", "C. Enter the nearest intersection and stop briefly in the center to secure a passage", "D. Continue straight until a free space appears on the right, then stop on the shoulder or slow down to yield"], "answer_index": 3}
{"token": "14b8a5ea097ddf985f7916241ca4e4ff", "waymo_split": "test", "type": "image", "frame_index": 149, "question": "Which of the following is a correct description of traffic density?", "category": "Normal scene Understanding", "options": ["A. Fast, with almost no surrounding vehicles", "B. Slow, with surrounding vehicles passing in succession", "C. Slow, with quite a few surrounding vehicles", "D. Fast, with surrounding vehicles being dense"], "answer_index": 0}
{"token": "14b8a5ea097ddf985f7916241ca4e4ff", "waymo_split": "test", "type": "image", "frame_index": 149, "question": "What are the classifications of scenes?", "category": "Normal scene Understanding", "options": ["A. Main highway", "B. Residential side road", "C. Urban city road", "D. Unpaved farm road"], "answer_index": 2}
{"token": "14b8a5ea097ddf985f7916241ca4e4ff", "waymo_split": "test", "type": "image", "frame_index": 149, "question": "Which of the following is correct as an Image Caption from the perspective of a Normal Frame?", "category": "Normal scene caption", "options": ["A. A vehicle driving in the middle lane on a six-lane road. There are many buildings and sidewalks on both sides, as well as parked cars on the shoulder. In front, one vehicle is seen in the opposite lane, and several vehicles are visible in the rear. A bicycle covered with a plastic bag is seen on the right shoulder (located on the roadway) - close to the vehicle.", "B. A vehicle driving straight along the central lane of a six-lane road. There are open spaces and construction fences on both sides, and pedestrians are rare. In front, several vehicles are waiting at a traffic signal in the same direction lane, and the rear appears empty. There is only a construction sign on the right shoulder, and no bicycles.", "C. A vehicle driving in the outer left lane of a four-lane road. There are shops and street trees on both sides, and very few parked cars on the shoulder. In front, one passenger car is moving slowly in the same lane, and the rear is quiet. An electric scooter is moving close to the sidewalk on the left shoulder (located on the sidewalk) - far from the vehicle.", "D. A vehicle driving in the outer right lane of an eight-lane road. There are shopping malls and a large parking lot on both sides of the road, and parked cars on the shoulder are rare. In front, a bus is changing lanes in the same lane, and a motorcycle is approaching from the rear. A pedestrian wearing a raincoat is moving slowly at the edge of the left roadway - far from the vehicle."], "answer_index": 0}
{"token": "14b8a5ea097ddf985f7916241ca4e4ff", "waymo_split": "test", "type": "image", "frame_index": 149, "question": "Which of the following is a correct description of traffic signals?", "category": "Traffic Signal", "options": ["A. Stop sign", "B. Left turn arrow", "C. None", "D. Traffic light green"], "answer_index": 2}
{"token": "14b8a5ea097ddf985f7916241ca4e4ff", "waymo_split": "test", "type": "image", "frame_index": 149, "question": "Which of the following is a correct description of the environment?", "category": "Normal scene Understanding", "options": ["A. Afternoon, clear (sunshine)", "B. Evening, clear (sunset)", "C. Daytime, cloudy (rain)", "D. Morning, cloudy (fog)"], "answer_index": 2}
{"token": "14b8a5ea097ddf985f7916241ca4e4ff", "waymo_split": "test", "type": "image", "frame_index": 149, "question": "What is the answer regarding parked vehicles on the shoulder, the presence of a center line, and whether Ego crosses the center line?", "category": "Normal Perception & Prediction", "options": ["A. Many parked vehicles on the shoulder. Center line exists. No center line crossing.", "B. Few parked vehicles on the shoulder. Center line exists. No center line crossing.", "C. Many parked vehicles on the shoulder. Center line exists. Center line crossing.", "D. Many parked vehicles on the shoulder. No center line. No center line crossing."], "answer_index": 0}
{"token": "14b8a5ea097ddf985f7916241ca4e4ff", "waymo_split": "test", "type": "image", "frame_index": 149, "question": "How do you think a safety-critical object will move?", "category": "Safety-critical Prediction", "options": ["A. Making a right turn (approaching the corner while sticking to the right lane)", "B. Entering a left turn (turning left at the intersection)", "C. Reversing (slowly moving backward towards the parking area)", "D. Driving straight (moving forward just like your own vehicle)"], "answer_index": 3}
{"token": "14b8a5ea097ddf985f7916241ca4e4ff", "waymo_split": "test", "type": "image", "frame_index": 149, "question": "What is a safety-critical object?", "category": "Safety-critical Perception", "options": ["A. A pedestrian moving with a plastic bag over their head next to a central divider", "B. A bicycle stopped on the left shoulder with a plastic bag over it", "C. A bicycle riding on the right shoulder with a plastic bag over it", "D. A motorcycle riding in the right lane with a plastic bag over it"], "answer_index": 2}
{"token": "14b8a5ea097ddf985f7916241ca4e4ff", "waymo_split": "test", "type": "image", "frame_index": 149, "question": "Are there any blind spots?", "category": "Uncertainty", "options": ["A. Behind and between the parked vehicles on the right shoulder of the blind spot", "B. Next to the central divider on the left side of the blind spot and in the shaded area", "C. In front of the bus stop at the drop-off and pick-up area on the right side of the blind spot", "D. In front of the parked vehicles on the right shoulder of the blind spot and towards the lane"], "answer_index": 0}
{"token": "14b8a5ea097ddf985f7916241ca4e4ff", "waymo_split": "test", "type": "image", "frame_index": 149, "question": "Is there any other safety-critical object besides the first safety-critical object? If so, how will it be moved?", "category": "Safety-critical Prediction", "options": ["A. If there is another safety-critical object, push it down the left aisle.", "B. If there is another safety-critical object, two people will carry it forward.", "C. There is no other safety-critical object.", "D. If there is another safety-critical object, load it onto a cart and move it backward."], "answer_index": 2}
{"token": "14b8a5ea097ddf985f7916241ca4e4ff", "waymo_split": "test", "type": "image", "frame_index": 149, "question": "How should I drive to address the first risk while also resolving the second risk?", "category": "Safety-critical Planning", "options": ["A. Prioritize avoiding the next risk factor", "B. Change to the left lane immediately", "C. Accelerate to enter the intersection early", "D. There are no next safety-critical objects"], "answer_index": 3}
{"token": "14b8a5ea097ddf985f7916241ca4e4ff", "waymo_split": "test", "type": "image", "frame_index": 149, "question": "What is the correlation in safety-critical situations?", "category": "Safety-critical scene Understanding", "options": ["A. Car - Kickboard", "B. Bus - Motorcycle", "C. Car - Bicycle", "D. Car - Pedestrian"], "answer_index": 2}
{"token": "14b8a5ea097ddf985f7916241ca4e4ff", "waymo_split": "test", "type": "image", "frame_index": 149, "question": "Is lane changing possible? Which is safer between deceleration and lane changing?", "category": "Safety-critical Planning", "options": ["A. Maintaining lane is recommended, acceleration is safer", "B. Lane changing is only possible to the right, deceleration is not recommended", "C. Lane changing is not possible, only deceleration is allowed", "D. Lane changing is possible to the left, deceleration is also possible"], "answer_index": 3}
{"token": "14b8a5ea097ddf985f7916241ca4e4ff", "waymo_split": "test", "type": "image", "frame_index": 149, "question": "What is the method to avoid blind spots when passing large vehicles?", "category": "Special Event", "options": ["A. No large vehicle. Unable to judge", "B. Match speed and pass alongside", "C. Maintain blind spot", "D. Pass closely to the large vehicle"], "answer_index": 0}
{"token": "14b8a5ea097ddf985f7916241ca4e4ff", "waymo_split": "test", "type": "image", "frame_index": 149, "question": "Where is the area that is hidden and conceals danger in the current frame?", "category": "Uncertainty", "options": ["A. The area hidden behind the left corner of the building at the intersection", "B. The area hidden behind the crowd at the left bus stop", "C. The area hidden under the front bumper of the large truck ahead", "D. The area hidden behind the parked vehicle on the right shoulder"], "answer_index": 3}
{"token": "14b8a5ea097ddf985f7916241ca4e4ff", "waymo_split": "test", "type": "image", "frame_index": 149, "question": "What is the safest choice just before entering a yellow signal: stop vs pass?", "category": "Special Event", "options": ["A. If there are no pedestrians, passing is recommended", "B. Stop immediately. Always safe", "C. Maintain speed and pass", "D. No signal. Unable to judge"], "answer_index": 3}
{"token": "14b8a5ea097ddf985f7916241ca4e4ff", "waymo_split": "test", "type": "image", "frame_index": 149, "question": "Who is responsible in a safety-critical situation? What is the cause?", "category": "Safety-critical scene Understanding", "options": ["A. The driver of the following vehicle is responsible because the evasive maneuver was delayed due to a sudden lane change without ensuring visibility.", "B. No one is responsible because the plastic was unexpectedly blown in by a gust of wind, making it an act of God.", "C. The cyclist is responsible because the large plastic posed a threat to other vehicles (including their own) while driving.", "D. The truck in front is responsible because it spilled plastic onto the road due to not securing it properly."], "answer_index": 2}
{"token": "14b8a5ea097ddf985f7916241ca4e4ff", "waymo_split": "test", "type": "image", "frame_index": 149, "question": "What are the potential new hazards that may be exposed in the following section?", "category": "Safety-critical Prediction", "options": ["A. An animal that may cross from the gap in the left median strip to the roadway", "B. A person or object that may suddenly appear from behind a parked vehicle on the right shoulder", "C. A bus that may suddenly depart from the stop in front of the crosswalk", "D. A motorcycle that may approach by crossing the center line from the opposite lane"], "answer_index": 1}
{"token": "14b8a5ea097ddf985f7916241ca4e4ff", "waymo_split": "test", "type": "image", "frame_index": 149, "question": "What is the guideline for the behavior of my vehicle in response to the actions of a safety-critical object?", "category": "Safety-critical Planning", "options": ["A. If the safety-critical object changes lanes to the right, my vehicle should decelerate gently to avoid a collision with a motorcycle.", "B. If the safety-critical object changes lanes to the left, my vehicle should steer to the right to prevent contact with a pedestrian.", "C. If the safety-critical object changes lanes to the left, my vehicle should accelerate to pass through a collision risk point with a truck.", "D. If the safety-critical object changes lanes to the left, my vehicle should decelerate sharply to avoid a collision with a bicycle."], "answer_index": 3}
{"token": "153a0e38863dc477a774ae581c265b66", "waymo_split": "test", "type": "video", "frame_index": null, "question": "Where is the safety-critical situation in the video?", "category": "Temporal Grounding", "options": ["A. 1/4", "B. 4/4", "C. 3/4", "D. 2/4"], "answer_index": 3}
{"token": "153a0e38863dc477a774ae581c265b66", "waymo_split": "test", "type": "video", "frame_index": null, "question": "Is there a special situation?", "category": "Special Event", "options": ["A. Entering the intersection.", "B. Turning right at the five-way intersection.", "C. Entering the five-way intersection.", "D. Entering the rotary."], "answer_index": 2}
{"token": "153a0e38863dc477a774ae581c265b66", "waymo_split": "test", "type": "video", "frame_index": null, "question": "Which of the following is a correct description of traffic density?", "category": "Normal scene Understanding", "options": ["A. Slow, few surrounding vehicles. Light incline", "B. Fast, few surrounding vehicles. Slight downhill", "C. Slow, few surrounding vehicles. Gentle uphill", "D. Fast, many surrounding vehicles. No incline"], "answer_index": 3}
{"token": "153a0e38863dc477a774ae581c265b66", "waymo_split": "test", "type": "video", "frame_index": null, "question": "Which of the following is a correct description of road alignment?", "category": "Normal Perception & Prediction", "options": ["A. Right turn", "B. Overtaking", "C. Going straight", "D. Left turn"], "answer_index": 2}
{"token": "153a0e38863dc477a774ae581c265b66", "waymo_split": "test", "type": "video", "frame_index": null, "question": "What are the classifications of scenes?", "category": "Normal scene Understanding", "options": ["A. Main highway", "B. Urban main road", "C. Outer ring road", "D. Residential alley"], "answer_index": 1}
{"token": "153a0e38863dc477a774ae581c265b66", "waymo_split": "test", "type": "video", "frame_index": null, "question": "Which of the following is correct regarding Video Summary from a Safety-critical Scene perspective?", "category": "Safety-critical scene caption", "options": ["A. The oncoming straight vehicle at the intersection prevents the car from proceeding straight. Therefore, the car stops and waits for a full signal cycle before proceeding straight on the next signal.", "B. Taxis coming from the right alley at the four-way intersection are lined up, making it difficult for the car to turn left. Therefore, the car briefly crosses the center line to avoid the vehicles and completes the left turn.", "C. The long line of vehicles entering from the right to the left at the four-way intersection obstructs the car's straight entry into the next road. Therefore, the car changes one lane to the right at the intersection to avoid the line of vehicles and then continues straight.", "D. The long line of vehicles entering from the left to the right at the four-way intersection delays the car's right turn entry. Therefore, the car changes one lane to the left at the intersection to avoid the queue and then completes the right turn."], "answer_index": 2}
{"token": "153a0e38863dc477a774ae581c265b66", "waymo_split": "test", "type": "video", "frame_index": null, "question": "Which of the following is a correct description of the Spatial Relationship?", "category": "Spatial Relationship", "options": ["A. Vehicles are occasionally passing from the left to the right road at the intersection. (Minimal impact on the vehicle's path)", "B. A short queue of vehicles waiting to turn right is forming in the right lane ahead at the intersection. (Minimal obstruction to the vehicle's path)", "C. A construction vehicle is temporarily stopped in the center of the intersection, but a detour lane is available. (Passage is possible for the vehicle's path)", "D. A long line of vehicles is entering from the right to the left road at the intersection. (Obstruction to the vehicle's path)"], "answer_index": 3}
{"token": "153a0e38863dc477a774ae581c265b66", "waymo_split": "test", "type": "video", "frame_index": null, "question": "Which of the following descriptions about traffic signals is correct?", "category": "Traffic Signal", "options": ["A. A no right turn sign and a U-turn allowed sign on the left / clear road markings (left turn only arrow) / intersection traffic light", "B. A no parking sign and a speed limit 30 sign on the right / yellow zigzag road marking in front of the crosswalk (indicating to slow down) / T-intersection traffic light", "C. A no straight ahead sign and a roundabout warning sign in front / bus-only lane road marking (blue stripe) / three-way intersection traffic light", "D. A no left turn sign and a no U-turn sign on the right. Faintly written road marking (illegible text). Four-way intersection traffic light"], "answer_index": 3}
{"token": "153a0e38863dc477a774ae581c265b66", "waymo_split": "test", "type": "video", "frame_index": null, "question": "Which of the following descriptions about the environment is correct?", "category": "Normal scene Understanding", "options": ["A. Many clouds at sunset. Streetlights are on.", "B. Morning fog. Indoor lighting.", "C. Cloudy at night. There is lighting.", "D. Clear during the day. No lighting."], "answer_index": 3}
{"token": "153a0e38863dc477a774ae581c265b66", "waymo_split": "test", "type": "video", "frame_index": null, "question": "What is the description of a non-safety-critical object?", "category": "Normal Perception & Prediction", "options": ["A. A motorcycle moving slowly in front of the same lane and a vehicle trying to overtake in the left lane. There is a pedestrian traffic light at the intersection. A large left turn guiding arrow is drawn on the central road surface of the intersection, and a U-turn sign is visible on the left. After passing the intersection, there are signs for a children's protection area and no parking on the left, with commercial buildings lined up on the left.", "B. Vehicles driving in the opposite lane and vehicles following behind in the same lane. There is a traffic light at the intersection. An unknown writing sign is on the central road surface of the intersection, and there is a no left turn sign on the right. After passing the intersection, there are speed limit and no U-turn signs on the right side of the driving lane, and buildings appear again on the right.", "C. A construction vehicle slowly moving from the opposite side and few vehicles behind in the same lane. A surveillance traffic light with a camera is visible above the intersection. There are construction signs and cones in the center of the intersection, and a left turn only lane guide is displayed on the right. After passing the intersection, there is a speed limit lifted sign of 30 and a U-turn allowed sign on the right, and the right side changes to a park.", "D. A bus stopped on the opposite side and a bicycle crossing in front of the same lane. A yellow flashing signal is visible at the entrance of the roundabout. There is a small flower bed in the central divider of the intersection, and a one-way traffic sign is set up on the right. After exiting the roundabout, there are signs for a parking lot entrance and a right turn only lane on the right, and the sidewalk widens."], "answer_index": 1}
{"token": "153a0e38863dc477a774ae581c265b66", "waymo_split": "test", "type": "video", "frame_index": null, "question": "What is the answer regarding parked vehicles on the shoulder, the presence of a center line, and whether Ego crosses the center line?", "category": "Normal Perception & Prediction", "options": ["A. No parked vehicles on the shoulder. No center line. No crossing.", "B. No parked vehicles on the shoulder. Center line exists. Crossing.", "C. There are parked vehicles on the shoulder. Center line exists. No crossing.", "D. No parked vehicles on the shoulder. Center line exists. No crossing."], "answer_index": 3}
{"token": "153a0e38863dc477a774ae581c265b66", "waymo_split": "test", "type": "video", "frame_index": null, "question": "What is the correlation in safety-critical situations?", "category": "Safety-critical scene Understanding", "options": ["A. Car-Car", "B. Car-Person", "C. Car-Two-wheeler", "D. Person-Two-wheeler"], "answer_index": 0}
{"token": "153a0e38863dc477a774ae581c265b66", "waymo_split": "test", "type": "video", "frame_index": null, "question": "Is there a blind spot in your field of vision?", "category": "Uncertainty", "options": ["A. There is a blind spot in the field of vision", "B. There is a blind spot on the left", "C. There is a blind spot on the right", "D. There is no blind spot in the field of vision"], "answer_index": 3}
{"token": "153a0e38863dc477a774ae581c265b66", "waymo_split": "test", "type": "video", "frame_index": null, "question": "How did the safety-critical object move and how did the ego vehicle behave?", "category": "Safety-critical scene Understanding", "options": ["A. Moved a bit quickly from left to right. The ego vehicle changed lanes to the left lane to secure space.", "B. Almost stopped, hesitating in place. The ego vehicle maintained speed and continued straight.", "C. Reversed along the right edge. The ego vehicle briefly stopped and then started moving slowly.", "D. Slowly moving from right to left. The ego vehicle changed lanes to the right lane to avoid it and continue straight."], "answer_index": 3}
{"token": "153a0e38863dc477a774ae581c265b66", "waymo_split": "test", "type": "video", "frame_index": null, "question": "If the self-driving car acted like this, what situation might have occurred?", "category": "Counterfactual", "options": ["A. If the self-driving car had only turned on the warning lights, the other car would have yielded and the situation would have ended.", "B. If the self-driving car had made a sudden stop, the car behind would have safely come to a stop.", "C. If the self-driving car had ignored this and continued straight, a collision would have occurred.", "D. If the self-driving car had chosen to turn right, both would have passed safely."], "answer_index": 2}
{"token": "153a0e38863dc477a774ae581c265b66", "waymo_split": "test", "type": "video", "frame_index": null, "question": "Summary of Ego (self-vehicle) behavior before a safety-critical situation", "category": "Normal scene Understanding", "options": ["A. Entering an intersection while going straight", "B. Entering an intersection while turning right", "C. Entering an intersection while going straight", "D. Stopped in front of an intersection"], "answer_index": 2}
{"token": "153a0e38863dc477a774ae581c265b66", "waymo_split": "test", "type": "image", "frame_index": 14, "question": "Based on the current appearance of the person/vehicle (two-wheeled), how are they trying to move?", "category": "Normal Perception & Prediction", "options": ["A. Turning right", "B. Going straight", "C. Stopped", "D. Turning left"], "answer_index": 1}
{"token": "153a0e38863dc477a774ae581c265b66", "waymo_split": "test", "type": "video", "frame_index": null, "question": "Who is responsible for the safety-critical situation? What is the cause?", "category": "Safety-critical scene Understanding", "options": ["A. The bus that stopped on the right side is the cause. It has been blocking the lane for a long time even though it could have entered the bus stop, causing surrounding vehicles to change lanes recklessly and disrupting the flow, hindering the progress of my vehicle.", "B. The vehicle that is blocking is the cause. The signal has already indicated that they cannot proceed through the intersection, but due to tailgating, the line of vehicles has become long, obstructing the lane that my vehicle should have been in.", "C. The sudden stop of my vehicle is the cause. The vehicles behind already had insufficient braking distance, and unnecessary braking has spread the line of vehicles, disrupting the timing for entering the intersection and increasing the risk.", "D. The operation of the traffic signals at the intersection is the cause. Conflicting signals have already been given in both directions, causing confusion and leading to tailgating, which has created a situation where my vehicle's lane is blocked."], "answer_index": 1}
{"token": "153a0e38863dc477a774ae581c265b66", "waymo_split": "test", "type": "image", "frame_index": 14, "question": "Which of the following is correct as an Image Caption from the perspective of a Normal Frame?", "category": "Normal scene caption", "options": ["A. A vehicle traveling in the lane just to the right of the center line. An intersection and traffic light are visible ahead. There are vehicles both in front and behind, but they are far from the vehicle.", "B. A vehicle traveling in the far right lane of an urban side road. An intersection and a crosswalk are visible ahead. The distance to the vehicle in front is short, so it is preparing to brake.", "C. A vehicle driving on a two-lane road in the suburbs (in the far right lane). A roundabout appears ahead, and there are no traffic lights. Vehicles in front and behind are hardly visible.", "D. The vehicle is waiting to turn left in the lane just to the left of the center line. There is a traffic light at the intersection ahead, and the pedestrian signal is on. Surrounding vehicles are densely packed with narrow spacing."], "answer_index": 0}
{"token": "153a0e38863dc477a774ae581c265b66", "waymo_split": "test", "type": "image", "frame_index": 14, "question": "What is the classification of the scene?", "category": "Normal scene Understanding", "options": ["A. Residential alley", "B. Suburban highway", "C. Unpaved forest road", "D. Urban main road"], "answer_index": 3}
{"token": "153a0e38863dc477a774ae581c265b66", "waymo_split": "test", "type": "image", "frame_index": 14, "question": "Which of the following is a correct description of traffic density?", "category": "Normal scene Understanding", "options": ["A. Slow. Many surrounding vehicles (mainly in the same lane)", "B. Slow. Few surrounding vehicles (occasionally in the same lane)", "C. Fast. Many surrounding vehicles (especially in the opposite lane)", "D. Fast. Almost no surrounding vehicles (occasionally in the same lane)"], "answer_index": 2}
{"token": "153a0e38863dc477a774ae581c265b66", "waymo_split": "test", "type": "image", "frame_index": 14, "question": "What is the description of a non-safety-critical object?", "category": "Normal Perception & Prediction", "options": ["A. A bus is stopped in the opposite lane. There is only a sign at the intersection, and there are no traffic lights. A commercial building is on the left side instead of the right.", "B. The opposite lane is almost empty, with only a few pedestrians visible. The traffic light towards the intersection is off and not functioning. There is only an empty lot on the right.", "C. Many vehicles are driving in the opposite lane. There is a traffic light at the intersection. There is a building (store) on the right.", "D. The opposite side is blocked by construction vehicles, causing congestion. The direction towards the intersection is a roundabout, so there are no traffic lights. There are low residential houses on the right."], "answer_index": 2}
{"token": "153a0e38863dc477a774ae581c265b66", "waymo_split": "test", "type": "image", "frame_index": 14, "question": "Which of the following is a correct description of the environment?", "category": "Normal scene Understanding", "options": ["A. Clear during the day", "B. Cloudy at night", "C. Morning fog", "D. Evening shower"], "answer_index": 0}
{"token": "153a0e38863dc477a774ae581c265b66", "waymo_split": "test", "type": "image", "frame_index": 14, "question": "What are the restrictions on behavior in school zones/congested areas?", "category": "Special Event", "options": ["A. Must drive slowly", "B. Must honk the horn", "C. Must overtake", "D. Must accelerate"], "answer_index": 0}
{"token": "153a0e38863dc477a774ae581c265b66", "waymo_split": "test", "type": "image", "frame_index": 14, "question": "Which of the following is a correct description of traffic signals?", "category": "Traffic Signal", "options": ["A. The road markings are visible on the left.", "B. The traffic light is visible nearby.", "C. The sign is visible from a distance.", "D. The traffic light is visible from a distance."], "answer_index": 3}
{"token": "153a0e38863dc477a774ae581c265b66", "waymo_split": "test", "type": "image", "frame_index": 14, "question": "Do you have any blind spots in your field of vision?", "category": "Uncertainty", "options": ["A. There are blind spots in the field of vision", "B. There are blind spots in the right field of vision", "C. There are no blind spots in the field of vision", "D. There are no blind spots in the left field of vision"], "answer_index": 2}
{"token": "153a0e38863dc477a774ae581c265b66", "waymo_split": "test", "type": "image", "frame_index": 14, "question": "What is the answer regarding the presence of parked vehicles on the shoulder, the presence of a center line, and whether Ego has crossed the center line?", "category": "Normal Perception & Prediction", "options": ["A. No parking on the shoulder. No center line. No center line crossing.", "B. Parking on the shoulder. There is a center line. No center line crossing.", "C. No parking on the shoulder. There is a center line. No center line crossing.", "D. No parking on the shoulder. There is a center line. Center line crossing."], "answer_index": 2}
{"token": "153a0e38863dc477a774ae581c265b66", "waymo_split": "test", "type": "image", "frame_index": 14, "question": "Is there any other safety-critical object besides the first safety-critical object? If so, how will it move?", "category": "Safety-critical Prediction", "options": ["A. Bicycle in the right lane, passing straight", "B. Pedestrian on the front left, crossing from left to right", "C. No more safety-critical objects", "D. Ambulance approaching from behind, going straight ahead"], "answer_index": 2}
{"token": "153a0e38863dc477a774ae581c265b66", "waymo_split": "test", "type": "image", "frame_index": 14, "question": "How should I drive to address the first risk while also addressing the second risk?", "category": "Safety-critical Planning", "options": ["A. No next safety-critical object", "B. Response to the next safety-critical vehicle merging", "C. Detection of the next safety-critical pedestrian object", "D. Approaching the next safety-critical construction sign"], "answer_index": 0}
{"token": "153a0e38863dc477a774ae581c265b66", "waymo_split": "test", "type": "image", "frame_index": 14, "question": "How do you think a safety-critical object will be moved?", "category": "Safety-critical Prediction", "options": ["A. There is a safety-critical object", "B. There is no safety-critical object", "C. Approaching the safety-critical object from the left", "D. The safety-critical object is in front"], "answer_index": 1}
{"token": "153a0e38863dc477a774ae581c265b66", "waymo_split": "test", "type": "image", "frame_index": 14, "question": "What is a safety-critical object?", "category": "Safety-critical Perception", "options": ["A. No safety-critical object", "B. Safety-critical brake control module", "C. Safety-critical patient monitor alarm", "D. Safety-critical emergency stop button"], "answer_index": 0}
{"token": "153a0e38863dc477a774ae581c265b66", "waymo_split": "test", "type": "image", "frame_index": 14, "question": "What is the safest choice just before entering a yellow signal: stop vs. proceed?", "category": "Special Event", "options": ["A. It is a yellow flashing interval (slow down and proceed)", "B. Proceed with the left turn signal (straight movement is also possible)", "C. Red light change is imminent (stop in front of the stop line)", "D. It is not a situation receiving the current signal (traffic lights are far away)"], "answer_index": 3}
{"token": "153a0e38863dc477a774ae581c265b66", "waymo_split": "test", "type": "image", "frame_index": 41, "question": "Based on the current appearance of the person/vehicle (two-wheeled), how are they trying to move?", "category": "Normal Perception & Prediction", "options": ["A. Making a U-turn", "B. Turning right", "C. Turning left", "D. Going straight"], "answer_index": 3}
{"token": "153a0e38863dc477a774ae581c265b66", "waymo_split": "test", "type": "image", "frame_index": 14, "question": "What is the method to avoid blind spots when passing large vehicles?", "category": "Special Event", "options": ["A. When driving alongside a large vehicle, you must maintain a safe distance to ensure you have enough time and space to react to any objects that may emerge from the blind spot.", "B. By turning on your high beams and continuously reflecting them in the side mirror, the driver of the large vehicle can recognize your presence immediately, reducing the risk of blind spots and making it easier to pass.", "C. If you closely align with the lane next to the large vehicle and increase your speed to pass quickly, the impact of the blind spot is minimized, making it safer.", "D. By matching your speed and briefly staying in the blind spot behind the large vehicle, you can change lanes when a gap appears without disrupting the flow, making it safer."], "answer_index": 0}
{"token": "153a0e38863dc477a774ae581c265b66", "waymo_split": "test", "type": "image", "frame_index": 41, "question": "What are the behavior restrictions in school zones/congested areas?", "category": "Special Event", "options": ["A. Must drive slowly", "B. Must turn on high beams", "C. Must use the horn", "D. Must accelerate"], "answer_index": 0}
{"token": "153a0e38863dc477a774ae581c265b66", "waymo_split": "test", "type": "image", "frame_index": 41, "question": "What is the plan for yielding when an ambulance/fire truck approaches?", "category": "Special Event", "options": ["A. Maintain speed before entering the intersection and proceed as is", "B. After exiting the intersection, slow down and yield the path", "C. Stop in the center of the intersection and only turn on the hazard lights", "D. Move to the left lane and accelerate to pass first"], "answer_index": 1}
{"token": "153a0e38863dc477a774ae581c265b66", "waymo_split": "test", "type": "image", "frame_index": 41, "question": "What are the classifications of scenes?", "category": "Normal scene Understanding", "options": ["A. Urban boulevard", "B. Rural unpaved", "C. Suburban national road", "D. Residential alley"], "answer_index": 0}
{"token": "153a0e38863dc477a774ae581c265b66", "waymo_split": "test", "type": "image", "frame_index": 41, "question": "Which of the following is a correct description of the environment?", "category": "Normal scene Understanding", "options": ["A. Clear during the day", "B. Rain in the evening", "C. Cloudy at night", "D. Fog in the early morning"], "answer_index": 0}
{"token": "153a0e38863dc477a774ae581c265b66", "waymo_split": "test", "type": "image", "frame_index": 41, "question": "Which of the following is a correct description of traffic density?", "category": "Normal scene Understanding", "options": ["A. Slow. Few surrounding vehicles (sparse in the same lane)", "B. Fast. Many surrounding vehicles (especially in the opposite lane)", "C. Fast. Few surrounding vehicles (only occasional oncoming cars)", "D. Slow. Many surrounding vehicles (congested in the same lane)"], "answer_index": 1}
{"token": "153a0e38863dc477a774ae581c265b66", "waymo_split": "test", "type": "image", "frame_index": 41, "question": "What is the description of a non-safety-critical object?", "category": "Normal Perception & Prediction", "options": ["A. Many vehicles are driving in the opposite lane. There is a traffic light ahead. A small sign warning about pedestrians crossing is on the right. There is a building (store) on the right.", "B. A bus is stopped in the opposite lane. Only a flashing signal is visible ahead. There is a small sign for a park entrance on the right. The right side feels like an open space.", "C. Few vehicles are visible in the opposite lane. There are no traffic lights ahead, only signs. A small sign warning about pedestrians crossing is visible on the left. There is a building (store) on the left.", "D. The opposite lane is quiet. There is a sign for an intersection ahead, but no traffic lights are visible. A small sign for a bike lane is visible on the left. There is a residential area on the right."], "answer_index": 0}
{"token": "153a0e38863dc477a774ae581c265b66", "waymo_split": "test", "type": "image", "frame_index": 41, "question": "What is a safety-critical object?", "category": "Safety-critical Perception", "options": ["A. Safety relay", "B. No safety-critical object", "C. Brake control module", "D. Emergency stop switch"], "answer_index": 1}
{"token": "153a0e38863dc477a774ae581c265b66", "waymo_split": "test", "type": "image", "frame_index": 41, "question": "Is there a blind spot in your field of vision?", "category": "Uncertainty", "options": ["A. No blind spot", "B. Partial blind spot exists", "C. There is a blind spot", "D. There is a right blind spot"], "answer_index": 0}
{"token": "153a0e38863dc477a774ae581c265b66", "waymo_split": "test", "type": "image", "frame_index": 41, "question": "What is the answer regarding the presence of parked vehicles on the shoulder, the presence of a center line, and whether Ego has crossed the center line?", "category": "Normal Perception & Prediction", "options": ["A. There is parking on the shoulder. There is a center line. No center line violation.", "B. There is no parking on the shoulder. There is a center line. No center line violation.", "C. There is no parking on the shoulder. There is no center line. No center line violation.", "D. There is parking on the shoulder. There is a center line. Center line violation."], "answer_index": 1}
{"token": "153a0e38863dc477a774ae581c265b66", "waymo_split": "test", "type": "image", "frame_index": 41, "question": "Are there any other safety-critical objects besides the first safety-critical object? If so, how will they be moved?", "category": "Safety-critical Prediction", "options": ["A. The following safety-critical object exists: pressurized gas cylinder, rear separation movement", "B. There are no other safety-critical objects", "C. The following safety-critical object exists: high-voltage cable, left avoidance movement", "D. The following safety-critical object exists: hazardous chemical liquid, detour to the right edge"], "answer_index": 1}
{"token": "153a0e38863dc477a774ae581c265b66", "waymo_split": "test", "type": "image", "frame_index": 41, "question": "How should I drive to address the first risk while also addressing the second risk?", "category": "Safety-critical Planning", "options": ["A. No safety-critical objects ahead", "B. Next safety-critical object: left-side pedestrian", "C. Next safety-critical object: bicycle ahead", "D. Next safety-critical object: vehicle on the right"], "answer_index": 0}
{"token": "153a0e38863dc477a774ae581c265b66", "waymo_split": "test", "type": "image", "frame_index": 41, "question": "Is lane change possible? Which is safer between slowing down and changing lanes?", "category": "Safety-critical Planning", "options": ["A. Only slowing down is possible, lane keeping is recommended", "B. Avoid slowing down, changing to the right lane is recommended", "C. Prioritize changing lanes, slowing down is secondary", "D. Both slowing down and changing lanes are possible"], "answer_index": 3}
{"token": "153a0e38863dc477a774ae581c265b66", "waymo_split": "test", "type": "image", "frame_index": 41, "question": "How do you think a safety-critical object will move?", "category": "Safety-critical Prediction", "options": ["A. Entering the pedestrian lane ahead", "B. Bicycles merging from the right", "C. Vehicles making a sudden lane change to the left", "D. No safety-critical object"], "answer_index": 3}
{"token": "153a0e38863dc477a774ae581c265b66", "waymo_split": "test", "type": "image", "frame_index": 41, "question": "What is the method to avoid blind spots when passing large vehicles?", "category": "Special Event", "options": ["A. To reduce the risk of blind spots, align with the center of the rear bumper of the large vehicle and follow closely while being prepared to brake.", "B. When the large vehicle signals, proceed closer to the right mirror line so that the driver can see you and move out of the blind spot.", "C. Maintain a safe distance when driving alongside a large vehicle to ensure you have enough time and space to react to any objects that may emerge from the blind spot.", "D. When passing alongside a large vehicle, to quickly exit the blind spot, keep your vehicle as close as possible and increase your speed to overtake in a short time."], "answer_index": 2}
{"token": "153a0e38863dc477a774ae581c265b66", "waymo_split": "test", "type": "image", "frame_index": 41, "question": "What is the safest choice just before entering a yellow signal: stop or proceed?", "category": "Special Event", "options": ["A. It is already a red signal, so stop immediately.", "B. It is currently a green signal, so this situation does not apply to the yellow signal. Unable to judge.", "C. If it's yellow, accelerate and pass.", "D. If the pedestrian signal is green, proceed as is."], "answer_index": 1}
{"token": "153a0e38863dc477a774ae581c265b66", "waymo_split": "test", "type": "image", "frame_index": 65, "question": "Based on the current appearance of the person/vehicle (two-wheeled), how are they trying to move?", "category": "Normal Perception & Prediction", "options": ["A. Entering an intersection and making a right turn", "B. Entering a four-way intersection and making a left turn", "C. Entering an intersection and making a U-turn", "D. Entering a four-way intersection and going straight"], "answer_index": 3}
{"token": "153a0e38863dc477a774ae581c265b66", "waymo_split": "test", "type": "image", "frame_index": 41, "question": "What should I do to drive safely?", "category": "Safety-critical Planning", "options": ["A. In merging areas, you should focus on the rearview mirror and merge quickly without turning your head.", "B. When making a left turn at an intersection, you should enter before oncoming traffic to maintain the flow.", "C. When entering an intersection, you should not just rely on the signal and should maintain your speed.", "D. When entering an intersection, you should pay close attention to the movements of vehicles on both sides and proceed carefully."], "answer_index": 3}
{"token": "153a0e38863dc477a774ae581c265b66", "waymo_split": "test", "type": "image", "frame_index": 65, "question": "Which of the following is correct from the perspective of Safety-critical Frame regarding Image Caption?", "category": "Safety-critical scene caption", "options": ["A. Vehicles entering from the left to the right on the front intersection are quickly exiting according to the signal, leaving ample space in the straight lane of my vehicle, which is driving normally. (The vehicles in that direction have a green signal, and there is almost no congestion inside the intersection.)", "B. A broken van is stopped in the rightmost lane of the front intersection, causing a delay only in that lane, while my vehicle's straight lane flows without obstruction. (The signal operation is normal, and vehicles are safely detouring around the broken vehicle.)", "C. A long line of vehicles entering from the right to the left on the front intersection is blocking the straight lane of my vehicle, causing it to move slowly. (These vehicles are currently receiving a signal indicating they should not be driving in the intersection, but the line has lengthened due to tailgating.)", "D. At the front intersection, many pedestrians are crossing with the pedestrian signal, causing all vehicles in every direction to wait at the stop line. (There is no tailgating blocking my vehicle's lane, and we just need to wait for the signal.)"], "answer_index": 2}
{"token": "153a0e38863dc477a774ae581c265b66", "waymo_split": "test", "type": "image", "frame_index": 65, "question": "Which of the following is a correct description of traffic density?", "category": "Normal scene Understanding", "options": ["A. Fast. Many surrounding vehicles (especially oncoming traffic)", "B. Fast. Few surrounding vehicles (light traffic in both directions)", "C. Slow. Almost no surrounding vehicles (rare encounters)", "D. Slow. Few surrounding vehicles (sparse in the same lane)"], "answer_index": 0}
{"token": "153a0e38863dc477a774ae581c265b66", "waymo_split": "test", "type": "image", "frame_index": 65, "question": "What are the divisions of the scene?", "category": "Normal scene Understanding", "options": ["A. Urban main road (intersection)", "B. Suburban national road (three-way intersection)", "C. Highway ramp (merge point)", "D. Residential side road (four-way intersection)"], "answer_index": 0}
{"token": "153a0e38863dc477a774ae581c265b66", "waymo_split": "test", "type": "image", "frame_index": 65, "question": "What is the plan for yielding when an emergency vehicle/fire truck approaches?", "category": "Special Event", "options": ["A. Stop with hazard lights on inside the intersection", "B. Maintain speed and pass through when the siren is heard", "C. Follow the emergency vehicle, narrowing the gap to pass through the intersection together", "D. After leaving the intersection, slow down and yield the route"], "answer_index": 3}
{"token": "153a0e38863dc477a774ae581c265b66", "waymo_split": "test", "type": "image", "frame_index": 65, "question": "What is the description of a non-safety-critical object?", "category": "Normal Perception & Prediction", "options": ["A. Only bus lanes operate on the opposite lane. Traffic light (left turn signal based on own vehicle). The right road is narrow and complicated due to alleyways.", "B. Many trucks are stopped in the opposite lane. Traffic light (flashing yellow based on own vehicle). The right main road has reduced lanes due to construction.", "C. Many vehicles are driving in the opposite lane. Traffic light (green signal based on own vehicle). The right main road has fewer vehicles and is wide.", "D. There are almost no vehicles in the opposite lane. Traffic light (red signal based on own vehicle). The right main road is congested during the commute."], "answer_index": 2}
{"token": "153a0e38863dc477a774ae581c265b66", "waymo_split": "test", "type": "image", "frame_index": 65, "question": "What are the behavior restrictions in school zones/congested areas?", "category": "Special Event", "options": ["A. Must come to a stop", "B. Must honk the horn", "C. Must drive slowly", "D. Must turn on hazard lights"], "answer_index": 2}
{"token": "153a0e38863dc477a774ae581c265b66", "waymo_split": "test", "type": "image", "frame_index": 65, "question": "Which of the following is a correct description of the environment?", "category": "Normal scene Understanding", "options": ["A. night shower", "B. morning fog", "C. clear during the day", "D. evening overcast"], "answer_index": 2}
{"token": "153a0e38863dc477a774ae581c265b66", "waymo_split": "test", "type": "image", "frame_index": 65, "question": "Which of the following is a correct description of traffic signals?", "category": "Traffic Signal", "options": ["A. Flashing signal operation", "B. Presence of roundabout signs", "C. Presence of traffic lights at intersections", "D. Presence of traffic lights at four-way intersections"], "answer_index": 3}
{"token": "153a0e38863dc477a774ae581c265b66", "waymo_split": "test", "type": "image", "frame_index": 65, "question": "What is the answer regarding the presence of parked vehicles on the shoulder, the presence of a central line, and whether Ego has crossed the central line?", "category": "Normal Perception & Prediction", "options": ["A. There is parking on the shoulder. There is a central line. No crossing of the central line.", "B. There is no parking on the shoulder. There is no central line. No crossing of the central line.", "C. There is no parking on the shoulder. There is a central line. No crossing of the central line.", "D. There is no parking on the shoulder. There is a central line. Crossing the central line."], "answer_index": 2}
{"token": "153a0e38863dc477a774ae581c265b66", "waymo_split": "test", "type": "image", "frame_index": 65, "question": "What is a safety-critical object?", "category": "Safety-critical Perception", "options": ["A. The last vehicle in a line of vehicles entering the left road from the right at a T-intersection", "B. The last vehicle in a line of vehicles entering the right road from the left at a T-intersection", "C. A single vehicle attempting to make a U-turn from the right to the left road at a T-intersection", "D. The lead vehicle in a line of vehicles entering the left road from the right at a T-intersection"], "answer_index": 0}
{"token": "153a0e38863dc477a774ae581c265b66", "waymo_split": "test", "type": "image", "frame_index": 65, "question": "Are there any other safety-critical objects besides the first safety-critical object? If so, how would you move them?", "category": "Safety-critical Prediction", "options": ["A. There is a safety-critical object: a hot kettle, move it slowly while wearing insulated gloves.", "B. There are no safety-critical objects.", "C. There is a safety-critical object: a broken glass shard, pick it up with tongs and place it in a container.", "D. There is a safety-critical object: a soldering iron that is plugged in, unplug it and place it on a stand to move."], "answer_index": 1}
{"token": "153a0e38863dc477a774ae581c265b66", "waymo_split": "test", "type": "image", "frame_index": 65, "question": "What should I do to drive safely?", "category": "Safety-critical Planning", "options": ["A. Change to the right lane and go straight to avoid interfering with this vehicle's path (since there are no vehicles in the right lane).", "B. Change to the left lane and go straight to avoid interfering with this vehicle's path (since there are no vehicles in the left lane).", "C. Do not overtake this vehicle and slow down to stay close to the right edge (to observe the surrounding situation more carefully).", "D. Maintain a safe distance behind this vehicle and go straight (since the vehicle in front may soon increase speed)."], "answer_index": 0}
{"token": "153a0e38863dc477a774ae581c265b66", "waymo_split": "test", "type": "image", "frame_index": 65, "question": "Is there a blind spot in your field of vision?", "category": "Uncertainty", "options": ["A. No blind spot in the field of vision", "B. Some blind spot in the right field of vision", "C. There is a blind spot in the field of vision", "D. No blind spot in the left field of vision"], "answer_index": 0}
{"token": "153a0e38863dc477a774ae581c265b66", "waymo_split": "test", "type": "image", "frame_index": 65, "question": "How should I drive to address the first risk while also resolving the second risk?", "category": "Safety-critical Planning", "options": ["A. Sudden pedestrian risk, immediately slow down", "B. No next safety-critical object", "C. Risk object present in the right lane", "D. Detect safety-critical object ahead"], "answer_index": 1}
{"token": "153a0e38863dc477a774ae581c265b66", "waymo_split": "test", "type": "image", "frame_index": 65, "question": "What is the correlation in safety-critical situations?", "category": "Safety-critical scene Understanding", "options": ["A. Car - Two-wheeler", "B. Car - Car", "C. Car - Person", "D. Two-wheeler - Person"], "answer_index": 1}
{"token": "153a0e38863dc477a774ae581c265b66", "waymo_split": "test", "type": "image", "frame_index": 65, "question": "What is the safest choice when approaching a yellow signal: stop or proceed?", "category": "Special Event", "options": ["A. If you are right in front of the stop line, do not stop and proceed.", "B. If a car is close behind, proceeding is safer than stopping.", "C. When the yellow light comes on, you should accelerate to get through quickly for safety.", "D. It is currently a green light, so this situation does not apply to the yellow signal. Unable to judge."], "answer_index": 3}
{"token": "153a0e38863dc477a774ae581c265b66", "waymo_split": "test", "type": "image", "frame_index": 65, "question": "Where is the area that is hidden and conceals danger in the current frame?", "category": "Uncertainty", "options": ["A. The point that is not visible beyond the left sidewalk trees at the alley entrance", "B. The area that is hidden and not visible behind the right large bus body", "C. The area that is not visible across from the left line of tailgating vehicles", "D. The section that is hidden in the square below the front cargo truck's loading area"], "answer_index": 2}
{"token": "153a0e38863dc477a774ae581c265b66", "waymo_split": "test", "type": "image", "frame_index": 65, "question": "Is lane changing possible? Which is safer between slowing down and changing lanes?", "category": "Safety-critical Planning", "options": ["A. Changing lanes to the right is safer.", "B. Slowing down is safer.", "C. Accelerating before changing lanes is safer.", "D. Changing lanes to the left is safer."], "answer_index": 0}
{"token": "153a0e38863dc477a774ae581c265b66", "waymo_split": "test", "type": "image", "frame_index": 65, "question": "What situation might have occurred if the vehicle acted this way?", "category": "Counterfactual", "options": ["A. Risk of contact with an oncoming vehicle while attempting a left turn", "B. Risk of collision with the vehicle while going straight", "C. Risk of collision with a motorcycle while changing lanes", "D. Risk of rear-end collision with the following vehicle while making a sudden stop"], "answer_index": 1}
{"token": "153a0e38863dc477a774ae581c265b66", "waymo_split": "test", "type": "image", "frame_index": 65, "question": "What is the method to avoid blind spots when passing by a large vehicle?", "category": "Special Event", "options": ["A. You should drive closely to the driver's side of the large vehicle to enter the driver's field of vision and pass by near the front bumper.", "B. When driving alongside a large vehicle, you should maintain a safe distance to ensure you have enough time and space to react to any objects that may emerge from the blind spot.", "C. In the blind spot, you should continuously use high beams and honk the horn to strongly alert the large vehicle driver of your presence and stay directly behind in the same lane.", "D. When passing by a large vehicle, you should stay as close to the vehicle's body as possible and overtake quickly to minimize the time spent in the blind spot."], "answer_index": 1}
{"token": "153a0e38863dc477a774ae581c265b66", "waymo_split": "test", "type": "image", "frame_index": 65, "question": "What is the guideline for the behavior of my vehicle in response to the behavior of a safety-critical object?", "category": "Safety-critical Planning", "options": ["A. If the safety-critical object suddenly attempts a sharp left turn, my vehicle will face it, so my vehicle must also make a sharp left turn and change lanes to avoid a collision.", "B. If the safety-critical object suddenly attempts a sharp left turn, it will quickly move into the opposite lane, so my vehicle can maintain its lane and gradually decelerate to avoid collision risk.", "C. If the safety-critical object suddenly attempts a sharp left turn, the path will widen, so if my vehicle also makes a sharp left turn and changes lanes, it can pass through more safely.", "D. If the safety-critical object suddenly attempts a sharp left turn, a momentary space will open up, so my vehicle can accelerate straight ahead to time it right and pass first to avoid a collision."], "answer_index": 0}
{"token": "153a0e38863dc477a774ae581c265b66", "waymo_split": "test", "type": "image", "frame_index": 83, "question": "Based on the current appearance of the person/vehicle (two-wheeled), how are they trying to move?", "category": "Normal Perception & Prediction", "options": ["A. Maintaining a straight line along the center line of the intersection", "B. Changing to the right lane in the middle of the intersection", "C. Entering the left lane at the entrance of the intersection", "D. Preparing to make a U-turn just before the intersection"], "answer_index": 1}
{"token": "153a0e38863dc477a774ae581c265b66", "waymo_split": "test", "type": "image", "frame_index": 83, "question": "What are the behavior restrictions in school zones/congested areas?", "category": "Special Event", "options": ["A. Must honk", "B. Must drive slowly", "C. Must accelerate", "D. Must overtake"], "answer_index": 1}
{"token": "153a0e38863dc477a774ae581c265b66", "waymo_split": "test", "type": "image", "frame_index": 83, "question": "Which of the following is correct from the perspective of Safety-critical Frame regarding Image Caption?", "category": "Safety-critical scene caption", "options": ["A. A vehicle entering from the right to the left road just before the intersection has a long queue, and the last vehicle in this queue is blocking the straight lane of my vehicle and is moving slowly. (These vehicles are currently receiving a signal indicating they should not be driving into the intersection, but the queue has lengthened due to tailgating). At this time, my vehicle is changing to the right lane to avoid this vehicle and continue straight.", "B. Vehicles entering from the left to the right road just before the intersection have a wide gap, showing that there is space in my vehicle's straight lane, and the flow is smooth. (These vehicles are currently receiving a signal allowing them to enter the intersection and are driving normally). At this time, my vehicle is changing to the left lane to prepare for a left turn.", "C. My vehicle is slowing down and waiting due to a van stopped at the right bus stop just before the intersection, blocking the right lane. (On the opposite side, vehicles are passing through without interruption under a green signal). At this time, my vehicle is maintaining its straight lane without changing lanes.", "D. The pedestrian signal at the crosswalk in front of the intersection is being held for a long time, allowing a continuous flow of pedestrians, and all vehicles are waiting at the stop line. (There is no tailgating in the intersection, and the signal is being followed). At this time, my vehicle is stopped, waiting for the next green signal to prepare to go straight."], "answer_index": 0}
{"token": "153a0e38863dc477a774ae581c265b66", "waymo_split": "test", "type": "image", "frame_index": 83, "question": "Which of the following is a correct description of traffic density?", "category": "Normal scene Understanding", "options": ["A. Fast. Many surrounding vehicles (especially in the opposite lane)", "B. Fast. Few surrounding vehicles (sparse in the same lane)", "C. Slow. Few surrounding vehicles (wide gap ahead)", "D. Slow. Almost no surrounding vehicles (quiet suburban area)"], "answer_index": 0}
{"token": "153a0e38863dc477a774ae581c265b66", "waymo_split": "test", "type": "image", "frame_index": 83, "question": "What is the classification of the scene?", "category": "Normal scene Understanding", "options": ["A. Residential back road (T-junction)", "B. Urban main road (crossroads)", "C. Rural national highway (intersection)", "D. Highway main line (straight section)"], "answer_index": 1}
{"token": "153a0e38863dc477a774ae581c265b66", "waymo_split": "test", "type": "image", "frame_index": 83, "question": "Which of the following is a correct description of the environment?", "category": "Normal scene Understanding", "options": ["A. Evening rain", "B. Morning fog", "C. Clear daytime", "D. Cloudy night"], "answer_index": 2}
{"token": "153a0e38863dc477a774ae581c265b66", "waymo_split": "test", "type": "image", "frame_index": 83, "question": "What is the plan for yielding when an ambulance/fire truck approaches?", "category": "Special Event", "options": ["A. Maintain speed just before entering the intersection", "B. Stop briefly in the center of the intersection and give way to the left", "C. After exiting the intersection, proceed slowly and yield the path", "D. Pass through the intersection first and then follow the emergency vehicle"], "answer_index": 2}
{"token": "153a0e38863dc477a774ae581c265b66", "waymo_split": "test", "type": "image", "frame_index": 83, "question": "What is the description of a non-safety-critical object?", "category": "Normal Perception & Prediction", "options": ["A. A bus is temporarily stopped on the right side for passengers to board and alight. The traffic light (red signal according to my vehicle) shows only the pedestrian signal. The left road is wider and less crowded.", "B. A truck is slowly entering from the left to the right. The traffic light (yellow signal according to my vehicle) has a no-turn sign attached. The right road has narrow lanes and is congested with vehicles.", "C. A taxi is waiting to make a U-turn in the center. The traffic light (only the left turn arrow is lit according to my vehicle) shows a speed limit sign of 60. The right road is congested due to construction reducing the lanes.", "D. A truck is driving from the right to the left on the left side. The traffic light (green signal according to my vehicle) has an unknown sign attached. The right road is wide and has few vehicles."], "answer_index": 3}
{"token": "153a0e38863dc477a774ae581c265b66", "waymo_split": "test", "type": "image", "frame_index": 83, "question": "Is there a blind spot?", "category": "Uncertainty", "options": ["A. There is a blind spot that cannot be seen behind the large truck on the left.", "B. Visibility is clear up to the back of the large truck on the left, no blind spots.", "C. There is a blind spot behind the small car on the right.", "D. Visibility is good across from the bus on the right, no special blind spots."], "answer_index": 0}
{"token": "153a0e38863dc477a774ae581c265b66", "waymo_split": "test", "type": "image", "frame_index": 83, "question": "Which of the following is a correct description of traffic signals?", "category": "Traffic Signal", "options": ["A. There is a traffic light at the intersection. There are unknown signs attached to the traffic light.", "B. Traffic light at a T-shaped intersection. The no left turn sign is on a separate pole by the road.", "C. Only the flashing signal is operational. There are no signs attached to the traffic light.", "D. There is a traffic light at the intersection. The signs are attached to a separate pole."], "answer_index": 0}
{"token": "153a0e38863dc477a774ae581c265b66", "waymo_split": "test", "type": "image", "frame_index": 83, "question": "What is a safety-critical object?", "category": "Safety-critical Perception", "options": ["A. The lead vehicle in a line of cars entering from the right to the left road at the intersection (the white car leading the entry section)", "B. The middle vehicle of a car merging diagonally from the left to the right lane at the intersection (the silver sedan next to the lane boundary)", "C. The trailing vehicle in a line of cars entering from the right to the left road at the intersection (the purple car blocking its original lane)", "D. The taxi at the front of the right turn waiting line at the intersection (in a dedicated right turn lane separated from the main road)"], "answer_index": 2}
{"token": "153a0e38863dc477a774ae581c265b66", "waymo_split": "test", "type": "image", "frame_index": 83, "question": "How do you think a safety-critical object will move?", "category": "Safety-critical Prediction", "options": ["A. This vehicle is blocking the straight lane of my vehicle and is moving slowly from the right to the left.", "B. This vehicle is changing lanes to the left, leaving the lane of my vehicle, and is passing quickly ahead.", "C. This vehicle is merging from the right lane of my vehicle into the straight lane and is accelerating forward.", "D. This vehicle is moving slowly from the left to the right, avoiding the straight lane of my vehicle."], "answer_index": 0}
{"token": "153a0e38863dc477a774ae581c265b66", "waymo_split": "test", "type": "image", "frame_index": 83, "question": "How should I drive to address the first risk while also resolving the second risk?", "category": "Safety-critical Planning", "options": ["A. I am on the right side of the next safety-critical object", "B. Avoid both risks by changing to the left lane", "C. Maintain speed while yielding to pedestrians ahead", "D. There is no next safety-critical object"], "answer_index": 3}
{"token": "153a0e38863dc477a774ae581c265b66", "waymo_split": "test", "type": "image", "frame_index": 83, "question": "What should I do to drive safely?", "category": "Safety-critical Planning", "options": ["A. I am maintaining my lane by staying close to the right edge for the safety of this vehicle (indicating with hazard lights).", "B. I am changing to the left lane to match the flow of this vehicle (the left lane is clear of moving vehicles, allowing for smooth driving).", "C. I am changing to the right lane to avoid obstructing this vehicle's path (it is possible since there are no moving vehicles in the right lane).", "D. I am accelerating to reduce obstruction to this vehicle's path and continuing straight (there is enough distance from the car in front, so it is safe)."], "answer_index": 2}
{"token": "153a0e38863dc477a774ae581c265b66", "waymo_split": "test", "type": "image", "frame_index": 83, "question": "Are there any other safety-critical objects besides the first safety-critical object? If so, how will they be moved?", "category": "Safety-critical Prediction", "options": ["A. There is a high-pressure gas cylinder, secured upright on a cart and moved to the maintenance room.", "B. There is a chemical bottle, capped and placed in a transport container to be moved to the disposal area.", "C. There are no other safety-critical objects.", "D. The battery pack is overheating, moved to a safe area while wearing insulated gloves and placed on a metal tray."], "answer_index": 2}
{"token": "153a0e38863dc477a774ae581c265b66", "waymo_split": "test", "type": "image", "frame_index": 83, "question": "What is the correlation in safety-critical situations?", "category": "Safety-critical scene Understanding", "options": ["A. car-car", "B. car-two-wheeler", "C. car-person", "D. car-animal"], "answer_index": 0}
{"token": "153a0e38863dc477a774ae581c265b66", "waymo_split": "test", "type": "image", "frame_index": 83, "question": "Is lane changing possible? Which is safer between slowing down and changing lanes?", "category": "Safety-critical Planning", "options": ["A. Slowing down is safer. Changing to the right lane is risky (motorcycle approaching from the right blind spot)", "B. Changing to the left lane is safer. Slowing down is currently possible (sufficient rear distance)", "C. Maintaining speed is safer. Changing lanes is not possible now (trucks approaching from both sides, no gap)", "D. Changing to the right lane is safer. Slowing down is currently not possible (a vehicle is directly behind my car)"], "answer_index": 3}
{"token": "153a0e38863dc477a774ae581c265b66", "waymo_split": "test", "type": "image", "frame_index": 83, "question": "What situation might have occurred if the vehicle had behaved this way?", "category": "Counterfactual", "options": ["A. If the vehicle had slowed down and let the other vehicle go first, it would have passed without any issues.", "B. If the vehicle had slowly changed to the right lane, there would have been no significant danger.", "C. If the vehicle had turned left at the intersection, there would have been no interference with the oncoming vehicles.", "D. If the vehicle had continued straight in its original lane, there would have been a risk of collision with that vehicle."], "answer_index": 3}
{"token": "153a0e38863dc477a774ae581c265b66", "waymo_split": "test", "type": "image", "frame_index": 83, "question": "What is the safest choice just before entering a yellow signal: stop or proceed?", "category": "Special Event", "options": ["A. It is currently a green signal, so this situation does not apply to a yellow signal. Unable to judge.", "B. If it turns yellow, enter the intersection and stop.", "C. Even if the stop line is far, the principle is to brake suddenly.", "D. When the yellow light comes on, accelerating to exit quickly is safer."], "answer_index": 0}
{"token": "153a0e38863dc477a774ae581c265b66", "waymo_split": "test", "type": "image", "frame_index": 83, "question": "Where is the area that hides danger in the current frame?", "category": "Uncertainty", "options": ["A. The unseen area behind the white truck among the left tailgating vehicle queue", "B. The invisible blind spot created behind the black SUV in the right lane", "C. The shaded pedestrian blind zone between the trees on the right sidewalk", "D. The area hidden behind the sign across the central divider at the front intersection"], "answer_index": 0}
{"token": "153a0e38863dc477a774ae581c265b66", "waymo_split": "test", "type": "image", "frame_index": 83, "question": "Who is responsible in a safety-critical situation? What is the cause?", "category": "Safety-critical scene Understanding", "options": ["A. The pedestrian is responsible. The cars had to brake suddenly due to jaywalking, causing my vehicle to change lanes abruptly, which increased the risk as it intersected with the path of oncoming vehicles.", "B. The signal operation side is responsible. A malfunction occurred where both straight and left turn signals were displayed simultaneously at the intersection, and the other vehicle was passing according to the signal while my vehicle was waiting at the stop line normally.", "C. The safety-critical object is responsible. The vehicle passed through the intersection despite the driving signal having ended, obstructing my vehicle's straight path through tailgating.", "D. My vehicle is responsible. I entered the intersection following the vehicle in front even though the signal had not yet changed, obstructing the progress of the other vehicle across the left turn flow."], "answer_index": 2}
{"token": "153a0e38863dc477a774ae581c265b66", "waymo_split": "test", "type": "image", "frame_index": 126, "question": "Based on the current appearance of the person/vehicle (two-wheeled), how are they trying to move?", "category": "Normal Perception & Prediction", "options": ["A. Going straight", "B. Stopped", "C. Turning left", "D. Turning right"], "answer_index": 0}
{"token": "153a0e38863dc477a774ae581c265b66", "waymo_split": "test", "type": "image", "frame_index": 126, "question": "Which of the following is correct from the perspective of a Normal Frame Image Caption?", "category": "Normal scene caption", "options": ["A. The vehicle is passing through an intersection and entering a curved section (using the right lane of a three-lane road). The traffic light is flashing yellow. There are only a few large vehicles in the left opposing lane, and an SUV is moving slowly ahead. No vehicles are visible behind.", "B. The vehicle is continuing straight through an intersection (using the left lane of a three-lane road). The traffic light is red. There are few vehicles in the left opposing lane, several vehicles are lined up closely ahead, and only one vehicle is following from a distance behind.", "C. The vehicle is exiting an intersection and driving on the road (using the middle lane of a three-lane road). The traffic light is still green. There are many vehicles in the left opposing lane, no vehicles are nearby ahead, and there is a vehicle driving behind.", "D. The vehicle is entering an intersection and is driving in the right lane of the road (using the right lane of a three-lane road). The traffic light is about to change to yellow. The left opposing lane is relatively quiet, there is one vehicle driving at a close distance ahead, and there are almost no vehicles behind."], "answer_index": 2}
{"token": "153a0e38863dc477a774ae581c265b66", "waymo_split": "test", "type": "image", "frame_index": 83, "question": "What is the method to safely pass through the blind spot next to a large vehicle?", "category": "Special Event", "options": ["A. Following closely behind a large vehicle is safe because it checks the front first, allowing you to react together to any sudden obstacles.", "B. When concerned about the blind spot, it is better to drive alongside the large vehicle at the same speed and wait until the driver can clearly see you before passing.", "C. When driving near a large vehicle, you must maintain a safe distance to ensure you have enough time and space to react to any objects that may emerge from the blind spot.", "D. When driving near a large vehicle, it is safer to quickly increase your speed and closely overtake it to exit the blind spot as soon as possible."], "answer_index": 2}
{"token": "153a0e38863dc477a774ae581c265b66", "waymo_split": "test", "type": "image", "frame_index": 126, "question": "Which of the following is a correct description of traffic density?", "category": "Normal scene Understanding", "options": ["A. Slow. Few surrounding vehicles (mainly in the same lane)", "B. Fast. Few surrounding vehicles (rarely oncoming cars)", "C. Slow. Many surrounding vehicles (congestion in the same lane)", "D. Fast. Many surrounding vehicles (especially in the opposite lane)"], "answer_index": 3}
{"token": "153a0e38863dc477a774ae581c265b66", "waymo_split": "test", "type": "image", "frame_index": 126, "question": "What is the plan for yielding when an ambulance/fire truck approaches?", "category": "Special Event", "options": ["A. Move to the right shoulder or slow down to create space to yield", "B. Gather in the center lane or turn on hazard lights and slow down to guide", "C. Move to the left shoulder or maintain speed to yield", "D. Proceed to the nearest intersection, then stop at the stop line to allow passage"], "answer_index": 0}
{"token": "153a0e38863dc477a774ae581c265b66", "waymo_split": "test", "type": "image", "frame_index": 126, "question": "Which of the following is a correct description of the environment?", "category": "Normal scene Understanding", "options": ["A. Clear during the day", "B. Morning fog", "C. Cloudy at night", "D. Evening rain"], "answer_index": 0}
{"token": "153a0e38863dc477a774ae581c265b66", "waymo_split": "test", "type": "image", "frame_index": 126, "question": "What is the classification of the scene?", "category": "Normal scene Understanding", "options": ["A. Residential side road (intersection)", "B. Expressway ramp (merging point)", "C. Urban alley (three-way intersection)", "D. Urban main road (four-way intersection)"], "answer_index": 3}
{"token": "153a0e38863dc477a774ae581c265b66", "waymo_split": "test", "type": "image", "frame_index": 126, "question": "What are the behavioral restrictions in school zones/congested areas?", "category": "Special Event", "options": ["A. Must turn on high beams", "B. Must honk the horn frequently", "C. Must drive slowly", "D. Must pass through quickly"], "answer_index": 2}
{"token": "153a0e38863dc477a774ae581c265b66", "waymo_split": "test", "type": "image", "frame_index": 126, "question": "Which of the following statements about traffic signals is correct?", "category": "Traffic Signal", "options": ["A. The traffic light showing red is directly above.", "B. The left turn arrow signal is located at the upper left front.", "C. The traffic light showing green is directly above.", "D. The traffic light showing green is located at the upper right."], "answer_index": 2}
{"token": "153a0e38863dc477a774ae581c265b66", "waymo_split": "test", "type": "image", "frame_index": 126, "question": "What is the description of a non-safety-critical object?", "category": "Normal Perception & Prediction", "options": ["A. A truck is driving from right to left on the left side. Traffic light (green signal for the vehicle) - there is an unknown sign as well. The right road has few vehicles and is wide.", "B. A motorcycle is passing from left to right on the left side, traffic light (flashing signal for the vehicle) - a pedestrian guidance sign is visible, the right road is narrow due to construction.", "C. A bus is driving from left to right on the left side, traffic light (yellow signal for the vehicle) - a speed limit sign is also visible, the right road has many vehicles and is somewhat narrow.", "D. A taxi is stopped on the shoulder on the left side, traffic light (red signal for the vehicle) - there is a left turn only sign, the right road is congested with cars lined up."], "answer_index": 0}
{"token": "153a0e38863dc477a774ae581c265b66", "waymo_split": "test", "type": "image", "frame_index": 126, "question": "What is a safety-critical object?", "category": "Safety-critical Perception", "options": ["A. Industrial press", "B. Chainsaw", "C. High-pressure gas cylinder", "D. None"], "answer_index": 3}
{"token": "153a0e38863dc477a774ae581c265b66", "waymo_split": "test", "type": "image", "frame_index": 126, "question": "Is there a blind spot in your field of vision?", "category": "Uncertainty", "options": ["A. It is on the left", "B. There is", "C. There is not", "D. There is when entering an intersection"], "answer_index": 2}
{"token": "153a0e38863dc477a774ae581c265b66", "waymo_split": "test", "type": "image", "frame_index": 126, "question": "What is the answer regarding the presence of parked vehicles on the shoulder, the presence of a center line, and whether Ego crosses the center line?", "category": "Normal Perception & Prediction", "options": ["A. No parking on the shoulder. There is a center line. No crossing the center line.", "B. No parking on the shoulder. No center line. No crossing the center line.", "C. No parking on the shoulder. There is a center line. Crossing the center line.", "D. Parking on the shoulder. There is a center line. No crossing the center line."], "answer_index": 0}
{"token": "153a0e38863dc477a774ae581c265b66", "waymo_split": "test", "type": "image", "frame_index": 126, "question": "How do you think a safety-critical object would move?", "category": "Safety-critical Prediction", "options": ["A. No such object", "B. Moves forward slowly", "C. Wobbles side to side", "D. Slides on the ground"], "answer_index": 0}
{"token": "153a0e38863dc477a774ae581c265b66", "waymo_split": "test", "type": "image", "frame_index": 126, "question": "How should I drive to resolve the first risk while also addressing the second risk?", "category": "Safety-critical Planning", "options": ["A. Decelerate and stop for the next safety-critical object", "B. Move to the left front of the next safety-critical object", "C. No next safety-critical object", "D. Use the right adjacent lane for the next safety-critical object"], "answer_index": 2}
{"token": "153a0e38863dc477a774ae581c265b66", "waymo_split": "test", "type": "image", "frame_index": 126, "question": "Are there any other safety-critical objects besides the first safety-critical object? If so, how will they be moved?", "category": "Safety-critical Prediction", "options": ["A. None", "B. Yes: The gas cylinder is placed on the cart to the right", "C. Yes: The fire extinguisher is moved to the left wall", "D. Yes: The extension cord reel is moved back along the aisle"], "answer_index": 0}
{"token": "153a0e38863dc477a774ae581c265b66", "waymo_split": "test", "type": "image", "frame_index": 126, "question": "Where is the area that is hidden and conceals danger in the current frame?", "category": "Uncertainty", "options": ["A. Behind the left bus", "B. Beyond the right flower bed", "C. None", "D. Behind the truck in front"], "answer_index": 2}
{"token": "153a0e38863dc477a774ae581c265b66", "waymo_split": "test", "type": "image", "frame_index": 126, "question": "Is lane changing possible? Which is safer between slowing down and changing lanes?", "category": "Safety-critical Planning", "options": ["A. Maintaining the lane and reducing speed is safer; lane changing is more dangerous due to blind spots.", "B. Slowing down is the answer on rainy days; lane changing can lead to slipping on wet roads, making it more dangerous.", "C. Slowing down is safer; as long as you maintain distance from the car in front, the car behind can stop comfortably.", "D. Changing lanes is safer. Slowing down is dangerous due to the risk of collision from vehicles driving right behind."], "answer_index": 3}
{"token": "153a0e38863dc477a774ae581c265b66", "waymo_split": "test", "type": "image", "frame_index": 126, "question": "What potential situations could arise in the current scenario?", "category": "Counterfactual", "options": ["A. None, just continue straight", "B. Vehicles merging from the left lane, need to slow down", "C. The traffic light ahead will soon turn red, need to stop", "D. Pedestrians entering from the right, prepare to stop"], "answer_index": 0}
{"token": "153a0e38863dc477a774ae581c265b66", "waymo_split": "test", "type": "image", "frame_index": 126, "question": "What are the new exposure risk candidates in the following section?", "category": "Safety-critical Prediction", "options": ["A. Right merge", "B. Road surface freezing", "C. Crosswind section", "D. None"], "answer_index": 3}
{"token": "153a0e38863dc477a774ae581c265b66", "waymo_split": "test", "type": "image", "frame_index": 126, "question": "What is the safest choice just before entering a yellow signal: stop or proceed?", "category": "Special Event", "options": ["A. Proceed immediately regardless of the signal since it's a right turn lane.", "B. The car behind is too close, risking a sudden stop, so just continue.", "C. Since it's a yellow signal now, just slow down and proceed.", "D. It's a green signal now, so this situation does not apply to the yellow signal. Unable to judge."], "answer_index": 3}
{"token": "153a0e38863dc477a774ae581c265b66", "waymo_split": "test", "type": "image", "frame_index": 126, "question": "What is the method to avoid the blind spot next to a large vehicle?", "category": "Special Event", "options": ["A. Passing closely by the large vehicle", "B. Driving alongside the bus", "C. No large vehicle", "D. Overtaking the large vehicle on the right"], "answer_index": 2}
{"token": "16efb3a242bcc66f17a3c6a679c31d23", "waymo_split": "test", "type": "video", "frame_index": null, "question": "What are the classifications of scenes?", "category": "Normal scene Understanding", "options": ["A. Highway", "B. Urban area", "C. Unpaved", "D. Residential area"], "answer_index": 3}
{"token": "16efb3a242bcc66f17a3c6a679c31d23", "waymo_split": "test", "type": "video", "frame_index": null, "question": "Where is the safety-critical situation in the video?", "category": "Temporal Grounding", "options": ["A. 4/4", "B. 1/4", "C. 3/4", "D. 2/4"], "answer_index": 0}
{"token": "16efb3a242bcc66f17a3c6a679c31d23", "waymo_split": "test", "type": "video", "frame_index": null, "question": "Is there a special situation?", "category": "Special Event", "options": ["A. Obstruction of forward visibility due to rainwater (straight lane)", "B. Construction cones present at the intersection (direct access road)", "C. School bus picking up or dropping off in front of the crosswalk (left turn lane)", "D. Ambulance stopped on the right side of the intersection (right turn lane)"], "answer_index": 1}
{"token": "16efb3a242bcc66f17a3c6a679c31d23", "waymo_split": "test", "type": "video", "frame_index": null, "question": "Which of the following is a correct description of road alignment?", "category": "Normal Perception & Prediction", "options": ["A. Right turn", "B. Overtaking", "C. Left turn", "D. Going straight"], "answer_index": 2}
{"token": "16efb3a242bcc66f17a3c6a679c31d23", "waymo_split": "test", "type": "video", "frame_index": null, "question": "Which of the following is a correct description of the environment?", "category": "Normal scene Understanding", "options": ["A. Night, fog", "B. Morning, cloudy", "C. Day, clear", "D. Evening, rain"], "answer_index": 2}
{"token": "16efb3a242bcc66f17a3c6a679c31d23", "waymo_split": "test", "type": "video", "frame_index": null, "question": "Which of the following is a correct description of traffic density?", "category": "Normal scene Understanding", "options": ["A. Irregular speed. Many waiting vehicles at intersections, light uphill.", "B. Slow speed. Few vehicles in the driving lane, gentle uphill.", "C. Fast speed. Congestion mainly from large trucks, gentle downhill.", "D. Moderate speed. Many vehicles in the surrounding shoulder, no slope."], "answer_index": 3}
{"token": "16efb3a242bcc66f17a3c6a679c31d23", "waymo_split": "test", "type": "video", "frame_index": null, "question": "What is the description of a non-safety-critical object?", "category": "Normal Perception & Prediction", "options": ["A. A park bench and trash can visible on the right when entering the intersection", "B. A YIELD sign and speed limit road marking when going straight through the intersection", "C. A person walking on the right sidewalk with a car following behind making a left turn. A STOP sign and road marking when turning left at the intersection. A construction cone visible straight ahead when entering the intersection", "D. A person standing on the left sidewalk with a vehicle overtaking my car and turning right ahead"], "answer_index": 2}
{"token": "16efb3a242bcc66f17a3c6a679c31d23", "waymo_split": "test", "type": "video", "frame_index": null, "question": "Are there any blind spots in your field of vision?", "category": "Uncertainty", "options": ["A. Blind spot between parked vehicles on the right shoulder", "B. Blind spot behind the queue at the right bus stop", "C. Blind spot between parked vehicles on the left shoulder", "D. Blind spot between trees on the right"], "answer_index": 0}
{"token": "16efb3a242bcc66f17a3c6a679c31d23", "waymo_split": "test", "type": "video", "frame_index": null, "question": "What is the answer regarding parked vehicles on the shoulder, the presence of a central line, and whether Ego crosses the central line?", "category": "Normal Perception & Prediction", "options": ["A. Many parked vehicles on the shoulder, no central line. My vehicle does not cross the central line.", "B. Many parked vehicles on the shoulder, central line present. My vehicle does not cross the central line.", "C. Few parked vehicles on the shoulder, central line present. My vehicle crosses the central line.", "D. No parked vehicles on the shoulder, central line present. My vehicle crosses the central line."], "answer_index": 1}
{"token": "16efb3a242bcc66f17a3c6a679c31d23", "waymo_split": "test", "type": "video", "frame_index": null, "question": "What is a safety-critical object?", "category": "Safety-critical Perception", "options": ["A. A person pulling a bicycle onto the sidewalk from the right lane in front (wearing a helmet)", "B. A person standing next to a parked vehicle on the right shoulder, getting out of the car and doing something with the door open (also has a dog)", "C. A person getting out of a parked vehicle on the left shoulder in front and opening the trunk to take out luggage (holding a shopping bag)", "D. A driver inspecting the engine with the hood open in front of a vehicle parked on the right shoulder (the car door is closed)"], "answer_index": 1}
{"token": "16efb3a242bcc66f17a3c6a679c31d23", "waymo_split": "test", "type": "video", "frame_index": null, "question": "Which of the following is correct regarding Video Summary from a safety-critical scene perspective?", "category": "Safety-critical scene caption", "options": ["A. After turning left, a delivery truck is closely parked on the right side of a narrow alley with its door closed. The pedestrian is on the sidewalk, and there is no obstruction from the road, allowing for slow progress. There is no need to stop as the traffic flow is smooth in the opposite lane.", "B. After turning left at the intersection, on a narrow road, the door of the vehicle on the right side is open, and a person is leaning over from the road side. This prevents passage, causing a stop. At this time, it is possible to overtake on the left opposite lane, but there is a fast-moving vehicle in the opposite lane, so the car comes to a stop.", "C. After going straight through the intersection, a vehicle in front is temporarily stopped in front of a construction zone on a narrow road, moving slowly. The left opposite lane is empty, allowing for a slight encroachment over the center line to pass. There are no fast-approaching vehicles from the opposite side.", "D. After turning right at the intersection, on a narrow road, a vehicle on the left shoulder has its door open towards the sidewalk, and a person is organizing items on the sidewalk. There is enough road width remaining, so the vehicle slows down and passes through. Vehicles in the opposite lane are also rare, so the risk factor is low."], "answer_index": 1}
{"token": "16efb3a242bcc66f17a3c6a679c31d23", "waymo_split": "test", "type": "video", "frame_index": null, "question": "What is the correlation in safety-critical situations?", "category": "Safety-critical scene Understanding", "options": ["A. Car-Person", "B. Two-wheeler-Person", "C. Car-Two-wheeler", "D. Car-Car"], "answer_index": 0}
{"token": "16efb3a242bcc66f17a3c6a679c31d23", "waymo_split": "test", "type": "video", "frame_index": null, "question": "How did the safety-critical object move and how did the ego vehicle behave?", "category": "Safety-critical scene Understanding", "options": ["A. It backed up and moved away, while the ego vehicle slightly crossed the center line and proceeded.", "B. It moved slowly forward, and the ego vehicle slightly reduced speed to pass straight through.", "C. It moved to the right, and the ego vehicle took the opportunity to make a left turn.", "D. It was stationary, and the ego vehicle could not pass straight through because of this, so it is stopped."], "answer_index": 3}
{"token": "16efb3a242bcc66f17a3c6a679c31d23", "waymo_split": "test", "type": "image", "frame_index": 9, "question": "Based on the current appearance of the person/vehicle (two-wheeled), how are they likely to move?", "category": "Normal Perception & Prediction", "options": ["A. It seems they will turn right", "B. It seems they will stop", "C. It seems they will turn left", "D. It seems they will go straight"], "answer_index": 2}
{"token": "16efb3a242bcc66f17a3c6a679c31d23", "waymo_split": "test", "type": "video", "frame_index": null, "question": "Summary of Ego (self-vehicle) behavior before a safety-critical situation", "category": "Normal scene Understanding", "options": ["A. Stop", "B. Turn left", "C. Turn right", "D. Go straight"], "answer_index": 3}
{"token": "16efb3a242bcc66f17a3c6a679c31d23", "waymo_split": "test", "type": "video", "frame_index": null, "question": "What situation would have occurred if the self-driving car acted this way?", "category": "Counterfactual", "options": ["A. If the self-driving car ignored and went straight, it would have collided with a person.", "B. If the self-driving car ignored and turned right, it would have made contact with a bicycle.", "C. If the self-driving car ignored and changed lanes, it would have collided with the car next to it.", "D. If the self-driving car slowed down and stopped, pedestrians would have passed first."], "answer_index": 0}
{"token": "16efb3a242bcc66f17a3c6a679c31d23", "waymo_split": "test", "type": "video", "frame_index": null, "question": "What situations may potentially arise depending on the type/condition of the road?", "category": "Normal Perception & Prediction", "options": ["A. On a straight section of the highway with many traffic lights, sudden stops can occur when the light changes.", "B. On a wide road in the rain, drainage is good, which shortens the braking distance and allows for quicker stops.", "C. On a narrow road with many parked cars on the shoulder, something may suddenly emerge from between them.", "D. In tunnel sections, the lighting is bright and visibility is wide, making it easy to assess situations at a distance."], "answer_index": 2}
{"token": "16efb3a242bcc66f17a3c6a679c31d23", "waymo_split": "test", "type": "image", "frame_index": 9, "question": "What are the behavior restrictions in school zones/congested areas?", "category": "Special Event", "options": ["A. Must turn on high beams", "B. Must drive slowly", "C. Must honk the horn", "D. Must accelerate"], "answer_index": 1}
{"token": "16efb3a242bcc66f17a3c6a679c31d23", "waymo_split": "test", "type": "image", "frame_index": 9, "question": "What is the plan for yielding when an ambulance/fire truck approaches?", "category": "Special Event", "options": ["A. Stop just before entering the intersection, make a right turn, and stop near the entrance of the intersection to yield", "B. Enter the center of the intersection, turn on the hazard lights, and wait in place", "C. Do not pass through the intersection, stay in the first lane, maintain speed, and yield space", "D. After passing through the intersection, make a left turn and pull over to the shoulder to yield space"], "answer_index": 3}
{"token": "16efb3a242bcc66f17a3c6a679c31d23", "waymo_split": "test", "type": "image", "frame_index": 9, "question": "What are the classifications of scenes?", "category": "Normal scene Understanding", "options": ["A. Residential area", "B. City", "C. Unpaved", "D. Highway"], "answer_index": 0}
{"token": "16efb3a242bcc66f17a3c6a679c31d23", "waymo_split": "test", "type": "image", "frame_index": 9, "question": "Which of the following is a correct description of traffic density?", "category": "Normal scene Understanding", "options": ["A. Fast, many surrounding vehicles are driving", "B. Slow, many surrounding vehicles are parked on the shoulder", "C. Fast, almost no surrounding vehicles", "D. Slow, few surrounding vehicles"], "answer_index": 1}
{"token": "16efb3a242bcc66f17a3c6a679c31d23", "waymo_split": "test", "type": "image", "frame_index": 9, "question": "Which of the following is a correct description of the environment?", "category": "Normal scene Understanding", "options": ["A. sunset, cloudy", "B. dawn, fog", "C. night, light rain", "D. daytime, clear"], "answer_index": 3}
{"token": "16efb3a242bcc66f17a3c6a679c31d23", "waymo_split": "test", "type": "image", "frame_index": 9, "question": "Are there any blind spots?", "category": "Uncertainty", "options": ["A. No left blind spot", "B. There is a rear blind spot", "C. There is a right blind spot", "D. No blind spots"], "answer_index": 3}
{"token": "16efb3a242bcc66f17a3c6a679c31d23", "waymo_split": "test", "type": "image", "frame_index": 9, "question": "What is the description of a non-safety-critical object?", "category": "Normal Perception & Prediction", "options": ["A. There are streetlights and CCTV mounted above. In front and to the left, there is a construction site sign indicating that passage is possible. To the right, there are signs and construction cones slightly protruding into the road, causing a minor obstruction to traffic.", "B. There are power lines and utility poles above. In front and to the right, a construction site sign blocks entry. To the left, there are signs and construction cones placed in a way that obstructs traffic.", "C. The power lines are not visible, and a building banner is hanging above. In front, there is a construction fence in the center, but a narrow passage is opened to the side. To the left, there is only a flowerbed boundary, and no signs or cones are visible.", "D. Tree branches and signs are hanging overhead. In front, the right side is empty, and the construction site sign has been moved to the left alley. To the left, there is only one temporary parking guidance sign, and the cones are clustered on the opposite side."], "answer_index": 1}
{"token": "16efb3a242bcc66f17a3c6a679c31d23", "waymo_split": "test", "type": "image", "frame_index": 9, "question": "Which of the following is a correct description of traffic signals?", "category": "Traffic Signal", "options": ["A. Front top sign (direction arrow visible). Traffic light flashing yellow.", "B. Clear speed limit of 30 marked on the road. Traffic light present (left turn signal).", "C. Sign on the right (no parking visible). Traffic light present (green).", "D. Sign on the left (no text or image visible). No traffic light."], "answer_index": 3}
{"token": "16efb3a242bcc66f17a3c6a679c31d23", "waymo_split": "test", "type": "image", "frame_index": 9, "question": "What is a safety-critical object?", "category": "Safety-critical Perception", "options": ["A. Safety-critical object battery management module", "B. Safety-critical object emergency stop button", "C. Safety-critical object brake controller", "D. No safety-critical object"], "answer_index": 3}
{"token": "16efb3a242bcc66f17a3c6a679c31d23", "waymo_split": "test", "type": "image", "frame_index": 9, "question": "What is the answer regarding parked vehicles on the shoulder, the presence of a center line, and whether Ego crosses the center line?", "category": "Normal Perception & Prediction", "options": ["A. There are almost no parked vehicles on the shoulder. The center line on the current road is clear. Ego does not cross the center line.", "B. There are many parked vehicles on the shoulder. The center line is visible after a left turn. The center line is not visible on the current road.", "C. There are no parked vehicles on the shoulder at all. The center line continues uninterrupted. Ego overtakes across the center line.", "D. There are a few parked vehicles on the shoulder. The center line is visible after a right turn. Ego briefly crossed the center line and then returned."], "answer_index": 1}
{"token": "16efb3a242bcc66f17a3c6a679c31d23", "waymo_split": "test", "type": "image", "frame_index": 9, "question": "How should I drive to address the first risk while also resolving the second risk?", "category": "Safety-critical Planning", "options": ["A. Next to the safety-critical object on the right", "B. Detect the next risk and gradually slow down", "C. No safety-critical object ahead", "D. Need to stop before the next intersection"], "answer_index": 2}
{"token": "16efb3a242bcc66f17a3c6a679c31d23", "waymo_split": "test", "type": "image", "frame_index": 9, "question": "Are there any other safety-critical objects besides the first safety-critical object? If so, how will you move them?", "category": "Safety-critical Prediction", "options": ["A. No other safety-critical objects", "B. There is a sharp scalpel, cover it and place it in a tray to move to the medical waste bin", "C. There is an oxygen tank, secure it after closing the valve and move it down the right aisle", "D. There is a fire extinguisher, hold the handle and carry it horizontally to the wall-mounted holder next to the entrance"], "answer_index": 0}
{"token": "16efb3a242bcc66f17a3c6a679c31d23", "waymo_split": "test", "type": "image", "frame_index": 9, "question": "Where is the area that hides danger in the current frame?", "category": "Uncertainty", "options": ["A. A bicycle may suddenly emerge from the blind spot between the parked cars on the left.", "B. A passenger may jump into the road from the blind spot of the bus stop shelter on the rear left.", "C. A motorcycle may cut in from the blind spot behind the central divider at the intersection ahead.", "D. A person may suddenly appear from the blind spot on the sidewalk to the right."], "answer_index": 3}
{"token": "16efb3a242bcc66f17a3c6a679c31d23", "waymo_split": "test", "type": "image", "frame_index": 9, "question": "Is lane changing possible? Which is safer between slowing down and changing lanes?", "category": "Safety-critical Planning", "options": ["A. Both are possible. If there is enough space in front and behind, it's fine to slightly slow down or change to the adjacent lane.", "B. Changing lanes is safer. The right lane is empty, so you can slowly merge in, and there is no need to slow down.", "C. Slowing down is safer. The gap to the car in front is short, so reduce speed first, and you can change to the left lane if necessary.", "D. Both are impossible in the current situation. There is no reason to slow down, and there is only one lane, so changing is not possible."], "answer_index": 3}
{"token": "16efb3a242bcc66f17a3c6a679c31d23", "waymo_split": "test", "type": "image", "frame_index": 9, "question": "What are the new risk candidates that will be exposed in the following section?", "category": "Safety-critical Prediction", "options": ["A. Road surface freezing", "B. Falling rocks section", "C. None", "D. Caution for crosswinds"], "answer_index": 2}
{"token": "16efb3a242bcc66f17a3c6a679c31d23", "waymo_split": "test", "type": "image", "frame_index": 9, "question": "How do you think a safety-critical object will move?", "category": "Safety-critical Prediction", "options": ["A. Pedestrian entering from the right", "B. Slowly merging into the front lane", "C. Cutting in from the left", "D. No safety-critical object"], "answer_index": 3}
{"token": "16efb3a242bcc66f17a3c6a679c31d23", "waymo_split": "test", "type": "image", "frame_index": 38, "question": "Based on the current appearance of the person/vehicle (two-wheeled), how are they trying to move?", "category": "Normal Perception & Prediction", "options": ["A. Turning left", "B. Turning right", "C. Making a U-turn", "D. Going straight"], "answer_index": 0}
{"token": "16efb3a242bcc66f17a3c6a679c31d23", "waymo_split": "test", "type": "image", "frame_index": 9, "question": "What is the method to avoid the blind spot next to a large vehicle?", "category": "Special Event", "options": ["A. No large vehicle. Unable to judge", "B. Wait in the blind spot behind the large vehicle", "C. Maintain the blind spot on the right side of the large vehicle", "D. Pass by driving close to the side of the large vehicle"], "answer_index": 0}
{"token": "16efb3a242bcc66f17a3c6a679c31d23", "waymo_split": "test", "type": "image", "frame_index": 38, "question": "Which of the following is a correct description of traffic density?", "category": "Normal scene Understanding", "options": ["A. Slow, many surrounding vehicles and parked vehicles on the shoulder", "B. Slow, few surrounding vehicles and no parked vehicles on the shoulder", "C. Fast, almost no surrounding vehicles", "D. Fast, many surrounding vehicles but mainly moving vehicles"], "answer_index": 0}
{"token": "16efb3a242bcc66f17a3c6a679c31d23", "waymo_split": "test", "type": "image", "frame_index": 38, "question": "What are the classifications of scenes?", "category": "Normal scene Understanding", "options": ["A. Highway", "B. Urban area", "C. Residential area", "D. Unpaved"], "answer_index": 2}
{"token": "16efb3a242bcc66f17a3c6a679c31d23", "waymo_split": "test", "type": "image", "frame_index": 38, "question": "What is the plan for yielding when an ambulance/fire truck approaches?", "category": "Special Event", "options": ["A. After passing the intersection, turn right and wait briefly near the bus stop", "B. Before entering the intersection, move forward to the left turn waiting line and stop in the center lane", "C. After passing the intersection, turn left and pull the car over to the shoulder to yield space", "D. When approaching the intersection, turn on the hazard lights and increase speed to pass first"], "answer_index": 2}
{"token": "16efb3a242bcc66f17a3c6a679c31d23", "waymo_split": "test", "type": "image", "frame_index": 38, "question": "What are the behavior restrictions in school zones/congested areas?", "category": "Special Event", "options": ["A. Must turn on hazard lights", "B. Must maintain speed", "C. Must honk the horn", "D. Must drive slowly"], "answer_index": 3}
{"token": "16efb3a242bcc66f17a3c6a679c31d23", "waymo_split": "test", "type": "image", "frame_index": 38, "question": "Which of the following is a correct description of the environment?", "category": "Normal scene Understanding", "options": ["A. Day, clear", "B. Morning, fog", "C. Evening, cloudy", "D. Night, shower"], "answer_index": 0}
{"token": "16efb3a242bcc66f17a3c6a679c31d23", "waymo_split": "test", "type": "image", "frame_index": 38, "question": "What is the description of a non-safety-critical object?", "category": "Normal Perception & Prediction", "options": ["A. There is an electronic display on top. In front and to the right, there is a parking entrance sign instead of a construction site. Behind, there is only a sign saying 'ROAD WORK NEXT 5 MILES' without a STOP pavement marking.", "B. There are power lines and utility poles above. In front and to the right, there is a construction sign blocking entry. Behind, there is a STOP pavement marking and a construction warning sign that says 'ROAD CLOSED AHEAD'.", "C. The power lines are not visible, and tree branches are hanging above. In front and to the right, there is an open passage marked as passable. Behind, there is a no parking sign and a 'SPEED LIMIT 25' sign.", "D. Only streetlights and traffic lights are visible above. In front and to the left, there is a detour sign. Behind, there is a SLOW pavement marking and a 'DETOUR' sign."], "answer_index": 1}
{"token": "16efb3a242bcc66f17a3c6a679c31d23", "waymo_split": "test", "type": "image", "frame_index": 38, "question": "What is the answer regarding parked vehicles on the shoulder, the presence of a center line, and whether Ego has crossed the center line?", "category": "Normal Perception & Prediction", "options": ["A. No parked vehicles on the shoulder. Confirmed after U-turn at the center line. The center line is clearly visible in the current section.", "B. Multiple parked vehicles on the shoulder. Visible in the lane after a left turn at the center line. The center line is not visible on the current road.", "C. Almost no parked vehicles on the shoulder. Visible in the lane after a right turn at the center line. The center line is faintly visible on the current road.", "D. One or two stopped vehicles on the shoulder. Continuously visible before entering the center line. The center line markings on the current road are good."], "answer_index": 1}
{"token": "16efb3a242bcc66f17a3c6a679c31d23", "waymo_split": "test", "type": "image", "frame_index": 38, "question": "How do you think safety-critical objects will be moved?", "category": "Safety-critical Prediction", "options": ["A. No safety-critical objects", "B. Detecting safety-critical objects approaching from the front", "C. Capturing safety-critical objects in the left lane", "D. There are safety-critical objects"], "answer_index": 0}
{"token": "16efb3a242bcc66f17a3c6a679c31d23", "waymo_split": "test", "type": "image", "frame_index": 38, "question": "What is a safety-critical object?", "category": "Safety-critical Perception", "options": ["A. Main power cutoff switch", "B. Emergency stop switch", "C. No safety-critical object", "D. Brake actuator module"], "answer_index": 2}
{"token": "16efb3a242bcc66f17a3c6a679c31d23", "waymo_split": "test", "type": "image", "frame_index": 38, "question": "Is there a blind spot?", "category": "Uncertainty", "options": ["A. There is a blind spot", "B. There is no blind spot", "C. There is a left blind spot", "D. There is a right blind spot"], "answer_index": 1}
{"token": "16efb3a242bcc66f17a3c6a679c31d23", "waymo_split": "test", "type": "image", "frame_index": 38, "question": "Are there any other safety-critical objects besides the first safety-critical object? If so, how will you move?", "category": "Safety-critical Prediction", "options": ["A. There are pedestrians, moving from left to right", "B. Ambulance approaching, going straight in the front lane", "C. No more safety-critical objects", "D. There are bicycles, driving on the right edge"], "answer_index": 2}
{"token": "16efb3a242bcc66f17a3c6a679c31d23", "waymo_split": "test", "type": "image", "frame_index": 38, "question": "How should I drive to resolve the first risk while also addressing the second risk?", "category": "Safety-critical Planning", "options": ["A. No more safety-critical objects ahead", "B. Stop at the signal waiting line", "C. Need to change to the left lane", "D. Proceed while maintaining deceleration"], "answer_index": 0}
{"token": "16efb3a242bcc66f17a3c6a679c31d23", "waymo_split": "test", "type": "image", "frame_index": 38, "question": "What are the new exposure risk candidates in the following interval?", "category": "Safety-critical Prediction", "options": ["A. Fall", "B. Electric shock", "C. None", "D. Collision"], "answer_index": 2}
{"token": "16efb3a242bcc66f17a3c6a679c31d23", "waymo_split": "test", "type": "image", "frame_index": 38, "question": "Is lane changing possible? Which is safer between slowing down and changing lanes?", "category": "Safety-critical Planning", "options": ["A. Both are currently impossible. There is no reason to slow down, and there is only one lane available, so changing lanes is not possible (currently making a left turn).", "B. Slowing down is safer. The queue at the front is long, so preparation for braking is needed, and there is enough space to change lanes to the right, but maintaining the current position is correct (currently in a straight section).", "C. Both are possible, but lane changing is recommended. The car in front is excessively slow, and moving to the right lane will provide better visibility, while excessive slowing down poses a risk to the car behind (approaching a right turn).", "D. Changing lanes is safer. There is an empty lane on the left, so you can enter before merging, and it is better to match the flow with acceleration (still before the turn)."], "answer_index": 0}
{"token": "16efb3a242bcc66f17a3c6a679c31d23", "waymo_split": "test", "type": "image", "frame_index": 38, "question": "Where is the area that hides danger in the current frame?", "category": "Uncertainty", "options": ["A. A-pillar square", "B. Left alley", "C. None", "D. Behind the bus"], "answer_index": 2}
{"token": "16efb3a242bcc66f17a3c6a679c31d23", "waymo_split": "test", "type": "image", "frame_index": 38, "question": "What is the method to avoid the blind spot next to a large vehicle?", "category": "Special Event", "options": ["A. Close to the large vehicle", "B. To the right of the large vehicle", "C. No large vehicle. Unable to judge", "D. Behind the large vehicle"], "answer_index": 2}
{"token": "16efb3a242bcc66f17a3c6a679c31d23", "waymo_split": "test", "type": "image", "frame_index": 76, "question": "Based on the current appearance of the person/vehicle (two-wheeled), how do you intend to move?", "category": "Normal Perception & Prediction", "options": ["A. Turn left", "B. Go straight", "C. Stop", "D. Turn right"], "answer_index": 1}
{"token": "16efb3a242bcc66f17a3c6a679c31d23", "waymo_split": "test", "type": "image", "frame_index": 38, "question": "What is the safest choice when approaching a yellow signal: stop vs proceed?", "category": "Special Event", "options": ["A. Unprotected left turn", "B. Proceed after slowing down", "C. No traffic light", "D. Come to a complete stop"], "answer_index": 2}
{"token": "16efb3a242bcc66f17a3c6a679c31d23", "waymo_split": "test", "type": "image", "frame_index": 76, "question": "What is the plan for yielding when an ambulance/fire truck approaches?", "category": "Special Event", "options": ["A. Move briefly to the bus-only lane, turn on hazard lights, and yield the road.", "B. If there is an empty space on the left shoulder, pull over to yield the space.", "C. If there is an empty space on the right shoulder, pull over to yield the space.", "D. Do not stop at intersections; maintain speed and yield after passing."], "answer_index": 2}
{"token": "16efb3a242bcc66f17a3c6a679c31d23", "waymo_split": "test", "type": "image", "frame_index": 76, "question": "What are the restrictions on behavior in school zones/congested areas?", "category": "Special Event", "options": ["A. Must change lanes", "B. Must honk the horn", "C. Must drive slowly", "D. Must pass quickly"], "answer_index": 2}
{"token": "16efb3a242bcc66f17a3c6a679c31d23", "waymo_split": "test", "type": "image", "frame_index": 76, "question": "Which of the following is a correct description of the environment?", "category": "Normal scene Understanding", "options": ["A. Day, clear", "B. Night, light rain", "C. Morning, light fog", "D. Evening, cloudy"], "answer_index": 0}
{"token": "16efb3a242bcc66f17a3c6a679c31d23", "waymo_split": "test", "type": "image", "frame_index": 76, "question": "What are the classifications of scenes?", "category": "Normal scene Understanding", "options": ["A. Unpaved", "B. Residential area", "C. Highway", "D. Urban area"], "answer_index": 1}
{"token": "16efb3a242bcc66f17a3c6a679c31d23", "waymo_split": "test", "type": "image", "frame_index": 76, "question": "Which of the following is correct as an Image Caption from the perspective of a Normal Frame?", "category": "Normal scene caption", "options": ["A. A narrow alley without a central line, going straight, not following right-hand traffic (congested in both directions). There are hardly any parked cars on both shoulders, and there is a large open space on the right. A child is seen getting out of a car on the left and walking towards the sidewalk. Behind, instead of an intersection, there is a crosswalk and a bus stop, with a motorcycle approaching from behind. There are no construction signs, only a sign for illegal parking enforcement.", "B. Entering a narrow two-lane road, following right-hand traffic (there is a vehicle ahead in front). There are many parked cars on both sides of the shoulder. Among them, a person is seen getting out of a parked car on the right and standing towards the road. Behind, there is an intersection, but no vehicles are approaching nearby. There are many construction signs and caution signs behind.", "C. Merging into a wide one-way three-lane road, following left-hand traffic (no vehicles ahead). There are hardly any parked cars on the shoulder, with only a few sporadically on the left. A person getting out of a parked car on the left is moving towards the sidewalk, and no one is seen standing towards the road. Behind, there is a traffic light intersection in the distance, and the number of approaching vehicles is gradually increasing. There are no construction signs or cones visible behind, only street trees and shop signs.", "D. Entering a four-lane section with a central divider, following right-hand traffic (a large bus and a truck are continuously driving ahead). Parked cars are lined up long on the left shoulder, while the right is empty. Instead of a person opening a door on the right, a bicycle is seen merging to the edge of the road. Behind, it is a curved section rather than an intersection, and a vehicle is closely following behind. Instead of construction signs or cones, there are speed limit signs and a speed camera warning sign visible behind."], "answer_index": 1}
{"token": "16efb3a242bcc66f17a3c6a679c31d23", "waymo_split": "test", "type": "image", "frame_index": 76, "question": "Which of the following is a correct description of traffic signals?", "category": "Traffic Signal", "options": ["A. STOP pavement markings in the rear and front. Construction sign in the rear.", "B. STOP sign at the front intersection. No parking sign on the right.", "C. Right turn only pavement marking in the rear. Pedestrian traffic light on in the front.", "D. YIELD pavement marking in the front. Construction sign on the left."], "answer_index": 0}
{"token": "16efb3a242bcc66f17a3c6a679c31d23", "waymo_split": "test", "type": "image", "frame_index": 76, "question": "Which of the following is a correct description of traffic density?", "category": "Normal scene Understanding", "options": ["A. Slow, with almost no surrounding vehicles", "B. Fast, with few parked vehicles on the shoulder", "C. Slow, with many parked vehicles on the shoulder", "D. Fast, with many vehicles driving in the lanes"], "answer_index": 2}
{"token": "16efb3a242bcc66f17a3c6a679c31d23", "waymo_split": "test", "type": "image", "frame_index": 76, "question": "What is the description of a non-safety-critical object?", "category": "Normal Perception & Prediction", "options": ["A. There are power lines and utility poles on the right sidewalk, with a parking area sign and a delivery motorcycle behind. On the front left, there is a small flower bed, a bench, and a row of street trees.", "B. There are power lines and utility poles on the left sidewalk. Behind, there is a construction cone and a construction site sign. On the front right, there is an open space, a sidewalk, and a planted tree.", "C. In the center front, there is a bicycle rack and a guide sign. On the back left, there is a public telephone booth, and along the right sidewalk edge, there are flower pots and a low fence arranged.", "D. On the left side of the road, there are streetlights and trash cans. Behind, a bus stop sign is visible. On the front right, there is a store entrance, a glass display case, and it leads to a low staircase."], "answer_index": 1}
{"token": "16efb3a242bcc66f17a3c6a679c31d23", "waymo_split": "test", "type": "image", "frame_index": 76, "question": "Is there a blind spot in the field of view?", "category": "Uncertainty", "options": ["A. The right sidewalk is wide, ensuring visibility.", "B. Visibility is ensured next to the central divider, no blind spots.", "C. There are blind spots between parked vehicles on the left and right shoulders.", "D. Visibility is open along the left bicycle lane."], "answer_index": 2}
{"token": "16efb3a242bcc66f17a3c6a679c31d23", "waymo_split": "test", "type": "image", "frame_index": 76, "question": "How do you think a safety-critical object would be moved?", "category": "Safety-critical Prediction", "options": ["A. It seems like it would crawl (lowering the body between the seats and quietly crawling to the back)", "B. It seems like it would stand (bending over and standing while fiddling with something inside the car)", "C. It seems like it would be walking (getting out of the car and slowly walking towards the sidewalk)", "D. It seems like it would be sitting (sitting in the driver's seat and moving forward little by little)"], "answer_index": 1}
{"token": "16efb3a242bcc66f17a3c6a679c31d23", "waymo_split": "test", "type": "image", "frame_index": 76, "question": "What is the answer regarding parked vehicles on the shoulder, the presence of a center line, and whether Ego crosses the center line?", "category": "Normal Perception & Prediction", "options": ["A. A few parked vehicles on the shoulder. No center line. No crossing.", "B. One or two parked vehicles on the shoulder. Center line exists. Crossing occurs.", "C. Many parked vehicles on the shoulder. Center line exists. No crossing.", "D. No parked vehicles on the shoulder. Center line exists. Crossing occurs."], "answer_index": 2}
{"token": "16efb3a242bcc66f17a3c6a679c31d23", "waymo_split": "test", "type": "image", "frame_index": 76, "question": "What is a safety-critical object?", "category": "Safety-critical Perception", "options": ["A. A person standing on the left side of the road, coming out from a parked vehicle on the right shoulder far ahead.", "B. A person trying to walk towards the right side of the road from a parked vehicle on the left shoulder far ahead.", "C. A driver closing the door next to a parked vehicle on the right shoulder far ahead, looking towards the vehicle.", "D. A person stepping back towards the opposite side of the road from the edge of the right sidewalk far ahead."], "answer_index": 0}
{"token": "16efb3a242bcc66f17a3c6a679c31d23", "waymo_split": "test", "type": "image", "frame_index": 76, "question": "Is lane changing possible? Which is safer, slowing down or changing lanes?", "category": "Safety-critical Planning", "options": ["A. Changing lanes is safer; there is a free lane on the left to move into.", "B. Slowing down is safer; the lane is a single lane, so lane changing is not possible.", "C. Accelerating is better than slowing down; the gap to the car in front widens, allowing for a lane change to overtake.", "D. Maintaining speed is safe; it's a two-lane road, so lane changing to the right is possible."], "answer_index": 1}
{"token": "16efb3a242bcc66f17a3c6a679c31d23", "waymo_split": "test", "type": "image", "frame_index": 76, "question": "Are there any other safety-critical objects besides the first safety-critical object? If so, how will they be moved?", "category": "Safety-critical Prediction", "options": ["A. There are sharp tools, moved under the workbench.", "B. There is a gas cylinder, moved to the side with outside ventilation.", "C. There are no other safety-critical objects.", "D. There is a fire extinguisher, slightly moved towards the wall at the end of the corridor."], "answer_index": 2}
{"token": "16efb3a242bcc66f17a3c6a679c31d23", "waymo_split": "test", "type": "image", "frame_index": 76, "question": "How should I drive to address the first risk while also addressing the second risk?", "category": "Safety-critical Planning", "options": ["A. No subsequent safety-critical objects", "B. Decelerate for the next safety-critical object", "C. Watch for the safety-critical object ahead", "D. Avoid the safety-critical object on the right"], "answer_index": 0}
{"token": "16efb3a242bcc66f17a3c6a679c31d23", "waymo_split": "test", "type": "image", "frame_index": 76, "question": "What is the correlation in safety-critical situations?", "category": "Safety-critical scene Understanding", "options": ["A. car-person", "B. car-two-wheeler", "C. car-car", "D. person-two-wheeler"], "answer_index": 0}
{"token": "16efb3a242bcc66f17a3c6a679c31d23", "waymo_split": "test", "type": "image", "frame_index": 76, "question": "What is the safer choice just before entering a yellow signal: stop vs pass?", "category": "Special Event", "options": ["A. pass while slowing down", "B. no traffic light", "C. waiting to turn left", "D. pedestrian priority"], "answer_index": 1}
{"token": "16efb3a242bcc66f17a3c6a679c31d23", "waymo_split": "test", "type": "image", "frame_index": 76, "question": "Where is the area that hides danger in the current frame?", "category": "Uncertainty", "options": ["A. Behind the A-pillar", "B. None", "C. Right in front of the hood", "D. Bottom left"], "answer_index": 1}
{"token": "16efb3a242bcc66f17a3c6a679c31d23", "waymo_split": "test", "type": "image", "frame_index": 76, "question": "What are the new exposure risk candidates in the following interval?", "category": "Safety-critical Prediction", "options": ["A. Falling objects", "B. Falls", "C. None", "D. Entanglement"], "answer_index": 2}
{"token": "16efb3a242bcc66f17a3c6a679c31d23", "waymo_split": "test", "type": "image", "frame_index": 76, "question": "Who is responsible in safety-critical situations? What is the cause?", "category": "Safety-critical scene Understanding", "options": ["A. It lies with the person. Exiting from a parked vehicle on the shoulder and standing on the left side of the road obstructs the driving vehicle.", "B. It lies with the road management authority. The boundary markings between the shoulder and the roadway are unclear, causing pedestrian paths to overlap.", "C. It lies with the driving vehicle. Driving too close to the left edge leaves insufficient space to avoid pedestrians.", "D. It lies with the weather. Rain obscures visibility, delaying situational awareness."], "answer_index": 0}
{"token": "16efb3a242bcc66f17a3c6a679c31d23", "waymo_split": "test", "type": "image", "frame_index": 76, "question": "What is the method to avoid the blind spot next to a large vehicle?", "category": "Special Event", "options": ["A. Pass on the left side of the large vehicle", "B. Move behind the truck", "C. No large vehicle. Unable to judge", "D. Overtake on the right side of the bus"], "answer_index": 2}
{"token": "16efb3a242bcc66f17a3c6a679c31d23", "waymo_split": "test", "type": "image", "frame_index": 76, "question": "What are the driving guidelines for my vehicle based on the behavior of a safety-critical object?", "category": "Safety-critical Planning", "options": ["A. If it stops at the edge of the road, there is no need to stop, so just honk the horn and proceed.", "B. If it walks away from my vehicle, the likelihood of a collision decreases, so I should accelerate and pass quickly.", "C. If it runs parallel to my vehicle, sudden braking is dangerous, so I should maintain my lane without slowing down.", "D. If it walks towards my vehicle, the distance to a potential collision decreases, so I should brake hard in advance."], "answer_index": 3}
{"token": "16efb3a242bcc66f17a3c6a679c31d23", "waymo_split": "test", "type": "image", "frame_index": 76, "question": "What situation might occur if the self-driving car behaved like this?", "category": "Counterfactual", "options": ["A. Slowing down and stopping to let pedestrians go first", "B. No collision risk if it turns left to exit", "C. No interference with bicycles if it veers to the right", "D. Collision risk with people if it ignores and goes straight"], "answer_index": 3}
{"token": "16efb3a242bcc66f17a3c6a679c31d23", "waymo_split": "test", "type": "image", "frame_index": 115, "question": "Based on the current appearance of the person/vehicle (two-wheeled), how do you intend to move?", "category": "Normal Perception & Prediction", "options": ["A. Stop", "B. Make a U-turn", "C. Go straight", "D. Reverse"], "answer_index": 2}
{"token": "16efb3a242bcc66f17a3c6a679c31d23", "waymo_split": "test", "type": "image", "frame_index": 115, "question": "Which of the following is correct as an Image Caption from the perspective of a Normal Frame?", "category": "Normal scene caption", "options": ["A. A two-lane road in the city, stopped. The car in front is signaling to park on the right. There is a pedestrian pushing a stroller and a cat on the sidewalk in front of the car. Meanwhile, an oncoming car is trying to stop on the right.", "B. Driving on a narrow two-lane road. A large truck is moving slowly ahead. There is a bus closing its doors next to the bus stop on the left and one passenger. Meanwhile, a motorcycle from the opposite lane is crossing into our lane to turn left.", "C. Driving on a wide four-lane road. Several vehicles are waiting at a red light ahead. There is a person organizing a trunk and a bicycle behind a stopped vehicle on the left shoulder. Meanwhile, a vehicle from the opposite lane is preparing to turn left.", "D. Driving on a narrow two-lane road. There is one vehicle ahead. Between that vehicle and ours, there is a person standing with a dog next to a parked car on the right shoulder. Meanwhile, a car from the opposite lane is going straight towards our direction."], "answer_index": 3}
{"token": "16efb3a242bcc66f17a3c6a679c31d23", "waymo_split": "test", "type": "image", "frame_index": 115, "question": "Which of the following is correct as an Image Caption from a Safety-critical Frame perspective?", "category": "Safety-critical scene caption", "options": ["A. A person sitting in the driver's seat of a stopped vehicle in the lane, looking outside, and a stroller.", "B. A person standing on the sidewalk, looking at a mobile phone while closing the door of a parked vehicle on the shoulder, and a bicycle.", "C. A person taking out luggage from the trunk of a parked vehicle on the shoulder while standing on the sidewalk, and a cat.", "D. A person standing on the road side with the door of a parked vehicle on the shoulder open, doing something inside the car, and a puppy."], "answer_index": 3}
{"token": "16efb3a242bcc66f17a3c6a679c31d23", "waymo_split": "test", "type": "image", "frame_index": 115, "question": "What is the plan for yielding when an ambulance/fire truck approaches?", "category": "Special Event", "options": ["A. Change to the left lane and yield by slowing down", "B. Stop inside the intersection to secure space for passage", "C. Drive on the shoulder and move aside while keeping the hazard lights on", "D. Currently unable to yield, but can yield by simply stopping"], "answer_index": 3}
{"token": "16efb3a242bcc66f17a3c6a679c31d23", "waymo_split": "test", "type": "image", "frame_index": 115, "question": "What are the divisions of the scene?", "category": "Normal scene Understanding", "options": ["A. City", "B. Highway", "C. Residential area", "D. Unpaved"], "answer_index": 2}
{"token": "16efb3a242bcc66f17a3c6a679c31d23", "waymo_split": "test", "type": "image", "frame_index": 115, "question": "Which of the following is a correct description of the environment?", "category": "Normal scene Understanding", "options": ["A. Morning, fog", "B. Afternoon, clear", "C. Night, cloudy", "D. Evening, rain"], "answer_index": 1}
{"token": "16efb3a242bcc66f17a3c6a679c31d23", "waymo_split": "test", "type": "image", "frame_index": 115, "question": "Which of the following is a correct description of traffic density?", "category": "Normal scene Understanding", "options": ["A. Slow, few surrounding vehicles and wide gaps", "B. Fast, almost no surrounding vehicles", "C. Slow, many surrounding vehicles parked on the shoulder", "D. Fast, almost no surrounding vehicles parked on the shoulder"], "answer_index": 2}
{"token": "16efb3a242bcc66f17a3c6a679c31d23", "waymo_split": "test", "type": "image", "frame_index": 115, "question": "What is the description of a non-safety-critical object?", "category": "Normal Perception & Prediction", "options": ["A. There are power lines and utility poles on the left sidewalk. There are construction cones and a red flag between the sidewalk and the house on the left. A leading vehicle is driving straight ahead.", "B. There are power lines and utility poles on the right sidewalk. Construction cones and a yellow flag are placed between the sidewalk and the commercial building on the right, with a passenger car waiting to turn left from the front.", "C. There are street trees and streetlights on the left sidewalk. Only a temporary fence is installed next to the left wall without construction cones, and a bicycle is slowly approaching from the front.", "D. The power lines and utility poles appear to be leaning towards the median strip, and a blue guide flag and sign are placed between the right sidewalk and the house, with the front lane empty."], "answer_index": 0}
{"token": "16efb3a242bcc66f17a3c6a679c31d23", "waymo_split": "test", "type": "image", "frame_index": 115, "question": "What are the behavioral restrictions in school zones/congested areas?", "category": "Special Event", "options": ["A. Must honk the horn", "B. Must drive at a constant speed", "C. Must change lanes", "D. Must drive slowly"], "answer_index": 3}
{"token": "16efb3a242bcc66f17a3c6a679c31d23", "waymo_split": "test", "type": "image", "frame_index": 115, "question": "What is the answer regarding parked vehicles on the shoulder, the presence of a center line, and whether Ego crosses the center line?", "category": "Normal Perception & Prediction", "options": ["A. One or two parked vehicles on the shoulder. Center line exists. Partial crossing of the center line.", "B. No parked vehicles on the shoulder. No center line. No crossing.", "C. A few parked vehicles on the shoulder. Center line exists. Crossing occurs.", "D. Many parked vehicles on the shoulder. Center line exists. No crossing."], "answer_index": 3}
{"token": "16efb3a242bcc66f17a3c6a679c31d23", "waymo_split": "test", "type": "image", "frame_index": 115, "question": "Which of the following statements about traffic signals is correct?", "category": "Traffic Signal", "options": ["A. Red light on the traffic signal / STOP sign exists on the right side of the same lane ahead", "B. Yellow flashing light on the traffic signal / Yield sign exists ahead in the opposite lane", "C. No traffic signal. STOP sign exists in the opposite lane behind", "D. Traffic signal is functioning normally / Stop line and STOP painting exist on the road ahead"], "answer_index": 2}
{"token": "16efb3a242bcc66f17a3c6a679c31d23", "waymo_split": "test", "type": "image", "frame_index": 115, "question": "Are there any blind spots in your field of vision?", "category": "Uncertainty", "options": ["A. Blind spot next to the central divider", "B. Blind spot between parked cars on the left and right shoulders", "C. No blind spot in the adjacent right lane", "D. No blind spot behind the waiting car for a right turn"], "answer_index": 1}
{"token": "16efb3a242bcc66f17a3c6a679c31d23", "waymo_split": "test", "type": "image", "frame_index": 115, "question": "What is a safety-critical object?", "category": "Safety-critical Perception", "options": ["A. A person standing on the left side of the road after coming out from a parked vehicle on the right shoulder ahead.", "B. A person who started walking down from a parked vehicle on the left shoulder ahead to the right side of the road.", "C. A person moving back to the right sidewalk next to a stopped vehicle on the right shoulder ahead.", "D. A person trying to enter the roadway in front of a bus that has stopped at the right bus stop ahead."], "answer_index": 0}
{"token": "16efb3a242bcc66f17a3c6a679c31d23", "waymo_split": "test", "type": "image", "frame_index": 115, "question": "Are there any other safety-critical objects besides the first safety-critical object? If so, how will they move?", "category": "Safety-critical Prediction", "options": ["A. There is a next safety-critical object: bicycle, entering the right lane", "B. There is no next safety-critical object", "C. There is a next safety-critical object: pedestrian, moving from left to right", "D. There is a next safety-critical object: stroller, approaching slowly from the front"], "answer_index": 1}
{"token": "16efb3a242bcc66f17a3c6a679c31d23", "waymo_split": "test", "type": "image", "frame_index": 115, "question": "What is the correlation in safety-critical situations?", "category": "Safety-critical scene Understanding", "options": ["A. Two-wheeler - person", "B. Car - car", "C. Car - person", "D. Car - two-wheeler"], "answer_index": 2}
{"token": "16efb3a242bcc66f17a3c6a679c31d23", "waymo_split": "test", "type": "image", "frame_index": 115, "question": "Is lane changing possible? Which is safer between slowing down and changing lanes?", "category": "Safety-critical Planning", "options": ["A. Changing lanes is safer than slowing down; it's safe to take the passing lane since the car in front is slow.", "B. Changing lanes is safer; it's better to move left since it's a two-lane road.", "C. Changing lanes is better; there's space in the right lane, so you can enter immediately.", "D. Slowing down is safer; lane changing is not possible since it's a single lane."], "answer_index": 3}
{"token": "16efb3a242bcc66f17a3c6a679c31d23", "waymo_split": "test", "type": "image", "frame_index": 115, "question": "What should I do to drive safely?", "category": "Safety-critical Planning", "options": ["A. I should wait until this person moves on foot or gets back into the vehicle. It is currently unsafe to overtake using the opposite lane since a car is coming from that direction.", "B. It is acceptable to turn on the hazard lights and proceed slowly to avoid this person, as there is enough distance from oncoming vehicles to briefly use the opposite lane for overtaking.", "C. I can utilize the space on the right shoulder to maintain a safe distance and pass through. It is preferable to maintain traffic flow regardless of the situation in the opposite lane.", "D. I can request movement with the horn or hand signals and continue moving forward. If my lane is narrow, it may actually be safer to slightly cross the center line to bypass."], "answer_index": 0}
{"token": "16efb3a242bcc66f17a3c6a679c31d23", "waymo_split": "test", "type": "image", "frame_index": 115, "question": "How should I drive to resolve the first risk while also addressing the second risk?", "category": "Safety-critical Planning", "options": ["A. There are no subsequent safety-critical objects.", "B. The next safety-critical object is on the left.", "C. Merging vehicles on the right, yield and slow down.", "D. There is a pedestrian ahead, so stop."], "answer_index": 0}
{"token": "16efb3a242bcc66f17a3c6a679c31d23", "waymo_split": "test", "type": "image", "frame_index": 115, "question": "How do you think a safety-critical object will move?", "category": "Safety-critical Prediction", "options": ["A. It seems like it will walk towards the car door (slightly opening the door and moving its body outside).", "B. It seems like it will roll forward (lying on the floor and rolling along the passage).", "C. It seems like it will sit in the seat (turning its body towards the window and slowly settling next to the bag).", "D. It seems like it will stand (bending over and standing while fiddling with something inside the car)."], "answer_index": 3}
{"token": "16efb3a242bcc66f17a3c6a679c31d23", "waymo_split": "test", "type": "image", "frame_index": 115, "question": "Who is responsible in a safety-critical situation? What is the cause?", "category": "Safety-critical scene Understanding", "options": ["A. The road environment, a situation where it is difficult to identify pedestrians due to the shadow of the guardrail and road surface reflections.", "B. The person, the act of coming out from a parked vehicle on the shoulder and standing on the left lane obstructs the vehicle in motion.", "C. Another vehicle, the glare from the high beams of the following vehicle obscured the view, causing a delayed recognition of the person on the shoulder.", "D. The vehicle itself, a judgment error in proceeding along the left lane without slowing down even after confirming the pedestrian."], "answer_index": 1}
{"token": "16efb3a242bcc66f17a3c6a679c31d23", "waymo_split": "test", "type": "image", "frame_index": 115, "question": "What are the newly exposed risk candidates in the following section?", "category": "Safety-critical Prediction", "options": ["A. Vehicles ignoring the no left turn at the intersection ahead", "B. People or objects that could suddenly appear between parked cars on the left and right shoulders", "C. Motorcycles entering over the center line from the right alley", "D. Buses that could suddenly depart from the left bus stop"], "answer_index": 1}
{"token": "16efb3a242bcc66f17a3c6a679c31d23", "waymo_split": "test", "type": "image", "frame_index": 115, "question": "Where is the area that hides danger in the current frame?", "category": "Uncertainty", "options": ["A. Near the start of the right crosswalk at the intersection ahead", "B. The shadow area of the central divider trees in the left lane", "C. The gap between parked cars on the left and right shoulders", "D. The blind spot at the corner of the right alley exit"], "answer_index": 2}
{"token": "16efb3a242bcc66f17a3c6a679c31d23", "waymo_split": "test", "type": "image", "frame_index": 115, "question": "What is the safer choice just before entering a yellow signal: stop vs pass?", "category": "Special Event", "options": ["A. slow down and pass", "B. left turn signal", "C. no traffic light", "D. no pedestrians"], "answer_index": 2}
{"token": "16efb3a242bcc66f17a3c6a679c31d23", "waymo_split": "test", "type": "image", "frame_index": 115, "question": "What is the method to avoid the blind spot next to a large vehicle?", "category": "Special Event", "options": ["A. No large vehicle. Unable to judge", "B. Overtake on the right", "C. Stay close to the large vehicle", "D. Accelerate in the blind spot"], "answer_index": 0}
{"token": "16efb3a242bcc66f17a3c6a679c31d23", "waymo_split": "test", "type": "image", "frame_index": 145, "question": "Based on the current appearance of the person/vehicle (two-wheeled), how do they intend to move?", "category": "Normal Perception & Prediction", "options": ["A. Stopped", "B. Turning left", "C. Walking", "D. Going straight"], "answer_index": 0}
{"token": "16efb3a242bcc66f17a3c6a679c31d23", "waymo_split": "test", "type": "image", "frame_index": 115, "question": "What are the driving guidelines for the vehicle based on the behavior of a safety-critical object?", "category": "Safety-critical Planning", "options": ["A. If a person is running quickly towards the vehicle, it may not be possible to stop in time compared to the vehicle behind, so it is safer to slightly accelerate and exit the intersection quickly.", "B. If a person suddenly looks up and sees the vehicle, they have already recognized me, so I can maintain my speed and just honk once.", "C. If a person suddenly looks up and starts walking towards the vehicle, the distance to a potential collision is getting closer, so I must brake suddenly in advance.", "D. If a pedestrian turns their body towards the adjacent lane while walking, their path does not overlap with mine, so I can just slightly steer and pass without braking."], "answer_index": 2}
{"token": "16efb3a242bcc66f17a3c6a679c31d23", "waymo_split": "test", "type": "image", "frame_index": 115, "question": "If the self-driving car behaved like this, what situation might occur?", "category": "Counterfactual", "options": ["A. If it ignores and goes straight, there is a risk of colliding with the person on the right.", "B. If it suddenly changes lanes to the right, there is a possibility of contact with the car next to it.", "C. If it ignores the signal and turns left, there is a concern of colliding with pedestrians in the center of the intersection.", "D. If it suddenly brakes, there is a risk of colliding with the vehicle behind."], "answer_index": 0}
{"token": "16efb3a242bcc66f17a3c6a679c31d23", "waymo_split": "test", "type": "image", "frame_index": 145, "question": "What is correct as an Image Caption from the perspective of a Normal Frame?", "category": "Normal scene caption", "options": ["A. While stopped on a narrow two-lane road, a bus is stopped ahead to pick up passengers, and two people are turning back after closing the car door at a parked vehicle on the left shoulder in front of their car, while a vehicle on the opposite side is waiting to make a U-turn.", "B. While moving slowly on a two-lane road, about to start, there are no vehicles ahead, one person is organizing the trunk next to a parked vehicle on the right side in front of their car, and the opposite lane is empty with no passing vehicles.", "C. While driving on a narrow two-lane road, they come to a stop. There is one vehicle ahead. Between that leading vehicle and their car, right in front of their car, there is a person standing with a dog next to a parked vehicle on the right shoulder. At this time, a car from the opposite lane is driving straight towards their car, passing by it.", "D. While driving on a narrow two-lane road, a leading vehicle continues straight ahead, and in front of their car, there is a person standing next to a bicycle, closing the back door of a parked vehicle on the left shoulder. Meanwhile, a vehicle from the opposite lane is making a left turn into an alley."], "answer_index": 2}
{"token": "16efb3a242bcc66f17a3c6a679c31d23", "waymo_split": "test", "type": "image", "frame_index": 145, "question": "Which of the following is correct from the perspective of Safety-critical Frame regarding Image Caption?", "category": "Safety-critical scene caption", "options": ["A. A vehicle double-parked in the front lane, the driver is handing something out the window while a bicycle passes by. The vehicle is in motion.", "B. A person standing by an open car door of a vehicle parked on the front shoulder, doing something inside the car, with a dog right in front. The vehicle is stopped at this time.", "C. A person standing by a closed car door of a vehicle parked on the front shoulder, with a cat crossing the road right in front. The vehicle is moving slowly.", "D. A delivery motorcycle stopped on the front shoulder, the rider is moving towards the sidewalk away from the road, and a child pedestrian appears in front. The vehicle is slowing down."], "answer_index": 1}
{"token": "16efb3a242bcc66f17a3c6a679c31d23", "waymo_split": "test", "type": "image", "frame_index": 145, "question": "What is the classification of the scene?", "category": "Normal scene Understanding", "options": ["A. Residential area", "B. Highway", "C. City center", "D. Commercial district"], "answer_index": 0}
{"token": "16efb3a242bcc66f17a3c6a679c31d23", "waymo_split": "test", "type": "image", "frame_index": 145, "question": "What is the plan for yielding when an ambulance/fire truck approaches?", "category": "Special Event", "options": ["A. Currently unable to yield, as it is a simple stop.", "B. The right shoulder is congested, continue driving with emergency lights on.", "C. Approaching an intersection, plan to yield after passing through first.", "D. Siren detected from a distance, maintain speed and go straight."], "answer_index": 0}
{"token": "16efb3a242bcc66f17a3c6a679c31d23", "waymo_split": "test", "type": "image", "frame_index": 145, "question": "What are the behavior restrictions in school zones/congested areas?", "category": "Special Event", "options": ["A. Must honk the horn", "B. Must drive slowly", "C. Must change lanes", "D. Must stop"], "answer_index": 1}
{"token": "16efb3a242bcc66f17a3c6a679c31d23", "waymo_split": "test", "type": "image", "frame_index": 145, "question": "Which of the following descriptions about the environment is correct?", "category": "Normal scene Understanding", "options": ["A. Daytime, clear", "B. Dusk, cloudy", "C. Night, light rain", "D. Early morning, light fog"], "answer_index": 0}
{"token": "16efb3a242bcc66f17a3c6a679c31d23", "waymo_split": "test", "type": "image", "frame_index": 145, "question": "Which of the following is a correct description of traffic density?", "category": "Normal scene Understanding", "options": ["A. Fast, few surrounding vehicles, and almost no parked cars on the shoulder", "B. Slow, many surrounding vehicles, and many parked cars on the shoulder", "C. Fast, almost no surrounding vehicles, and the shoulder is empty", "D. Slow, few surrounding vehicles, and parked cars on the shoulder are rare"], "answer_index": 1}
{"token": "16efb3a242bcc66f17a3c6a679c31d23", "waymo_split": "test", "type": "image", "frame_index": 145, "question": "Which of the following is a correct description of traffic signals?", "category": "Traffic Signal", "options": ["A. Traffic lights installed at intersections, including pedestrian signals. A YIELD sign on the right.", "B. Flashing traffic light (yellow). Check for stop line and 'STOP' marking on the road.", "C. No traffic light. A STOP sign exists on the opposite lane behind.", "D. Traffic light functioning normally. A STOP sign is present in our lane ahead."], "answer_index": 2}
{"token": "16efb3a242bcc66f17a3c6a679c31d23", "waymo_split": "test", "type": "image", "frame_index": 145, "question": "What is the description of a non-safety-critical object?", "category": "Normal Perception & Prediction", "options": ["A. The power lines and utility poles appear to be leaning towards the median, on the right side there is a trash bin and a white guide sign placed at the edge of the sidewalk, the front lane is empty with no preceding vehicles, from the rear a motorcycle is approaching and overtaking in the right lane, and there is one pedestrian walking a dog at the left corner of the intersection.", "B. The power lines and utility poles are present on the left sidewalk, there are construction cones and a red flag between the sidewalk and the house on the left. A preceding vehicle is driving straight ahead. A vehicle is approaching towards my car from the rear, and this vehicle is making a left turn at the intersection like the previous event of my car. There is a person walking on the right sidewalk.", "C. The power lines and utility poles are present on the right sidewalk, on the left there is a blue barricade and a yellow flag placed between the sidewalk and the house, the preceding vehicle in front is waiting to turn right, the rear vehicle is moving away from my car and passing straight through the intersection, and there is a person walking with a bicycle on the left sidewalk.", "D. The road is underground, so the power lines are not visible and there are no utility poles, on the left there are green pots and a guide banner placed between the sidewalk and the house, in front there is a bus stopped with its emergency lights on, the rear vehicle is stopped on the shoulder and not moving, and on the right sidewalk, two people are jogging in the opposite direction."], "answer_index": 1}
{"token": "16efb3a242bcc66f17a3c6a679c31d23", "waymo_split": "test", "type": "image", "frame_index": 145, "question": "What is the answer regarding parked vehicles on the shoulder, the presence of a center line, and whether Ego crosses the center line?", "category": "Normal Perception & Prediction", "options": ["A. One parked vehicle on the shoulder. No center line. No crossing.", "B. No parked vehicles on the shoulder. Center line exists. Crossing occurs.", "C. Multiple parked vehicles on the shoulder. Center line exists. No crossing.", "D. Few parked vehicles on the shoulder. Center line exists. Crossing occurs."], "answer_index": 2}
{"token": "16efb3a242bcc66f17a3c6a679c31d23", "waymo_split": "test", "type": "image", "frame_index": 145, "question": "Are there any blind spots in the field of view?", "category": "Uncertainty", "options": ["A. The right bus-only lane section has no blind spots due to clear visibility.", "B. There is only a blind spot at the left alley merging point; the right side is fine.", "C. There are blind spots between parked vehicles on both sides.", "D. The lane adjacent to the central divider has open visibility, eliminating blind spots."], "answer_index": 2}
{"token": "16efb3a242bcc66f17a3c6a679c31d23", "waymo_split": "test", "type": "image", "frame_index": 145, "question": "What is a safety-critical object?", "category": "Safety-critical Perception", "options": ["A. A driver and a child organizing the trunk behind a vehicle parked on the right shoulder ahead.", "B. A person and a dog standing on the left side of a vehicle parked on the right shoulder ahead.", "C. A person and a dog stepping back towards the right sidewalk from a vehicle parked on the left shoulder ahead.", "D. A person and a pet dog looking at their phone with their back to the roadway on the right sidewalk ahead."], "answer_index": 1}
{"token": "16efb3a242bcc66f17a3c6a679c31d23", "waymo_split": "test", "type": "image", "frame_index": 145, "question": "How do you think a safety-critical object will move?", "category": "Safety-critical Prediction", "options": ["A. It seems like it will move back (leaning away towards the trunk while organizing luggage with one hand)", "B. It seems like it will walk (taking a step or two outside the car while leaning towards the door)", "C. It seems like it will sit (slightly leaning against the driver's seat while feeling the dashboard with its hand)", "D. It seems like it will stand (bending over and standing while fiddling with something inside the car)"], "answer_index": 3}
{"token": "16efb3a242bcc66f17a3c6a679c31d23", "waymo_split": "test", "type": "image", "frame_index": 145, "question": "Is there any other safety-critical object besides the first safety-critical object? If so, how will it be moved?", "category": "Safety-critical Prediction", "options": ["A. There is another safety-critical object, move slightly to the left to get out of the danger zone.", "B. There is no other safety-critical object.", "C. There is another safety-critical object, move slightly forward to reduce visibility obstruction.", "D. There is another safety-critical object, move slightly to the right to clear the passage."], "answer_index": 1}
{"token": "16efb3a242bcc66f17a3c6a679c31d23", "waymo_split": "test", "type": "image", "frame_index": 145, "question": "What should I do to drive safely?", "category": "Safety-critical Planning", "options": ["A. I should quickly proceed after signaling with hazard lights and horn, as there is space in the opposite lane, so it is safer to overtake now.", "B. I must wait until this person moves on foot or gets back into the vehicle. Since a car is coming from the opposite lane, overtaking using the opposite lane to avoid this person is currently unsafe.", "C. I should briefly cross the center line to avoid the person before the oncoming car arrives, as the road is straight and visibility is sufficient, so a short overtaking is fine.", "D. I can pass as close to the shoulder as possible while maintaining my lane, as the pedestrian is stopped, so just slowing down is sufficient."], "answer_index": 1}
{"token": "16efb3a242bcc66f17a3c6a679c31d23", "waymo_split": "test", "type": "image", "frame_index": 145, "question": "How should I drive to address the first risk while also addressing the second risk?", "category": "Safety-critical Planning", "options": ["A. No safety-critical objects ahead", "B. Safety-critical pedestrian approaching on the left", "C. Safety-critical object ahead", "D. Safety-critical stopped vehicle in the right lane"], "answer_index": 0}
{"token": "16efb3a242bcc66f17a3c6a679c31d23", "waymo_split": "test", "type": "image", "frame_index": 145, "question": "Is lane changing possible? Which is safer, slowing down or changing lanes?", "category": "Safety-critical Planning", "options": ["A. Changing lanes is safer, immediately move to the empty lane on the left.", "B. Slowing down is safer. Lane changing is not possible as it is a single lane.", "C. Changing lanes is safer, as it is a multi-lane road and overtaking the car in front is possible.", "D. Changing lanes is safer, as it is a two-lane road and moving to the right provides space."], "answer_index": 1}
{"token": "16efb3a242bcc66f17a3c6a679c31d23", "waymo_split": "test", "type": "image", "frame_index": 145, "question": "What is the correlation in safety-critical situations?", "category": "Safety-critical scene Understanding", "options": ["A. Two-wheeler - Person", "B. Car - Two-wheeler", "C. Car - Car", "D. Car - Person"], "answer_index": 3}
{"token": "16efb3a242bcc66f17a3c6a679c31d23", "waymo_split": "test", "type": "image", "frame_index": 145, "question": "What is the safer choice just before entering a yellow signal: stop vs pass?", "category": "Special Event", "options": ["A. pass while slowing down", "B. stop immediately", "C. no pedestrians", "D. no traffic light"], "answer_index": 3}
{"token": "16efb3a242bcc66f17a3c6a679c31d23", "waymo_split": "test", "type": "image", "frame_index": 145, "question": "Where is the area that hides danger in the current frame?", "category": "Uncertainty", "options": ["A. There is a truck in the front center, and the space behind it is not visible.", "B. There is a bus parked in the left front, and the body of the bus is blocking the view.", "C. There is a van parked in the right rear, and the body of the van is blocking the view.", "D. There is a car door open in the right front, and that door is blocking the view."], "answer_index": 3}
{"token": "16efb3a242bcc66f17a3c6a679c31d23", "waymo_split": "test", "type": "image", "frame_index": 145, "question": "What are the newly exposed risk candidates in the following section?", "category": "Safety-critical Prediction", "options": ["A. There is a car door open on the right front, and a person or object could suddenly emerge from the space that the door is blocking.", "B. There is a stopped bus directly ahead, and a pedestrian may jaywalk from the blind spot in front of the bus.", "C. A delivery motorcycle is approaching from the rear right, and it could suddenly overtake in the blind spot.", "D. A parked van is blocking the view on the left front, and a bicycle could suddenly enter the roadway from behind it."], "answer_index": 0}
{"token": "16efb3a242bcc66f17a3c6a679c31d23", "waymo_split": "test", "type": "image", "frame_index": 145, "question": "What is the method to avoid the blind spot next to a large vehicle?", "category": "Special Event", "options": ["A. Behind the truck", "B. No large vehicle. Unable to judge", "C. Next to the bus", "D. To the right of the large vehicle"], "answer_index": 1}
{"token": "16efb3a242bcc66f17a3c6a679c31d23", "waymo_split": "test", "type": "image", "frame_index": 145, "question": "What situation might occur if the vehicle behaved like this?", "category": "Counterfactual", "options": ["A. If it ignores and goes straight, there is a risk of colliding with the person standing on the right.", "B. If it accelerates suddenly and goes straight, there is a risk of colliding with the vehicle in front of the stop line.", "C. If it ignores the signal and turns left, there is a risk of colliding with pedestrians crossing from the left.", "D. If it turns right without signaling, there is a risk of colliding with a bicycle going straight from the right."], "answer_index": 0}
{"token": "16efb3a242bcc66f17a3c6a679c31d23", "waymo_split": "test", "type": "image", "frame_index": 145, "question": "What are the driving guidelines for your vehicle based on the behavior of safety-critical objects?", "category": "Safety-critical Planning", "options": ["A. Even if a bicycle comes close to your vehicle from the adjacent lane, you should honk once and maintain your distance while passing.", "B. If a pedestrian glances at your vehicle and slightly veers to the side while walking, you should proceed at a slow speed as they will likely move out of the way.", "C. If a person who was looking at their phone is staggering towards your vehicle, sudden braking is dangerous, so you should slightly turn the steering wheel to avoid them while driving.", "D. If a person suddenly looks up and walks towards your vehicle, the distance to a potential collision decreases, so you should remain in a stopped position."], "answer_index": 3}
{"token": "1781cee0322159879b610319dbbd528c", "waymo_split": "test", "type": "video", "frame_index": null, "question": "What are the classifications of scenes?", "category": "Normal scene Understanding", "options": ["A. Residential area", "B. City", "C. Highway", "D. Unpaved"], "answer_index": 0}
{"token": "1781cee0322159879b610319dbbd528c", "waymo_split": "test", "type": "video", "frame_index": null, "question": "Where is the safety-critical situation in the video?", "category": "Temporal Grounding", "options": ["A. 3/4", "B. 2/4", "C. 4/4", "D. 1/4"], "answer_index": 1}
{"token": "1781cee0322159879b610319dbbd528c", "waymo_split": "test", "type": "video", "frame_index": null, "question": "Is there a special situation?", "category": "Special Event", "options": ["A. Fire truck access", "B. School bus stop", "C. None", "D. Construction cone placement"], "answer_index": 2}
{"token": "1781cee0322159879b610319dbbd528c", "waymo_split": "test", "type": "video", "frame_index": null, "question": "Which of the following is a correct description of traffic density?", "category": "Normal scene Understanding", "options": ["A. Usually, on a downhill (only bumps in the left lane), only one vehicle is occasionally visible.", "B. Fast, on flat ground (no speed bumps visible ahead), several vehicles are clustered around.", "C. Slow, on a sloped flat (speed bumps are present ahead). There are only two vehicles nearby.", "D. Fast, on an uphill (no speed bumps ahead), there are about five vehicles around."], "answer_index": 2}
{"token": "1781cee0322159879b610319dbbd528c", "waymo_split": "test", "type": "video", "frame_index": null, "question": "Which of the following is a correct description of the environment?", "category": "Normal scene Understanding", "options": ["A. Dawn, fog", "B. Night, cloudy", "C. Day, clear", "D. Evening, rain"], "answer_index": 2}
{"token": "1781cee0322159879b610319dbbd528c", "waymo_split": "test", "type": "video", "frame_index": null, "question": "Which of the following is a correct description of road alignment?", "category": "Normal Perception & Prediction", "options": ["A. Overtaking", "B. Left turn", "C. Straight", "D. Right turn"], "answer_index": 2}
{"token": "1781cee0322159879b610319dbbd528c", "waymo_split": "test", "type": "video", "frame_index": null, "question": "What is correct regarding Video Summary from a safety-critical scene perspective?", "category": "Safety-critical scene caption", "options": ["A. A vehicle is stopped trying to merge from a right alley on a two-lane road. The vehicle slows down carefully, keeping in mind to yield.", "B. There is an oncoming vehicle approaching the vehicle from the opposite lane on a two-lane road. Both vehicles are proceeding slowly to pass each other.", "C. The lanes narrow ahead due to a construction zone on a two-lane road. The vehicle follows the guidance signs and proceeds slowly while keeping to the left.", "D. A vehicle in front is driving slowly in the same direction on a two-lane road. The vehicle follows at a safe distance without overtaking."], "answer_index": 1}
{"token": "1781cee0322159879b610319dbbd528c", "waymo_split": "test", "type": "video", "frame_index": null, "question": "What is the description of a non-safety-critical object?", "category": "Normal Perception & Prediction", "options": ["A. There are street vendors and bicycle racks visible on the roadside, with cafes and small shops lined up on both sides. A flower bed is right in front.", "B. There are almost no parked cars on the street, and there are commercial areas and narrow sidewalks on both sides. A crosswalk is right in front.", "C. There are many parked cars on the shoulder, and residential areas and wide sidewalks are spread out on both sides. A speed bump is right in front.", "D. There are dense street trees and streetlights, with school fences and playgrounds extending on both sides. A traffic sign is right in front."], "answer_index": 2}
{"token": "1781cee0322159879b610319dbbd528c", "waymo_split": "test", "type": "video", "frame_index": null, "question": "Which of the following is a correct description of traffic signals?", "category": "Traffic Signal", "options": ["A. There is a left turn signal at the traffic light", "B. There is a bicycle-only marking on the road surface", "C. There is a speed bump marking on the road surface", "D. There is a no parking sign on the signboard"], "answer_index": 2}
{"token": "1781cee0322159879b610319dbbd528c", "waymo_split": "test", "type": "video", "frame_index": null, "question": "Is there a blind spot in your field of vision?", "category": "Uncertainty", "options": ["A. The view is good in front of the right bus stop, with no blind spots.", "B. There is a blind spot next to the central divider on the left lane.", "C. There is a blind spot behind a large vehicle on the left side of the intersection.", "D. There is a blind spot between parked vehicles on the right shoulder."], "answer_index": 3}
{"token": "1781cee0322159879b610319dbbd528c", "waymo_split": "test", "type": "video", "frame_index": null, "question": "What is the answer regarding parked vehicles on the shoulder, the presence of a center line, and whether Ego crosses the center line?", "category": "Normal Perception & Prediction", "options": ["A. The shoulder is mostly empty. The center line is clearly visible.", "B. A few parked vehicles are lined up briefly on the shoulder. There is a center line.", "C. There are many parked vehicles on the shoulder, extending very long. There is no center line.", "D. Parked vehicles on the shoulder are hardly visible. There is a center line."], "answer_index": 2}
{"token": "1781cee0322159879b610319dbbd528c", "waymo_split": "test", "type": "video", "frame_index": null, "question": "Which of the following is correct regarding Video Summary from the perspective of a Normal Scene?", "category": "Normal scene caption", "options": ["A. Avoids parked cars on the right side of a two-lane road by slightly moving to the left. A large truck is moving slowly ahead, so it lightly overtakes using the passing lane. There are no scenes of oncoming vehicles, and the camera shakes left and right as it hits a shallow pothole instead of a speed bump.", "B. Driving on a narrow two-lane road. This road is narrow due to many parked cars on the shoulder. At this moment, an oncoming vehicle is driving straight ahead, so both vehicles slow down to pass each other on this narrow road. The car shakes up and down as it goes over a speed bump.", "C. Slowly following the car in front on a narrow alley. An oncoming vehicle stops to yield, allowing for a straight passage. There are almost no parked cars on the shoulder, and the space is ample. Speed bumps are not visible, making the drive stable throughout.", "D. Following a narrow two-lane road where the shoulder is empty, allowing for relatively smooth passage. There are no vehicles ahead, so the speed is slightly increased. Instead of oncoming traffic, it avoids a vehicle merging from the adjacent lane and maintains the lane smoothly. There are no road irregularities, so the camera hardly shakes."], "answer_index": 1}
{"token": "1781cee0322159879b610319dbbd528c", "waymo_split": "test", "type": "video", "frame_index": null, "question": "What is the correlation in safety-critical situations?", "category": "Safety-critical scene Understanding", "options": ["A. car-car", "B. car-person", "C. car-two-wheeler", "D. person-two-wheeler"], "answer_index": 0}
{"token": "1781cee0322159879b610319dbbd528c", "waymo_split": "test", "type": "video", "frame_index": null, "question": "Summary of Ego (own vehicle) behavior before a safety-critical situation", "category": "Normal scene Understanding", "options": ["A. Left turn", "B. Going straight", "C. Right turn", "D. Stop"], "answer_index": 1}
{"token": "1781cee0322159879b610319dbbd528c", "waymo_split": "test", "type": "video", "frame_index": null, "question": "What is a safety-critical object?", "category": "Safety-critical Perception", "options": ["A. A vehicle passing in the opposite lane from the front", "B. A pedestrian walking in the same direction as the vehicle on the sidewalk", "C. A motorcycle approaching from behind in the same direction as the vehicle", "D. A vehicle approaching from the front in the direction of the vehicle"], "answer_index": 3}
{"token": "1781cee0322159879b610319dbbd528c", "waymo_split": "test", "type": "video", "frame_index": null, "question": "How did the safety-critical object move and how did the ego vehicle behave?", "category": "Safety-critical scene Understanding", "options": ["A. The vehicle goes straight and then turns right into an alley. The ego vehicle maintains its speed and continues straight.", "B. The vehicle is stopped, waiting to turn left. The ego vehicle passes straight in front of it.", "C. The vehicle slightly crosses the center line and moves closer to the ego vehicle. The ego vehicle slows down and maintains distance.", "D. The vehicle goes straight and approaches the direction of the ego vehicle. The ego vehicle also continues straight, so they pass each other in opposite lanes."], "answer_index": 3}
{"token": "1781cee0322159879b610319dbbd528c", "waymo_split": "test", "type": "video", "frame_index": null, "question": "What situation might have occurred if the vehicle had acted this way?", "category": "Counterfactual", "options": ["A. If the vehicle had pressed the brake for a long time and maintained a straight path, it might have secured distance from the oncoming vehicle and avoided danger.", "B. If the vehicle had been driving at a high speed and slightly turned the steering wheel to the right, it might have veered onto the shoulder and avoided a collision.", "C. If the vehicle had been driving at a high speed and slightly turned the steering wheel to the left, it might have collided with the oncoming vehicle.", "D. Even if the vehicle had been driving at a high speed and turned more sharply to the left, it might have maintained its position within the lane and passed safely."], "answer_index": 2}
{"token": "1781cee0322159879b610319dbbd528c", "waymo_split": "test", "type": "video", "frame_index": null, "question": "Who is responsible in a safety-critical situation? What is the cause?", "category": "Safety-critical scene Understanding", "options": ["A. It is the pedestrian's fault. They jumped in without checking ahead at a place that is not a crosswalk.", "B. It is the fault of the right-turning vehicle. They passed through a pedestrian priority area without stopping at the intersection.", "C. It is the fault of the vehicle behind. They tried to overtake quickly while honking in a narrow road.", "D. It is the fault of both. Since it is a narrow road, they are both proceeding cautiously."], "answer_index": 3}
{"token": "1781cee0322159879b610319dbbd528c", "waymo_split": "test", "type": "video", "frame_index": null, "question": "What situations may potentially arise depending on the type/condition of the road?", "category": "Normal Perception & Prediction", "options": ["A. The road surface is wet and skids during sudden braking.", "B. There is a pothole on the right side of the road that needs to be avoided.", "C. There is a construction zone ahead on the road that requires a detour.", "D. There is a speed bump directly in front of the road that causes a jolt."], "answer_index": 3}
{"token": "1781cee0322159879b610319dbbd528c", "waymo_split": "test", "type": "image", "frame_index": 12, "question": "Based on the current appearance of the person/vehicle (two-wheeled), how do you intend to move?", "category": "Normal Perception & Prediction", "options": ["A. Stop", "B. Go straight", "C. Turn right", "D. Turn left"], "answer_index": 1}
{"token": "1781cee0322159879b610319dbbd528c", "waymo_split": "test", "type": "image", "frame_index": 12, "question": "Which of the following is correct as an Image Caption from the perspective of a Normal Frame?", "category": "Normal scene caption", "options": ["A. Waiting at a traffic signal on a wide four-lane road. A crosswalk and pedestrian signal are visible ahead. No cars are passing in the opposite lane.", "B. Merging into a right turn lane due to construction on the shoulder. There is a downhill slope sign and a sharp curve ahead. A bicycle is ahead in the same direction.", "C. Driving on a narrow two-lane road due to parked cars on the shoulder. There are speed bump markings and a speed bump right in front. A vehicle is approaching from the opposite lane.", "D. Slowly backing out of a narrow alley. There is a children's protection zone sign and a speed camera ahead. No vehicles are visible on the opposite side, only a few pedestrians."], "answer_index": 2}
{"token": "1781cee0322159879b610319dbbd528c", "waymo_split": "test", "type": "image", "frame_index": 12, "question": "Which of the following is a correct description of traffic density?", "category": "Normal scene Understanding", "options": ["A. Slow, five surrounding vehicles", "B. Fast, three or four surrounding vehicles", "C. Fast, only one surrounding vehicle", "D. Slow, only one surrounding vehicle"], "answer_index": 3}
{"token": "1781cee0322159879b610319dbbd528c", "waymo_split": "test", "type": "image", "frame_index": 12, "question": "What are the classifications of scenes?", "category": "Normal scene Understanding", "options": ["A. Residential area", "B. Unpaved", "C. City", "D. Highway"], "answer_index": 0}
{"token": "1781cee0322159879b610319dbbd528c", "waymo_split": "test", "type": "image", "frame_index": 12, "question": "What is correct as an Image Caption from the perspective of Safety-critical Frame?", "category": "Safety-critical scene caption", "options": ["A. The vehicle in front is suddenly reducing speed in the same lane. If the following vehicle does not decelerate in time due to the short distance, there is a possibility of a collision.", "B. A pedestrian is stepping onto the crosswalk from the left. If the vehicle does not reduce speed, there is a possibility of slipping and colliding while making an emergency stop.", "C. There is an oncoming vehicle in the opposite lane. When the two vehicles pass each other in the narrow road conditions, there is a possibility of colliding while brushing past.", "D. A two-wheeler is squeezing in from the right lane. If the distance is misjudged due to the narrow lane, there is a possibility of brushing against or knocking it over."], "answer_index": 2}
{"token": "1781cee0322159879b610319dbbd528c", "waymo_split": "test", "type": "image", "frame_index": 12, "question": "What are the behavior restrictions in school zones/congested areas?", "category": "Special Event", "options": ["A. Must overtake", "B. Must drive slowly", "C. Must honk the horn", "D. Must turn right"], "answer_index": 1}
{"token": "1781cee0322159879b610319dbbd528c", "waymo_split": "test", "type": "image", "frame_index": 12, "question": "Which of the following is a correct description of the environment?", "category": "Normal scene Understanding", "options": ["A. Day, clear", "B. Dawn, fog", "C. Dusk, cloudy", "D. Night, rain"], "answer_index": 0}
{"token": "1781cee0322159879b610319dbbd528c", "waymo_split": "test", "type": "image", "frame_index": 12, "question": "What is the plan for yielding when an ambulance/fire truck approaches?", "category": "Special Event", "options": ["A. Stop in the available space next to the central divider to yield", "B. Stop in the empty space on the left shoulder to yield", "C. Stop in the space between parked cars on the right shoulder to yield", "D. Move to the bus-only lane and slow down to yield"], "answer_index": 2}
{"token": "1781cee0322159879b610319dbbd528c", "waymo_split": "test", "type": "image", "frame_index": 12, "question": "What is the description of a non-safety-critical object?", "category": "Normal Perception & Prediction", "options": ["A. Many parked cars on the shoulder on both sides. And residential areas are spread out on both sides. (There are palm trees and sidewalks)", "B. A dense commercial area continues on both sides, and there are street vendors and bicycle racks along the roadside. (There is almost no shoulder parking)", "C. A one-way side road, with a few delivery vehicles temporarily stopped on the right side and empty parking spaces continuing on the left. (Instead of palm trees, there are streetlights and flower beds)", "D. On the left, there is a large park and pond, and on the right, the school fence and playground are adjacent. (The street trees are pine trees, and the walkway continues without any steps)"], "answer_index": 0}
{"token": "1781cee0322159879b610319dbbd528c", "waymo_split": "test", "type": "image", "frame_index": 12, "question": "Which of the following is a correct description of traffic signals?", "category": "Traffic Signal", "options": ["A. Left turn signal ahead", "B. Bump warning sign in front", "C. No parking sign on the right", "D. Traffic light for crosswalk in front"], "answer_index": 1}
{"token": "1781cee0322159879b610319dbbd528c", "waymo_split": "test", "type": "image", "frame_index": 12, "question": "What is the answer regarding parked vehicles on the shoulder, the presence of a center line, and whether Ego crosses the center line?", "category": "Normal Perception & Prediction", "options": ["A. Many parked vehicles on the shoulder. No center line.", "B. Almost no parked vehicles on the shoulder. Center line is clear.", "C. One or two parked vehicles on the shoulder. Center line is faintly visible.", "D. A few parked vehicles on the shoulder. There is a center line."], "answer_index": 0}
{"token": "1781cee0322159879b610319dbbd528c", "waymo_split": "test", "type": "image", "frame_index": 12, "question": "What is a safety-critical object?", "category": "Safety-critical Perception", "options": ["A. A vehicle stopped on the shoulder with hazard lights on", "B. A vehicle approaching from the opposite lane", "C. A vehicle waiting at the stop line of an intersection", "D. A vehicle moving away in the same lane"], "answer_index": 1}
{"token": "1781cee0322159879b610319dbbd528c", "waymo_split": "test", "type": "image", "frame_index": 12, "question": "How do you think a safety-critical object will move?", "category": "Safety-critical Prediction", "options": ["A. Proceed straight in the direction of the vehicle", "B. Make a U-turn in the opposite direction", "C. Change lanes to the right", "D. Turn left to the left side"], "answer_index": 0}
{"token": "1781cee0322159879b610319dbbd528c", "waymo_split": "test", "type": "image", "frame_index": 12, "question": "Are there any blind spots in your field of vision?", "category": "Uncertainty", "options": ["A. Blind spots exist only near the center line and in front of intersections.", "B. Blind spots exist only in front of parked vehicles on the left shoulder.", "C. There are no blind spots behind parked vehicles with the right adjacent lane open.", "D. Blind spots exist between and behind parked vehicles on both the left and right shoulders."], "answer_index": 3}
{"token": "1781cee0322159879b610319dbbd528c", "waymo_split": "test", "type": "image", "frame_index": 12, "question": "How should I drive to address the first risk while also resolving the second risk?", "category": "Safety-critical Planning", "options": ["A. Change to the right lane", "B. None", "C. Proceed slowly and go straight", "D. Avoid towards the center line"], "answer_index": 1}
{"token": "1781cee0322159879b610319dbbd528c", "waymo_split": "test", "type": "image", "frame_index": 12, "question": "What should I do to drive safely?", "category": "Safety-critical Planning", "options": ["A. When getting close to each other, drive slowly while being careful not to collide and go straight.", "B. When entering an intersection, it's safer to go first and alert others with the horn.", "C. When the distance between cars narrows, change lanes left and right to create space and move aside.", "D. When getting close to each other, accelerating to pass quickly can reduce the risk of contact."], "answer_index": 0}
{"token": "1781cee0322159879b610319dbbd528c", "waymo_split": "test", "type": "image", "frame_index": 12, "question": "Are there any safety-critical objects other than the first safety-critical object? If so, how will they be moved?", "category": "Safety-critical Prediction", "options": ["A. Yes, moved upwards with a claw", "B. No", "C. Yes, manually moved to the right", "D. Yes, moved to the left"], "answer_index": 1}
{"token": "1781cee0322159879b610319dbbd528c", "waymo_split": "test", "type": "image", "frame_index": 12, "question": "What are the correlations in safety-critical situations?", "category": "Safety-critical scene Understanding", "options": ["A. car-person", "B. car-car", "C. car-two-wheeler", "D. car-animal"], "answer_index": 1}
{"token": "1781cee0322159879b610319dbbd528c", "waymo_split": "test", "type": "image", "frame_index": 12, "question": "Is lane changing possible? Which is safer, slowing down or changing lanes?", "category": "Safety-critical Planning", "options": ["A. Lane changing is possible. Changing lanes is safer.", "B. Right lane change is possible. Changing lanes is safer than slowing down.", "C. Lane changing is not possible. Slowing down is safer.", "D. Left lane change is possible. Changing lanes is safer than slowing down."], "answer_index": 2}
{"token": "1781cee0322159879b610319dbbd528c", "waymo_split": "test", "type": "image", "frame_index": 12, "question": "What is the safer choice just before entering a yellow signal: stop vs proceed?", "category": "Special Event", "options": ["A. No traffic light", "B. Traffic light present", "C. Pedestrian signal", "D. Flashing signal"], "answer_index": 0}
{"token": "1781cee0322159879b610319dbbd528c", "waymo_split": "test", "type": "image", "frame_index": 12, "question": "Who is responsible in a safety-critical situation? What is the cause?", "category": "Safety-critical scene Understanding", "options": ["A. Due to the road and weather, skidding on a wet road and unable to brake", "B. It is the responsibility of one driver, crossing the center line without checking the other vehicle", "C. It is the responsibility of both, they should be careful to pass each other cautiously due to narrow road conditions", "D. It is the responsibility of the pedestrian, suddenly stepping down from the sidewalk to the road"], "answer_index": 2}
{"token": "1781cee0322159879b610319dbbd528c", "waymo_split": "test", "type": "image", "frame_index": 12, "question": "Where is the area that hides danger in the current frame?", "category": "Uncertainty", "options": ["A. Blind spot at the left corner of the building at the intersection", "B. Blind spot between parked cars on the shoulder", "C. Blind spot behind the central divider", "D. Blind spot behind the large bus on the right"], "answer_index": 1}
{"token": "1781cee0322159879b610319dbbd528c", "waymo_split": "test", "type": "image", "frame_index": 12, "question": "What is the method to avoid the blind spot next to a large vehicle?", "category": "Special Event", "options": ["A. Passing on the right side of the large vehicle", "B. Close to the large vehicle", "C. Entering the blind spot of the truck", "D. No large vehicle"], "answer_index": 3}
{"token": "1781cee0322159879b610319dbbd528c", "waymo_split": "test", "type": "image", "frame_index": 12, "question": "What potential situations could arise in the current scenario?", "category": "Counterfactual", "options": ["A. An ambulance with sirens on may be approaching from behind -> must yield to the shoulder", "B. Could skid due to being stuck in the left lane -> slow down and maintain lane", "C. An electric bicycle may suddenly come out from the right alley -> should reduce speed and stay alert", "D. Could jolt and shake up and down at the speed bump ahead -> must proceed slowly"], "answer_index": 3}
{"token": "1781cee0322159879b610319dbbd528c", "waymo_split": "test", "type": "image", "frame_index": 46, "question": "Based on the current appearance of the person/vehicle (two-wheeled), how do you intend to move?", "category": "Normal Perception & Prediction", "options": ["A. Go straight", "B. Turn left", "C. Turn right", "D. Make a U-turn"], "answer_index": 0}
{"token": "1781cee0322159879b610319dbbd528c", "waymo_split": "test", "type": "image", "frame_index": 12, "question": "What are the new potential hazards that may be exposed in the following area?", "category": "Safety-critical Prediction", "options": ["A. A city bus that can suddenly squeeze into the lane from the bus-only lane", "B. Safety cones and signs that can be blown in from a nearby construction area", "C. People or objects that can emerge from blind spots between parked vehicles on the shoulder", "D. Animals that can emerge from between the central divider and the flower bed"], "answer_index": 2}
{"token": "1781cee0322159879b610319dbbd528c", "waymo_split": "test", "type": "image", "frame_index": 46, "question": "Which of the following is a correct description of traffic density?", "category": "Normal scene Understanding", "options": ["A. Fast, there are two vehicles to the right in front.", "B. Fast, there are no vehicles in front and one vehicle behind.", "C. Slow, there is only one vehicle in front.", "D. Slow, there are several vehicles on the left and right."], "answer_index": 2}
{"token": "1781cee0322159879b610319dbbd528c", "waymo_split": "test", "type": "image", "frame_index": 46, "question": "What are the behavioral restrictions in school zones/congested areas?", "category": "Special Event", "options": ["A. Must turn on high beams", "B. Must accelerate", "C. Must drive slowly", "D. Must honk the horn"], "answer_index": 2}
{"token": "1781cee0322159879b610319dbbd528c", "waymo_split": "test", "type": "image", "frame_index": 46, "question": "What is correct from the perspective of Safety-critical Frame regarding Image Caption?", "category": "Safety-critical scene caption", "options": ["A. There is an oncoming vehicle in the opposite lane. When this vehicle and my vehicle pass each other, there is a possibility of collision due to the narrow road conditions. Additionally, we may shake up and down while passing each other at a location with a speed bump.", "B. The opposite lane is empty, and there are parked vehicles lined up on the right. As long as my vehicle stays within the center line, there will be no situation where we pass each other. The area nearby is a crosswalk, so I can drive mainly by slowing down.", "C. A motorcycle is approaching quickly from behind my vehicle. Since the road is narrow, if I slightly move to the right to yield, overtaking can be done without any issues. The speed bump is in an area I have already passed, so there will be no significant shaking of the vehicle.", "D. There is a vehicle driving slowly in front of me in the same lane. If my vehicle maintains a safe distance while following, the risk of contact is low even in narrow sections. There are no visible speed bumps on the road, so there won't be much up and down shaking."], "answer_index": 0}
{"token": "1781cee0322159879b610319dbbd528c", "waymo_split": "test", "type": "image", "frame_index": 46, "question": "Which of the following is correct as an Image Caption from the perspective of a Normal Frame?", "category": "Normal scene caption", "options": ["A. Driving on a spacious, quiet four-lane road. There are no speed bumps, and traffic lights and crosswalk signs are visible up ahead. The opposite lane is empty, and only the car in the same lane is moving slowly.", "B. Driving on a road where lanes merge due to construction, with cones present. A roundabout sign is visible nearby instead of a speed bump. There are no vehicles in the opposite lane, and only pedestrians are seen on the sidewalk.", "C. Driving on a relaxed two-lane road with no parking on either side. There are no speed bump signs visible, and a speed camera warning is right ahead. No vehicles are coming from the opposite direction, and a bicycle is riding on the shoulder.", "D. Driving on a narrow two-lane road due to parked vehicles on the shoulder. Speed bump signs and a speed bump are right in front. A vehicle is approaching from the opposite lane (the position of my car and that vehicle is near the speed bump)."], "answer_index": 3}
{"token": "1781cee0322159879b610319dbbd528c", "waymo_split": "test", "type": "image", "frame_index": 46, "question": "What is the plan for yielding when an ambulance/fire truck approaches?", "category": "Special Event", "options": ["A. Pull over to the lane adjacent to the center line and stop to yield", "B. Stop in the space between parked vehicles on the right shoulder to yield", "C. Stop in the center of the intersection to yield", "D. Enter the left bus-only lane and stop to yield"], "answer_index": 1}
{"token": "1781cee0322159879b610319dbbd528c", "waymo_split": "test", "type": "image", "frame_index": 46, "question": "Which of the following is a correct description of the environment?", "category": "Normal scene Understanding", "options": ["A. Morning, clear", "B. Evening, cloudy", "C. Daytime, clear", "D. Daytime, cloudy"], "answer_index": 2}
{"token": "1781cee0322159879b610319dbbd528c", "waymo_split": "test", "type": "image", "frame_index": 46, "question": "What are the classifications of scenes?", "category": "Normal scene Understanding", "options": ["A. Residential area", "B. Unpaved", "C. Urban area", "D. Highway"], "answer_index": 0}
{"token": "1781cee0322159879b610319dbbd528c", "waymo_split": "test", "type": "image", "frame_index": 46, "question": "What is the answer regarding parked vehicles on the shoulder, the presence of a center line, and whether Ego crosses the center line?", "category": "Normal Perception & Prediction", "options": ["A. No parked vehicles on the shoulder. There is a center line, no crossing by Ego.", "B. Almost no parked vehicles on the shoulder. There is a center line.", "C. A few parked vehicles on the shoulder. The center line is clear.", "D. Many parked vehicles on the shoulder. No center line."], "answer_index": 3}
{"token": "1781cee0322159879b610319dbbd528c", "waymo_split": "test", "type": "image", "frame_index": 46, "question": "Which of the following is a correct description of traffic signals?", "category": "Traffic Signal", "options": ["A. Bump road sign in front", "B. Speed limit 30 sign on the right", "C. Speed bump sign in front", "D. Crosswalk road sign in front"], "answer_index": 0}
{"token": "1781cee0322159879b610319dbbd528c", "waymo_split": "test", "type": "image", "frame_index": 46, "question": "What is a safety-critical object?", "category": "Safety-critical Perception", "options": ["A. A pedestrian walking at the edge of the sidewalk", "B. A vehicle approaching from behind in the same lane", "C. A vehicle stopped in the opposite lane", "D. A vehicle approaching in the opposite lane"], "answer_index": 3}
{"token": "1781cee0322159879b610319dbbd528c", "waymo_split": "test", "type": "image", "frame_index": 46, "question": "How do you think a safety-critical object will move?", "category": "Safety-critical Prediction", "options": ["A. Entering the shoulder lane", "B. Driving straight towards the vehicle's lane", "C. Diagonally moving towards the opposite lane", "D. Turning right towards the right side"], "answer_index": 1}
{"token": "1781cee0322159879b610319dbbd528c", "waymo_split": "test", "type": "image", "frame_index": 46, "question": "Is there a blind spot in your field of vision?", "category": "Uncertainty", "options": ["A. There is a partial blind spot due to dense parking on the left side, minimal blind spot on the right.", "B. There is a blind spot between parked vehicles on both sides and behind the vehicles.", "C. There is no blind spot between vehicles or behind them due to wide parking gaps on the right side.", "D. There is only a blind spot near the central divider, visibility is good on both shoulders."], "answer_index": 1}
{"token": "1781cee0322159879b610319dbbd528c", "waymo_split": "test", "type": "image", "frame_index": 46, "question": "Is there any other safety-critical object besides the first safety-critical object? If so, how will you move it?", "category": "Safety-critical Prediction", "options": ["A. Oxygen tank present: Check the protective cap and push it along the corridor on a cart", "B. Lithium battery pack present: Cover the terminals and carry it with both hands to the right aisle", "C. Fire extinguisher present: Hold the handle and keep it close to your body while moving slowly", "D. None"], "answer_index": 3}
{"token": "1781cee0322159879b610319dbbd528c", "waymo_split": "test", "type": "image", "frame_index": 46, "question": "What should I do to drive safely?", "category": "Safety-critical Planning", "options": ["A. When approaching an intersection, do not stop and maintain the flow by just honking the horn.", "B. When passing each other, accelerate to pass quickly and stay close to the center line.", "C. In narrow alleys, use the brakes less and take up more space to make the other party back off first.", "D. When passing each other, proceed slowly while being careful not to collide in the available space."], "answer_index": 3}
{"token": "1781cee0322159879b610319dbbd528c", "waymo_split": "test", "type": "image", "frame_index": 46, "question": "What is the correlation in safety-critical situations?", "category": "Safety-critical scene Understanding", "options": ["A. Car-Person", "B. Person-Two-wheeler", "C. Car-Car", "D. Two-wheeler-Car"], "answer_index": 2}
{"token": "1781cee0322159879b610319dbbd528c", "waymo_split": "test", "type": "image", "frame_index": 46, "question": "Is lane changing possible? Which is safer between slowing down and changing lanes?", "category": "Safety-critical Planning", "options": ["A. Lane changing not possible. Slowing down is safer", "B. Lane changing possible before the exit. Accelerating is safer", "C. Lane changing possible to the right. Maintaining speed is safer", "D. Lane changing possible to the left. Changing lanes is safer"], "answer_index": 0}
{"token": "1781cee0322159879b610319dbbd528c", "waymo_split": "test", "type": "image", "frame_index": 46, "question": "How should I drive to resolve the first risk while also addressing the second risk?", "category": "Safety-critical Planning", "options": ["A. None", "B. Move to the left lane and overtake next to the bus", "C. Stop briefly at the stop line and evade with a right turn", "D. Slow down and stick to the right edge while going straight"], "answer_index": 0}
{"token": "1781cee0322159879b610319dbbd528c", "waymo_split": "test", "type": "image", "frame_index": 46, "question": "Where is the area that hides danger in the current frame?", "category": "Uncertainty", "options": ["A. Blind spot on the side of a large bus", "B. Blind spot beyond the central divider", "C. Blind spot at the left corner of the intersection building", "D. Blind spot between parked vehicles on the shoulder"], "answer_index": 3}
{"token": "1781cee0322159879b610319dbbd528c", "waymo_split": "test", "type": "image", "frame_index": 46, "question": "What are the new exposure risk candidates in the following section?", "category": "Safety-critical Prediction", "options": ["A. An electric scooter that can suddenly enter the visibility-blocking section at the left alley intersection", "B. A person or object that can emerge from the blind spot between parked vehicles on the shoulder", "C. A passenger getting off who can jump into the lane from the blind spot in front of the bus stop", "D. Oncoming vehicles that can cross the center line and enter on a straight road without a central divider"], "answer_index": 1}
{"token": "1781cee0322159879b610319dbbd528c", "waymo_split": "test", "type": "image", "frame_index": 46, "question": "What is the safest choice when approaching a yellow signal: stop vs proceed?", "category": "Special Event", "options": ["A. While turning right", "B. No traffic light", "C. No vehicles", "D. Proceed slowly"], "answer_index": 1}
{"token": "1781cee0322159879b610319dbbd528c", "waymo_split": "test", "type": "image", "frame_index": 46, "question": "What potential situations could arise in the current scenario?", "category": "Counterfactual", "options": ["A. The vehicle may shake up and down while bumping over the speed bump -> Slow down.", "B. A pedestrian may suddenly enter the crosswalk ahead -> Come to a stop.", "C. The cover of the construction area on the right may be loose, causing tire damage -> Detour.", "D. A vehicle from the left merging lane may suddenly cut in -> Maintain your lane and reduce speed."], "answer_index": 0}
{"token": "1781cee0322159879b610319dbbd528c", "waymo_split": "test", "type": "image", "frame_index": 67, "question": "What is correct from the perspective of Safety-critical Frame regarding Image Caption?", "category": "Safety-critical scene caption", "options": ["A. A vehicle approaching from the opposite lane is right in front. There is a possibility of collision as this vehicle and my vehicle may brush past each other due to the narrow road conditions. Additionally, my vehicle is passing over a speed bump, causing it to shake up and down.", "B. There is a motorcycle that suddenly braked in front of me in the same lane, which may result in insufficient braking distance. The opposite lane is relatively quiet, but the right shoulder is under construction, making it difficult to avoid as the width of the road is reduced. The road is flat, so there is almost no up and down shaking of my vehicle.", "C. A vehicle turning left from the right alley is in the blind spot, posing a risk of a side collision. The front lane has ample space, and the area around the center line is also wide. Since I have already passed the speed bump, the vehicle's behavior is stable.", "D. Rainwater splashes on the windshield, partially obstructing my view. The distance to the vehicle in front is too close, posing a risk of rear-end collision, while the vehicle from the opposite side is far away and does not pose an immediate threat. The road surface is wet, but there are no bumps or speed bumps visible."], "answer_index": 0}
{"token": "1781cee0322159879b610319dbbd528c", "waymo_split": "test", "type": "image", "frame_index": 67, "question": "Based on the current appearance of the person/vehicle (two-wheeled), how do you intend to move?", "category": "Normal Perception & Prediction", "options": ["A. Go straight", "B. Turn left", "C. Turn right", "D. Make a U-turn"], "answer_index": 0}
{"token": "1781cee0322159879b610319dbbd528c", "waymo_split": "test", "type": "image", "frame_index": 67, "question": "What are the classifications of scenes?", "category": "Normal scene Understanding", "options": ["A. Residential area", "B. Unpaved", "C. Highway", "D. City"], "answer_index": 0}
{"token": "1781cee0322159879b610319dbbd528c", "waymo_split": "test", "type": "image", "frame_index": 67, "question": "Which of the following is a correct description of traffic density?", "category": "Normal scene Understanding", "options": ["A. Slow, there is only one vehicle in front.", "B. Fast, there are several vehicles in front.", "C. Slow, there is only one vehicle in the left lane.", "D. Slow, there is only one vehicle behind."], "answer_index": 0}
{"token": "1781cee0322159879b610319dbbd528c", "waymo_split": "test", "type": "image", "frame_index": 67, "question": "What is the description of a non-safety-critical object?", "category": "Normal Perception & Prediction", "options": ["A. A delivery truck is temporarily parked on one lane, with small shops on both sides (maple trees and a wide sidewalk). There is a pedestrian signal light nearby on the left front.", "B. There is a long central divider with no shoulder. The surroundings consist of low-rise shops and a café street (plane trees, narrow sidewalk). A utility pole is very close on the right front.", "C. Both shoulders are empty and marked for bicycle lanes. A park is on the left, and an empty lot is on the right (with benches and a fountain). There is a bus stop sign in the center front.", "D. There are many parked vehicles on both sides of the shoulder. Housing complexes are spread out on both sides (with palm trees and a sidewalk). A streetlight is located far on the right front."], "answer_index": 3}
{"token": "1781cee0322159879b610319dbbd528c", "waymo_split": "test", "type": "image", "frame_index": 67, "question": "Which of the following is a correct description of traffic signals?", "category": "Traffic Signal", "options": ["A. Bump sign on the right", "B. Red light on the traffic signal in front", "C. Bump road marking in front", "D. Crosswalk road marking in front"], "answer_index": 2}
{"token": "1781cee0322159879b610319dbbd528c", "waymo_split": "test", "type": "image", "frame_index": 67, "question": "Which of the following descriptions about the environment is correct?", "category": "Normal scene Understanding", "options": ["A. Day, clear", "B. Dusk, cloudy", "C. Night, shower", "D. Morning, fog"], "answer_index": 0}
{"token": "1781cee0322159879b610319dbbd528c", "waymo_split": "test", "type": "image", "frame_index": 67, "question": "What are the behavioral restrictions in school zones/congested areas?", "category": "Special Event", "options": ["A. Must use the horn", "B. Must overtake", "C. Must drive slowly", "D. Must accelerate"], "answer_index": 2}
{"token": "1781cee0322159879b610319dbbd528c", "waymo_split": "test", "type": "image", "frame_index": 67, "question": "What is the answer regarding parked vehicles on the shoulder, the presence of a center line, and whether Ego crosses the center line?", "category": "Normal Perception & Prediction", "options": ["A. There are a few parked vehicles on the shoulder. The center line is a dashed line.", "B. There are no parked vehicles on the shoulder. There is a center line.", "C. There are many parked vehicles on the shoulder. There is no center line.", "D. There are rarely parked vehicles on the shoulder. The center line is a double solid line."], "answer_index": 2}
{"token": "1781cee0322159879b610319dbbd528c", "waymo_split": "test", "type": "image", "frame_index": 67, "question": "Are there any blind spots?", "category": "Uncertainty", "options": ["A. The right shoulder has good visibility, and blind spots occur only near the left median.", "B. Visibility is secured between parked vehicles on the left and right shoulders, with blind spots only at the ends of intersections.", "C. Visibility is secured on the sidewalk side, with almost no blind spots behind parked vehicles.", "D. There are blind spots between parked vehicles on the left and right shoulders and behind the vehicles."], "answer_index": 3}
{"token": "1781cee0322159879b610319dbbd528c", "waymo_split": "test", "type": "image", "frame_index": 67, "question": "How do you think a safety-critical object will move?", "category": "Safety-critical Prediction", "options": ["A. Moving straight ahead towards the vehicle (at a slow speed)", "B. Reversing in the opposite direction (decelerating)", "C. Entering a right turn (at a low speed)", "D. Changing lanes to the left lane (at a slow speed)"], "answer_index": 0}
{"token": "1781cee0322159879b610319dbbd528c", "waymo_split": "test", "type": "image", "frame_index": 67, "question": "What is a safety-critical object?", "category": "Safety-critical Perception", "options": ["A. A gray vehicle gradually moving away in the same lane ahead.", "B. A black vehicle approaching right in front from the opposite lane.", "C. A white passenger car stopped with hazard lights on in the right shoulder.", "D. A blue electric scooter briefly stopped at the edge of the left sidewalk."], "answer_index": 1}
{"token": "1781cee0322159879b610319dbbd528c", "waymo_split": "test", "type": "image", "frame_index": 67, "question": "How should I drive to solve the first risk while also addressing the second risk?", "category": "Safety-critical Planning", "options": ["A. Slow down and go straight", "B. Stop and turn left", "C. None", "D. Change to the right lane"], "answer_index": 2}
{"token": "1781cee0322159879b610319dbbd528c", "waymo_split": "test", "type": "image", "frame_index": 67, "question": "What should I do to drive safely?", "category": "Safety-critical Planning", "options": ["A. When approaching each other, stay close to the center line and increase speed to pass by in one go (or honking while passing is safe).", "B. When driving at night, reduce glare to others by turning off the headlights and only using the hazard lights while driving slowly (or using only the parking lights is safe).", "C. In cornering sections, use a wide line to turn outward and maintain acceleration to avoid breaking the flow (or not stopping is safe).", "D. When passing each other, drive slowly while being careful not to collide in terms of space and go straight (or stopping your vehicle is safe)."], "answer_index": 3}
{"token": "1781cee0322159879b610319dbbd528c", "waymo_split": "test", "type": "image", "frame_index": 67, "question": "What is the correlation in safety-critical situations?", "category": "Safety-critical scene Understanding", "options": ["A. Car-Person", "B. Car-Two-wheeler", "C. Two-wheeler-Person", "D. Car-Car"], "answer_index": 3}
{"token": "1781cee0322159879b610319dbbd528c", "waymo_split": "test", "type": "image", "frame_index": 67, "question": "Are there any safety-critical objects other than the first safety-critical object? If so, how will they be moved?", "category": "Safety-critical Prediction", "options": ["A. None", "B. There is a cart in front of the emergency exit, move it out of the aisle", "C. There is a box in front of the electrical panel, move it to the right", "D. There is a fire extinguisher, move it towards the wall and secure it"], "answer_index": 0}
{"token": "1781cee0322159879b610319dbbd528c", "waymo_split": "test", "type": "image", "frame_index": 67, "question": "Is lane change possible? Which is safer, slowing down or changing lanes?", "category": "Safety-critical Planning", "options": ["A. Lane change not possible. Slowing down is safer", "B. Lane change possible. Changing lanes is safer", "C. Left lane change possible. Changing lanes is safer", "D. Right lane change possible. Changing lanes is safer"], "answer_index": 0}
{"token": "1781cee0322159879b610319dbbd528c", "waymo_split": "test", "type": "image", "frame_index": 67, "question": "What is the safest choice when approaching a yellow signal: stop vs proceed?", "category": "Special Event", "options": ["A. Slow down and proceed", "B. Accelerate and enter", "C. Stop at the stop line", "D. No traffic light"], "answer_index": 3}
{"token": "1781cee0322159879b610319dbbd528c", "waymo_split": "test", "type": "image", "frame_index": 67, "question": "Where is the area that hides danger in the current frame?", "category": "Uncertainty", "options": ["A. Blind spot between parked vehicles on the shoulder", "B. Blind spot behind the bus on the opposite side", "C. Blind spot behind the central divider", "D. Blind spot next to the vehicle waiting to turn right"], "answer_index": 0}
{"token": "1781cee0322159879b610319dbbd528c", "waymo_split": "test", "type": "image", "frame_index": 67, "question": "Who are the new potential risks that may emerge in the following area?", "category": "Safety-critical Prediction", "options": ["A. Passengers and children who may suddenly emerge from the blind spot behind the bus stop", "B. People or objects that may suddenly appear from the blind spot between parked vehicles on the shoulder", "C. Bicycles and pedestrians that may suddenly emerge from the blind spot at the central divider", "D. Motorcycles and electric scooters that may suddenly enter from the blind spot at the alley exit"], "answer_index": 1}
{"token": "1781cee0322159879b610319dbbd528c", "waymo_split": "test", "type": "image", "frame_index": 67, "question": "Who is responsible in a safety-critical situation? What is the cause?", "category": "Safety-critical scene Understanding", "options": ["A. The responsibility lies with the car behind, as it was a situation where overtaking was possible, but hesitation caused confusion. In this case, it is safe to signal and accelerate to overtake.", "B. The responsibility lies with both parties. Given the narrow road conditions, they should be careful to pass each other safely. In this case, stopping or proceeding slowly is safe.", "C. The responsibility lies with the pedestrian, as the sidewalk is separated, so they should not come close to the roadway. In this case, the vehicle should proceed without stopping.", "D. The responsibility lies with one driver, as it was a straight priority section and there was no need to stop. In this case, maintaining speed to pass quickly is safe."], "answer_index": 1}
{"token": "1781cee0322159879b610319dbbd528c", "waymo_split": "test", "type": "image", "frame_index": 67, "question": "What is the method to avoid the blind spot next to a large vehicle?", "category": "Special Event", "options": ["A. Wait behind the large vehicle", "B. Pass on the left side of the large vehicle", "C. Pass on the right side of the large vehicle", "D. No large vehicle"], "answer_index": 3}
{"token": "1781cee0322159879b610319dbbd528c", "waymo_split": "test", "type": "image", "frame_index": 67, "question": "What potential situations could arise in the current scenario?", "category": "Counterfactual", "options": ["A. Bumping over a speed bump and feeling jolted.", "B. Turning left while reducing speed, causing the vehicle to tilt.", "C. A vehicle merging from the right lane, reducing the gap.", "D. The car in front suddenly brakes, causing the brake lights to flash repeatedly."], "answer_index": 0}
{"token": "1781cee0322159879b610319dbbd528c", "waymo_split": "test", "type": "image", "frame_index": 93, "question": "Based on the current appearance of the person/vehicle (two-wheeled), how do you intend to move?", "category": "Normal Perception & Prediction", "options": ["A. Go straight", "B. Turn left", "C. Make a U-turn", "D. Turn right"], "answer_index": 0}
{"token": "1781cee0322159879b610319dbbd528c", "waymo_split": "test", "type": "image", "frame_index": 67, "question": "What are the guidelines for your vehicle's behavior in response to the actions of a safety-critical object?", "category": "Safety-critical Planning", "options": ["A. If a merging vehicle on the right cuts in front of your vehicle without signaling, just honk the horn and maintain your speed. It's safer to maintain speed than to brake in this situation.", "B. If a vehicle from the opposite lane turns left towards your vehicle, a collision may occur. In this case, it is safer to brake suddenly.", "C. If a vehicle from the opposite lane makes a sharp U-turn towards your vehicle at an intersection, your vehicle should turn left and pass through the gap. In this case, a sudden steering maneuver is safer.", "D. If a vehicle from the opposite lane turns left towards your vehicle, increasing your speed to pass first will prevent a collision. In this case, accelerating to pass is safer."], "answer_index": 1}
{"token": "1781cee0322159879b610319dbbd528c", "waymo_split": "test", "type": "image", "frame_index": 67, "question": "What situation might occur if the vehicle acted like this?", "category": "Counterfactual", "options": ["A. If the vehicle attempts a U-turn or makes a sudden lane change to the left, there is a risk of collision with a vehicle overtaking from behind.", "B. If the vehicle moves closely to the right or makes a right turn, there is a risk of contact with a vehicle stopped in the right shoulder.", "C. If the vehicle moves closely to the left or makes a left turn, there is a risk of collision with a vehicle driving in the opposite lane.", "D. If the vehicle maintains a straight path or accelerates, there is a risk of collision with a leading vehicle in the same lane."], "answer_index": 2}
{"token": "1781cee0322159879b610319dbbd528c", "waymo_split": "test", "type": "image", "frame_index": 93, "question": "What is the plan for yielding when an ambulance/fire truck approaches?", "category": "Special Event", "options": ["A. Stop in the empty space on the left shoulder to yield", "B. Stay close to the center line and yield while moving slowly", "C. Stop in the space between parked cars on the right shoulder to yield", "D. Stop in the middle of the intersection to yield"], "answer_index": 2}
{"token": "1781cee0322159879b610319dbbd528c", "waymo_split": "test", "type": "image", "frame_index": 93, "question": "Which of the following is correct as an Image Caption from the perspective of a Normal Frame?", "category": "Normal scene caption", "options": ["A. Driving on a narrow two-lane road due to a vehicle parked on the shoulder. A vehicle moving away from my car in the opposite lane behind. There are no vehicles driving straight ahead.", "B. Driving smoothly on a wide road in front of a commercial building. A vehicle approaching my car from the opposite lane behind. There are vehicles waiting at a signal ahead.", "C. Driving on a four-lane road with two lanes in each direction. No vehicles have been seen in the opposite lane behind for a while. A vehicle is approaching from the front.", "D. Driving on a spacious two-lane road with the shoulder empty. A vehicle following my car in the same lane behind. There is one vehicle moving slowly ahead."], "answer_index": 0}
{"token": "1781cee0322159879b610319dbbd528c", "waymo_split": "test", "type": "image", "frame_index": 93, "question": "What are the divisions of Scene?", "category": "Normal scene Understanding", "options": ["A. Highway", "B. Urban area", "C. Commercial district", "D. Residential area"], "answer_index": 3}
{"token": "1781cee0322159879b610319dbbd528c", "waymo_split": "test", "type": "image", "frame_index": 93, "question": "Which of the following is a correct description of traffic density?", "category": "Normal scene Understanding", "options": ["A. Slow, there is one vehicle behind", "B. Slow, there are several vehicles ahead", "C. Slow, there is only one vehicle in front", "D. Fast, there are two vehicles on the left"], "answer_index": 2}
{"token": "1781cee0322159879b610319dbbd528c", "waymo_split": "test", "type": "image", "frame_index": 93, "question": "Which of the following is a correct description of the environment?", "category": "Normal scene Understanding", "options": ["A. Night, rain", "B. Morning, fog", "C. Evening, cloudy", "D. Day, clear"], "answer_index": 3}
{"token": "1781cee0322159879b610319dbbd528c", "waymo_split": "test", "type": "image", "frame_index": 93, "question": "Which of the following is a correct description of traffic signals?", "category": "Traffic Signal", "options": ["A. None", "B. Red signal", "C. Stop line marking", "D. Pedestrian signal"], "answer_index": 0}
{"token": "1781cee0322159879b610319dbbd528c", "waymo_split": "test", "type": "image", "frame_index": 93, "question": "What is a safety-critical object?", "category": "Safety-critical Perception", "options": ["A. None", "B. Emergency stop switch", "C. Main power relay", "D. Brake controller"], "answer_index": 0}
{"token": "1781cee0322159879b610319dbbd528c", "waymo_split": "test", "type": "image", "frame_index": 93, "question": "What is the answer regarding parked vehicles on the shoulder, the presence of a center line, and whether Ego crosses the center line?", "category": "Normal Perception & Prediction", "options": ["A. There are a few parked vehicles on the shoulder. The center line is dashed.", "B. There are no parked vehicles on the shoulder. There is a center line.", "C. There are many parked vehicles on the shoulder. There is no center line.", "D. One parked vehicle on the shoulder is confirmed. The center line is solid."], "answer_index": 2}
{"token": "1781cee0322159879b610319dbbd528c", "waymo_split": "test", "type": "image", "frame_index": 93, "question": "Are there any blind spots in the field of view?", "category": "Uncertainty", "options": ["A. There are no blind spots as visibility is ensured by signals and signs near the crosswalk ahead and at the corners of intersections.", "B. There are no blind spots as the right shoulder is wide enough to ensure visibility.", "C. There are no blind spots in the open section between the lane adjacent to the central divider and the bus-only lane.", "D. There are blind spots between parked vehicles on the left and right shoulders and in the gaps between vehicles."], "answer_index": 3}
{"token": "1781cee0322159879b610319dbbd528c", "waymo_split": "test", "type": "image", "frame_index": 93, "question": "What is the description of a non-safety-critical object?", "category": "Normal Perception & Prediction", "options": ["A. On the right shoulder, there is a long bicycle rack, and on the left is a bus-only lane. Office-tel complexes are lined up on both sides (with willows and a bicycle path). A bus stop sign can be seen on the left front.", "B. There is a low flowerbed divider in the center of the road, and parks and playgrounds extend on both sides (with pine trees and dirt paths). A utility pole stands directly in front at the center.", "C. Both sides have empty shoulders, and parked vehicles are rare. Shops and cafe buildings line both sides (with maple trees and narrow sidewalks). A traffic light can be seen up close on the left front.", "D. There are many parked vehicles on the shoulders on both sides. Housing complexes are spread out on both sides (with palm trees and sidewalks). A streetlight can be seen far away on the right front."], "answer_index": 3}
{"token": "1781cee0322159879b610319dbbd528c", "waymo_split": "test", "type": "image", "frame_index": 93, "question": "How do you think a safety-critical object will move?", "category": "Safety-critical Prediction", "options": ["A. Moving forward in a zigzag", "B. Rolling slowly to the right", "C. None", "D. Sliding slightly to the left"], "answer_index": 2}
{"token": "1781cee0322159879b610319dbbd528c", "waymo_split": "test", "type": "image", "frame_index": 93, "question": "Is there any other safety-critical object besides the first safety-critical object? If so, how would you move it?", "category": "Safety-critical Prediction", "options": ["A. There is a fire extinguisher, safely moved towards the wall", "B. None", "C. There is a glass bottle, wrapped in cushioning material and moved to the lower storage compartment", "D. There is a sharp cutter, covered and moved to the left shelf below"], "answer_index": 1}
{"token": "1781cee0322159879b610319dbbd528c", "waymo_split": "test", "type": "image", "frame_index": 93, "question": "How should I drive to address the first risk while also resolving the second risk?", "category": "Safety-critical Planning", "options": ["A. Slow down and go straight", "B. Change to the right lane", "C. None", "D. Stop and turn left"], "answer_index": 2}
{"token": "1781cee0322159879b610319dbbd528c", "waymo_split": "test", "type": "image", "frame_index": 93, "question": "Where is the area that hides danger in the current frame?", "category": "Uncertainty", "options": ["A. Blind spot in front of a large truck", "B. Blind spot inside the corner of an intersection", "C. Blind spot behind a bus stop", "D. Blind spot between parked vehicles on the shoulder"], "answer_index": 3}
{"token": "1781cee0322159879b610319dbbd528c", "waymo_split": "test", "type": "image", "frame_index": 93, "question": "Is lane change possible? Which is safer, slowing down or changing lanes?", "category": "Safety-critical Planning", "options": ["A. Right lane change is possible. Maintaining speed is safer", "B. Left lane change is possible. Changing lanes is safer", "C. Lane change not possible. Slowing down is safer", "D. Lane change is possible. Changing lanes is safer"], "answer_index": 2}
{"token": "1781cee0322159879b610319dbbd528c", "waymo_split": "test", "type": "image", "frame_index": 93, "question": "What is the safest choice just before entering a yellow signal: stop vs pass?", "category": "Special Event", "options": ["A. Stop at the stop line", "B. No traffic light. Unable to judge", "C. Accelerate to pass", "D. Decelerate to pass"], "answer_index": 1}
{"token": "1781cee0322159879b610319dbbd528c", "waymo_split": "test", "type": "image", "frame_index": 93, "question": "Who is responsible in safety-critical situations? What is the cause?", "category": "Safety-critical scene Understanding", "options": ["A. Only the following vehicle is responsible; at alley exits, the vehicle that entered first has priority, so the leading vehicle can proceed as is. In this case, it is safe for the following vehicle to yield.", "B. Both are responsible; due to the narrow road conditions, caution is needed to pass each other carefully. In this case, stopping or proceeding slowly is safe.", "C. Only the oncoming vehicle is responsible; near intersections, the vehicle going straight has priority, so my car should maintain speed to pass first. There is no need to stop in this case.", "D. The responsibility lies with the two-wheeler; in one-way sections, vehicles have priority, so the motorcycle should move aside to clear the way. In this case, it is safe to signal with the horn."], "answer_index": 1}
{"token": "1781cee0322159879b610319dbbd528c", "waymo_split": "test", "type": "image", "frame_index": 93, "question": "What are the potential situations that could arise in the current circumstances?", "category": "Counterfactual", "options": ["A. Delay", "B. Error", "C. Confusion", "D. None"], "answer_index": 3}
{"token": "1781cee0322159879b610319dbbd528c", "waymo_split": "test", "type": "image", "frame_index": 93, "question": "What are the new potential hazards that may be exposed in the following area?", "category": "Safety-critical Prediction", "options": ["A. An electric scooter or a pet that may suddenly appear from the blind spot next to a large vehicle in front of a crosswalk.", "B. A person or object that may suddenly appear from the blind spot between parked vehicles on the shoulder.", "C. A pedestrian or bicycle that may suddenly come out from the blind spot behind a bus at a bus stop.", "D. A vehicle or motorcycle that may urgently enter from the blind spot in the gap of the central divider."], "answer_index": 1}
{"token": "1781cee0322159879b610319dbbd528c", "waymo_split": "test", "type": "image", "frame_index": 147, "question": "Based on the current appearance of the person/vehicle (two-wheeled), how do you intend to move?", "category": "Normal Perception & Prediction", "options": ["A. Turn right", "B. Go straight", "C. Turn left", "D. Make a U-turn"], "answer_index": 1}
{"token": "1781cee0322159879b610319dbbd528c", "waymo_split": "test", "type": "image", "frame_index": 147, "question": "What is correct as an Image Caption from the perspective of Safety-critical Frame?", "category": "Safety-critical scene caption", "options": ["A. A vehicle is trying to enter the main lane from the right merge lane, so it must match speed and be prepared to yield.", "B. In the same lane ahead, a vehicle is driving slowly, so it must maintain distance and refrain from sudden acceleration.", "C. A vehicle is approaching from the opposite lane towards my vehicle at a distance. I must be careful not to collide when it passes by.", "D. A vehicle overtaking from the left lane is approaching quickly, so I need to check the side mirror and refrain from changing lanes."], "answer_index": 2}
{"token": "1781cee0322159879b610319dbbd528c", "waymo_split": "test", "type": "image", "frame_index": 93, "question": "What is the method to avoid the blind spot next to a large vehicle?", "category": "Special Event", "options": ["A. Passing by the large vehicle", "B. To the left of the large vehicle", "C. No large vehicle", "D. To the right of the large vehicle"], "answer_index": 2}
{"token": "1781cee0322159879b610319dbbd528c", "waymo_split": "test", "type": "image", "frame_index": 147, "question": "Which of the following is correct as an Image Caption from the perspective of a Normal Frame?", "category": "Normal scene caption", "options": ["A. The road is a spacious two-lane road without parked cars, driving in the shoulder. The opposite lane behind is blocked by stationary vehicles and is not moving. In front, only vehicles in the same lane as my car are visible in the distance.", "B. Driving on a wide four-lane road with a bus-only lane without any congestion. In the same lane behind, a vehicle is following my car. The opposite lane in front is empty with no approaching vehicles.", "C. The left lane is blocked due to construction vehicles, and I have completed a lane change. A motorcycle is approaching from the opposite lane behind towards my car. In front, there are vehicles waiting at a signal in the same lane nearby.", "D. Driving on a narrow two-lane road due to a parked vehicle in the shoulder. A vehicle is moving away from my car in the opposite lane behind. In front, a vehicle is driving towards my car from the opposite lane in the distance."], "answer_index": 3}
{"token": "1781cee0322159879b610319dbbd528c", "waymo_split": "test", "type": "image", "frame_index": 147, "question": "Which of the following is a correct description of traffic density?", "category": "Normal scene Understanding", "options": ["A. Slow, there are several vehicles behind", "B. Fast, there are no vehicles in front", "C. Fast, there are two vehicles on the left", "D. Slow, there is only one vehicle in front"], "answer_index": 3}
{"token": "1781cee0322159879b610319dbbd528c", "waymo_split": "test", "type": "image", "frame_index": 147, "question": "What are the behavior restrictions in school zones/congested areas?", "category": "Special Event", "options": ["A. Must turn right", "B. Must drive slowly", "C. Must overtake", "D. Must accelerate"], "answer_index": 1}
{"token": "1781cee0322159879b610319dbbd528c", "waymo_split": "test", "type": "image", "frame_index": 147, "question": "Which of the following is a correct description of the environment?", "category": "Normal scene Understanding", "options": ["A. Evening, rain", "B. Night, cloudy", "C. Day, clear", "D. Dawn, fog"], "answer_index": 2}
{"token": "1781cee0322159879b610319dbbd528c", "waymo_split": "test", "type": "image", "frame_index": 147, "question": "What is the plan for yielding when an ambulance/fire truck approaches?", "category": "Special Event", "options": ["A. Move to the left bus-only lane and yield while driving", "B. Stop in the space between parked vehicles on the right shoulder and yield", "C. Stop in the center of the intersection, turn on the hazard lights, and wait", "D. Stay close to the median and proceed slowly while yielding"], "answer_index": 1}
{"token": "1781cee0322159879b610319dbbd528c", "waymo_split": "test", "type": "image", "frame_index": 147, "question": "What are the classifications of scenes?", "category": "Normal scene Understanding", "options": ["A. Residential area", "B. Unpaved road", "C. Urban area", "D. Highway"], "answer_index": 0}
{"token": "1781cee0322159879b610319dbbd528c", "waymo_split": "test", "type": "image", "frame_index": 147, "question": "Which of the following is a correct description of traffic signals?", "category": "Traffic Signal", "options": ["A. Stop line marking", "B. Left turn signal", "C. None", "D. Green pedestrian signal"], "answer_index": 2}
{"token": "1781cee0322159879b610319dbbd528c", "waymo_split": "test", "type": "image", "frame_index": 147, "question": "What is the description of a non-safety-critical object?", "category": "Normal Perception & Prediction", "options": ["A. On the right shoulder, there are construction barriers and a bus stop, while the left side leads to a wide open space. An apartment complex is visible on one side, and the street trees are pine trees, with the sidewalk separated by a fence. A traffic light pole stands directly in front at the center.", "B. There are numerous parked cars on both sides of the shoulder. Housing complexes are spread out on both sides. (There are palm trees and a sidewalk as well). A streetlight is located far on the right side in front.", "C. Both shoulders are empty, and a dedicated bike lane continues. On both sides of the road, there are commercial streets lined with cafes and signs. Two streetlights stand close on the left side in front.", "D. A few cars are briefly stopped on the left side, while the right side has a long bike rack. Next to the road, there is a school fence and playground, with plane trees and a wide sidewalk visible. A utility pole stands close on the left side in front."], "answer_index": 1}
{"token": "1781cee0322159879b610319dbbd528c", "waymo_split": "test", "type": "image", "frame_index": 147, "question": "What is a safety-critical object?", "category": "Safety-critical Perception", "options": ["A. A pedestrian stopped at the edge of the sidewalk", "B. A two-wheeled vehicle traveling in the same direction in the right lane", "C. A cargo truck stopped in the opposite lane", "D. A vehicle traveling in the direction of your own lane in the directly opposite lane"], "answer_index": 3}
{"token": "1781cee0322159879b610319dbbd528c", "waymo_split": "test", "type": "image", "frame_index": 147, "question": "What is the answer regarding parked vehicles on the shoulder, the presence of a center line, and whether Ego crosses the center line?", "category": "Normal Perception & Prediction", "options": ["A. About 1-2 parked vehicles on the shoulder. The center line is faint but exists.", "B. Parked vehicles on the shoulder are rare. The center line is clear, Ego does not cross.", "C. Many parked vehicles on the shoulder. No center line.", "D. Almost no parked vehicles on the shoulder. There is a center line."], "answer_index": 2}
{"token": "1781cee0322159879b610319dbbd528c", "waymo_split": "test", "type": "image", "frame_index": 147, "question": "Are there any blind spots in the field of view?", "category": "Uncertainty", "options": ["A. There are blind spots only near the bus stops on the left and right sides and near the taxi stands.", "B. There are no blind spots in the central part of the left and right lanes and at the entrance to the intersection.", "C. There are blind spots between parked vehicles on the left and right shoulders and between vehicles.", "D. There are no blind spots near the curbs on the left and right sides and at the boundaries of the bicycle lanes."], "answer_index": 2}
{"token": "1781cee0322159879b610319dbbd528c", "waymo_split": "test", "type": "image", "frame_index": 147, "question": "How do you think a safety-critical object will move?", "category": "Safety-critical Prediction", "options": ["A. Proceed with a U-turn in the opposite direction", "B. Approach slowly towards the pedestrian side", "C. Drive straight towards the vehicle's side", "D. Change lanes to the right lane"], "answer_index": 2}
{"token": "1781cee0322159879b610319dbbd528c", "waymo_split": "test", "type": "image", "frame_index": 147, "question": "What is the correlation in safety-critical situations?", "category": "Safety-critical scene Understanding", "options": ["A. car-animal", "B. car-two-wheeler", "C. car-person", "D. car-car"], "answer_index": 3}
{"token": "1781cee0322159879b610319dbbd528c", "waymo_split": "test", "type": "image", "frame_index": 147, "question": "Is there any other safety-critical object besides the first safety-critical object? If so, how will you move?", "category": "Safety-critical Prediction", "options": ["A. There is a fire extinguisher: move down the right corridor.", "B. None", "C. There is an emergency stop button: move left along the wall.", "D. There is a first aid kit: move towards the exit."], "answer_index": 1}
{"token": "1781cee0322159879b610319dbbd528c", "waymo_split": "test", "type": "image", "frame_index": 147, "question": "How should I drive to address the first risk while also resolving the second risk?", "category": "Safety-critical Planning", "options": ["A. None", "B. Proceed straight while maintaining speed and only checking ahead", "C. Continue while staying close to the right edge and maintaining speed", "D. Come to a complete stop and safely change to the left lane"], "answer_index": 0}
{"token": "1781cee0322159879b610319dbbd528c", "waymo_split": "test", "type": "image", "frame_index": 147, "question": "Is lane change possible? Which is safer, slowing down or changing lanes?", "category": "Safety-critical Planning", "options": ["A. It is allowed to move to the right lane. Changing lanes is safer.", "B. Lane change is possible. Changing lanes is safer.", "C. Lane change to the left is possible. Changing lanes is safer.", "D. Lane change is not possible. Slowing down is safer."], "answer_index": 3}
{"token": "1781cee0322159879b610319dbbd528c", "waymo_split": "test", "type": "image", "frame_index": 147, "question": "Who is responsible in safety-critical situations? What is the cause?", "category": "Safety-critical scene Understanding", "options": ["A. Non-compliance with safety regulations is the direct cause.", "B. Currently, it is not possible to determine the responsible cause.", "C. The on-site supervisor has primary responsibility.", "D. The event organizer is responsible for management negligence."], "answer_index": 1}
{"token": "1781cee0322159879b610319dbbd528c", "waymo_split": "test", "type": "image", "frame_index": 147, "question": "Where is the area that hides danger in the current frame?", "category": "Uncertainty", "options": ["A. Blind spot directly in front of a large truck", "B. Blind spot between parked vehicles on the shoulder", "C. Shaded area behind the central divider", "D. Behind the corner of a building on the left side of the intersection"], "answer_index": 1}
{"token": "1781cee0322159879b610319dbbd528c", "waymo_split": "test", "type": "image", "frame_index": 147, "question": "What are the potential situations that could arise in the current circumstances?", "category": "Counterfactual", "options": ["A. Confusion", "B. None", "C. Delay", "D. Omission"], "answer_index": 1}
{"token": "1781cee0322159879b610319dbbd528c", "waymo_split": "test", "type": "image", "frame_index": 147, "question": "What is the method to avoid the blind spot next to a large vehicle?", "category": "Special Event", "options": ["A. Passing on the right side of the large vehicle", "B. Entering the blind spot", "C. Getting close to the large vehicle", "D. No large vehicle. Unable to judge"], "answer_index": 3}
{"token": "1781cee0322159879b610319dbbd528c", "waymo_split": "test", "type": "image", "frame_index": 147, "question": "What are the new exposure risk candidates in the following interval?", "category": "Safety-critical Prediction", "options": ["A. None", "B. Falling objects", "C. Fall", "D. Electric shock"], "answer_index": 0}
{"token": "1b1b31dfd2693662391f36934d0c755b", "waymo_split": "test", "type": "video", "frame_index": null, "question": "Where is the safety-critical situation in the video?", "category": "Temporal Grounding", "options": ["A. 2/4", "B. 1/4", "C. 3/4", "D. 4/4"], "answer_index": 2}
{"token": "1b1b31dfd2693662391f36934d0c755b", "waymo_split": "test", "type": "video", "frame_index": null, "question": "What are the classifications of scenes?", "category": "Normal scene Understanding", "options": ["A. Commercial city center", "B. Residential urban area", "C. Unpaved countryside", "D. Highway section"], "answer_index": 1}
{"token": "1b1b31dfd2693662391f36934d0c755b", "waymo_split": "test", "type": "video", "frame_index": null, "question": "Which of the following is a correct description of traffic density?", "category": "Normal scene Understanding", "options": ["A. There is almost no slope, the area is flat, and there are usually no parked vehicles on the shoulder.", "B. The slope tilts to the left, there are few vehicles on the road, and parked vehicles on the shoulder are rare.", "C. There is a slope downward in front, there are many vehicles on the road, and there are parked vehicles on the shoulder.", "D. There is a slope upward in front, there are few vehicles on the road, and there are no parked vehicles on the shoulder."], "answer_index": 2}
{"token": "1b1b31dfd2693662391f36934d0c755b", "waymo_split": "test", "type": "video", "frame_index": null, "question": "Are there any special circumstances?", "category": "Special Event", "options": ["A. Ambulance passing", "B. School bus stopping", "C. None", "D. Limited visibility due to fog"], "answer_index": 2}
{"token": "1b1b31dfd2693662391f36934d0c755b", "waymo_split": "test", "type": "video", "frame_index": null, "question": "Which of the following is correct as a Video Summary from the perspective of a Normal Scene?", "category": "Normal scene caption", "options": ["A. Approaching a T-intersection on a gentle uphill road to make a U-turn. After the U-turn, entering a two-lane road with a central divider. Parked cars on the shoulder are lined up only on one side. The opposite lane is quiet, and there is an SUV in front of the vehicle.", "B. Driving straight towards an intersection on a flat road. Then entering a one-lane alley. Parked cars on the shoulder are scattered on one side. The opposite lane is quiet, and there is a passenger car in front of the vehicle.", "C. Facing an intersection on an uphill road and making a right turn. After the right turn, merging into a three-lane main road. There are almost no parked cars on the shoulder, and there is plenty of lane space. Vehicles in the opposite lane are rare, and a few cars are lined up in the vehicle's lane.", "D. Making a left turn in the vehicle at an intersection on a downhill road. After successfully making the left turn, entering a two-lane road. There are many parked cars on both sides of the shoulder. There are many vehicles coming from the opposite lane. There are no other cars in the vehicle's lane except for the vehicle itself."], "answer_index": 3}
{"token": "1b1b31dfd2693662391f36934d0c755b", "waymo_split": "test", "type": "video", "frame_index": null, "question": "Which of the following is a correct description of the environment?", "category": "Normal scene Understanding", "options": ["A. Day, clear", "B. Night, rain", "C. Evening, clear", "D. Day, cloudy"], "answer_index": 0}
{"token": "1b1b31dfd2693662391f36934d0c755b", "waymo_split": "test", "type": "video", "frame_index": null, "question": "What is the description of a non-safety-critical object?", "category": "Normal Perception & Prediction", "options": ["A. There are almost no parked cars on the shoulder. On the left, there is a row of old low houses. On the right, there is an empty lot with construction barriers.", "B. There are a few parked cars on the right side of the shoulder. On the left, there is a completed commercial building continuing on the left side of the sidewalk. On the right, there is a high-rise office building.", "C. There are many parked cars on both sides of the shoulder. On the left, there is a building under construction on the left side of the sidewalk. On the right, there is a low building.", "D. There are only a few parked cars on the left side of the shoulder. On the left, there is a small cafe and a convenience store next to each other. On the right, there is a mid-rise apartment complex."], "answer_index": 2}
{"token": "1b1b31dfd2693662391f36934d0c755b", "waymo_split": "test", "type": "video", "frame_index": null, "question": "Which of the following is a correct description of road alignment?", "category": "Normal Perception & Prediction", "options": ["A. Straight after an intersection", "B. Left turn after an intersection", "C. Right turn after a junction", "D. Left turn at a non-protected signal after waiting"], "answer_index": 0}
{"token": "1b1b31dfd2693662391f36934d0c755b", "waymo_split": "test", "type": "video", "frame_index": null, "question": "What is the answer regarding parked vehicles on the shoulder, the presence of a center line, and whether Ego crossed the center line?", "category": "Normal Perception & Prediction", "options": ["A. Many parked vehicles on the shoulder. The center line is very faint. Crossed the line during the initial left turn.", "B. A few parked vehicles on the shoulder. The center line is clearly visible. Did not cross the line during the initial right turn.", "C. Almost no parked vehicles on the shoulder. No center line. Did not cross the line during the later left turn.", "D. One or two parked vehicles on the shoulder. The center line is distinct and dashed. Did not cross the line during the initial left turn."], "answer_index": 0}
{"token": "1b1b31dfd2693662391f36934d0c755b", "waymo_split": "test", "type": "video", "frame_index": null, "question": "Is there a blind spot in the field of view?", "category": "Uncertainty", "options": ["A. No blind spot on the right sidewalk", "B. Blind spot exists between parked vehicles on the shoulder", "C. Blind spot exists near the central divider", "D. Blind spot exists due to parked vehicles on the left"], "answer_index": 1}
{"token": "1b1b31dfd2693662391f36934d0c755b", "waymo_split": "test", "type": "video", "frame_index": null, "question": "What is the correlation in safety-critical situations?", "category": "Safety-critical scene Understanding", "options": ["A. Car-Car", "B. Car-Person", "C. Car-Two-wheeler", "D. Person-Two-wheeler"], "answer_index": 0}
{"token": "1b1b31dfd2693662391f36934d0c755b", "waymo_split": "test", "type": "video", "frame_index": null, "question": "How did the safety-critical object move and how did the ego vehicle behave?", "category": "Safety-critical scene Understanding", "options": ["A. 1. Attempted to make a right turn at the intersection - the ego vehicle continued straight after turning left. 2. Drove closely to the center and continued straight - the ego vehicle slightly turned to the right and continued straight.", "B. 1. Attempted to go straight through the intersection - the ego vehicle entered the right lane instead of turning left. 2. Drove closely in the right lane - the ego vehicle turned left to avoid the center line and continued straight.", "C. 1. Changed to the right lane before entering the intersection - the ego vehicle stopped and turned left when the signal changed. 2. Drove slightly to the left of the lane center - the ego vehicle slightly turned to the right and continued straight.", "D. 1. Attempted to make a left turn at the intersection - the ego vehicle maintained straight after making a right turn. 2. Continued straight slightly away from the center line - the ego vehicle kept to the center of the lane and continued straight."], "answer_index": 0}
{"token": "1b1b31dfd2693662391f36934d0c755b", "waymo_split": "test", "type": "video", "frame_index": null, "question": "What is a safety-critical object?", "category": "Safety-critical Perception", "options": ["A. 1. A vehicle stopped on the right shoulder while making a left turn. 2. A bus waiting at a signal in the adjacent lane while going straight.", "B. 1. A pedestrian waiting at the edge of the sidewalk while making a right turn. 2. A vehicle parked behind the median while going straight.", "C. 1. A vehicle driving slowly in the right lane going the same direction while making a left turn. 2. A vehicle approaching from a distance in the rear while going straight.", "D. 1. A vehicle that appeared from the opposite lane while making a left turn. 2. A vehicle that was driving in the opposite lane while going straight."], "answer_index": 3}
{"token": "1b1b31dfd2693662391f36934d0c755b", "waymo_split": "test", "type": "video", "frame_index": null, "question": "Summary of Ego (self-vehicle) behavior before a safety-critical situation", "category": "Normal scene Understanding", "options": ["A. Stopped", "B. Turning left", "C. Making a U-turn", "D. Turning right"], "answer_index": 1}
{"token": "1b1b31dfd2693662391f36934d0c755b", "waymo_split": "test", "type": "image", "frame_index": 29, "question": "Which of the following is correct from the perspective of a Normal Frame regarding Image Caption?", "category": "Normal scene caption", "options": ["A. Attempting to make a left turn at the intersection. In front, there are multiple parked cars on a sloping road. A crosswalk is visible at the intersection. There are no vehicles behind.", "B. Preparing to make a U-turn at the intersection. In front, there is a flat road and the shoulder is quiet. Only a median strip is visible at the intersection, with no crosswalk. There are several vehicles behind.", "C. Attempting to make a right turn at the intersection. In front, there is a gentle uphill road and an empty shoulder. No crosswalk is visible at the intersection. A few vehicles are following behind.", "D. Adjusting speed to continue straight. In front, there is a flat road with sparsely parked vehicles. Only a traffic sign is visible at the intersection, with no crosswalk. A taxi is closely following behind."], "answer_index": 0}
{"token": "1b1b31dfd2693662391f36934d0c755b", "waymo_split": "test", "type": "video", "frame_index": null, "question": "What situation might have occurred if the vehicle had behaved this way?", "category": "Counterfactual", "options": ["A. Even if the vehicle had continued straight without slowing down, the other vehicle would have moved aside and there would have been no collision.", "B. If the vehicle had turned right and not gone straight while distancing itself from the center, a glancing collision could have occurred.", "C. If the vehicle had turned left and accelerated while staying close to the center line, there would have been no contact.", "D. If the vehicle had made a sudden stop and yielded to the left, a head-on collision would have occurred instead."], "answer_index": 1}
{"token": "1b1b31dfd2693662391f36934d0c755b", "waymo_split": "test", "type": "image", "frame_index": 29, "question": "Based on the current appearance of the person/vehicle (two-wheeled), how do you intend to move?", "category": "Normal Perception & Prediction", "options": ["A. Turn right", "B. Turn left", "C. Make a U-turn", "D. Go straight"], "answer_index": 1}
{"token": "1b1b31dfd2693662391f36934d0c755b", "waymo_split": "test", "type": "image", "frame_index": 29, "question": "What is the plan for yielding when an ambulance/fire truck approaches?", "category": "Special Event", "options": ["A. Maintain speed and proceed even if the siren is heard", "B. Quickly move to the left lane to clear the way", "C. Stop in the center after entering the intersection to yield", "D. Yield by slowing down after leaving the intersection"], "answer_index": 3}
{"token": "1b1b31dfd2693662391f36934d0c755b", "waymo_split": "test", "type": "image", "frame_index": 29, "question": "Which of the following is a correct description of traffic density?", "category": "Normal scene Understanding", "options": ["A. Fast, no parked vehicles on the shoulder", "B. Fast, few surrounding vehicles passing", "C. Slow, sparse surrounding vehicles", "D. Slow, many surrounding vehicles parked on the shoulder"], "answer_index": 3}
{"token": "1b1b31dfd2693662391f36934d0c755b", "waymo_split": "test", "type": "image", "frame_index": 29, "question": "Which of the following is a correct description of the environment?", "category": "Normal scene Understanding", "options": ["A. Clear during the day", "B. Fog at night", "C. Evening shower", "D. Cloudy in the morning"], "answer_index": 0}
{"token": "1b1b31dfd2693662391f36934d0c755b", "waymo_split": "test", "type": "image", "frame_index": 29, "question": "What are the classifications of scenes?", "category": "Normal scene Understanding", "options": ["A. Highway", "B. Residential area", "C. City", "D. Unpaved"], "answer_index": 1}
{"token": "1b1b31dfd2693662391f36934d0c755b", "waymo_split": "test", "type": "image", "frame_index": 29, "question": "Which of the following is a correct description of traffic signals?", "category": "Traffic Signal", "options": ["A. No U-turn sign", "B. Left turn only signal", "C. None", "D. Stop line road marking"], "answer_index": 2}
{"token": "1b1b31dfd2693662391f36934d0c755b", "waymo_split": "test", "type": "image", "frame_index": 29, "question": "What are the behavior restrictions in school zones/congested areas?", "category": "Special Event", "options": ["A. Must come to a stop", "B. Must turn right", "C. Must drive slowly", "D. Must use the horn"], "answer_index": 2}
{"token": "1b1b31dfd2693662391f36934d0c755b", "waymo_split": "test", "type": "image", "frame_index": 29, "question": "What is the answer regarding parked vehicles on the shoulder, the presence of a center line, and whether Ego crosses the center line?", "category": "Normal Perception & Prediction", "options": ["A. Many parked vehicles on the shoulder. Center line not visible.", "B. Few parked vehicles on the opposite side. Center line faintly visible.", "C. 1-2 parked vehicles on the shoulder. Center line clear.", "D. Almost no parked vehicles on the shoulder. Center line visible."], "answer_index": 0}
{"token": "1b1b31dfd2693662391f36934d0c755b", "waymo_split": "test", "type": "image", "frame_index": 29, "question": "Is there a blind spot?", "category": "Uncertainty", "options": ["A. Most cars entering from the left road into the blind spot are minimal.", "B. No blind spot; the right view is clear, just be cautious of vehicles coming from the left to the right.", "C. There is a blind spot; there may be vehicles appearing from the right road and driving from right to left.", "D. There is a blind spot; if you only look ahead, there are hardly any vehicles passing from the right to the left."], "answer_index": 2}
{"token": "1b1b31dfd2693662391f36934d0c755b", "waymo_split": "test", "type": "image", "frame_index": 29, "question": "Are there any safety-critical objects other than the first safety-critical object? If so, how will you move?", "category": "Safety-critical Prediction", "options": ["A. Yes, avoid the obstacle in front and enter from the back.", "B. Yes, detour to the left based on the yellow guide line.", "C. No, there are no more safety-critical objects.", "D. Yes, slowly advance along the right safety corridor."], "answer_index": 2}
{"token": "1b1b31dfd2693662391f36934d0c755b", "waymo_split": "test", "type": "image", "frame_index": 29, "question": "What is the description of a non-safety-critical object?", "category": "Normal Perception & Prediction", "options": ["A. Only exists on the right side of the road behind parked vehicles on the shoulder. There are street trees and streetlights in front. Crosswalks at the intersection exist in only two directions.", "B. Parked vehicles on the shoulder are mainly small cars concentrated on the left side in front. There are store signs and awnings in front. Crosswalk markings exist only in the north-south direction at the intersection.", "C. Many parked vehicles on the shoulder exist on both sides of the road in front and behind. There are utility poles and wires in front. Crosswalks exist on each road at the intersection.", "D. No parked vehicles on the shoulder, delivery motorcycles are stopped on the left sidewalk. There are bus stop signs and information signs in front. No crosswalks at the intersection."], "answer_index": 2}
{"token": "1b1b31dfd2693662391f36934d0c755b", "waymo_split": "test", "type": "image", "frame_index": 29, "question": "How should I drive to resolve the first risk while also addressing the second risk?", "category": "Safety-critical Planning", "options": ["A. Change to the right lane to avoid the next safety-critical object", "B. Gradually slow down in preparation for the next safety-critical object", "C. There is no next safety-critical object", "D. Yield to the next safety-critical object and then come to a stop"], "answer_index": 2}
{"token": "1b1b31dfd2693662391f36934d0c755b", "waymo_split": "test", "type": "image", "frame_index": 29, "question": "How do you think a safety-critical object will move?", "category": "Safety-critical Prediction", "options": ["A. Safety-critical object detected", "B. Safety-critical object moving left", "C. Safety-critical object approaching", "D. No safety-critical object"], "answer_index": 3}
{"token": "1b1b31dfd2693662391f36934d0c755b", "waymo_split": "test", "type": "image", "frame_index": 29, "question": "Is lane changing possible? Which is safer between slowing down and changing lanes?", "category": "Safety-critical Planning", "options": ["A. Prioritize lane changing / Switching to the straight lane is safer", "B. Slowing down is safer. Lane changing not possible (during left turn)", "C. Changing lanes is safer / Moving to the right lane is allowed", "D. Changing lanes is safe / Lane changing is possible (even during left turn)"], "answer_index": 1}
{"token": "1b1b31dfd2693662391f36934d0c755b", "waymo_split": "test", "type": "image", "frame_index": 29, "question": "What is a safety-critical object?", "category": "Safety-critical Perception", "options": ["A. Safety-critical object: Front collision detection sensor", "B. Safety-critical object: Emergency stop button", "C. No safety-critical object", "D. Safety-critical object: Brake control module"], "answer_index": 2}
{"token": "1b1b31dfd2693662391f36934d0c755b", "waymo_split": "test", "type": "image", "frame_index": 55, "question": "Based on the current appearance of the person/vehicle (two-wheeled), how are they trying to move?", "category": "Normal Perception & Prediction", "options": ["A. Going straight", "B. Turning left", "C. Turning right", "D. Making a U-turn"], "answer_index": 1}
{"token": "1b1b31dfd2693662391f36934d0c755b", "waymo_split": "test", "type": "image", "frame_index": 55, "question": "Which of the following is correct as an Image Caption from the perspective of a Normal Frame?", "category": "Normal scene caption", "options": ["A. Almost completed a left turn at the intersection. Numerous parked vehicles on both sides of the road. There are vehicles driving in the opposite lane (left side) and a STOP road sign is visible.", "B. Just finished a right turn at a T-junction. There are few parked vehicles on both sides of the road. The opposite lane is empty and a speed limit road sign is visible.", "C. Just before entering a right turn at the intersection. A large bus is stopped on the right shoulder, and the left side is empty. The opposite lane is quiet and a slow-moving road sign is visible.", "D. Proceeding straight through the intersection. There are almost no parked vehicles on the road ahead. There are no vehicles in the opposite lane and a crosswalk road sign is visible."], "answer_index": 0}
{"token": "1b1b31dfd2693662391f36934d0c755b", "waymo_split": "test", "type": "image", "frame_index": 55, "question": "What is the correct Image Caption from the perspective of Safety-critical Frame?", "category": "Safety-critical scene caption", "options": ["A. The oncoming vehicle is stopped at the stop line, while your vehicle is proceeding straight through the intersection, so the risk of contact seems low. The oncoming vehicle is slightly turning left to prepare for a left turn.", "B. The vehicle from the opposite direction has already passed the intersection and is merging into the right lane, while your vehicle has slowed down to make a right turn into an alley, so be cautious of a rear-end collision. The oncoming vehicle is maintaining its lane and driving with the steering wheel almost straight.", "C. A bicycle is crossing the crosswalk from the left, and your vehicle is accelerating straight, so be cautious of skidding during sudden braking. The oncoming vehicle is stopped, waiting for the signal, and is keeping the steering wheel close to the center.", "D. An oncoming vehicle is entering the intersection, while your vehicle is making a left turn into the road at the intersection, so there is a risk of a side-swipe accident at this time. The oncoming vehicle is slightly turning right (appearing to attempt a right turn)."], "answer_index": 3}
{"token": "1b1b31dfd2693662391f36934d0c755b", "waymo_split": "test", "type": "image", "frame_index": 55, "question": "What are the classifications of scenes?", "category": "Normal scene Understanding", "options": ["A. Unpaved", "B. Urban area", "C. Residential area", "D. Highway"], "answer_index": 2}
{"token": "1b1b31dfd2693662391f36934d0c755b", "waymo_split": "test", "type": "image", "frame_index": 55, "question": "What is the plan for yielding when an ambulance/fire truck approaches?", "category": "Special Event", "options": ["A. Stop in the intersection and yield", "B. Yield after passing the intersection while slowing down", "C. Keep speed with hazard lights on and yield", "D. Yield by moving to the left lane"], "answer_index": 1}
{"token": "1b1b31dfd2693662391f36934d0c755b", "waymo_split": "test", "type": "image", "frame_index": 55, "question": "Which of the following is a correct description of traffic density?", "category": "Normal scene Understanding", "options": ["A. Fast, with almost no surrounding vehicles", "B. Fast, with few surrounding vehicles and one bus visible", "C. Slow, with sparse surrounding vehicles and the shoulder empty", "D. Slow, with many surrounding vehicles parked on the shoulder"], "answer_index": 3}
{"token": "1b1b31dfd2693662391f36934d0c755b", "waymo_split": "test", "type": "image", "frame_index": 55, "question": "Which of the following is a correct description of the environment?", "category": "Normal scene Understanding", "options": ["A. Night cloudiness", "B. Dawn fog", "C. Evening rain", "D. Daytime clarity"], "answer_index": 3}
{"token": "1b1b31dfd2693662391f36934d0c755b", "waymo_split": "test", "type": "image", "frame_index": 55, "question": "Which of the following is a correct description of traffic signals?", "category": "Traffic Signal", "options": ["A. SLOW road sign", "B. STOP traffic light", "C. STOP sign", "D. STOP road sign"], "answer_index": 3}
{"token": "1b1b31dfd2693662391f36934d0c755b", "waymo_split": "test", "type": "image", "frame_index": 55, "question": "What is the description of a non-safety-critical object?", "category": "Normal Perception & Prediction", "options": ["A. There are almost no parked vehicles on the front and rear road sides. There is a crosswalk marking on only one side of the intersection. Only a turning arrow is visible in the opposite lane.", "B. There are many parked vehicles on the shoulder on both the front and rear road sides. There are crosswalks on each road at the intersection. There is a STOP pavement sign in the opposite lane.", "C. There are only a few parked vehicles on the left front side of the road. There is a crosswalk on only one road at the intersection. There is a YIELD pavement sign in the direction of travel.", "D. There are only a few parked vehicles on the right rear side of the shoulder. There are no crosswalks at the intersection. There is a SLOW pavement sign in our lane ahead."], "answer_index": 1}
{"token": "1b1b31dfd2693662391f36934d0c755b", "waymo_split": "test", "type": "image", "frame_index": 55, "question": "Is there a blind spot in your field of vision?", "category": "Uncertainty", "options": ["A. No blind spot; pedestrians or bicycles appear occasionally, and there is almost no risk from vehicles.", "B. Almost no blind spot; just be cautious of vehicles driving from left to right on the left road.", "C. No blind spot; the left side is clear, and vehicles coming from the right to the left are visible immediately.", "D. There is a blind spot; there may be vehicles appearing from the right road and driving from right to left."], "answer_index": 3}
{"token": "1b1b31dfd2693662391f36934d0c755b", "waymo_split": "test", "type": "image", "frame_index": 55, "question": "How do you think a safety-critical object will move?", "category": "Safety-critical Prediction", "options": ["A. Entering an alley (left turn expected)", "B. Passing through an intersection (going straight expected)", "C. Entering an intersection (right turn expected)", "D. Entering a roundabout (U-turn expected)"], "answer_index": 2}
{"token": "1b1b31dfd2693662391f36934d0c755b", "waymo_split": "test", "type": "image", "frame_index": 55, "question": "What should I do to drive safely?", "category": "Safety-critical Planning", "options": ["A. I should make a larger turn while turning left now to avoid crossing the center line and complete the left turn without colliding with the vehicle.", "B. I should enter deeply into the intersection and stop in the middle to assess the situation, which will help me avoid a collision with the vehicle more effectively.", "C. I should increase my speed and confidently cross the center line to quickly complete the left turn, ensuring a safe distance from the vehicle behind.", "D. I should make a tighter turn while turning right now, staying close to the sidewalk, so I can finish the turn before the vehicle passes."], "answer_index": 0}
{"token": "1b1b31dfd2693662391f36934d0c755b", "waymo_split": "test", "type": "image", "frame_index": 55, "question": "What is a safety-critical object?", "category": "Safety-critical Perception", "options": ["A. Vehicle stopped on the left shoulder", "B. Vehicle waiting at a front intersection", "C. Vehicle driving in the left opposite lane", "D. Vehicle driving in the right same lane"], "answer_index": 2}
{"token": "1b1b31dfd2693662391f36934d0c755b", "waymo_split": "test", "type": "image", "frame_index": 55, "question": "How should I drive to address the first risk while also resolving the second risk?", "category": "Safety-critical Planning", "options": ["A. No next safety-critical object", "B. Merge to the right lane for the next safety-critical object", "C. Deceleration needed for the next safety-critical object", "D. Next safety-critical object is in the left front"], "answer_index": 0}
{"token": "1b1b31dfd2693662391f36934d0c755b", "waymo_split": "test", "type": "image", "frame_index": 55, "question": "Are there any other safety-critical objects besides the first one? If so, how would you move them?", "category": "Safety-critical Prediction", "options": ["A. There is a high-pressure gas cylinder; close the valve and move it with a cart.", "B. There is a corrosive chemical drum; check for leaks, seal it, and move it with a drum dolly.", "C. There are exposed wires; turn off the power, wear insulated gloves, and move it sideways.", "D. There are no other safety-critical objects."], "answer_index": 3}
{"token": "1b1b31dfd2693662391f36934d0c755b", "waymo_split": "test", "type": "image", "frame_index": 55, "question": "What is the correlation in safety-critical situations?", "category": "Safety-critical scene Understanding", "options": ["A. car-car", "B. car-person", "C. car-two-wheeler", "D. two-wheeler-person"], "answer_index": 0}
{"token": "1b1b31dfd2693662391f36934d0c755b", "waymo_split": "test", "type": "image", "frame_index": 55, "question": "Is lane changing possible? Which is safer between slowing down and changing lanes?", "category": "Safety-critical Planning", "options": ["A. Maintaining speed is safe. Lane change possible (no U-turn vehicles)", "B. Changing lanes is safe. Lane change possible (right lane is clear)", "C. Slowing down is safe. Lane change not possible (turning left)", "D. Accelerating is safe. Lane change possible (straight lane is empty)"], "answer_index": 2}
{"token": "1b1b31dfd2693662391f36934d0c755b", "waymo_split": "test", "type": "image", "frame_index": 55, "question": "What is the safest choice when approaching a yellow signal: stop vs proceed?", "category": "Special Event", "options": ["A. Stop immediately", "B. No traffic light. Unable to judge", "C. Proceed while slowing down", "D. Proceed while crawling"], "answer_index": 1}
{"token": "1b1b31dfd2693662391f36934d0c755b", "waymo_split": "test", "type": "image", "frame_index": 55, "question": "What is the method to avoid blind spots when passing large vehicles?", "category": "Special Event", "options": ["A. Drive close to the right and maintain speed", "B. No large vehicles, unable to judge", "C. Honk the horn and accelerate to overtake", "D. Change to the left lane and pass quickly"], "answer_index": 1}
{"token": "1b1b31dfd2693662391f36934d0c755b", "waymo_split": "test", "type": "image", "frame_index": 70, "question": "Which of the following is correct from the perspective of Safety-critical Frame regarding Image Caption?", "category": "Safety-critical scene caption", "options": ["A. There is a black vehicle driving directly in front of the same lane.", "B. There is a white vehicle driving right next to (on the left) the opposite lane.", "C. There is a silver vehicle overtaking in the right lane.", "D. There is a red vehicle approaching from a distance in the opposite lane."], "answer_index": 1}
{"token": "1b1b31dfd2693662391f36934d0c755b", "waymo_split": "test", "type": "image", "frame_index": 55, "question": "Who is responsible in a safety-critical situation? What is the cause?", "category": "Safety-critical scene Understanding", "options": ["A. Shared responsibility. The other vehicle changed lanes abruptly, and the driver's defensive driving was insufficient.", "B. The responsibility lies with the driver. The vehicle encroached on the center line while making a left turn.", "C. The responsibility lies with the driver. The vehicle entered the right lane while making a right turn.", "D. The responsibility lies with the other vehicle. The vehicle crossed the center line while going straight."], "answer_index": 1}
{"token": "1b1b31dfd2693662391f36934d0c755b", "waymo_split": "test", "type": "image", "frame_index": 70, "question": "What is the plan for yielding when an ambulance/fire truck approaches?", "category": "Special Event", "options": ["A. Enter the intersection and stop to yield", "B. Maintain speed and move to the left to yield", "C. Slow down and stay close to the right to yield", "D. Pull over to the center line and stop temporarily to yield"], "answer_index": 2}
{"token": "1b1b31dfd2693662391f36934d0c755b", "waymo_split": "test", "type": "image", "frame_index": 70, "question": "Which of the following is a correct description of traffic density?", "category": "Normal scene Understanding", "options": ["A. Fast, few surrounding vehicles, many vehicles on the shoulder", "B. Slow, many surrounding vehicles parked on the shoulder", "C. Fast, few surrounding vehicles, no shoulder parking", "D. Slow, sparse surrounding vehicles, ample space in the center lane"], "answer_index": 1}
{"token": "1b1b31dfd2693662391f36934d0c755b", "waymo_split": "test", "type": "image", "frame_index": 70, "question": "What are the classifications of scenes?", "category": "Normal scene Understanding", "options": ["A. Highway", "B. Residential area", "C. City center", "D. Unpaved"], "answer_index": 1}
{"token": "1b1b31dfd2693662391f36934d0c755b", "waymo_split": "test", "type": "image", "frame_index": 70, "question": "Which of the following is correct as an Image Caption from the perspective of a Normal Frame?", "category": "Normal scene caption", "options": ["A. Entering the right turn lane at the intersection while slowing down. There are bus stops and taxis waiting on both sides in front. There are few vehicles beyond the center line and they are spaced widely.", "B. Accelerating immediately after passing straight through the intersection. There are almost no parked vehicles on both sides in front. Vehicles in the opposite lane (left) are all stopped due to congestion.", "C. Completing a left turn at the intersection and starting to go straight. There are many parked vehicles on the shoulder on both sides in front. Vehicles in the opposite lane (left) are passing closely by the left side of my vehicle.", "D. Maintaining a straight path after turning right at the intersection. There are a few parked vehicles on the shoulder on the right side in front. A motorcycle in the right lane brushes past the side of my vehicle."], "answer_index": 2}
{"token": "1b1b31dfd2693662391f36934d0c755b", "waymo_split": "test", "type": "image", "frame_index": 70, "question": "Based on the current appearance of the person/vehicle (two-wheeled), how do you intend to move?", "category": "Normal Perception & Prediction", "options": ["A. Start going straight", "B. Start turning left", "C. Maintain stop", "D. Start turning right"], "answer_index": 0}
{"token": "1b1b31dfd2693662391f36934d0c755b", "waymo_split": "test", "type": "image", "frame_index": 70, "question": "Which of the following is a correct description of the environment?", "category": "Normal scene Understanding", "options": ["A. Clear in the evening", "B. Cloudy in the daytime", "C. Foggy in the early morning", "D. Clear in the daytime"], "answer_index": 3}
{"token": "1b1b31dfd2693662391f36934d0c755b", "waymo_split": "test", "type": "image", "frame_index": 70, "question": "What are the behavior restrictions in school zones/congested areas?", "category": "Special Event", "options": ["A. Must drive at a low speed", "B. Must turn on hazard lights", "C. Must come to a complete stop", "D. Must drive slowly"], "answer_index": 3}
{"token": "1b1b31dfd2693662391f36934d0c755b", "waymo_split": "test", "type": "image", "frame_index": 70, "question": "Which of the following is a correct description of traffic signals?", "category": "Traffic Signal", "options": ["A. Red light of the traffic light", "B. None", "C. Pedestrian signal", "D. Stop line marking"], "answer_index": 1}
{"token": "1b1b31dfd2693662391f36934d0c755b", "waymo_split": "test", "type": "image", "frame_index": 70, "question": "What is the answer regarding parked vehicles on the shoulder, the presence of a center line, and whether Ego has crossed the center line?", "category": "Normal Perception & Prediction", "options": ["A. There are a few parked vehicles on the shoulder. The center line is obscured by construction signs, and it has been crossed.", "B. There are many parked vehicles on the shoulder. The center line is faintly visible, and it has not been crossed.", "C. There are one or two parked vehicles on the shoulder. The center line is unconfirmed, and it has not been crossed.", "D. There are hardly any parked vehicles on the shoulder. The center line is clearly visible, and it has been crossed."], "answer_index": 1}
{"token": "1b1b31dfd2693662391f36934d0c755b", "waymo_split": "test", "type": "image", "frame_index": 70, "question": "What is a safety-critical object?", "category": "Safety-critical Perception", "options": ["A. Vehicle driving in the left opposite lane", "B. Leading vehicle in the same lane on the right", "C. Overtaking motorcycle in the rear lane", "D. Vehicle stopped on the left shoulder"], "answer_index": 0}
{"token": "1b1b31dfd2693662391f36934d0c755b", "waymo_split": "test", "type": "image", "frame_index": 70, "question": "How do you think a safety-critical object will move?", "category": "Safety-critical Prediction", "options": ["A. Moves to the shoulder (stopping expected)", "B. Enters the intersection (right turn expected)", "C. Passes through the intersection (going straight expected)", "D. Enters the left turn lane (left turn expected)"], "answer_index": 1}
{"token": "1b1b31dfd2693662391f36934d0c755b", "waymo_split": "test", "type": "image", "frame_index": 70, "question": "What should I do to drive safely?", "category": "Safety-critical Planning", "options": ["A. Since we are just before the intersection, I need to turn left.", "B. The car in front is slow, so I need to speed up and overtake.", "C. Since I am right next to it, I should go straight.", "D. The exit is getting farther away, so I need to change lanes to the right immediately."], "answer_index": 2}
{"token": "1b1b31dfd2693662391f36934d0c755b", "waymo_split": "test", "type": "image", "frame_index": 70, "question": "How should I drive to address the first risk while also addressing the second risk?", "category": "Safety-critical Planning", "options": ["A. Next, a safety-critical object is detected", "B. Next, a safety-critical object approaches from the left", "C. Next, there is no safety-critical object", "D. Next, avoidance of a safety-critical object is necessary"], "answer_index": 2}
{"token": "1b1b31dfd2693662391f36934d0c755b", "waymo_split": "test", "type": "image", "frame_index": 70, "question": "Are there any safety-critical objects other than the first safety-critical object? If so, how will you move?", "category": "Safety-critical Prediction", "options": ["A. No more safety-critical objects", "B. Next safety-critical object found, move backward", "C. There is a next safety-critical object, move slowly to the right", "D. There is a next safety-critical object, move to the left"], "answer_index": 0}
{"token": "1b1b31dfd2693662391f36934d0c755b", "waymo_split": "test", "type": "image", "frame_index": 70, "question": "What is the correlation in safety-critical situations?", "category": "Safety-critical scene Understanding", "options": ["A. car-car", "B. car-two-wheeler", "C. car-person", "D. person-two-wheeler"], "answer_index": 0}
{"token": "1b1b31dfd2693662391f36934d0c755b", "waymo_split": "test", "type": "image", "frame_index": 70, "question": "Is lane changing possible? Which is safer between deceleration and lane changing?", "category": "Safety-critical Planning", "options": ["A. Acceleration is safe / Lane change possible (during right turn)", "B. Maintaining speed is safer / Lane change possible to the right", "C. Deceleration is safe. Lane change not possible (during left turn)", "D. Lane changing is safer / Lane change possible (while going straight)"], "answer_index": 2}
{"token": "1b1b31dfd2693662391f36934d0c755b", "waymo_split": "test", "type": "image", "frame_index": 70, "question": "What is the method to avoid blind spots when passing large vehicles?", "category": "Special Event", "options": ["A. Stay close to the left side of the large vehicle and overtake quickly", "B. Stay close to the right side of the bus and maintain speed", "C. Follow the truck and overtake when there is a gap", "D. No large vehicle present, unable to judge"], "answer_index": 3}
{"token": "1b1b31dfd2693662391f36934d0c755b", "waymo_split": "test", "type": "image", "frame_index": 70, "question": "Who is responsible in a safety-critical situation? What is the cause?", "category": "Safety-critical scene Understanding", "options": ["A. It is the responsibility of the road management. The guide lines and signs were unclear, causing confusion about the lane boundaries, which led to confusion in distinguishing between the right turn and straight movement of the other vehicle.", "B. It is the responsibility of the other vehicle. It entered straight from the right turn lane without signaling, blocking the turning path of the left-turning vehicle.", "C. It is the responsibility of my vehicle. While turning left, it entered the straight road while encroaching on the center, giving the other vehicle less space to make a right turn and enter the intersection.", "D. It is the responsibility of the other vehicle. It crossed the stop line and moved into the center of the intersection first, taking away the space for the left-turning vehicle to enter."], "answer_index": 2}
{"token": "1b1b31dfd2693662391f36934d0c755b", "waymo_split": "test", "type": "image", "frame_index": 106, "question": "Which of the following is correct as an Image Caption from the perspective of a Normal Frame?", "category": "Normal scene caption", "options": ["A. Turning right at an intersection signal. There are shops and a tree-lined street on the left and right ahead. A vehicle is entering the right lane at the upcoming intersection.", "B. Driving straight in a narrow alley without a central line. There are walls and single-family homes on both sides, with no parked cars on the shoulder. A pedestrian is waiting at the crosswalk ahead.", "C. Driving straight on a one-way, two-lane road. There is a bus stop and a concentration of cafes on the right. A bus is stopped in the same direction at the top of the upcoming hill.", "D. Driving straight on a two-lane road. There are parked cars on the shoulder and a housing complex on both sides ahead. A vehicle is coming from the opposite lane at the bottom of the hill ahead."], "answer_index": 3}
{"token": "1b1b31dfd2693662391f36934d0c755b", "waymo_split": "test", "type": "image", "frame_index": 70, "question": "What are the driving guidelines for your vehicle based on the behavior of a safety-critical object?", "category": "Safety-critical Planning", "options": ["A. If the safety-critical object makes a left turn, accelerate to avoid a collision risk with the rear of your vehicle.", "B. If the safety-critical object suddenly changes lanes, it is advantageous to maintain your speed to keep your vehicle centered in the lane and prevent side contact.", "C. Even if the safety-critical object makes a left turn, if the intersection space is wide and the risk of collision is low, lightly press the brake and wait.", "D. If the safety-critical object makes a right turn, there will be more space in front of your vehicle, so slow down and follow from behind."], "answer_index": 0}
{"token": "1b1b31dfd2693662391f36934d0c755b", "waymo_split": "test", "type": "image", "frame_index": 106, "question": "Based on the current appearance of the person/vehicle (two-wheeled), how do you intend to move?", "category": "Normal Perception & Prediction", "options": ["A. Start turning right", "B. Start going straight", "C. Maintain stop", "D. Prepare to turn left"], "answer_index": 1}
{"token": "1b1b31dfd2693662391f36934d0c755b", "waymo_split": "test", "type": "image", "frame_index": 106, "question": "What are the classifications of scenes?", "category": "Normal scene Understanding", "options": ["A. Highway", "B. City", "C. Unpaved", "D. Residential area"], "answer_index": 3}
{"token": "1b1b31dfd2693662391f36934d0c755b", "waymo_split": "test", "type": "image", "frame_index": 106, "question": "What are the restrictions on behavior in school zones/congested areas?", "category": "Special Event", "options": ["A. Must stop", "B. Must drive slowly", "C. Must honk the horn", "D. Must detour"], "answer_index": 1}
{"token": "1b1b31dfd2693662391f36934d0c755b", "waymo_split": "test", "type": "image", "frame_index": 106, "question": "What is the plan for yielding when an ambulance/fire truck approaches?", "category": "Special Event", "options": ["A. Maintain speed and change to the left lane", "B. Slow down and move to the right to yield", "C. Yield on the shoulder after passing the intersection", "D. Slow down and pull to the left to stop"], "answer_index": 1}
{"token": "1b1b31dfd2693662391f36934d0c755b", "waymo_split": "test", "type": "image", "frame_index": 106, "question": "Which of the following is a correct description of traffic density?", "category": "Normal scene Understanding", "options": ["A. Fast, with almost no surrounding vehicles and an empty shoulder", "B. Slow, with many surrounding vehicles parked on the shoulder", "C. Fast, with few surrounding vehicles mainly consisting of large vehicles", "D. Slow, with a few surrounding vehicles and no parked vehicles on the shoulder"], "answer_index": 1}
{"token": "1b1b31dfd2693662391f36934d0c755b", "waymo_split": "test", "type": "image", "frame_index": 106, "question": "Which of the following is a correct description of the environment?", "category": "Normal scene Understanding", "options": ["A. morning fog", "B. evening rain", "C. clear daytime", "D. cloudy night"], "answer_index": 2}
{"token": "1b1b31dfd2693662391f36934d0c755b", "waymo_split": "test", "type": "image", "frame_index": 106, "question": "What is the description of a non-safety-critical object?", "category": "Normal Perception & Prediction", "options": ["A. There are multiple parked vehicles on the shoulder, visible on both the front and rear sides of the road. Trees and houses can be seen on both sides of the sidewalk.", "B. On the left side in front, there are construction barriers and temporary fences, while on the right side, there are bike racks. Occasionally, store entrances and flower pots can be seen on the sidewalk.", "C. The shoulder is mostly empty with few parked vehicles, and it is an entry section to a small roundabout ahead. On the left, there is a park fence and a playground, while on the right, there is a low wall and an open space.", "D. In the center ahead, there is a bus stop with a bus that is currently stopped, and on the right lane, there is about one delivery truck. Streetlights and shop signs are mainly visible on both sidewalks."], "answer_index": 0}
{"token": "1b1b31dfd2693662391f36934d0c755b", "waymo_split": "test", "type": "image", "frame_index": 106, "question": "Which of the following is a correct description of traffic signals?", "category": "Traffic Signal", "options": ["A. Red signal", "B. None", "C. Stop sign", "D. Stop line"], "answer_index": 1}
{"token": "1b1b31dfd2693662391f36934d0c755b", "waymo_split": "test", "type": "image", "frame_index": 106, "question": "What is a safety-critical object?", "category": "Safety-critical Perception", "options": ["A. None", "B. Main power switch", "C. Brake actuator", "D. Emergency stop button"], "answer_index": 0}
{"token": "1b1b31dfd2693662391f36934d0c755b", "waymo_split": "test", "type": "image", "frame_index": 106, "question": "What is the answer regarding parked vehicles on the shoulder, the presence of a center line, and whether Ego crosses the center line?", "category": "Normal Perception & Prediction", "options": ["A. There are a few parked vehicles on the shoulder. There is a center line.", "B. There are many parked vehicles on the shoulder. There is no center line.", "C. There are no parked vehicles on the shoulder. There is a center line.", "D. There are one or two parked vehicles on the shoulder. There is a center line."], "answer_index": 1}
{"token": "1b1b31dfd2693662391f36934d0c755b", "waymo_split": "test", "type": "image", "frame_index": 106, "question": "Are there any other safety-critical objects besides the first safety-critical object? If so, how will they be moved?", "category": "Safety-critical Prediction", "options": ["A. There is the following safety-critical object: fire extinguisher, move to the safety stand next to the right emergency exit", "B. There are no other safety-critical objects", "C. There is the following safety-critical object: oxygen tank, secure it to the cart and move to the storage area at the end of the central aisle", "D. There is the following safety-critical object: AED, relocate it to the eye-level shelf next to the info desk"], "answer_index": 1}
{"token": "1b1b31dfd2693662391f36934d0c755b", "waymo_split": "test", "type": "image", "frame_index": 106, "question": "What is the correlation in safety-critical situations?", "category": "Safety-critical scene Understanding", "options": ["A. Car-Car", "B. Car-Person", "C. Car-Two-wheeler", "D. Two-wheeler-Person"], "answer_index": 0}
{"token": "1b1b31dfd2693662391f36934d0c755b", "waymo_split": "test", "type": "image", "frame_index": 106, "question": "What is the method to avoid blind spots when passing large vehicles?", "category": "Special Event", "options": ["A. No large vehicle, unable to judge", "B. Honk the horn, maintain straight", "C. Approach large vehicle, accelerate to overtake", "D. Change to the right lane, pass quickly"], "answer_index": 0}
{"token": "1b1b31dfd2693662391f36934d0c755b", "waymo_split": "test", "type": "image", "frame_index": 106, "question": "How should I drive to address the first risk while also addressing the second risk?", "category": "Safety-critical Planning", "options": ["A. Next safety-critical object: crossing pedestrians", "B. Next safety-critical object: merging vehicles from the right", "C. Next safety-critical object: stopped vehicles ahead", "D. No next safety-critical object"], "answer_index": 3}
{"token": "1b1b31dfd2693662391f36934d0c755b", "waymo_split": "test", "type": "image", "frame_index": 106, "question": "Is lane changing possible? Which is safer between slowing down and changing lanes?", "category": "Safety-critical Planning", "options": ["A. Slowing down is safe. Lane change is not possible.", "B. Changing lanes is safe. Can change to the right.", "C. No need to slow down. Lane change is possible.", "D. Changing lanes is safer. Left lane change is allowed."], "answer_index": 0}
{"token": "1b1b31dfd2693662391f36934d0c755b", "waymo_split": "test", "type": "image", "frame_index": 106, "question": "What potential situations could arise in the current circumstances?", "category": "Counterfactual", "options": ["A. None", "B. Minor delay", "C. User confusion", "D. Temporary error"], "answer_index": 0}
{"token": "1b1b31dfd2693662391f36934d0c755b", "waymo_split": "test", "type": "image", "frame_index": 106, "question": "What is the safer choice just before entering a yellow signal: stop or pass?", "category": "Special Event", "options": ["A. Short distance, sudden stop", "B. No vehicles, passing recommended", "C. No traffic light, unable to judge", "D. Following vehicle close, prioritize passing"], "answer_index": 2}
{"token": "1b1b31dfd2693662391f36934d0c755b", "waymo_split": "test", "type": "image", "frame_index": 123, "question": "Based on the current appearance of the person/vehicle (two-wheeled), how do you intend to move?", "category": "Normal Perception & Prediction", "options": ["A. Go straight", "B. Turn right", "C. Reverse", "D. Turn left"], "answer_index": 0}
{"token": "1b1b31dfd2693662391f36934d0c755b", "waymo_split": "test", "type": "image", "frame_index": 123, "question": "Which of the following is correct as an Image Caption from a Safety-critical Frame perspective?", "category": "Safety-critical scene caption", "options": ["A. A white sedan approaching from the opposite lane.", "B. A white van stopped in the opposite lane.", "C. A white van driving in the same lane ahead.", "D. A white van driving from the opposite lane."], "answer_index": 3}
{"token": "1b1b31dfd2693662391f36934d0c755b", "waymo_split": "test", "type": "image", "frame_index": 123, "question": "What is the plan for yielding when an ambulance/fire truck approaches?", "category": "Special Event", "options": ["A. Slow down and move to the right to yield", "B. Move towards the center line to clear the way", "C. Increase speed to overtake and clear the road", "D. Stop and move to the left to yield"], "answer_index": 0}
{"token": "1b1b31dfd2693662391f36934d0c755b", "waymo_split": "test", "type": "image", "frame_index": 123, "question": "What are the classifications of scenes?", "category": "Normal scene Understanding", "options": ["A. Highway", "B. Residential area", "C. City", "D. Unpaved"], "answer_index": 1}
{"token": "1b1b31dfd2693662391f36934d0c755b", "waymo_split": "test", "type": "image", "frame_index": 123, "question": "What are the behavioral restrictions in school zones/congested areas?", "category": "Special Event", "options": ["A. Must use a horn", "B. Must drive slowly", "C. Must come to a complete stop", "D. Must pass through quickly"], "answer_index": 1}
{"token": "1b1b31dfd2693662391f36934d0c755b", "waymo_split": "test", "type": "image", "frame_index": 123, "question": "Which of the following is a correct description of the environment?", "category": "Normal scene Understanding", "options": ["A. Cloudy during the day", "B. Clear during the day", "C. Clear at night", "D. Fog at dusk"], "answer_index": 1}
{"token": "1b1b31dfd2693662391f36934d0c755b", "waymo_split": "test", "type": "image", "frame_index": 123, "question": "Which of the following is a correct description of traffic density?", "category": "Normal scene Understanding", "options": ["A. Slow, few surrounding vehicles, almost no parked cars on the shoulder, one vehicle visible in the opposite lane ahead", "B. Fast, almost no surrounding vehicles, left lane is empty, no vehicles in the opposite lane ahead", "C. Slow, many parked vehicles on the shoulder, three vehicles visible in the opposite lane ahead", "D. Fast, few surrounding vehicles, smooth right lane, one vehicle visible in the same lane ahead"], "answer_index": 2}
{"token": "1b1b31dfd2693662391f36934d0c755b", "waymo_split": "test", "type": "image", "frame_index": 123, "question": "What is the description of a non-safety-critical object?", "category": "Normal Perception & Prediction", "options": ["A. Construction cones are placed along the central divider, a few bicycles are slowly moving in the right lane, and the front is obscured by clouds, reducing sunlight impact.", "B. Taxis are moving slowly in the rear and left, only streetlights and utility poles are visible on the sidewalk, and the right side appears dark due to building shadows.", "C. There are many parked vehicles on the shoulder on both sides of the road in front and behind. Trees and houses are visible on the left and right sidewalks. The right side has strong sunlight, making it difficult to see the houses.", "D. The road sides near the intersection in front are empty, and there are shop signs and a bus stop on the left and right sidewalks, with deeper shadows on the left improving visibility."], "answer_index": 2}
{"token": "1b1b31dfd2693662391f36934d0c755b", "waymo_split": "test", "type": "image", "frame_index": 123, "question": "Which of the following is a correct description of traffic signals?", "category": "Traffic Signal", "options": ["A. Stop", "B. None", "C. Stop line", "D. Red light"], "answer_index": 1}
{"token": "1b1b31dfd2693662391f36934d0c755b", "waymo_split": "test", "type": "image", "frame_index": 123, "question": "What is a safety-critical object?", "category": "Safety-critical Perception", "options": ["A. Motorcycle in the same lane ahead", "B. Bus in the left lane behind", "C. Vehicle in the opposite lane to the left", "D. Pedestrian on the right shoulder"], "answer_index": 2}
{"token": "1b1b31dfd2693662391f36934d0c755b", "waymo_split": "test", "type": "image", "frame_index": 123, "question": "What is the answer regarding parked vehicles on the shoulder, the presence of a center line, and whether Ego crosses the center line?", "category": "Normal Perception & Prediction", "options": ["A. One or two parked vehicles on the shoulder. There is a center line.", "B. A few parked vehicles on the shoulder. There is a double center line.", "C. Almost no parked vehicles on the shoulder. The center line is clear.", "D. Many parked vehicles on the shoulder. There is no center line."], "answer_index": 3}
{"token": "1b1b31dfd2693662391f36934d0c755b", "waymo_split": "test", "type": "image", "frame_index": 123, "question": "How do you think safety-critical objects should be moved?", "category": "Safety-critical Prediction", "options": ["A. Reversing", "B. Diagonal driving", "C. Left turn driving", "D. Straight driving"], "answer_index": 3}
{"token": "1b1b31dfd2693662391f36934d0c755b", "waymo_split": "test", "type": "image", "frame_index": 123, "question": "What is the correlation in safety-critical situations?", "category": "Safety-critical scene Understanding", "options": ["A. Person - Two-wheeler", "B. Car - Car", "C. Car - Two-wheeler", "D. Car - Person"], "answer_index": 1}
{"token": "1b1b31dfd2693662391f36934d0c755b", "waymo_split": "test", "type": "image", "frame_index": 123, "question": "How should I drive to address the first risk while also addressing the second risk?", "category": "Safety-critical Planning", "options": ["A. No next safety-critical object", "B. Next safety-critical object is a pedestrian on the left", "C. There is a next safety-critical object", "D. Next safety-critical object is a vehicle suddenly braking ahead"], "answer_index": 0}
{"token": "1b1b31dfd2693662391f36934d0c755b", "waymo_split": "test", "type": "image", "frame_index": 123, "question": "What should I do to drive safely?", "category": "Safety-critical Planning", "options": ["A. Since the vehicle's position is ambiguous, I should move towards the center, signal with high beams, honk once, and pass by.", "B. When facing oncoming traffic, I should maintain the center of the lane, slightly increase speed while going straight, and pass quickly.", "C. Since there is no center line between this vehicle and my car, I should keep a distance from the center, that is, stay close to the right and proceed slowly to pass.", "D. Since there is no center line, I should keep a distance to the left, that is, move towards the left edge and proceed slowly to pass."], "answer_index": 2}
{"token": "1b1b31dfd2693662391f36934d0c755b", "waymo_split": "test", "type": "image", "frame_index": 123, "question": "Is lane changing possible? Which is safer, slowing down or changing lanes?", "category": "Safety-critical Planning", "options": ["A. Changing lanes is safe, can enter from the left", "B. Prioritize changing over slowing down, move to the right lane", "C. Slowing down is safe. Lane changing is not possible", "D. Slowing down is not recommended, lane changing is allowed"], "answer_index": 2}
{"token": "1b1b31dfd2693662391f36934d0c755b", "waymo_split": "test", "type": "image", "frame_index": 123, "question": "Is there any Safety-critical object other than the first one? If so, how will you move?", "category": "Safety-critical Prediction", "options": ["A. Detect the left Safety-critical object, reduce speed, and move towards the center line", "B. Approach the rear Safety-critical object, stop briefly, and slowly move to the left", "C. There is a Safety-critical object in front, gently evade to the right", "D. There are no more Safety-critical objects"], "answer_index": 3}
{"token": "1b1b31dfd2693662391f36934d0c755b", "waymo_split": "test", "type": "image", "frame_index": 123, "question": "Are there any blind spots in your field of vision?", "category": "Uncertainty", "options": ["A. Blind spot between parked cars on the left shoulder", "B. Blind spot between parked cars on the right shoulder", "C. Blind spot towards the open area outside the right guardrail", "D. Blind spot near the center line of the right lane"], "answer_index": 1}
{"token": "1b1b31dfd2693662391f36934d0c755b", "waymo_split": "test", "type": "image", "frame_index": 123, "question": "Who is responsible in a safety-critical situation? What is the cause?", "category": "Safety-critical scene Understanding", "options": ["A. The vehicle in the left opposing lane is closely driving in the center, which is causing the problem.", "B. This vehicle exceeded the speed limit and attempted a sudden lane change, which is causing the problem.", "C. The vehicle in the right lane, moving in the same direction, is causing danger by occupying the lane.", "D. A pedestrian suddenly jumped into the road from the right sidewalk, which is causing the problem."], "answer_index": 0}
{"token": "1b1b31dfd2693662391f36934d0c755b", "waymo_split": "test", "type": "image", "frame_index": 123, "question": "Where is the area that hides danger in the current frame?", "category": "Uncertainty", "options": ["A. Blind spot between parked vehicles on the right shoulder", "B. Blind spot behind the left corner of the building at the front intersection", "C. Blind spot between trees on the right bicycle lane", "D. Blind spot behind the bus stopped at the left bus stop"], "answer_index": 0}
{"token": "1b1b31dfd2693662391f36934d0c755b", "waymo_split": "test", "type": "image", "frame_index": 123, "question": "What is the safest choice when approaching a yellow signal: stop vs proceed?", "category": "Special Event", "options": ["A. No traffic light. Unable to judge", "B. Proceed if the intersection is clear", "C. Proceed if a vehicle is close behind", "D. Slowly proceed in a right turn situation"], "answer_index": 0}
{"token": "1b1b31dfd2693662391f36934d0c755b", "waymo_split": "test", "type": "image", "frame_index": 123, "question": "What are the driving guidelines for my vehicle based on the behavior of a safety-critical object?", "category": "Safety-critical Planning", "options": ["A. If the safety-critical object drifts toward the center line, the lane may narrow; in this case, just honk and continue driving.", "B. If the safety-critical object crosses the center line and drives close to the left, there is a risk of collision with my vehicle; in this case, I should brake hard to minimize collision damage.", "C. If the safety-critical object attempts to cross the center line, it is safe for my vehicle to move left first; in this case, I should change lanes quickly to pass.", "D. If the safety-critical object crosses the center line and drives close to the left, there is a risk of collision with my vehicle; in this case, I should increase my speed to overtake and avoid a collision."], "answer_index": 1}
{"token": "1b1b31dfd2693662391f36934d0c755b", "waymo_split": "test", "type": "image", "frame_index": 123, "question": "What situation might have occurred if the vehicle had behaved like this?", "category": "Counterfactual", "options": ["A. If the vehicle had turned on its left turn signal early and changed to the left lane, it could have made contact during the merging process with vehicles going in the same direction.", "B. If the vehicle had significantly reduced its speed and temporarily waited in the center of the lane, following vehicles could have passed safely, reducing the risk of collision.", "C. If the vehicle had continued straight while closely hugging the center, it could have brushed past vehicles in the opposite lane and collided.", "D. If the vehicle had continued straight while closely hugging the right side, it could have brushed against the side mirrors of parked vehicles on the right."], "answer_index": 2}
{"token": "1b1b31dfd2693662391f36934d0c755b", "waymo_split": "test", "type": "image", "frame_index": 123, "question": "What are the potential situations that could arise in the current circumstances?", "category": "Counterfactual", "options": ["A. Delay", "B. Misunderstanding", "C. Confusion", "D. None"], "answer_index": 3}
{"token": "1b1b31dfd2693662391f36934d0c755b", "waymo_split": "test", "type": "image", "frame_index": 123, "question": "What is the method to avoid the blind spot next to a large vehicle?", "category": "Special Event", "options": ["A. Pass on the right side of the large vehicle, accelerating", "B. Maintain speed alongside the large vehicle", "C. Overtake on the right side behind the large vehicle", "D. No large vehicle present, unable to judge"], "answer_index": 3}
{"token": "1c12c17615023d6c7c50d8f1f0ef9c13", "waymo_split": "test", "type": "video", "frame_index": null, "question": "Where is the safety-critical situation in the video?", "category": "Temporal Grounding", "options": ["A. 3/4", "B. 1/4", "C. 4/4", "D. 2/4"], "answer_index": 2}
{"token": "1c12c17615023d6c7c50d8f1f0ef9c13", "waymo_split": "test", "type": "video", "frame_index": null, "question": "Is there a special situation?", "category": "Special Event", "options": ["A. None", "B. Obscured vision due to rain", "C. Ambulance siren approaching", "D. School bus stopped"], "answer_index": 0}
{"token": "1c12c17615023d6c7c50d8f1f0ef9c13", "waymo_split": "test", "type": "video", "frame_index": null, "question": "What are the classifications of scenes?", "category": "Normal scene Understanding", "options": ["A. Highway entrance ramp", "B. Residential back road", "C. Narrow city alley", "D. Unpaved farm road"], "answer_index": 2}
{"token": "1c12c17615023d6c7c50d8f1f0ef9c13", "waymo_split": "test", "type": "video", "frame_index": null, "question": "Which of the following is a correct description of traffic density?", "category": "Normal scene Understanding", "options": ["A. Fast, with almost no parked vehicles on the shoulder and many moving vehicles, uphill road grade", "B. Moderate speed. Many parked vehicles on the shoulder, few moving vehicles. Flat road grade", "C. Variable speed, no parked vehicles on the shoulder, many moving vehicles, gentle downhill road grade", "D. Slow, few parked vehicles on the shoulder, average number of moving vehicles, downhill road grade"], "answer_index": 1}
{"token": "1c12c17615023d6c7c50d8f1f0ef9c13", "waymo_split": "test", "type": "video", "frame_index": null, "question": "What is correct regarding Video Summary from a Safety-critical Scene perspective?", "category": "Safety-critical scene caption", "options": ["A. A vehicle suddenly cuts in from the right lane just before entering the intersection. The vehicle slightly swerves to the right to avoid contact while going straight, then resumes going straight after ensuring a safe distance.", "B. As the vehicle passes through the intersection, a vehicle approaches from the opposite lane ahead. The vehicle also goes straight and passes by, so to create space, it slightly turns to the right and then goes straight again.", "C. In a straight section, a bicycle in front is moving slowly. The vehicle briefly turns left to create overtaking space, passes the bicycle, then returns to its original position and continues straight.", "D. A pedestrian suddenly starts crossing in front of the crosswalk. The vehicle is also going straight, so it slightly turns left to create space and slows down, then straightens back into the lane and proceeds."], "answer_index": 1}
{"token": "1c12c17615023d6c7c50d8f1f0ef9c13", "waymo_split": "test", "type": "video", "frame_index": null, "question": "Which of the following is a correct description of road alignment?", "category": "Normal Perception & Prediction", "options": ["A. Right turn", "B. Left turn", "C. Straight", "D. Overtaking"], "answer_index": 2}
{"token": "1c12c17615023d6c7c50d8f1f0ef9c13", "waymo_split": "test", "type": "video", "frame_index": null, "question": "Which of the following is a correct description of the environment?", "category": "Normal scene Understanding", "options": ["A. Day, cloudy", "B. Night, clear", "C. Morning, fog", "D. Evening, light rain"], "answer_index": 0}
{"token": "1c12c17615023d6c7c50d8f1f0ef9c13", "waymo_split": "test", "type": "video", "frame_index": null, "question": "Which of the following is a correct description of traffic signals?", "category": "Traffic Signal", "options": ["A. The BUS ONLY sign is clearly visible on the center of the lane.", "B. A no left turn sign is prominently attached to the traffic light pole.", "C. A ONE WAY sign is small and attached to the left streetlight.", "D. A STOP sign is erected next to the right crosswalk."], "answer_index": 2}
{"token": "1c12c17615023d6c7c50d8f1f0ef9c13", "waymo_split": "test", "type": "video", "frame_index": null, "question": "What is the answer regarding parked vehicles on the shoulder, the presence of a center line, and whether Ego crosses the center line?", "category": "Normal Perception & Prediction", "options": ["A. Few parked vehicles on the shoulder. There is a center line.", "B. Many parked vehicles on the shoulder. There is no center line.", "C. One or two parked vehicles on the shoulder. There is a center line.", "D. No parked vehicles on the shoulder. There is a center line."], "answer_index": 1}
{"token": "1c12c17615023d6c7c50d8f1f0ef9c13", "waymo_split": "test", "type": "video", "frame_index": null, "question": "What is a safety-critical object?", "category": "Safety-critical Perception", "options": ["A. A pedestrian walking slowly on the sidewalk at an intersection", "B. A vehicle waiting to turn right in the right lane at an intersection", "C. A vehicle coming straight from the opposite lane at an intersection", "D. A bicycle moving slowly in the same direction at an intersection"], "answer_index": 2}
{"token": "1c12c17615023d6c7c50d8f1f0ef9c13", "waymo_split": "test", "type": "video", "frame_index": null, "question": "How did the safety-critical object move and how did the ego vehicle behave?", "category": "Safety-critical scene Understanding", "options": ["A. Turn left. The ego vehicle stopped in front of the intersection.", "B. Turn right. The ego vehicle changed lanes to the right to avoid the vehicle in front.", "C. Go straight. The ego vehicle also went straight according to its driving lane.", "D. Changed to the right lane. The ego vehicle turned left according to the signal."], "answer_index": 2}
{"token": "1c12c17615023d6c7c50d8f1f0ef9c13", "waymo_split": "test", "type": "video", "frame_index": null, "question": "What is the correlation in safety-critical situations?", "category": "Safety-critical scene Understanding", "options": ["A. Car - Two-wheeler", "B. Car - Car", "C. Person - Two-wheeler", "D. Car - Person"], "answer_index": 1}
{"token": "1c12c17615023d6c7c50d8f1f0ef9c13", "waymo_split": "test", "type": "video", "frame_index": null, "question": "Summary of Ego (self-vehicle) behavior before a safety-critical situation", "category": "Normal scene Understanding", "options": ["A. Stop", "B. Go straight", "C. Turn right", "D. Turn left"], "answer_index": 1}
{"token": "1c12c17615023d6c7c50d8f1f0ef9c13", "waymo_split": "test", "type": "video", "frame_index": null, "question": "What situation might occur if the vehicle acted like this?", "category": "Counterfactual", "options": ["A. If the vehicle makes a sudden left turn at an intersection, there is a risk of colliding with oncoming traffic.", "B. If the vehicle suddenly makes a U-turn in a straight lane, there is a risk of colliding with following vehicles.", "C. If the vehicle makes a sudden right turn at an intersection, there is a risk of colliding with pedestrians at the crosswalk.", "D. If the vehicle makes a sudden stop in the center of an intersection, there is a risk of side collisions with vehicles in adjacent lanes."], "answer_index": 0}
{"token": "1c12c17615023d6c7c50d8f1f0ef9c13", "waymo_split": "test", "type": "video", "frame_index": null, "question": "Who is responsible in a safety-critical situation? What is the cause?", "category": "Safety-critical scene Understanding", "options": ["A. There is no responsibility, and both vehicles should proceed slowly without a central line. The vehicle slightly turned the steering wheel to the right and then continued straight while maintaining distance from the center to accommodate the oncoming vehicle.", "B. Responsibility is shared, and there was no need to slow down due to sufficient straight-line visibility, but both maintained their speed. The vehicle continued straight along the right edge, causing the oncoming vehicle to reverse.", "C. The responsibility lies with the vehicle, and in areas without a central line, it should stay close to the left edge. The vehicle turned further left, narrowing the gap with the wall while passing through.", "D. The responsibility lies with the oncoming vehicle, and there is a yield sign at the entrance of the alley, indicating that the vehicle has the right of way. The vehicle maintained speed and slightly moved towards the center to induce the oncoming vehicle to stop temporarily."], "answer_index": 0}
{"token": "1c12c17615023d6c7c50d8f1f0ef9c13", "waymo_split": "test", "type": "image", "frame_index": 28, "question": "Based on the current appearance of the person/vehicle (two-wheeled), how do you intend to move?", "category": "Normal Perception & Prediction", "options": ["A. Stop", "B. Make a U-turn", "C. Reverse", "D. Go straight"], "answer_index": 3}
{"token": "1c12c17615023d6c7c50d8f1f0ef9c13", "waymo_split": "test", "type": "video", "frame_index": null, "question": "Are there any blind spots in your field of vision?", "category": "Uncertainty", "options": ["A. The lane in front at the intersection is a blind spot", "B. The left road at the intersection is a blind spot", "C. The right road at the intersection is a blind spot", "D. The right road at the T-junction is not a blind spot"], "answer_index": 2}
{"token": "1c12c17615023d6c7c50d8f1f0ef9c13", "waymo_split": "test", "type": "image", "frame_index": 28, "question": "What are the divisions of the scene?", "category": "Normal scene Understanding", "options": ["A. Urban alley", "B. Suburban residential area", "C. Highway entrance", "D. Suburban intersection"], "answer_index": 0}
{"token": "1c12c17615023d6c7c50d8f1f0ef9c13", "waymo_split": "test", "type": "image", "frame_index": 28, "question": "What is the description of non-safety-critical objects?", "category": "Normal Perception & Prediction", "options": ["A. Multiple vehicles parked on the right side", "B. A bicycle traveling in the same lane on the left", "C. Multiple vehicles parked on the left. A bicycle going against traffic in the left opposite lane. A structure existing between the right sidewalk and the roadway (obstructing vehicle path)", "D. Only a railing exists on the right sidewalk (no impact on vehicle path)"], "answer_index": 2}
{"token": "1c12c17615023d6c7c50d8f1f0ef9c13", "waymo_split": "test", "type": "image", "frame_index": 28, "question": "What is the plan for yielding when an ambulance/fire truck approaches?", "category": "Special Event", "options": ["A. Pass while honking the horn", "B. Yield by slowing down", "C. Drive with emergency lights on", "D. Maintain speed and pass"], "answer_index": 1}
{"token": "1c12c17615023d6c7c50d8f1f0ef9c13", "waymo_split": "test", "type": "image", "frame_index": 28, "question": "Which of the following is a correct description of traffic density?", "category": "Normal scene Understanding", "options": ["A. At a moderate speed, there is one vehicle in front and one behind each driving vehicle.", "B. At a slow speed, several vehicles are closely lined up in front of the driving vehicle.", "C. At a fast speed, only 2 to 3 vehicles are sparsely visible in the left and right lanes.", "D. At a moderate speed, there are no vehicles behind except for the driver's own vehicle."], "answer_index": 3}
{"token": "1c12c17615023d6c7c50d8f1f0ef9c13", "waymo_split": "test", "type": "image", "frame_index": 28, "question": "Which of the following is a correct description of the environment?", "category": "Normal scene Understanding", "options": ["A. Evening, rain", "B. Night, clear", "C. Afternoon, cloudy", "D. Day, clear"], "answer_index": 3}
{"token": "1c12c17615023d6c7c50d8f1f0ef9c13", "waymo_split": "test", "type": "image", "frame_index": 28, "question": "Which of the following is a correct description of traffic signals?", "category": "Traffic Signal", "options": ["A. Yellow flashing signal. Road sign present (straight only)", "B. No signal. Sign present behind (unknown indication)", "C. Signal in progress (green). Sign present ahead (no left turn)", "D. Signal waiting (red). Sign present on the right (stop)"], "answer_index": 1}
{"token": "1c12c17615023d6c7c50d8f1f0ef9c13", "waymo_split": "test", "type": "image", "frame_index": 28, "question": "What is the answer regarding parked vehicles on the shoulder, the presence of a center line, and whether Ego crosses the center line?", "category": "Normal Perception & Prediction", "options": ["A. There are almost no parked vehicles on the shoulder. The center line is clearly present.", "B. A few parked vehicles are present on the shoulder. The center line is marked with a dashed line.", "C. Many parked vehicles are present on the shoulder. There is no center line.", "D. No parked vehicles are visible on the shoulder. The center line is faint but present."], "answer_index": 2}
{"token": "1c12c17615023d6c7c50d8f1f0ef9c13", "waymo_split": "test", "type": "image", "frame_index": 28, "question": "What is a safety-critical object?", "category": "Safety-critical Perception", "options": ["A. Airbag", "B. Braking system", "C. Steering system", "D. None"], "answer_index": 3}
{"token": "1c12c17615023d6c7c50d8f1f0ef9c13", "waymo_split": "test", "type": "image", "frame_index": 28, "question": "Is there a blind spot?", "category": "Uncertainty", "options": ["A. No blind spot", "B. There is a blind spot on the right rear", "C. There is a blind spot", "D. There is a blind spot on the right"], "answer_index": 0}
{"token": "1c12c17615023d6c7c50d8f1f0ef9c13", "waymo_split": "test", "type": "image", "frame_index": 28, "question": "Is lane changing possible? Which is safer between slowing down and changing lanes?", "category": "Safety-critical Planning", "options": ["A. A lane-changing possible three-lane road. Changing lanes is safer and possible.", "B. A gently curved one-way two-lane road. Entering the left lane is safer and possible.", "C. A two-lane road where lane changing is not possible. Slowing down is safer and possible.", "D. A two-lane road with little congestion. Accelerating is safer and possible."], "answer_index": 2}
{"token": "1c12c17615023d6c7c50d8f1f0ef9c13", "waymo_split": "test", "type": "image", "frame_index": 28, "question": "How do you think a safety-critical object will move?", "category": "Safety-critical Prediction", "options": ["A. Move to the right", "B. Fall down", "C. None", "D. Rise up"], "answer_index": 2}
{"token": "1c12c17615023d6c7c50d8f1f0ef9c13", "waymo_split": "test", "type": "image", "frame_index": 28, "question": "Are there any other safety-critical objects besides the first safety-critical object? If so, how will they be moved?", "category": "Safety-critical Prediction", "options": ["A. None", "B. Yes, moved by cart", "C. Yes, transferred to the left line", "D. Yes, moved manually by two people"], "answer_index": 0}
{"token": "1c12c17615023d6c7c50d8f1f0ef9c13", "waymo_split": "test", "type": "image", "frame_index": 28, "question": "Where is the area that hides danger in the current frame?", "category": "Uncertainty", "options": ["A. No such area", "B. Between the waiting vehicles on the right", "C. Behind the parked van on the left", "D. Next to the container in front"], "answer_index": 0}
{"token": "1c12c17615023d6c7c50d8f1f0ef9c13", "waymo_split": "test", "type": "image", "frame_index": 76, "question": "Based on the current appearance of the person/vehicle (two-wheeled), how do they intend to move?", "category": "Normal Perception & Prediction", "options": ["A. They intend to turn right", "B. They intend to go straight", "C. They intend to turn left", "D. They intend to stop"], "answer_index": 1}
{"token": "1c12c17615023d6c7c50d8f1f0ef9c13", "waymo_split": "test", "type": "image", "frame_index": 28, "question": "What is the safest choice just before entering a yellow signal: stop vs pass?", "category": "Special Event", "options": ["A. No traffic light. Unable to judge", "B. Priority to pass due to approaching vehicle from behind", "C. Accelerate to enter on yellow", "D. Immediately pass through the intersection"], "answer_index": 0}
{"token": "1c12c17615023d6c7c50d8f1f0ef9c13", "waymo_split": "test", "type": "image", "frame_index": 28, "question": "What is the method to avoid the blind spot next to a large vehicle?", "category": "Special Event", "options": ["A. Overtaking on the right", "B. Passing next to the bus", "C. Entering the blind spot", "D. No large vehicle. Unable to judge"], "answer_index": 3}
{"token": "1c12c17615023d6c7c50d8f1f0ef9c13", "waymo_split": "test", "type": "image", "frame_index": 28, "question": "What potential situations could arise in the current circumstances?", "category": "Counterfactual", "options": ["A. No potential situations", "B. Some service delays", "C. Limited access unavailable", "D. Possible network errors"], "answer_index": 0}
{"token": "1c12c17615023d6c7c50d8f1f0ef9c13", "waymo_split": "test", "type": "image", "frame_index": 76, "question": "What are the behavioral restrictions in school zones/congested areas?", "category": "Special Event", "options": ["A. You must honk the horn", "B. You must accelerate", "C. You must drive slowly", "D. You must overtake"], "answer_index": 2}
{"token": "1c12c17615023d6c7c50d8f1f0ef9c13", "waymo_split": "test", "type": "image", "frame_index": 76, "question": "What is the plan for yielding when an emergency vehicle/fire truck approaches?", "category": "Special Event", "options": ["A. Yield by keeping the emergency lights on and maintaining lane while slowing down", "B. Pull over to the right and stop to yield", "C. Pass through the intersection first and then move to the side to yield", "D. Stick to the left shoulder and yield while slowing down"], "answer_index": 1}
{"token": "1c12c17615023d6c7c50d8f1f0ef9c13", "waymo_split": "test", "type": "image", "frame_index": 76, "question": "What are the divisions of the scene?", "category": "Normal scene Understanding", "options": ["A. outer ring road", "B. urban alley", "C. residential back road", "D. urban main street"], "answer_index": 1}
{"token": "1c12c17615023d6c7c50d8f1f0ef9c13", "waymo_split": "test", "type": "image", "frame_index": 76, "question": "Which of the following is a correct description of traffic density?", "category": "Normal scene Understanding", "options": ["A. Vehicles are flowing quickly in a continuous stream, with one or two parked cars on the shoulder.", "B. There is one vehicle far away and many parked cars on the shoulder.", "C. There are many vehicles nearby, with almost no parked cars on the shoulder.", "D. There are two or three vehicles close together moving slowly, with no parked cars on the shoulder."], "answer_index": 1}
{"token": "1c12c17615023d6c7c50d8f1f0ef9c13", "waymo_split": "test", "type": "image", "frame_index": 76, "question": "Which of the following is a correct description of the environment?", "category": "Normal scene Understanding", "options": ["A. Evening, cloudy", "B. Early morning, foggy", "C. Night, drizzle", "D. Daytime, clear"], "answer_index": 3}
{"token": "1c12c17615023d6c7c50d8f1f0ef9c13", "waymo_split": "test", "type": "image", "frame_index": 76, "question": "Which of the following is a correct description of traffic signals?", "category": "Traffic Signal", "options": ["A. None", "B. Stop line sign", "C. Left turn signal", "D. Lane guidance road marking"], "answer_index": 0}
{"token": "1c12c17615023d6c7c50d8f1f0ef9c13", "waymo_split": "test", "type": "image", "frame_index": 76, "question": "Is there a blind spot?", "category": "Uncertainty", "options": ["A. No blind spot", "B. Left blind spot", "C. Rear blind spot", "D. Right blind spot"], "answer_index": 0}
{"token": "1c12c17615023d6c7c50d8f1f0ef9c13", "waymo_split": "test", "type": "image", "frame_index": 76, "question": "What is the description of non-safety-critical objects?", "category": "Normal Perception & Prediction", "options": ["A. Several temporarily parked vehicles on the right shoulder, a bicycle going straight in accordance with the signal in the left lane, a low flower bed between the left sidewalk and the roadway (minimal impact on the path), and advertising signboards standing on the right sidewalk.", "B. Numerous parked vehicles on the left shoulder. A bicycle going against traffic in the left opposite lane and turning left at the intersection. Structures existing between the right sidewalk and the roadway (obstructing vehicle paths). Trees and utility poles standing on both sidewalks.", "C. A bus driving in the left bus-only lane, a bicycle slowly moving along the edge of the roadway in the opposite lane, guardrails at the edge of the right sidewalk (separated from the roadway), and benches and trash cans on both sidewalks.", "D. Numerous parked vehicles on the right shoulder, an electric scooter turning right at the intersection, a temporary safety fence near the center line (partially blocking vehicle paths), and streetlights and shop signs on the left sidewalk."], "answer_index": 1}
{"token": "1c12c17615023d6c7c50d8f1f0ef9c13", "waymo_split": "test", "type": "image", "frame_index": 76, "question": "What is a safety-critical object?", "category": "Safety-critical Perception", "options": ["A. None", "B. Emergency button", "C. Safety pin", "D. Pressure sensor"], "answer_index": 0}
{"token": "1c12c17615023d6c7c50d8f1f0ef9c13", "waymo_split": "test", "type": "image", "frame_index": 76, "question": "What is the answer regarding parked vehicles on the shoulder, the presence of a center line, and whether Ego crosses the center line?", "category": "Normal Perception & Prediction", "options": ["A. There are a few parked vehicles on the shoulder. There is a center line.", "B. There are many parked vehicles on the shoulder. There is no center line.", "C. There is a construction vehicle temporarily stopped on the shoulder. There is a center line.", "D. There are hardly any parked vehicles on the shoulder. There is a center line."], "answer_index": 1}
{"token": "1c12c17615023d6c7c50d8f1f0ef9c13", "waymo_split": "test", "type": "image", "frame_index": 76, "question": "How do you think safety-critical objects will move?", "category": "Safety-critical Prediction", "options": ["A. Rotation in place", "B. Slow straight movement", "C. None", "D. Side to side shaking"], "answer_index": 2}
{"token": "1c12c17615023d6c7c50d8f1f0ef9c13", "waymo_split": "test", "type": "image", "frame_index": 76, "question": "Where is the area that hides danger in the current frame?", "category": "Uncertainty", "options": ["A. Right truck blind spot", "B. Behind the left parked vehicle", "C. Directly in front of the bus", "D. No such area"], "answer_index": 3}
{"token": "1c12c17615023d6c7c50d8f1f0ef9c13", "waymo_split": "test", "type": "image", "frame_index": 76, "question": "Is lane changing possible? Which is safer between slowing down and changing lanes?", "category": "Safety-critical Planning", "options": ["A. A two-lane road where lane changing is possible. Lane changing is safer and possible.", "B. A two-lane road where lane changing is not possible. Slowing down is safer and possible.", "C. A spacious one-way three-lane section. Lane changing is safer and possible.", "D. A two-way four-lane road where lane changing is allowed. Lane changing is safer and possible."], "answer_index": 1}
{"token": "1c12c17615023d6c7c50d8f1f0ef9c13", "waymo_split": "test", "type": "image", "frame_index": 76, "question": "What are the potential situations that could arise in the current circumstances?", "category": "Counterfactual", "options": ["A. Possibility of unstable connection", "B. Possibility of data loss", "C. No potential situations", "D. Temporary delay may occur"], "answer_index": 2}
{"token": "1c12c17615023d6c7c50d8f1f0ef9c13", "waymo_split": "test", "type": "image", "frame_index": 104, "question": "Which of the following is correct as an Image Caption from the perspective of a Normal Frame?", "category": "Normal scene caption", "options": ["A. The vehicle merges onto the main road from the right alley while gradually accelerating. A truck and a passenger car have already exited the intersection on the opposite lane. There are many signs and parked motorcycles visible at the corner.", "B. The vehicle stops at the stop line in front of the intersection. A bus is making a right turn and entering from the opposite side. Construction barriers and cones are set up at the corner of the intersection.", "C. The vehicle enters the intersection and goes straight, slightly turning the steering wheel to the right. Two vehicles are entering the intersection from the opposite lane. There are utility poles and buildings at each corner.", "D. The vehicle passes through the intersection and makes a left turn, slightly turning the steering wheel to the left. The opposite lane is empty with no vehicles in sight. There are only street trees and low fences at each corner."], "answer_index": 2}
{"token": "1c12c17615023d6c7c50d8f1f0ef9c13", "waymo_split": "test", "type": "image", "frame_index": 76, "question": "What is the safer choice just before entering a yellow signal: stop vs pass?", "category": "Special Event", "options": ["A. Stopping is safe", "B. Pass with enough space ahead", "C. No traffic light. Cannot judge", "D. Pass slowly"], "answer_index": 2}
{"token": "1c12c17615023d6c7c50d8f1f0ef9c13", "waymo_split": "test", "type": "image", "frame_index": 76, "question": "What is the method to avoid the blind spot next to a large vehicle?", "category": "Special Event", "options": ["A. Entering the blind spot", "B. Overtaking the large vehicle", "C. No large vehicle. Unable to judge", "D. Passing on the right"], "answer_index": 2}
{"token": "1c12c17615023d6c7c50d8f1f0ef9c13", "waymo_split": "test", "type": "image", "frame_index": 104, "question": "Based on the current appearance of the person/vehicle (two-wheeled), how do they intend to move?", "category": "Normal Perception & Prediction", "options": ["A. Slightly turn the handle to the right - make a right turn or turn to the right and then go straight", "B. Turn on the left turn signal - move one lane to the left and then go straight", "C. Slightly turn the handle to the left - make a left turn or turn to the left and then go straight", "D. Gently apply the brake - stop briefly at the signal and then go straight"], "answer_index": 0}
{"token": "1c12c17615023d6c7c50d8f1f0ef9c13", "waymo_split": "test", "type": "image", "frame_index": 104, "question": "What are the classifications of scenes?", "category": "Normal scene Understanding", "options": ["A. Residential back road", "B. Urban alley", "C. Main street in the city", "D. Unpaved forest road"], "answer_index": 1}
{"token": "1c12c17615023d6c7c50d8f1f0ef9c13", "waymo_split": "test", "type": "image", "frame_index": 104, "question": "What are the restrictions on behavior in school zones/congested areas?", "category": "Special Event", "options": ["A. You must honk the horn", "B. You must drive slowly", "C. You must accelerate", "D. You must overtake"], "answer_index": 1}
{"token": "1c12c17615023d6c7c50d8f1f0ef9c13", "waymo_split": "test", "type": "image", "frame_index": 104, "question": "What is the plan for yielding when an ambulance/fire truck approaches?", "category": "Special Event", "options": ["A. Stop by pulling over to the left corner before entering the intersection to yield.", "B. Proceed slowly with hazard lights on while passing through the intersection to yield.", "C. Stop by pulling over to the right corner before entering the intersection to yield.", "D. Move to the center lane after entering the intersection and proceed slowly to yield."], "answer_index": 2}
{"token": "1c12c17615023d6c7c50d8f1f0ef9c13", "waymo_split": "test", "type": "image", "frame_index": 104, "question": "Which of the following is a correct description of traffic density?", "category": "Normal scene Understanding", "options": ["A. Vehicles are moving in the same lane with several cars in slow flow, and there is almost no parking on the shoulder.", "B. Vehicles are moving with two cars in the opposite lane and many parked cars on the shoulder.", "C. Vehicles are moving with three or four cars in the same direction passing quickly, while the opposite lane and shoulder are sparse.", "D. Vehicles are moving with only one or two cars in both directions, and no parked cars are visible nearby."], "answer_index": 1}
{"token": "1c12c17615023d6c7c50d8f1f0ef9c13", "waymo_split": "test", "type": "image", "frame_index": 104, "question": "What is correct as an Image Caption from the perspective of Safety-critical Frame?", "category": "Safety-critical scene caption", "options": ["A. An SUV and a sedan standing in a right-turn-only lane. My vehicle will not encounter them as it turns left.", "B. Two vehicles entering the intersection from the opposite lane. These are the vehicles my vehicle will encounter as it enters the intersection.", "C. Two vehicles entering the intersection from the left lane. My vehicle will go straight and pass by the left vehicles.", "D. Two vehicles waiting at a signal in the same lane ahead. When my vehicle starts, it will slowly enter the intersection following the vehicles in front."], "answer_index": 1}
{"token": "1c12c17615023d6c7c50d8f1f0ef9c13", "waymo_split": "test", "type": "image", "frame_index": 104, "question": "Which of the following is a correct description of the environment?", "category": "Normal scene Understanding", "options": ["A. Dawn, fog", "B. Day, clear", "C. Night, light rain", "D. Evening, cloudy"], "answer_index": 1}
{"token": "1c12c17615023d6c7c50d8f1f0ef9c13", "waymo_split": "test", "type": "image", "frame_index": 104, "question": "What is the description of a non-safety-critical object?", "category": "Normal Perception & Prediction", "options": ["A. Numerous empty parking spaces on the right shoulder", "B. Flower beds and bollards lined up next to the median", "C. Numerous parked vehicles on the left shoulder. A bicycle turning left at the intersection and traveling on the left road. Trees and utility poles standing on both sidewalks", "D. A motorcycle driving in the right lane after turning right at the intersection"], "answer_index": 2}
{"token": "1c12c17615023d6c7c50d8f1f0ef9c13", "waymo_split": "test", "type": "image", "frame_index": 104, "question": "Which of the following is a correct description of traffic signals?", "category": "Traffic Signal", "options": ["A. None", "B. Stop", "C. Slow down", "D. Turn right"], "answer_index": 0}
{"token": "1c12c17615023d6c7c50d8f1f0ef9c13", "waymo_split": "test", "type": "image", "frame_index": 104, "question": "What is the answer regarding parked vehicles on the shoulder, the presence of a center line, and whether Ego crosses the center line?", "category": "Normal Perception & Prediction", "options": ["A. Many parked vehicles on the shoulder. No center line.", "B. Almost no parked vehicles on the shoulder. Double solid center line.", "C. One or two parked vehicles on the shoulder. Dashed center line.", "D. Few parked vehicles on the shoulder. There is a center line."], "answer_index": 0}
{"token": "1c12c17615023d6c7c50d8f1f0ef9c13", "waymo_split": "test", "type": "image", "frame_index": 104, "question": "Is there a blind spot in your field of vision?", "category": "Uncertainty", "options": ["A. No blind spot on the right lane of the T-intersection", "B. No blind spot on the right lane of the intersection", "C. Blind spot on the left lane of the intersection", "D. Blind spot on the right lane of the intersection"], "answer_index": 3}
{"token": "1c12c17615023d6c7c50d8f1f0ef9c13", "waymo_split": "test", "type": "image", "frame_index": 104, "question": "What is a safety-critical object?", "category": "Safety-critical Perception", "options": ["A. A vehicle driving in the opposite lane", "B. A pedestrian waiting at the edge of the sidewalk", "C. A vehicle moving slowly in the same lane ahead", "D. A parked passenger car on the right shoulder"], "answer_index": 0}
{"token": "1c12c17615023d6c7c50d8f1f0ef9c13", "waymo_split": "test", "type": "image", "frame_index": 104, "question": "How do you think a safety-critical object should be moved?", "category": "Safety-critical Prediction", "options": ["A. Turn right towards the city hall", "B. Make a U-turn towards the riverside road", "C. Turn left towards the airport", "D. Go straight towards the personal vehicle"], "answer_index": 3}
{"token": "1c12c17615023d6c7c50d8f1f0ef9c13", "waymo_split": "test", "type": "image", "frame_index": 104, "question": "Are there any other safety-critical objects besides the first safety-critical object? If so, how will they be moved?", "category": "Safety-critical Prediction", "options": ["A. None", "B. Yes: turn off the power and move with a cart", "C. Yes: move slowly while keeping it close to the floor", "D. Yes: secure with both hands and move to a safe area"], "answer_index": 0}
{"token": "1c12c17615023d6c7c50d8f1f0ef9c13", "waymo_split": "test", "type": "image", "frame_index": 104, "question": "What is the correlation in safety-critical situations?", "category": "Safety-critical scene Understanding", "options": ["A. Two-wheeler - Two-wheeler", "B. Car - Car", "C. Two-wheeler - Car", "D. Car - Person"], "answer_index": 1}
{"token": "1c12c17615023d6c7c50d8f1f0ef9c13", "waymo_split": "test", "type": "image", "frame_index": 104, "question": "How should I drive to solve the first risk while also addressing the second risk?", "category": "Safety-critical Planning", "options": ["A. No second problem", "B. Change to the left lane", "C. Stop and then proceed", "D. Slow down and turn right"], "answer_index": 0}
{"token": "1c12c17615023d6c7c50d8f1f0ef9c13", "waymo_split": "test", "type": "image", "frame_index": 104, "question": "Where is the area that hides danger in the current frame?", "category": "Uncertainty", "options": ["A. No such area", "B. Behind the left truck", "C. Corner of the right building", "D. Behind the tree in front"], "answer_index": 0}
{"token": "1c12c17615023d6c7c50d8f1f0ef9c13", "waymo_split": "test", "type": "image", "frame_index": 104, "question": "What is the safest choice just before entering a yellow signal: stop vs. proceed?", "category": "Special Event", "options": ["A. Proceed after checking ahead", "B. No traffic light. Unable to judge", "C. Proceed after slowing down", "D. Immediate stop recommended"], "answer_index": 1}
{"token": "1c12c17615023d6c7c50d8f1f0ef9c13", "waymo_split": "test", "type": "image", "frame_index": 104, "question": "What are the potential situations that could arise in the current circumstances?", "category": "Counterfactual", "options": ["A. Minor delays occur", "B. No possible situations", "C. Partial service interruption", "D. Temporary errors occur"], "answer_index": 1}
{"token": "1c12c17615023d6c7c50d8f1f0ef9c13", "waymo_split": "test", "type": "image", "frame_index": 104, "question": "What is the method to avoid the blind spot next to a large vehicle?", "category": "Special Event", "options": ["A. No large vehicle. Unable to judge", "B. Pass slowly next to the bus", "C. Maintain a constant speed while driving parallel", "D. Pass closely on the right side"], "answer_index": 0}
{"token": "1c12c17615023d6c7c50d8f1f0ef9c13", "waymo_split": "test", "type": "image", "frame_index": 119, "question": "Which of the following is correct from the perspective of a Normal Frame Image Caption?", "category": "Normal scene caption", "options": ["A. The vehicle is preparing to turn right while moving to the right lane before an intersection on a two-lane road (the intention to go straight is low). At this time, vehicles in the opposite lane mainly exit to the left alley.", "B. The vehicle is entering an intersection on a two-lane road while making a left turn (the possibility of choosing to go straight is currently low). At this time, only two or three vehicles waiting to turn left are visible in the opposite lane.", "C. The vehicle has just completed a U-turn at a T-intersection on a two-lane road (it is currently impossible to turn right). At this time, there are almost no vehicles going straight in the opposite lane, only waiting for the signal.", "D. The vehicle is going straight after passing through an intersection on a two-lane road (the possibility of turning right is currently low). At this time, there are several vehicles going straight towards the vehicle in the opposite lane."], "answer_index": 3}
{"token": "1c12c17615023d6c7c50d8f1f0ef9c13", "waymo_split": "test", "type": "image", "frame_index": 119, "question": "What is correct from the perspective of Safety-critical Frame regarding Image Caption?", "category": "Safety-critical scene caption", "options": ["A. Vehicles waiting for a left turn signal in the same direction ahead. A situation where the vehicle must prepare for the front vehicle's turn while going straight at the intersection.", "B. A group of pedestrians waiting at the left crosswalk. If the vehicle goes straight at the intersection, it will need to protect the pedestrians.", "C. Vehicles entering the intersection from the opposite lane. If the vehicle goes straight at the intersection, it will encounter these vehicles.", "D. Two vehicles attempting to make a right turn into the intersection from the right lane. If the vehicle goes straight at the intersection, it may merge from the right."], "answer_index": 2}
{"token": "1c12c17615023d6c7c50d8f1f0ef9c13", "waymo_split": "test", "type": "image", "frame_index": 119, "question": "What is the plan for yielding when an ambulance/fire truck approaches?", "category": "Special Event", "options": ["A. Yield by parking behind vehicles parked on the right shoulder.", "B. Yield by parking behind vehicles parked on the left shoulder.", "C. Yield by maintaining the lane and just reducing speed.", "D. Yield by stopping closely in front of vehicles parked on the right shoulder."], "answer_index": 0}
{"token": "1c12c17615023d6c7c50d8f1f0ef9c13", "waymo_split": "test", "type": "image", "frame_index": 119, "question": "Based on the current appearance of the person/vehicle (two-wheeled), how do they intend to move?", "category": "Normal Perception & Prediction", "options": ["A. Crossing to the right along the crosswalk", "B. Turning right into the alley next to it", "C. Turning left into the alley across the street", "D. Going straight down the road across the block"], "answer_index": 3}
{"token": "1c12c17615023d6c7c50d8f1f0ef9c13", "waymo_split": "test", "type": "image", "frame_index": 119, "question": "What are the restrictions on behavior in school zones/congested areas?", "category": "Special Event", "options": ["A. You must turn on the hazard lights", "B. You must drive slowly", "C. You must overtake", "D. You must honk the horn"], "answer_index": 1}
{"token": "1c12c17615023d6c7c50d8f1f0ef9c13", "waymo_split": "test", "type": "image", "frame_index": 119, "question": "Which of the following is a correct description of the environment?", "category": "Normal scene Understanding", "options": ["A. Night, rain", "B. Dawn, fog", "C. Day, clear", "D. Evening, cloudy"], "answer_index": 2}
{"token": "1c12c17615023d6c7c50d8f1f0ef9c13", "waymo_split": "test", "type": "image", "frame_index": 119, "question": "What is the classification of the scene?", "category": "Normal scene Understanding", "options": ["A. On the outskirts of a national highway", "B. Suburban residential area", "C. Urban alley", "D. Urban main street"], "answer_index": 2}
{"token": "1c12c17615023d6c7c50d8f1f0ef9c13", "waymo_split": "test", "type": "image", "frame_index": 119, "question": "Which of the following describes a non-safety-critical object?", "category": "Normal Perception & Prediction", "options": ["A. An electric scooter turning right at an intersection and entering the right lane", "B. A taxi parked on the right shoulder", "C. A STOP sign attached to the right streetlight and pole", "D. Multiple vehicles parked on the left shoulder. A bicycle turning left at the intersection and traveling on the left road. Trees and utility poles standing on the left and right sidewalks. A ONEWAY sign attached to the left streetlight."], "answer_index": 3}
{"token": "1c12c17615023d6c7c50d8f1f0ef9c13", "waymo_split": "test", "type": "image", "frame_index": 119, "question": "Which of the following is a correct description of traffic density?", "category": "Normal scene Understanding", "options": ["A. There are two vehicles in the opposite lane and many parked vehicles on the shoulder.", "B. The driving speed is relatively fast, there are few moving vehicles nearby, and the shoulder is almost empty.", "C. Only one vehicle is visible in the same direction, while vehicles occasionally pass in the opposite lane, and parked vehicles on the shoulder are rare.", "D. Two vehicles are ahead in the same lane, there are few vehicles in the opposite lane, and there are almost no parked vehicles on the shoulder."], "answer_index": 0}
{"token": "1c12c17615023d6c7c50d8f1f0ef9c13", "waymo_split": "test", "type": "image", "frame_index": 119, "question": "Which of the following is a correct description of traffic signals?", "category": "Traffic Signal", "options": ["A. Attached to the right traffic light of the ONE WAY sign", "B. Attached to the left utility pole of the NO ENTRY sign", "C. Attached to the left traffic light of the ONE WAY sign", "D. Marked in the center lane by the ONE WAY road marking"], "answer_index": 2}
{"token": "1c12c17615023d6c7c50d8f1f0ef9c13", "waymo_split": "test", "type": "image", "frame_index": 119, "question": "What is the answer regarding parked vehicles on the shoulder, the presence of a center line, and whether Ego crosses the center line?", "category": "Normal Perception & Prediction", "options": ["A. No parked vehicles on the shoulder. Center line is clear.", "B. Almost no parked vehicles on the shoulder. There is a center line.", "C. Rarely 1-2 parked vehicles on the shoulder. Center line is distinct.", "D. Many parked vehicles on the shoulder. No center line."], "answer_index": 3}
{"token": "1c12c17615023d6c7c50d8f1f0ef9c13", "waymo_split": "test", "type": "image", "frame_index": 119, "question": "Are there any blind spots in your field of vision?", "category": "Uncertainty", "options": ["A. Blind spot on the right side of the crosswalk at the intersection", "B. Blind spot on the right side of the road at the intersection", "C. Blind spot on the left side of the crosswalk at the intersection", "D. Blind spot on the left side of the road at the T-junction"], "answer_index": 1}
{"token": "1c12c17615023d6c7c50d8f1f0ef9c13", "waymo_split": "test", "type": "image", "frame_index": 119, "question": "What is a safety-critical object?", "category": "Safety-critical Perception", "options": ["A. A vehicle driving in the opposite lane", "B. A passenger car stopped on the shoulder with hazard lights on", "C. A pedestrian standing at the edge of the sidewalk", "D. A vehicle moving away in the same lane from behind"], "answer_index": 0}
{"token": "1c12c17615023d6c7c50d8f1f0ef9c13", "waymo_split": "test", "type": "image", "frame_index": 119, "question": "How do you think a safety-critical object should be moved?", "category": "Safety-critical Prediction", "options": ["A. Straight in the opposite direction", "B. Left turn towards your own direction", "C. Straight to the right", "D. Straight towards your own direction"], "answer_index": 3}
{"token": "1c12c17615023d6c7c50d8f1f0ef9c13", "waymo_split": "test", "type": "image", "frame_index": 119, "question": "How should I drive to solve the first risk while also addressing the second risk?", "category": "Safety-critical Planning", "options": ["A. Change to the right lane", "B. Maintain speed and go straight", "C. No second problem", "D. Slow down and stop"], "answer_index": 2}
{"token": "1c12c17615023d6c7c50d8f1f0ef9c13", "waymo_split": "test", "type": "image", "frame_index": 119, "question": "What is the correlation in safety-critical situations?", "category": "Safety-critical scene Understanding", "options": ["A. Two-wheeler - person", "B. Car - person", "C. Car - car", "D. Car - two-wheeler"], "answer_index": 2}
{"token": "1c12c17615023d6c7c50d8f1f0ef9c13", "waymo_split": "test", "type": "image", "frame_index": 119, "question": "Is lane changing possible? Which is safer between slowing down and changing lanes?", "category": "Safety-critical Planning", "options": ["A. A two-lane road with a shoulder. Changing lanes after accelerating is safer.", "B. A two-lane road where lane changing is not possible. Slowing down is safer and possible.", "C. A two-lane road with space ahead. Changing lanes is safer than slowing down.", "D. A three-lane road where lane changing is possible. Changing lanes is safer and possible."], "answer_index": 1}
{"token": "1c12c17615023d6c7c50d8f1f0ef9c13", "waymo_split": "test", "type": "image", "frame_index": 119, "question": "Where is the area that is hidden and conceals danger in the current frame?", "category": "Uncertainty", "options": ["A. Between the parked cars on the right", "B. Corner of the left alley entrance", "C. Behind the bus in front of the crosswalk", "D. No such area"], "answer_index": 3}
{"token": "1c12c17615023d6c7c50d8f1f0ef9c13", "waymo_split": "test", "type": "image", "frame_index": 119, "question": "Is there any other safety-critical object besides the first safety-critical object? If so, how will it be moved?", "category": "Safety-critical Prediction", "options": ["A. There is a toolbox in front of the distribution board. Retreat 50cm back to secure a safe distance.", "B. There is an oxygen tank. Relocate it to the right wall in the center of the aisle.", "C. None", "D. There is a fire extinguisher. Move it to the left wall so it does not block the emergency exit."], "answer_index": 2}
{"token": "1c12c17615023d6c7c50d8f1f0ef9c13", "waymo_split": "test", "type": "image", "frame_index": 119, "question": "What is the safest choice just before entering a yellow signal: stop vs proceed?", "category": "Special Event", "options": ["A. Proceed with caution", "B. No traffic light. Unable to judge", "C. Proceed with a right turn", "D. Stop immediately"], "answer_index": 1}
{"token": "1c12c17615023d6c7c50d8f1f0ef9c13", "waymo_split": "test", "type": "image", "frame_index": 119, "question": "What is the method to avoid the blind spot next to a large vehicle?", "category": "Special Event", "options": ["A. No large vehicle. Unable to judge", "B. Sudden acceleration in front of the truck", "C. Driving closely next to the large vehicle", "D. Passing next to the bus"], "answer_index": 0}
{"token": "1c12c17615023d6c7c50d8f1f0ef9c13", "waymo_split": "test", "type": "image", "frame_index": 142, "question": "Based on the current appearance of the person/vehicle (two-wheeled), how do you intend to move?", "category": "Normal Perception & Prediction", "options": ["A. U-turn", "B. Right turn", "C. Straight", "D. Left turn"], "answer_index": 2}
{"token": "1c12c17615023d6c7c50d8f1f0ef9c13", "waymo_split": "test", "type": "image", "frame_index": 119, "question": "What are the guidelines for the behavior of my vehicle based on the actions of safety-critical objects?", "category": "Safety-critical Planning", "options": ["A. If the vehicle makes a quick left turn, there is a risk of collision with my vehicle.", "B. If a pedestrian suddenly stops while crossing, there is a risk of collision with my vehicle.", "C. If the vehicle makes a slow right turn, there is a risk of collision with my vehicle.", "D. If a bicycle yields to the right, there is a risk of collision with my vehicle."], "answer_index": 0}
{"token": "1c12c17615023d6c7c50d8f1f0ef9c13", "waymo_split": "test", "type": "image", "frame_index": 119, "question": "What situation would occur if the self-driving car behaved like this?", "category": "Counterfactual", "options": ["A. If the self-driving car drives closely to the right, it will contact the vehicles on the shoulder.", "B. If the self-driving car drives closely to the left, it will collide with vehicles in the opposite lane.", "C. If the self-driving car drives along the center line, it will maintain a safe distance from the opposite lane.", "D. If the self-driving car drives closely to the left, it will actually secure overtaking space."], "answer_index": 1}
{"token": "1c12c17615023d6c7c50d8f1f0ef9c13", "waymo_split": "test", "type": "image", "frame_index": 142, "question": "Which of the following is correct from the perspective of Safety-critical Frame regarding Image Caption?", "category": "Safety-critical scene caption", "options": ["A. A vehicle yielding to an SUV changing lanes in the right lane.", "B. A vehicle maintaining distance from a car in front that is slowing down in the same lane.", "C. A vehicle that will pass by two cars driving in the opposite lane.", "D. A vehicle adjusting its path in relation to a car turning left from the left side before entering an intersection."], "answer_index": 2}
{"token": "1c12c17615023d6c7c50d8f1f0ef9c13", "waymo_split": "test", "type": "image", "frame_index": 142, "question": "Which of the following is correct as an Image Caption from the perspective of a Normal Frame?", "category": "Normal scene caption", "options": ["A. A vehicle entering a right turn and accelerating at an intersection on a two-lane road, with two vehicles ahead in the same direction in the right lane.", "B. A vehicle going straight after passing through an intersection on a two-lane road. At this time, there are two vehicles in the opposite lane directly in front on the left.", "C. A vehicle merging onto a one-way three-lane road and going straight, with one vehicle waiting at a signal in the center ahead and a bus on the right.", "D. A vehicle making a left turn after passing through a T-intersection and changing lanes. At this time, the opposite lane is empty, and there is a motorcycle on the right ahead."], "answer_index": 1}
{"token": "1c12c17615023d6c7c50d8f1f0ef9c13", "waymo_split": "test", "type": "image", "frame_index": 142, "question": "What are the behavioral restrictions in school zones/congested areas?", "category": "Special Event", "options": ["A. Must drive slowly", "B. Should actively change lanes", "C. Must pass quickly", "D. Should honk frequently"], "answer_index": 0}
{"token": "1c12c17615023d6c7c50d8f1f0ef9c13", "waymo_split": "test", "type": "image", "frame_index": 142, "question": "Which of the following descriptions about the environment is correct?", "category": "Normal scene Understanding", "options": ["A. Evening, cloudy", "B. Dawn, fog", "C. Night, shower", "D. Day, clear"], "answer_index": 3}
{"token": "1c12c17615023d6c7c50d8f1f0ef9c13", "waymo_split": "test", "type": "image", "frame_index": 142, "question": "What is the plan for yielding when an ambulance/fire truck approaches?", "category": "Special Event", "options": ["A. Yield by pulling over to the left bus-only lane.", "B. Yield by stopping in front of vehicles parked on the right shoulder.", "C. Yield by stopping behind vehicles parked on the right shoulder.", "D. Yield by pulling over towards the central divider and stopping."], "answer_index": 2}
{"token": "1c12c17615023d6c7c50d8f1f0ef9c13", "waymo_split": "test", "type": "image", "frame_index": 142, "question": "What is the classification of the scene?", "category": "Normal scene Understanding", "options": ["A. Urban alley", "B. Rural unpaved road", "C. Residential side road", "D. Main highway"], "answer_index": 0}
{"token": "1c12c17615023d6c7c50d8f1f0ef9c13", "waymo_split": "test", "type": "image", "frame_index": 142, "question": "Which of the following is a correct description of traffic density?", "category": "Normal scene Understanding", "options": ["A. There are two vehicles in front in the same lane and one vehicle in the adjacent lane, with almost no parked vehicles on the shoulder.", "B. There are two vehicles in the opposite lane and one vehicle behind, with many parked vehicles on the shoulder.", "C. There are two vehicles behind and one vehicle in front, with no parked vehicles on the shoulder.", "D. There are no vehicles in the opposite lane, one vehicle in front, and a few parked vehicles on the shoulder."], "answer_index": 1}
{"token": "1c12c17615023d6c7c50d8f1f0ef9c13", "waymo_split": "test", "type": "image", "frame_index": 142, "question": "Which of the following is a correct description of traffic signals?", "category": "Traffic Signal", "options": ["A. Yield sign", "B. None", "C. Left turn signal", "D. Crosswalk marking"], "answer_index": 1}
{"token": "1c12c17615023d6c7c50d8f1f0ef9c13", "waymo_split": "test", "type": "image", "frame_index": 142, "question": "What is the answer regarding parked vehicles on the shoulder, the presence of a center line, and whether Ego crosses the center line?", "category": "Normal Perception & Prediction", "options": ["A. One or two vehicles parked on the right shoulder. Solid center line present.", "B. Many vehicles parked on the shoulder. No center line.", "C. Shoulder is empty. Center line marked with a dashed line.", "D. Almost no vehicles parked on the shoulder. Center line is clearly present."], "answer_index": 1}
{"token": "1c12c17615023d6c7c50d8f1f0ef9c13", "waymo_split": "test", "type": "image", "frame_index": 142, "question": "What is a safety-critical object?", "category": "Safety-critical Perception", "options": ["A. A vehicle traveling in the same direction in the adjacent lane", "B. A pedestrian waiting at the edge of the sidewalk", "C. A vehicle stopped in the opposite lane", "D. A vehicle traveling in the lane directly opposite"], "answer_index": 3}
{"token": "1c12c17615023d6c7c50d8f1f0ef9c13", "waymo_split": "test", "type": "image", "frame_index": 142, "question": "How do you think a safety-critical object will move?", "category": "Safety-critical Prediction", "options": ["A. Right turn", "B. Go straight in the direction of your vehicle", "C. Reverse in the opposite direction", "D. Left turn"], "answer_index": 1}
{"token": "1c12c17615023d6c7c50d8f1f0ef9c13", "waymo_split": "test", "type": "image", "frame_index": 142, "question": "What is the correlation in safety-critical situations?", "category": "Safety-critical scene Understanding", "options": ["A. Car-Car", "B. Car-Two-wheeler", "C. Car-Person", "D. Person-Two-wheeler"], "answer_index": 0}
{"token": "1c12c17615023d6c7c50d8f1f0ef9c13", "waymo_split": "test", "type": "image", "frame_index": 142, "question": "How should I drive to resolve the first risk while also addressing the second risk?", "category": "Safety-critical Planning", "options": ["A. Change lanes and pass first when there are no oncoming vehicles, then merge (lane change acceleration)", "B. Avoid the oncoming vehicle by slightly encroaching on the center and increasing speed a bit (left overtaking)", "C. Stop briefly in front of the first risk, stick to the right edge, and turn right to exit (right turn exit)", "D. Drive carefully until passing this vehicle, ensuring not to encroach on the center (continue driving straight cautiously)"], "answer_index": 3}
{"token": "1c12c17615023d6c7c50d8f1f0ef9c13", "waymo_split": "test", "type": "image", "frame_index": 142, "question": "Is lane changing possible? Which is safer between slowing down and changing lanes?", "category": "Safety-critical Planning", "options": ["A. Two-lane road where lane changing is possible / Lane changing is safer and possible", "B. One-way three-lane road, with space on the left / Accelerating and changing lanes is safer", "C. Two-lane road where lane changing is not possible. Slowing down is safer and possible", "D. Time when bus-only lane is released / Changing to the right lane is safer"], "answer_index": 2}
{"token": "1c12c17615023d6c7c50d8f1f0ef9c13", "waymo_split": "test", "type": "image", "frame_index": 142, "question": "Where is the area that hides danger in the current frame?", "category": "Uncertainty", "options": ["A. Behind the front bus", "B. Behind the left A-pillar", "C. No such area", "D. Behind the right street tree"], "answer_index": 2}
{"token": "1c12c17615023d6c7c50d8f1f0ef9c13", "waymo_split": "test", "type": "image", "frame_index": 142, "question": "What is the safest choice just before entering a yellow signal: stop vs. proceed?", "category": "Special Event", "options": ["A. Immediate stop", "B. Decelerate and proceed", "C. No traffic light. Unable to judge", "D. Wait to turn left"], "answer_index": 2}
{"token": "1c12c17615023d6c7c50d8f1f0ef9c13", "waymo_split": "test", "type": "image", "frame_index": 142, "question": "Who is responsible in a safety-critical situation? What is the cause?", "category": "Safety-critical scene Understanding", "options": ["A. The leading driver is responsible. They should have turned on the left turn signal and entered slowly before the intersection, but the lack of a signal was the cause.", "B. The following driver is responsible. The cause was not maintaining a sufficient distance from the car in front and approaching too quickly on a straight priority road.", "C. Both are responsible. On a narrow two-lane road, both should be cautious and drive slowly to avoid encroaching into the center.", "D. The road management is responsible. The cause was the inaccurate construction signs in a one-way two-lane section, which caused confusion about the direction."], "answer_index": 2}
{"token": "1c12c17615023d6c7c50d8f1f0ef9c13", "waymo_split": "test", "type": "image", "frame_index": 142, "question": "What situation might occur if the self-driving car behaved like this?", "category": "Counterfactual", "options": ["A. Even if the self-driving car drifts to the left, the lane-keeping function will immediately correct it for normal driving.", "B. If the self-driving car slightly crosses the center line, the distance from the car in front increases, making it safer.", "C. If the self-driving car closely hugs the left side and encroaches on the center, it will collide with oncoming traffic.", "D. If the self-driving car closely hugs the right side and maintains its lane, it will pass through without any issues."], "answer_index": 2}
{"token": "1c12c17615023d6c7c50d8f1f0ef9c13", "waymo_split": "test", "type": "image", "frame_index": 142, "question": "What is the method to avoid the blind spot next to a large vehicle?", "category": "Special Event", "options": ["A. Merging between large vehicles", "B. No large vehicle. Unable to judge", "C. Driving closely behind a large vehicle", "D. Passing on the right side of a large vehicle"], "answer_index": 1}
{"token": "1c12c17615023d6c7c50d8f1f0ef9c13", "waymo_split": "test", "type": "image", "frame_index": 142, "question": "Are there any other safety-critical objects besides the first safety-critical object? If so, how will they move?", "category": "Safety-critical Prediction", "options": ["A. A pedestrian behind a stopped vehicle on the right shoulder, then entering the roadway", "B. A vehicle following another vehicle that is driving in the opposite lane, also going straight", "C. A motorcycle accelerating from the left adjacent lane, then entering our lane", "D. A vehicle following another vehicle that is driving in the same lane, also making a left turn"], "answer_index": 1}
{"token": "1c53c60f95f0fdf9b348cbf358743666", "waymo_split": "test", "type": "video", "frame_index": null, "question": "Where is the safety-critical situation in the video?", "category": "Temporal Grounding", "options": ["A. 2/4", "B. 3/4", "C. 4/4", "D. 1/4"], "answer_index": 2}
{"token": "1c53c60f95f0fdf9b348cbf358743666", "waymo_split": "test", "type": "video", "frame_index": null, "question": "What are the classifications of scenes?", "category": "Normal scene Understanding", "options": ["A. Highway", "B. Unpaved", "C. City", "D. Residential area"], "answer_index": 3}
{"token": "1c53c60f95f0fdf9b348cbf358743666", "waymo_split": "test", "type": "video", "frame_index": null, "question": "Which of the following is a correct description of traffic density?", "category": "Normal scene Understanding", "options": ["A. Fast, few surrounding vehicles (smooth flow). Slight uphill.", "B. Fast, few surrounding vehicles (intermittent vehicles). Downhill.", "C. Fast, very few surrounding vehicles (clear visibility). Incline present.", "D. Slow, many surrounding vehicles (traffic congestion situation). No incline."], "answer_index": 3}
{"token": "1c53c60f95f0fdf9b348cbf358743666", "waymo_split": "test", "type": "video", "frame_index": null, "question": "What is correct regarding Video Summary from a safety-critical scene perspective?", "category": "Safety-critical scene caption", "options": ["A. Attempting to overtake a stopped vehicle in the left opposing lane, a vehicle approaching quickly from the opposite lane across the intersection causes my vehicle to stop.", "B. Changed to the left lane to overtake the vehicle in front, while a vehicle from the opposite side was far away, maintaining speed through the intersection.", "C. Trying to avoid the stopped vehicle in the right lane, a pedestrian enters the crosswalk at the intersection and passes by slowly.", "D. While trying to enter the left opposing lane, a motorcycle slowly emerges from the right alley, causing only a reduction in speed while proceeding."], "answer_index": 0}
{"token": "1c53c60f95f0fdf9b348cbf358743666", "waymo_split": "test", "type": "video", "frame_index": null, "question": "Is there a special situation?", "category": "Special Event", "options": ["A. Fire truck passing by", "B. None", "C. School bus stopping", "D. Construction site cone placement"], "answer_index": 1}
{"token": "1c53c60f95f0fdf9b348cbf358743666", "waymo_split": "test", "type": "video", "frame_index": null, "question": "Which of the following is a correct description of road alignment?", "category": "Normal Perception & Prediction", "options": ["A. Right turn", "B. Straight", "C. Overtaking", "D. Left turn"], "answer_index": 1}
{"token": "1c53c60f95f0fdf9b348cbf358743666", "waymo_split": "test", "type": "video", "frame_index": null, "question": "Which of the following is a correct description of the environment?", "category": "Normal scene Understanding", "options": ["A. Night, rain", "B. Evening, cloudy", "C. Dawn, fog", "D. Day, clear"], "answer_index": 3}
{"token": "1c53c60f95f0fdf9b348cbf358743666", "waymo_split": "test", "type": "video", "frame_index": null, "question": "Which of the following is correct regarding the Video Summary from the perspective of a Normal Scene?", "category": "Normal scene caption", "options": ["A. The vehicle in front is about to stop briefly with its hazard lights on, encroaching on the center line, causing the lane to narrow. My vehicle was trying to go straight and moved to the right, but a vehicle turning right from the road on the right side of the intersection cut in without slowing down.", "B. Before entering the intersection on a two-lane road, the vehicle in front is blocking the path while trying to stop on the right shoulder. I want to go straight, but the path is blocked by the vehicle in front, so I want to bypass it by going left, intending to overtake in the left opposing lane. Just as I was about to encroach on the left side, a vehicle quickly approached from the opposite lane at the intersection, so I braked.", "C. Before entering the intersection on a two-lane road, the vehicle in front stopped while encroaching on the left turn lane, blocking the path. I wanted to continue straight, so I slightly moved to the right shoulder to overtake, but I saw a bicycle coming from the right bus stop, so I applied the brakes.", "D. On a two-lane road before the intersection, the vehicle in front hesitated to pick up a passenger on the right shoulder, blocking the road. My vehicle was about to cross the center line to overtake to the left, but since there was no oncoming vehicle, I passed through without issue."], "answer_index": 1}
{"token": "1c53c60f95f0fdf9b348cbf358743666", "waymo_split": "test", "type": "video", "frame_index": null, "question": "Which of the following is a correct description of traffic signals?", "category": "Traffic Signal", "options": ["A. No right turn", "B. Left turn signal", "C. Stop line", "D. None"], "answer_index": 3}
{"token": "1c53c60f95f0fdf9b348cbf358743666", "waymo_split": "test", "type": "video", "frame_index": null, "question": "What is the description of a non-safety-critical object?", "category": "Normal Perception & Prediction", "options": ["A. Scattered parking mainly of two-wheeled vehicles on the right shoulder. A vehicle temporarily stopped at the front right turn lane according to the signal. A flower bed and a low fence on the road median. Vehicles entering the entrance of a large shopping center in front. Almost no people visible on both sidewalks.", "B. Almost no parked vehicles on the surrounding shoulder. A vehicle accelerating while changing lanes to the left in front. A store sign and a utility pole on the left sidewalk. A T-intersection and waiting vehicles in front. One person standing on the right sidewalk.", "C. Several taxis on the roadside moving slowly with empty signs. A passenger car attempting a U-turn near the center line in front. A bus stop and a bench on the right sidewalk. An uphill curve ahead, no intersections. Two bicycles riding on the left bike lane.", "D. Many parked vehicles on the surrounding shoulder. A vehicle on the driving lane moving slowly to stop on the right shoulder in front. A large tree on the right sidewalk. An intersection in front with vehicles passing through it. People walking on the left sidewalk."], "answer_index": 3}
{"token": "1c53c60f95f0fdf9b348cbf358743666", "waymo_split": "test", "type": "video", "frame_index": null, "question": "Is there a blind spot in your field of vision?", "category": "Uncertainty", "options": ["A. There is no blind spot in the right shoulder area.", "B. There is a blind spot between the parked vehicles on the right shoulder.", "C. There is no blind spot in front of the right bus stop.", "D. There is a blind spot between the parked vehicles on the left shoulder."], "answer_index": 1}
{"token": "1c53c60f95f0fdf9b348cbf358743666", "waymo_split": "test", "type": "video", "frame_index": null, "question": "How did the safety-critical object move and how did the ego vehicle behave?", "category": "Safety-critical scene Understanding", "options": ["A. Turn left, go around the intersection, and merge into the same lane as the ego vehicle's direction. The ego vehicle maintains its lane and proceeds slowly.", "B. Go straight, cross the intersection, and drive in the opposite lane of the ego vehicle. The ego vehicle attempted to overtake in the opposite lane but stopped.", "C. Exit the intersection by turning right and drive along the edge in front of the bus stop. The ego vehicle drives at a constant speed without overtaking.", "D. Stop at the stop line before entering the intersection, then change to the right lane. The ego vehicle turns on its hazard lights and briefly stops on the shoulder."], "answer_index": 1}
{"token": "1c53c60f95f0fdf9b348cbf358743666", "waymo_split": "test", "type": "video", "frame_index": null, "question": "What is the correlation in safety-critical situations?", "category": "Safety-critical scene Understanding", "options": ["A. car-person", "B. person-two-wheeler", "C. car-car", "D. car-two-wheeler"], "answer_index": 2}
{"token": "1c53c60f95f0fdf9b348cbf358743666", "waymo_split": "test", "type": "video", "frame_index": null, "question": "What is a safety-critical object?", "category": "Safety-critical Perception", "options": ["A. A pedestrian stopped on the sidewalk looking at their phone", "B. A small truck parked on the shoulder with its hazard lights on", "C. A sedan moving at a constant speed in the same lane ahead", "D. A sports car rapidly approaching from the opposite lane towards my vehicle"], "answer_index": 3}
{"token": "1c53c60f95f0fdf9b348cbf358743666", "waymo_split": "test", "type": "video", "frame_index": null, "question": "What potential situations may arise depending on the type/condition of the road?", "category": "Normal Perception & Prediction", "options": ["A. Increased congestion", "B. Slipping on wet roads", "C. Frequent potholes", "D. None"], "answer_index": 3}
{"token": "1c53c60f95f0fdf9b348cbf358743666", "waymo_split": "test", "type": "video", "frame_index": null, "question": "Who is responsible in a safety-critical situation? What is the cause?", "category": "Safety-critical scene Understanding", "options": ["A. It is the responsibility of the vehicle itself, as it must be cautious when attempting to overtake through the opposite lane, predicting whether a vehicle is coming from the opposite direction (of course, the vehicle stopping was a good action based on anticipating the oncoming vehicle).", "B. It is the responsibility of the road management, as the no-overtaking signs and lane markings were faint, making it difficult to judge the section (due to heavy surface reflection from rain during that time).", "C. It is the responsibility of the vehicle in front, as it suddenly attempted a left turn after a sudden stop without signaling, creating a situation for the following vehicles to overtake (the vehicle maintained a safe distance).", "D. It is the responsibility of the oncoming vehicle, as it approached with high beams on, obscuring visibility by crossing the center line (the vehicle was slowing down and moving straight)."], "answer_index": 0}
{"token": "1c53c60f95f0fdf9b348cbf358743666", "waymo_split": "test", "type": "video", "frame_index": null, "question": "Summary of Ego (self-vehicle) behavior before a safety-critical situation", "category": "Normal scene Understanding", "options": ["A. Stop waiting to turn left", "B. Slow down in the direction of travel", "C. Stop in front of the intersection", "D. Change to the right lane"], "answer_index": 1}
{"token": "1c53c60f95f0fdf9b348cbf358743666", "waymo_split": "test", "type": "video", "frame_index": null, "question": "What situation might have occurred if the vehicle had acted this way?", "category": "Counterfactual", "options": ["A. If the vehicle had tried to overtake in the opposite lane, there would be a risk of collision with vehicles coming from the opposite direction.", "B. If the vehicle had honked and pushed forward, there would be a risk of a chain collision due to the front vehicle suddenly braking.", "C. If the vehicle had entered the bus-only lane to overtake, there would be a risk of collision with a bus that is stopped.", "D. If the vehicle had recklessly overtaken on the right shoulder, there would be a risk of contact with vehicles stopped on the shoulder."], "answer_index": 0}
{"token": "1c53c60f95f0fdf9b348cbf358743666", "waymo_split": "test", "type": "image", "frame_index": 36, "question": "Based on the current appearance of the person/vehicle (two-wheeled), how do you intend to move?", "category": "Normal Perception & Prediction", "options": ["A. Accelerate rapidly and go straight", "B. Decelerate and turn left", "C. Proceed slowly and turn right", "D. Proceed slowly and go straight"], "answer_index": 3}
{"token": "1c53c60f95f0fdf9b348cbf358743666", "waymo_split": "test", "type": "image", "frame_index": 36, "question": "Which of the following is a correct description of traffic density?", "category": "Normal scene Understanding", "options": ["A. Slow, many vehicles around (both moving vehicles and parked vehicles on the shoulder)", "B. Fast, almost no vehicles around (moving vehicles are sparse, shoulder is empty)", "C. Fast, few vehicles around (mainly straight-moving vehicles, no parking on the shoulder)", "D. Slow, few vehicles around (intermittent moving vehicles, one or two on the shoulder)"], "answer_index": 0}
{"token": "1c53c60f95f0fdf9b348cbf358743666", "waymo_split": "test", "type": "image", "frame_index": 36, "question": "What is the plan for yielding when an ambulance/fire truck approaches?", "category": "Special Event", "options": ["A. Stop at the intersection with hazard lights on", "B. Maintain speed and continue as is", "C. Move to the left to clear a path", "D. Move to the right to yield space"], "answer_index": 3}
{"token": "1c53c60f95f0fdf9b348cbf358743666", "waymo_split": "test", "type": "image", "frame_index": 36, "question": "What is the classification of the scene?", "category": "Normal scene Understanding", "options": ["A. Residential one-way street", "B. Residential two-lane road", "C. Urban two-lane road", "D. Rural unpaved road"], "answer_index": 1}
{"token": "1c53c60f95f0fdf9b348cbf358743666", "waymo_split": "test", "type": "image", "frame_index": 36, "question": "What are the restrictions on behavior in school zones/congested areas?", "category": "Special Event", "options": ["A. Accelerate to pass - minimize delay", "B. Honk while proceeding - warn pedestrians", "C. Must drive slowly - currently in a congested area", "D. Change lanes to overtake - there is space on the right"], "answer_index": 2}
{"token": "1c53c60f95f0fdf9b348cbf358743666", "waymo_split": "test", "type": "image", "frame_index": 36, "question": "What is the description of a non-safety-critical object?", "category": "Normal Perception & Prediction", "options": ["A. Bicycle lanes and a few electric scooters on both side lanes. Low flower beds and store entrances instead of sidewalks. A gentle curve ahead with no crosswalk.", "B. A median and flower pots placed in the center of the road. One side has a construction fence, and the other side is an empty lot. A T-intersection and U-turn sign ahead.", "C. Parked cars on both shoulders. People walking on both sidewalks, along with trees and buildings. An intersection and its crosswalk ahead.", "D. On the left, there is a bike rental station and a bus-only lane. On the right sidewalk, there are street vendors and sparse street trees. Ahead, there is an entrance ramp leading down to a tunnel."], "answer_index": 2}
{"token": "1c53c60f95f0fdf9b348cbf358743666", "waymo_split": "test", "type": "image", "frame_index": 36, "question": "Which of the following is a correct description of the environment?", "category": "Normal scene Understanding", "options": ["A. Evening, rain", "B. Day, clear", "C. Dusk, fog", "D. Night, cloudy"], "answer_index": 1}
{"token": "1c53c60f95f0fdf9b348cbf358743666", "waymo_split": "test", "type": "image", "frame_index": 36, "question": "Which of the following is a correct description of traffic signals?", "category": "Traffic Signal", "options": ["A. None", "B. Right turn allowed", "C. Stop line marked", "D. Left turn prohibited"], "answer_index": 0}
{"token": "1c53c60f95f0fdf9b348cbf358743666", "waymo_split": "test", "type": "image", "frame_index": 36, "question": "What is the answer regarding parked vehicles on the shoulder, the presence of a center line, and whether Ego crosses the center line?", "category": "Normal Perception & Prediction", "options": ["A. Parked vehicles on the shoulder are sparse. The center line is clear.", "B. Many parked vehicles on the shoulder. No center line.", "C. One or two parked vehicles on the shoulder are visible. The center line is faint but marked.", "D. Almost no parked vehicles on the shoulder. There is a center line."], "answer_index": 1}
{"token": "1c53c60f95f0fdf9b348cbf358743666", "waymo_split": "test", "type": "image", "frame_index": 36, "question": "How do you think safety-critical objects will move?", "category": "Safety-critical Prediction", "options": ["A. irregular vibration", "B. no object", "C. rotation in place", "D. linear movement"], "answer_index": 1}
{"token": "1c53c60f95f0fdf9b348cbf358743666", "waymo_split": "test", "type": "image", "frame_index": 36, "question": "What is a safety-critical object?", "category": "Safety-critical Perception", "options": ["A. Brake", "B. Collision sensor", "C. Emergency stop", "D. None"], "answer_index": 3}
{"token": "1c53c60f95f0fdf9b348cbf358743666", "waymo_split": "test", "type": "image", "frame_index": 36, "question": "Is there a blind spot in your field of vision?", "category": "Uncertainty", "options": ["A. Blind spot between parked vehicles on the right shoulder yes", "B. Blind spot between parked vehicles on the left shoulder yes", "C. Blind spot in front of the bus stop on the right no", "D. Blind spot right next to the curb in the driving area yes"], "answer_index": 0}
{"token": "1c53c60f95f0fdf9b348cbf358743666", "waymo_split": "test", "type": "image", "frame_index": 36, "question": "Is lane change possible? Which is safer between deceleration and lane change?", "category": "Safety-critical Planning", "options": ["A. Lane change is possible (since it's a one-way three-lane road), acceleration is safer", "B. Lane change is possible to the right lane (due to traffic congestion in front), lane change is safer", "C. Lane change is not possible (since it's a two-lane road). Deceleration is safer", "D. Lane change is possible (since it's a dashed line section), lane change is safer"], "answer_index": 2}
{"token": "1c53c60f95f0fdf9b348cbf358743666", "waymo_split": "test", "type": "image", "frame_index": 36, "question": "Is there any other safety-critical object besides the first safety-critical object? If so, how will it be moved?", "category": "Safety-critical Prediction", "options": ["A. There is an oxygen tank, secured upright on a cart.", "B. There is a lithium battery pack, placed flat in a fire-resistant bag.", "C. None.", "D. There is a fire extinguisher, held straight while keeping the pin in."], "answer_index": 2}
{"token": "1c53c60f95f0fdf9b348cbf358743666", "waymo_split": "test", "type": "image", "frame_index": 36, "question": "Where is the area that hides danger behind the current frame?", "category": "Uncertainty", "options": ["A. Space behind the front construction barrier", "B. Inside corner of the right sidewalk fence", "C. Gap between parked vehicles on the right shoulder", "D. Inside corner of the left alley exit"], "answer_index": 2}
{"token": "1c53c60f95f0fdf9b348cbf358743666", "waymo_split": "test", "type": "image", "frame_index": 36, "question": "What is the method to avoid the blind spot next to a large vehicle?", "category": "Special Event", "options": ["A. It is impossible to judge because there is no large vehicle.", "B. Quickly pass by staying close to the left side of the large vehicle.", "C. Honk the horn and go straight in the same lane.", "D. Stay in the blind spot behind the large vehicle and proceed slowly."], "answer_index": 0}
{"token": "1c53c60f95f0fdf9b348cbf358743666", "waymo_split": "test", "type": "image", "frame_index": 63, "question": "Based on the current appearance of the person/vehicle (two-wheeled), how do you intend to move?", "category": "Normal Perception & Prediction", "options": ["A. Proceed slowly and turn right", "B. Slow down and make a U-turn", "C. Proceed slowly and go straight", "D. Stop and turn left"], "answer_index": 2}
{"token": "1c53c60f95f0fdf9b348cbf358743666", "waymo_split": "test", "type": "image", "frame_index": 36, "question": "What are the new risk candidates that may be exposed in the following section?", "category": "Safety-critical Prediction", "options": ["A. A bicycle suddenly entering through the gap in the median.", "B. A passenger jumping into the lane from the bus stop.", "C. A person or object popping out from between parked vehicles on the shoulder.", "D. Cones or debris flying from the construction area in the opposite lane."], "answer_index": 2}
{"token": "1c53c60f95f0fdf9b348cbf358743666", "waymo_split": "test", "type": "image", "frame_index": 63, "question": "What are the behavior restrictions in school zones/congested areas?", "category": "Special Event", "options": ["A. Overtaking is allowed - smooth traffic", "B. Constant speed is possible - lane is clear", "C. Speed limit lifted - students have finished school", "D. Must drive slowly - currently in a congested area"], "answer_index": 3}
{"token": "1c53c60f95f0fdf9b348cbf358743666", "waymo_split": "test", "type": "image", "frame_index": 63, "question": "What are the classifications of scenes?", "category": "Normal scene Understanding", "options": ["A. Main highway", "B. Unpaved forest road", "C. Urban arterial road", "D. Residential street"], "answer_index": 3}
{"token": "1c53c60f95f0fdf9b348cbf358743666", "waymo_split": "test", "type": "image", "frame_index": 63, "question": "Which of the following is a correct description of traffic density?", "category": "Normal scene Understanding", "options": ["A. Fast, few surrounding vehicles (mainly moving vehicles)", "B. Slow, many surrounding vehicles (both moving vehicles and parked vehicles on the shoulder)", "C. Fast, moderate number of surrounding vehicles (mainly vehicles waiting at signals)", "D. Slow, rarely see surrounding vehicles (shoulder is empty)"], "answer_index": 1}
{"token": "1c53c60f95f0fdf9b348cbf358743666", "waymo_split": "test", "type": "image", "frame_index": 63, "question": "Which of the following is a correct description of the environment?", "category": "Normal scene Understanding", "options": ["A. Evening, cloudy", "B. Daytime, clear", "C. Dawn, foggy", "D. Night, drizzle"], "answer_index": 1}
{"token": "1c53c60f95f0fdf9b348cbf358743666", "waymo_split": "test", "type": "image", "frame_index": 63, "question": "What is the plan for yielding when an ambulance/fire truck approaches?", "category": "Special Event", "options": ["A. Move to the left to secure a passage", "B. Stop in the center of the lane and wait", "C. Move to the right to yield space", "D. Maintain speed and turn on hazard lights"], "answer_index": 2}
{"token": "1c53c60f95f0fdf9b348cbf358743666", "waymo_split": "test", "type": "image", "frame_index": 63, "question": "What is the description of a non-safety-critical object?", "category": "Normal Perception & Prediction", "options": ["A. Safety fences on both sides of the construction area, joggers on both sidewalks, store entrances, an entrance ramp to an overpass in front, and a CCTV pole on the left sidewalk.", "B. Parked cars on the shoulders on both sides, people walking on both sidewalks, trees, and buildings. An intersection and its crosswalk in front, and a utility pole on the left sidewalk.", "C. Taxis stopped on the shoulders on both sides, a person riding a bicycle and store signs on both sidewalks, a T-intersection and a U-turn area in front, and a streetlight on the left sidewalk.", "D. Buses stopped in the bus-only lanes on both sides, people sitting on benches and large flower pots on both sidewalks, a rotary and a roundabout in front, and a traffic signal control box on the left sidewalk."], "answer_index": 1}
{"token": "1c53c60f95f0fdf9b348cbf358743666", "waymo_split": "test", "type": "image", "frame_index": 63, "question": "What is the answer regarding parked vehicles on the shoulder, the presence of a center line, and whether Ego crosses the center line?", "category": "Normal Perception & Prediction", "options": ["A. No parked vehicles on the shoulder. Solid center line maintained.", "B. Many parked vehicles on the shoulder. No center line.", "C. Only a few parked vehicles on the shoulder. Clear center line.", "D. Almost no parked vehicles on the shoulder. Dashed center line section."], "answer_index": 1}
{"token": "1c53c60f95f0fdf9b348cbf358743666", "waymo_split": "test", "type": "image", "frame_index": 63, "question": "Which of the following is a correct description of traffic signals?", "category": "Traffic Signal", "options": ["A. Stop sign", "B. No right turn", "C. Traffic light red", "D. None"], "answer_index": 3}
{"token": "1c53c60f95f0fdf9b348cbf358743666", "waymo_split": "test", "type": "image", "frame_index": 63, "question": "How do you think a safety-critical object would move?", "category": "Safety-critical Prediction", "options": ["A. Bounces up", "B. No object", "C. Rolls to the right with the wind", "D. Slides slightly forward"], "answer_index": 1}
{"token": "1c53c60f95f0fdf9b348cbf358743666", "waymo_split": "test", "type": "image", "frame_index": 63, "question": "Is there a blind spot in the field of view?", "category": "Uncertainty", "options": ["A. There is a blind spot in front of the right bus stop.", "B. There is no blind spot between parked vehicles on the right shoulder.", "C. There is a blind spot between parked vehicles on the left shoulder.", "D. There is a blind spot between parked vehicles on the right shoulder."], "answer_index": 3}
{"token": "1c53c60f95f0fdf9b348cbf358743666", "waymo_split": "test", "type": "image", "frame_index": 63, "question": "Where is the area that hides danger in the current frame?", "category": "Uncertainty", "options": ["A. Blind spot between parked vehicles on the right shoulder", "B. Blind spot at the front bottom of a large truck ahead", "C. Blind spot behind the left median barrier", "D. Blind spot between the railings of the right crosswalk"], "answer_index": 0}
{"token": "1c53c60f95f0fdf9b348cbf358743666", "waymo_split": "test", "type": "image", "frame_index": 63, "question": "Are there any other safety-critical objects besides the first safety-critical object? If so, how will they be moved?", "category": "Safety-critical Prediction", "options": ["A. There are strong acid reagents, sealed and moved with an explosion-proof hand truck", "B. There are sharp saw blades, covered and transported to one side", "C. None", "D. There are high-pressure gas cylinders, secured with chains and moved with a cart"], "answer_index": 2}
{"token": "1c53c60f95f0fdf9b348cbf358743666", "waymo_split": "test", "type": "image", "frame_index": 63, "question": "What is a safety-critical object?", "category": "Safety-critical Perception", "options": ["A. None", "B. Seatbelt", "C. Airbag", "D. Brake"], "answer_index": 0}
{"token": "1c53c60f95f0fdf9b348cbf358743666", "waymo_split": "test", "type": "image", "frame_index": 63, "question": "How should I drive to address the first risk while also resolving the second risk?", "category": "Safety-critical Planning", "options": ["A. There is a pedestrian risk in the next section", "B. There is a safety-critical object ahead", "C. Be cautious of left vehicles at the next intersection", "D. There is no safety-critical object ahead"], "answer_index": 3}
{"token": "1c53c60f95f0fdf9b348cbf358743666", "waymo_split": "test", "type": "image", "frame_index": 63, "question": "Is lane change possible? Which is safer between slowing down and changing lanes?", "category": "Safety-critical Planning", "options": ["A. Lane change possible (ample space in the right lane) changing lanes is safer", "B. Lane change possible (in a lane expansion area) changing lanes is safer", "C. Lane change possible (because it's a one-way three-lane road) changing lanes is safer", "D. Lane change not possible (because it's a two-lane road). Slowing down is safer"], "answer_index": 3}
{"token": "1c53c60f95f0fdf9b348cbf358743666", "waymo_split": "test", "type": "image", "frame_index": 63, "question": "What is the safest choice just before entering a yellow signal: stop vs. proceed?", "category": "Special Event", "options": ["A. No signal. Unable to judge.", "B. Stopping just before the stop line is safe.", "C. The intersection is clear, slow down and proceed.", "D. Proceeding in the right lane is recommended."], "answer_index": 0}
{"token": "1c53c60f95f0fdf9b348cbf358743666", "waymo_split": "test", "type": "image", "frame_index": 63, "question": "What situation might occur if the vehicle acted this way?", "category": "Counterfactual", "options": ["A. If the vehicle proceeds with a left turn without protection, it could collide with an oncoming vehicle (intersection collision)", "B. If the vehicle moves past the stop line, it could hit a pedestrian at the crosswalk (pedestrian accident)", "C. If the vehicle changes lanes abruptly while only looking at the right lane, it could brush against a motorcycle in the blind spot (side contact)", "D. If the vehicle ignores the leading vehicle and goes straight, it could rear-end the leading vehicle (rear-end collision)"], "answer_index": 3}
{"token": "1c53c60f95f0fdf9b348cbf358743666", "waymo_split": "test", "type": "image", "frame_index": 63, "question": "What is the method to avoid the blind spot next to a large vehicle?", "category": "Special Event", "options": ["A. Accelerate from behind the large vehicle and overtake immediately", "B. Judgment is impossible as there is no large vehicle", "C. Stay close to the left side of the large vehicle and pass quickly", "D. Slightly move into the right lane of the large vehicle to pass"], "answer_index": 1}
{"token": "1c53c60f95f0fdf9b348cbf358743666", "waymo_split": "test", "type": "image", "frame_index": 63, "question": "What are the potential situations that could occur in the current scenario?", "category": "Counterfactual", "options": ["A. The vehicle changes to the left lane to overtake the leading vehicle.", "B. The vehicle continues to drive slowly while maintaining a safe distance from the leading vehicle.", "C. The vehicle enters the intersection following the leading vehicle as it begins to turn left.", "D. The vehicle stops and waits until the leading vehicle is parked on the right shoulder."], "answer_index": 3}
{"token": "1c53c60f95f0fdf9b348cbf358743666", "waymo_split": "test", "type": "image", "frame_index": 63, "question": "What are the new exposure risk candidates in the following section?", "category": "Safety-critical Prediction", "options": ["A. A bicycle suddenly entering from the left alley", "B. A bus crossing the center line from the opposite lane", "C. A vehicle making a right turn ignoring the signal at the upcoming intersection", "D. A person or object suddenly emerging between parked vehicles on the shoulder"], "answer_index": 3}
{"token": "1c53c60f95f0fdf9b348cbf358743666", "waymo_split": "test", "type": "image", "frame_index": 105, "question": "Which of the following is correct from the perspective of Safety-critical Frame regarding Image Caption?", "category": "Safety-critical scene caption", "options": ["A. There may be a vehicle coming from the left opposite lane.", "B. A bus may suddenly depart from the left bus stop.", "C. There may be a jaywalking pedestrian at the crosswalk ahead.", "D. There may be a vehicle merging from the right lane."], "answer_index": 0}
{"token": "1c53c60f95f0fdf9b348cbf358743666", "waymo_split": "test", "type": "image", "frame_index": 105, "question": "Which of the following is a correct description of traffic density?", "category": "Normal scene Understanding", "options": ["A. Usually, many surrounding vehicles are present (mainly moving vehicles, shoulder is empty)", "B. Slow, many surrounding vehicles are present (both moving vehicles and parked vehicles on the shoulder)", "C. Fast, few surrounding vehicles are present (mainly moving vehicles, ample shoulder space)", "D. Slow, almost no surrounding vehicles are present (intermittent moving vehicles, quiet shoulder)"], "answer_index": 1}
{"token": "1c53c60f95f0fdf9b348cbf358743666", "waymo_split": "test", "type": "image", "frame_index": 105, "question": "What is the plan for yielding when an ambulance/fire truck approaches?", "category": "Special Event", "options": ["A. Move to the left to create space", "B. Stay close to the center line to secure a passage", "C. Stop inside the intersection to clear the way", "D. Move to the right to create space"], "answer_index": 3}
{"token": "1c53c60f95f0fdf9b348cbf358743666", "waymo_split": "test", "type": "image", "frame_index": 105, "question": "Based on the current appearance of the person/vehicle (two-wheeled), how do they intend to move?", "category": "Normal Perception & Prediction", "options": ["A. Attempting to overtake by proceeding slowly into the left opposing lane", "B. Intending to turn right into the right alley by slowing down", "C. Trying to move into the right shoulder by proceeding slowly", "D. Attempting to overtake by accelerating into the left lane"], "answer_index": 0}
{"token": "1c53c60f95f0fdf9b348cbf358743666", "waymo_split": "test", "type": "image", "frame_index": 105, "question": "What is the classification of the scene?", "category": "Normal scene Understanding", "options": ["A. Residential road", "B. Urban arterial road", "C. Highway entrance", "D. Unpaved farm road"], "answer_index": 0}
{"token": "1c53c60f95f0fdf9b348cbf358743666", "waymo_split": "test", "type": "image", "frame_index": 105, "question": "What are the behavior restrictions in school zones/congested areas?", "category": "Special Event", "options": ["A. Must drive slowly - currently in a congested area", "B. Must stop temporarily - no pedestrians", "C. No need to drive slowly - currently in a congested area", "D. Right turn has priority - currently in a school zone"], "answer_index": 0}
{"token": "1c53c60f95f0fdf9b348cbf358743666", "waymo_split": "test", "type": "image", "frame_index": 105, "question": "Which of the following is a correct description of the environment?", "category": "Normal scene Understanding", "options": ["A. Day, clear", "B. Evening, cloudy", "C. Night, raining", "D. Dawn, fog"], "answer_index": 0}
{"token": "1c53c60f95f0fdf9b348cbf358743666", "waymo_split": "test", "type": "image", "frame_index": 105, "question": "Which of the following is a correct description of traffic signals?", "category": "Traffic Signal", "options": ["A. Left turn", "B. None", "C. Stop", "D. Crosswalk"], "answer_index": 1}
{"token": "1c53c60f95f0fdf9b348cbf358743666", "waymo_split": "test", "type": "image", "frame_index": 105, "question": "What is the description of a non-safety-critical object?", "category": "Normal Perception & Prediction", "options": ["A. Motorcycles parked on both sides of the road, a white vehicle trying to stop on the left shoulder in front, people riding bicycles and flower beds on both sidewalks, a T-intersection and a median in front, and a bus stop sign on the right sidewalk.", "B. Bike lanes marked on both shoulders, an entrance ramp leading to an overpass in front, a phone booth instead of a utility pole on the right sidewalk, a roundabout instead of an intersection with no crosswalk, and a pedestrian overpass visible in the distance.", "C. Parked vehicles on both shoulders. A black vehicle trying to stop on the right shoulder in front. People walking on both sidewalks, trees, and buildings. An intersection and its crosswalk in front. A utility pole on the left sidewalk.", "D. Construction signs and cones in the center of the road, a yellow taxi waiting to turn right in front, buses and trucks driving in the lanes on both sides, a quiet sidewalk with only a low fence visible, and an electronic display board on the left."], "answer_index": 2}
{"token": "1c53c60f95f0fdf9b348cbf358743666", "waymo_split": "test", "type": "image", "frame_index": 105, "question": "How do you think a safety-critical object will move?", "category": "Safety-critical Prediction", "options": ["A. Move to the left lane and attempt a U-turn (uncertain if adjusting angle or going straight again)", "B. Pull over to the right shoulder just before the intersection (undecided whether to wait briefly or turn around)", "C. Cross the intersection (uncertain if it will come onto the road in the direction of the vehicle or turn onto another road)", "D. Enter the left turn lane before the intersection (undecided whether to turn left immediately or wait until the next signal)"], "answer_index": 2}
{"token": "1c53c60f95f0fdf9b348cbf358743666", "waymo_split": "test", "type": "image", "frame_index": 105, "question": "What is a safety-critical object?", "category": "Safety-critical Perception", "options": ["A. A bus stopped at an intersection signal waiting from a distance in front.", "B. A pedestrian waiting to cross in front of the intersection on the left sidewalk.", "C. A vehicle stopped on the right side of the road outside the intersection.", "D. A vehicle approaching from the opposite lane in the distance on the left front at the intersection."], "answer_index": 3}
{"token": "1c53c60f95f0fdf9b348cbf358743666", "waymo_split": "test", "type": "image", "frame_index": 105, "question": "Are there any other safety-critical objects besides the first safety-critical object? If so, how will they be moved?", "category": "Safety-critical Prediction", "options": ["A. There is a lithium battery, two people will carry it and move it backward", "B. There is a fire extinguisher, a person will carry it and move it to the left", "C. None", "D. There is an oxygen tank, it will be loaded onto a cart and moved forward"], "answer_index": 2}
{"token": "1c53c60f95f0fdf9b348cbf358743666", "waymo_split": "test", "type": "image", "frame_index": 105, "question": "What should I do to drive safely?", "category": "Safety-critical Planning", "options": ["A. You should only overtake when there are no oncoming vehicles in the opposite lane, so it is safer to stop and wait.", "B. It is acceptable to overtake even if there are oncoming vehicles as long as there is enough distance from the car in front, so it is safer to maintain speed without braking.", "C. At night, if you signal with high beams, oncoming cars will naturally yield, making overtaking possible, so it is safer to accelerate and finish quickly.", "D. Overtaking in the right lane is safer as it aligns with traffic flow, so you should not stop and should accelerate to pass quickly."], "answer_index": 0}
{"token": "1c53c60f95f0fdf9b348cbf358743666", "waymo_split": "test", "type": "image", "frame_index": 105, "question": "How should I drive to address the first risk while also resolving the second risk?", "category": "Safety-critical Planning", "options": ["A. No more safety-critical objects ahead", "B. Need to slow down due to detecting a pedestrian crossing ahead", "C. There is a safety-critical object ahead", "D. Safety-critical object approaching in the left lane"], "answer_index": 0}
{"token": "1c53c60f95f0fdf9b348cbf358743666", "waymo_split": "test", "type": "image", "frame_index": 105, "question": "What is the correlation in safety-critical situations?", "category": "Safety-critical scene Understanding", "options": ["A. Car-Car", "B. Car-Person", "C. Two-wheeler-Two-wheeler", "D. Car-Two-wheeler"], "answer_index": 0}
{"token": "1c53c60f95f0fdf9b348cbf358743666", "waymo_split": "test", "type": "image", "frame_index": 105, "question": "Is lane change possible? Which is safer, slowing down or changing lanes?", "category": "Safety-critical Planning", "options": ["A. Lane change is possible (the right lane is empty). Changing lanes is safer than slowing down.", "B. Lane change is not possible (it's a two-lane road). Slowing down is safer.", "C. Lane change is possible (it's a two-lane road). Changing lanes is safer.", "D. Lane change is possible (can enter the passing lane). Changing lanes is safer."], "answer_index": 1}
{"token": "1c53c60f95f0fdf9b348cbf358743666", "waymo_split": "test", "type": "image", "frame_index": 105, "question": "Who is responsible in a safety-critical situation? What is the cause?", "category": "Safety-critical scene Understanding", "options": ["A. It is the front vehicle's fault for abruptly changing lanes to the left without signaling after stopping on the right, blocking the escape space of my vehicle.", "B. It is the opposing vehicle's fault for crossing the center line while exceeding the speed limit in a curve, invading the path of my vehicle.", "C. It is the road management's fault due to insufficient guidance in the construction area, causing the lane to suddenly narrow and creating a hazard while my vehicle was trying to avoid it.", "D. It is my vehicle's fault for encroaching on the opposite lane while attempting to overtake, as this could obstruct the path and pose a risk of an accident if a vehicle enters from the opposite lane."], "answer_index": 3}
{"token": "1c53c60f95f0fdf9b348cbf358743666", "waymo_split": "test", "type": "image", "frame_index": 105, "question": "What is the safest choice just before entering a yellow signal: stop vs pass?", "category": "Special Event", "options": ["A. Passing is recommended. Maintain flow", "B. Concern of rear-end collision. Avoid stopping", "C. No signal. Judgment is impossible", "D. Stopping is a priority. Safety is paramount"], "answer_index": 2}
{"token": "1c53c60f95f0fdf9b348cbf358743666", "waymo_split": "test", "type": "image", "frame_index": 105, "question": "Where is the area that hides danger in the current frame?", "category": "Uncertainty", "options": ["A. Blind spot between parked vehicles on the right shoulder", "B. Blind spot behind a large bus in front", "C. Blind spot next to the waiting bus at the right bus stop", "D. Blind spot behind parked vehicles on the left shoulder"], "answer_index": 0}
{"token": "1c53c60f95f0fdf9b348cbf358743666", "waymo_split": "test", "type": "image", "frame_index": 105, "question": "What is the method to avoid blind spots when passing by a large vehicle?", "category": "Special Event", "options": ["A. It is impossible to judge because there is no large vehicle.", "B. Drive slowly while closely following the large bus.", "C. Pass through the right blind spot with the horn and hazard lights on.", "D. Increase speed in the left lane for a quick overtaking."], "answer_index": 0}
{"token": "1c53c60f95f0fdf9b348cbf358743666", "waymo_split": "test", "type": "image", "frame_index": 105, "question": "Who are the new potential risks to be exposed in the following section?", "category": "Safety-critical Prediction", "options": ["A. A pedestrian who jumps in while ignoring the signal at the crosswalk", "B. A person or object that suddenly appears between parked cars on the shoulder", "C. A vehicle that suddenly enters by crossing the center line from the opposite lane", "D. A two-wheeler that emerges in the wrong direction from the right alley"], "answer_index": 1}
{"token": "1c53c60f95f0fdf9b348cbf358743666", "waymo_split": "test", "type": "image", "frame_index": 105, "question": "What situation would occur if the self-driving car behaved like this?", "category": "Counterfactual", "options": ["A. Even if the self-driving car continues without slowing down, the forward assistance will stop it automatically, resulting in no accident (avoidance stop)", "B. If the self-driving car ignores the leading vehicle and goes straight, it could collide with the leading vehicle (rear-end collision)", "C. If the self-driving car ignores the leading vehicle and goes straight, the leading vehicle will yield and allow it to pass (safe driving)", "D. If the self-driving car swerves left to avoid the leading vehicle, it will naturally change lanes and pass by (no collision)"], "answer_index": 1}
{"token": "1c53c60f95f0fdf9b348cbf358743666", "waymo_split": "test", "type": "image", "frame_index": 137, "question": "Based on the current appearance of the person/vehicle (two-wheeled), how do they intend to move?", "category": "Normal Perception & Prediction", "options": ["A. Accelerate, change lanes to the right, and go straight.", "B. Turn on the turn signal and enter a left turn at the intersection.", "C. Proceed slowly and pull over to the right shoulder, then stop.", "D. Proceed slowly and attempt to overtake in the left opposing lane, then stop."], "answer_index": 3}
{"token": "1c53c60f95f0fdf9b348cbf358743666", "waymo_split": "test", "type": "image", "frame_index": 137, "question": "What are the behavior restrictions in school zones/congested areas?", "category": "Special Event", "options": ["A. Must pass quickly - school zone section", "B. Must drive slowly - current congested area", "C. Must use the horn - congested road during school hours", "D. Have the right of way for right turns - intersection in front of the school"], "answer_index": 1}
{"token": "1c53c60f95f0fdf9b348cbf358743666", "waymo_split": "test", "type": "image", "frame_index": 137, "question": "What are the classifications of scenes?", "category": "Normal scene Understanding", "options": ["A. Unpaved road", "B. Urban boulevard", "C. Highway section", "D. Residential road"], "answer_index": 3}
{"token": "1c53c60f95f0fdf9b348cbf358743666", "waymo_split": "test", "type": "image", "frame_index": 105, "question": "What are the driving guidelines for my vehicle based on the behavior of a safety-critical object?", "category": "Safety-critical Planning", "options": ["A. If the safety-critical object reduces speed in the same lane when my vehicle is overtaking in the opposite lane, there is a risk of collision and obstruction.", "B. If the safety-critical object stops in the opposite lane and turns on the hazard lights, there is a risk of collision and obstruction.", "C. If the safety-critical object recognizes my vehicle overtaking and retreats to the right shoulder, there is a risk of collision and obstruction.", "D. If the safety-critical object approaches using the opposite lane while my vehicle is overtaking in the opposite lane, there is a risk of collision and obstruction."], "answer_index": 3}
{"token": "1c53c60f95f0fdf9b348cbf358743666", "waymo_split": "test", "type": "image", "frame_index": 137, "question": "Which of the following is a correct description of traffic density?", "category": "Normal scene Understanding", "options": ["A. Fast, many surrounding vehicles (mainly large trucks)", "B. Fast, few surrounding vehicles (mainly moving vehicles)", "C. Slow, many surrounding vehicles (both moving vehicles and parked vehicles on the shoulder)", "D. Slow, almost no surrounding vehicles (rarely parked vehicles on the shoulder)"], "answer_index": 2}
{"token": "1c53c60f95f0fdf9b348cbf358743666", "waymo_split": "test", "type": "image", "frame_index": 137, "question": "Which of the following is a correct description of the environment?", "category": "Normal scene Understanding", "options": ["A. Dawn, fog", "B. Evening, rain", "C. Day, clear", "D. Night, cloudy"], "answer_index": 2}
{"token": "1c53c60f95f0fdf9b348cbf358743666", "waymo_split": "test", "type": "image", "frame_index": 137, "question": "Which of the following is correct from the perspective of Safety-critical Frame regarding Image Caption?", "category": "Safety-critical scene caption", "options": ["A. A white vehicle is slowly making a right turn into another road in the opposite lane (low possibility of interference with the direction of my vehicle). At this time, my vehicle enters the opposite lane, completes the overtaking, and then accelerates straight (appears to have accelerated after passing the vehicle in the opposite lane).", "B. There is a yellow vehicle driving in the same direction in front of me in the left lane (having already passed the intersection). At this time, my vehicle maintains a safe distance without crossing the center line and is moving slowly (a situation where speed is adjusted without the intention to overtake).", "C. There is a yellow vehicle coming towards my vehicle in the left opposite lane (having already entered the road towards my vehicle after passing the intersection). At this time, my vehicle attempted to overtake through the opposite lane but is in a stopped state (presumed to have stopped due to awareness of the yellow vehicle).", "D. In the left opposite lane, a yellow vehicle is seen stopped in front of the intersection (not entering the direction of my vehicle). At this time, my vehicle is waiting behind the vehicle in front without attempting to overtake (presumed to be a stop while waiting for a signal)."], "answer_index": 2}
{"token": "1c53c60f95f0fdf9b348cbf358743666", "waymo_split": "test", "type": "image", "frame_index": 137, "question": "Which of the following is a correct description of traffic signals?", "category": "Traffic Signal", "options": ["A. Left turn", "B. Red light", "C. Stop line", "D. None"], "answer_index": 3}
{"token": "1c53c60f95f0fdf9b348cbf358743666", "waymo_split": "test", "type": "image", "frame_index": 137, "question": "What is the answer regarding parked vehicles on the shoulder, the presence of a center line, and whether Ego has crossed the center line?", "category": "Normal Perception & Prediction", "options": ["A. There are sporadic parked vehicles on the right side of the shoulder. There is a center line. My vehicle stopped by moving to the right, with no approach to the center line.", "B. There are almost no parked vehicles on the shoulder. There is a center line (yellow dashed line). My vehicle maintained its lane while passing, with no crossing of the center line.", "C. There are many parked vehicles on the shoulder. There is no center line. My vehicle attempted to cross the center line to the left opposite lane but stopped (did not cross).", "D. There are few parked vehicles on the shoulder. There is a center line (yellow solid line). My vehicle briefly drove over the center line into the opposite lane before returning."], "answer_index": 2}
{"token": "1c53c60f95f0fdf9b348cbf358743666", "waymo_split": "test", "type": "image", "frame_index": 137, "question": "Is there a blind spot in the field of view?", "category": "Uncertainty", "options": ["A. There is a blind spot only on the sidewalk next to the right roadside trees.", "B. The right shoulder is visible, so there is no blind spot.", "C. There is a blind spot between parked vehicles on the left shoulder.", "D. There is a blind spot between parked vehicles on the right shoulder."], "answer_index": 3}
{"token": "1c53c60f95f0fdf9b348cbf358743666", "waymo_split": "test", "type": "image", "frame_index": 137, "question": "What is a safety-critical object?", "category": "Safety-critical Perception", "options": ["A. A bicycle moving slowly in the same lane (blue)", "B. A vehicle parked on the right shoulder (white)", "C. A pedestrian waiting in front of the crosswalk (black)", "D. A vehicle approaching from the left opposite lane (yellow)"], "answer_index": 3}
{"token": "1c53c60f95f0fdf9b348cbf358743666", "waymo_split": "test", "type": "image", "frame_index": 137, "question": "How do you think a safety-critical object would move?", "category": "Safety-critical Prediction", "options": ["A. It seems to be slowing down to pull over to the right shoulder.", "B. It has been driving in the same direction in the same lane as my vehicle.", "C. It has been driving in the opposite lane towards my vehicle.", "D. It changes lanes to the left and goes straight along the center line."], "answer_index": 2}
{"token": "1c53c60f95f0fdf9b348cbf358743666", "waymo_split": "test", "type": "image", "frame_index": 137, "question": "Is there any other safety-critical object besides the first safety-critical item? If so, how would you move it?", "category": "Safety-critical Prediction", "options": ["A. Medicine bottle, hold it upright so the label is visible and place it in the middle shelf on the right.", "B. Knife, avoid the blade and hold only the handle to slowly move it behind the left workbench.", "C. None", "D. Hot kettle, hold the handle and carefully move it over to the front safety tray."], "answer_index": 2}
{"token": "1c53c60f95f0fdf9b348cbf358743666", "waymo_split": "test", "type": "image", "frame_index": 137, "question": "How should I drive to address the first risk while also resolving the second risk?", "category": "Safety-critical Planning", "options": ["A. Approach the safety-critical object from the left", "B. Evade by driving in the right lane", "C. There is a safety-critical object ahead", "D. There is no next safety-critical object"], "answer_index": 3}
{"token": "1c53c60f95f0fdf9b348cbf358743666", "waymo_split": "test", "type": "image", "frame_index": 137, "question": "What is the correlation in safety-critical situations?", "category": "Safety-critical scene Understanding", "options": ["A. car-car", "B. car-person", "C. two-wheeler-person", "D. car-two-wheeler"], "answer_index": 0}
{"token": "1c53c60f95f0fdf9b348cbf358743666", "waymo_split": "test", "type": "image", "frame_index": 137, "question": "Where is the area that hides danger in the current frame?", "category": "Uncertainty", "options": ["A. Blind spot inside the guardrail on the right turn curve section", "B. Blind spot between parked vehicles on the right shoulder", "C. Blind spot behind a large bus at the left bus stop", "D. Blind spot behind the corner of a building at the intersection ahead"], "answer_index": 1}
{"token": "1c53c60f95f0fdf9b348cbf358743666", "waymo_split": "test", "type": "image", "frame_index": 137, "question": "Who is responsible in a safety-critical situation? What is the cause?", "category": "Safety-critical scene Understanding", "options": ["A. It is the responsibility of the own vehicle, as it crossed the center line to overtake in the opposite lane and stopped; if it had encroached at that time, it would have obstructed the path and posed a risk of an accident.", "B. It is the responsibility of the road management, as the center line and construction signs are faint, making the lane boundaries unclear, leading to driver confusion and obstruction of the path.", "C. It is the responsibility of the oncoming vehicle, as it entered in the opposite direction while crossing the center line, leaving no space to avoid a collision even if the own vehicle stopped.", "D. It is the responsibility of the preceding vehicle, as it suddenly made a left turn without signaling and braked hard, making it difficult for the own vehicle to judge the overtaking and causing sudden braking."], "answer_index": 0}
{"token": "1c53c60f95f0fdf9b348cbf358743666", "waymo_split": "test", "type": "image", "frame_index": 137, "question": "What are the newly exposed risk candidates in the following section?", "category": "Safety-critical Prediction", "options": ["A. A bus that suddenly departs in front of the bus stop", "B. A person or object suddenly emerging from between parked vehicles on the shoulder", "C. A motorcycle unexpectedly entering from the right alley", "D. A vehicle crossing the center line from the opposite lane"], "answer_index": 1}
{"token": "1c53c60f95f0fdf9b348cbf358743666", "waymo_split": "test", "type": "image", "frame_index": 137, "question": "What is the method to avoid the blind spot next to a large vehicle?", "category": "Special Event", "options": ["A. Change lanes to the left and pass", "B. Honk the horn and maintain speed to go straight", "C. It is impossible to judge as there is no large vehicle", "D. Follow closely behind the large vehicle and pass"], "answer_index": 2}
{"token": "1c53c60f95f0fdf9b348cbf358743666", "waymo_split": "test", "type": "image", "frame_index": 137, "question": "What situation might have occurred if the self-driving car behaved like this?", "category": "Counterfactual", "options": ["A. If the self-driving car ignored and tried to overtake on the opposite lane, there would be a risk of collision with a safety object.", "B. If the self-driving car attempted to go straight from the U-turn lane, there would be a risk of contact with the central barrier.", "C. If the self-driving car recklessly entered the bus-only lane, there would be a risk of contact with a stationary bus.", "D. If the self-driving car ignored lane markings and suddenly stopped in the middle of the intersection, there would be a risk of collision with the vehicle behind."], "answer_index": 0}
{"token": "1c53c60f95f0fdf9b348cbf358743666", "waymo_split": "test", "type": "image", "frame_index": 127, "question": "Which of the following is correct as an Image Caption from a Safety-critical Frame perspective?", "category": "Safety-critical scene caption", "options": ["A. A yellow vehicle is approaching from the opposite lane on the left side at the intersection, already having entered the lane towards my vehicle after passing the intersection. At this time, my vehicle is in a stopped state, presumably having stopped to be aware of the yellow vehicle.", "B. A yellow vehicle is stopped in the center of the intersection, waiting to turn left (it has not yet entered the lane towards my vehicle). At this time, my vehicle is waiting at the stop line for the signal (maintaining its lane without attempting to overtake).", "C. A yellow vehicle is seen driving away from my vehicle in the right opposite lane at the intersection (moving to the opposite lane after passing the intersection). At this time, my vehicle is preparing to turn right with the right turn signal on (the stop is not due to awareness of the oncoming vehicle).", "D. A white van is driving in the opposite direction to my vehicle after moving into the right lane at the intersection (the lane change has already been completed before the intersection). At this time, my vehicle is moving straight while proceeding slowly in its lane (it is presumed to have maintained speed regardless of the other vehicle)."], "answer_index": 0}
{"token": "1c53c60f95f0fdf9b348cbf358743666", "waymo_split": "test", "type": "image", "frame_index": 127, "question": "Which of the following is a correct description of traffic density?", "category": "Normal scene Understanding", "options": ["A. Fast, many surrounding vehicles (many merging vehicles and close spacing)", "B. Slow, many surrounding vehicles (both moving vehicles and parked vehicles on the shoulder)", "C. Fast, almost no surrounding vehicles (only intermittent moving vehicles)", "D. Slow, few surrounding vehicles (mainly moving vehicles, rare shoulder parking)"], "answer_index": 1}
{"token": "1c53c60f95f0fdf9b348cbf358743666", "waymo_split": "test", "type": "image", "frame_index": 127, "question": "What are the classifications of scenes?", "category": "Normal scene Understanding", "options": ["A. Main highway", "B. Unpaved forest road", "C. Residential road", "D. Urban thoroughfare"], "answer_index": 2}
{"token": "1c53c60f95f0fdf9b348cbf358743666", "waymo_split": "test", "type": "image", "frame_index": 127, "question": "Based on the current appearance of the person/vehicle (two-wheeled), how are they trying to move?", "category": "Normal Perception & Prediction", "options": ["A. Accelerating to attempt a straight overtaking in the same lane, then decelerating.", "B. Moving slowly and trying to stop by sticking to the right edge.", "C. Moving slowly and trying to overtake in the left opposite lane, then stopping.", "D. Changing lanes to the left and stopping while waiting to turn left."], "answer_index": 2}
{"token": "1c53c60f95f0fdf9b348cbf358743666", "waymo_split": "test", "type": "image", "frame_index": 127, "question": "What are the behavior restrictions in school zones/congested areas?", "category": "Special Event", "options": ["A. Must drive slowly - currently in a congested area", "B. Quick passage recommended - currently in a congested area", "C. Overtaking allowed - few pedestrians", "D. Frequent use of horn - to alert attention"], "answer_index": 0}
{"token": "1c53c60f95f0fdf9b348cbf358743666", "waymo_split": "test", "type": "image", "frame_index": 127, "question": "Which of the following is a correct description of the environment?", "category": "Normal scene Understanding", "options": ["A. Morning, fog", "B. Afternoon, clear", "C. Evening, cloudy", "D. Night, drizzle"], "answer_index": 1}
{"token": "1c53c60f95f0fdf9b348cbf358743666", "waymo_split": "test", "type": "image", "frame_index": 127, "question": "Which of the following is a correct description of traffic signals?", "category": "Traffic Signal", "options": ["A. Stop sign", "B. None", "C. Traffic light red", "D. Left turn signal"], "answer_index": 1}
{"token": "1c53c60f95f0fdf9b348cbf358743666", "waymo_split": "test", "type": "image", "frame_index": 127, "question": "Is there a blind spot in the field of view?", "category": "Uncertainty", "options": ["A. There is no blind spot in front of the right bus stop area.", "B. There is a blind spot between parked vehicles on the right shoulder.", "C. The right shoulder has good visibility, so there is no blind spot.", "D. There is a blind spot between parked vehicles on the left shoulder."], "answer_index": 1}
{"token": "1c53c60f95f0fdf9b348cbf358743666", "waymo_split": "test", "type": "image", "frame_index": 127, "question": "What is a safety-critical object?", "category": "Safety-critical Perception", "options": ["A. A vehicle (white) at the corner of an intersection trying to turn right from the right lane.", "B. A vehicle (yellow) in the middle of an intersection trying to drive into the left opposite lane.", "C. A pedestrian (black) waiting for the signal at the edge of the left crosswalk.", "D. A small passenger car (silver) slowly merging into the same lane ahead."], "answer_index": 1}
{"token": "1c53c60f95f0fdf9b348cbf358743666", "waymo_split": "test", "type": "image", "frame_index": 127, "question": "How do you think a safety-critical object will move?", "category": "Safety-critical Prediction", "options": ["A. It seems like it will change lanes to the right lane and go straight.", "B. It seems like it will pull over to the shoulder, stop briefly, and then start moving slowly.", "C. It seems like it will drive in the opposite lane towards my direction.", "D. It seems like it will turn left at the intersection and exit in the opposite direction."], "answer_index": 2}
{"token": "1c53c60f95f0fdf9b348cbf358743666", "waymo_split": "test", "type": "image", "frame_index": 127, "question": "What is the correlation in safety-critical situations?", "category": "Safety-critical scene Understanding", "options": ["A. Car-Car", "B. Car-Person", "C. Car-Two-wheeler", "D. Person-Two-wheeler"], "answer_index": 0}
{"token": "1c53c60f95f0fdf9b348cbf358743666", "waymo_split": "test", "type": "image", "frame_index": 127, "question": "How should I drive to resolve the first risk while also addressing the second risk?", "category": "Safety-critical Planning", "options": ["A. There are no more safety-critical objects ahead", "B. The next safety-critical object is in the right lane", "C. Approaching the next safety-critical object, deceleration is needed", "D. Change to the left lane to avoid the next safety-critical object"], "answer_index": 0}
{"token": "1c53c60f95f0fdf9b348cbf358743666", "waymo_split": "test", "type": "image", "frame_index": 127, "question": "Are there any other safety-critical objects besides the first safety-critical object? If so, how would you move?", "category": "Safety-critical Prediction", "options": ["A. Left front danger object, move left after deceleration", "B. Front danger object, evade to the right", "C. No next danger object", "D. Right lane danger object, stop and change lanes"], "answer_index": 2}
{"token": "1c53c60f95f0fdf9b348cbf358743666", "waymo_split": "test", "type": "image", "frame_index": 127, "question": "What should I do to drive safely?", "category": "Safety-critical Planning", "options": ["A. If the car in front is slow, use the shoulder to overtake on the right, briefly use the opposite lane to return, and do not stop to avoid disrupting the flow (maintain the accelerator).", "B. Go directly into the opposite lane to finish overtaking the blue vehicle first, and continue straight close to the center line while maintaining speed (honk briefly).", "C. Use the opposite lane to let the yellow vehicle pass, and since overtaking must be done in a safe condition, either return to the original lane or maintain the current stopped position (while turning the steering wheel left).", "D. Even if the white truck is visible coming from the opposite direction, turn on the hazard lights and slowly move forward to create space, while continuing to stay close to the left (maintain the left steering)."], "answer_index": 2}
{"token": "1c53c60f95f0fdf9b348cbf358743666", "waymo_split": "test", "type": "image", "frame_index": 127, "question": "Is lane change possible? Which is safer between slowing down and changing lanes?", "category": "Safety-critical Planning", "options": ["A. Lane change possible (1st lane is empty). Prioritize slowing down (sufficient distance).", "B. Lane change possible (3 lanes in one direction, space on the left). Slowing down is safer (gradually brake).", "C. Recommended to change to the right lane (not a bus-only lane). Maintain low speed while slowing down.", "D. Lane change not possible (it's a second lane). Currently at a stop, so cannot slow down."], "answer_index": 3}
{"token": "1c53c60f95f0fdf9b348cbf358743666", "waymo_split": "test", "type": "image", "frame_index": 127, "question": "Where is the area that hides danger in the current frame?", "category": "Uncertainty", "options": ["A. Blind spot on the side of the large truck in front", "B. Blind spot behind the right bus stop", "C. Blind spot between parked vehicles on the right shoulder", "D. Blind spot between parked vehicles on the left shoulder"], "answer_index": 2}
{"token": "1c53c60f95f0fdf9b348cbf358743666", "waymo_split": "test", "type": "image", "frame_index": 127, "question": "Who is responsible in a safety-critical situation? What is the cause?", "category": "Safety-critical scene Understanding", "options": ["A. It is the pedestrian's fault, as they entered the roadway by jaywalking and obstructed vehicle progress, which could lead to an accident during sudden lane changes while passing oncoming traffic.", "B. It is the road manager's fault, as the center line paint has faded and construction signs were insufficient, making lane division difficult, which caused confusion with oncoming vehicles due to the lack of detour guidance.", "C. It is the fault of the vehicle, as it crossed into the opposite lane while attempting to overtake and stopped, which could obstruct the path and lead to an accident if vehicles from the opposite lane enter.", "D. It is the fault of the oncoming vehicle, as it exceeded the speed limit and slightly encroached into our lane, causing sudden braking, which could lead to a collision with the oncoming vehicle due to inability to maintain lane position."], "answer_index": 2}
{"token": "1c53c60f95f0fdf9b348cbf358743666", "waymo_split": "test", "type": "image", "frame_index": 127, "question": "What are the new exposure risk candidates in the following section?", "category": "Safety-critical Prediction", "options": ["A. A person or object suddenly appearing between parked cars on the shoulder", "B. A pedestrian suddenly emerging from a crowd at a bus stop", "C. A motorcycle approaching while crossing the center line from the opposite side", "D. A bicycle suddenly coming over from beyond the median barrier"], "answer_index": 0}
{"token": "1c53c60f95f0fdf9b348cbf358743666", "waymo_split": "test", "type": "image", "frame_index": 127, "question": "What is the safest choice when approaching a yellow signal: stop vs proceed?", "category": "Special Event", "options": ["A. Priority to turn right, veer to the right", "B. Come to a complete stop, count to 3 and then proceed", "C. Proceed straight without decelerating", "D. No signal, impossible to judge"], "answer_index": 3}
{"token": "1c53c60f95f0fdf9b348cbf358743666", "waymo_split": "test", "type": "image", "frame_index": 127, "question": "What situation might have occurred if the vehicle acted this way?", "category": "Counterfactual", "options": ["A. If the vehicle recklessly swerved to the right shoulder, there is a risk of colliding with a pedestrian.", "B. If the vehicle ignored the signal and pushed into the intersection, there is a risk of colliding with a vehicle on the left.", "C. If the vehicle crossed the center line while attempting a U-turn, there is a risk of colliding with an oncoming vehicle.", "D. If the vehicle attempted to overtake recklessly in the opposite lane, there is a risk of colliding with a safety object."], "answer_index": 3}
{"token": "1d81e9e0579506c17aae22a42cbdda7a", "waymo_split": "test", "type": "video", "frame_index": null, "question": "Where is the safety-critical situation in the video?", "category": "Temporal Grounding", "options": ["A. 2/4", "B. 4/4", "C. 3/4", "D. 1/4"], "answer_index": 2}
{"token": "1d81e9e0579506c17aae22a42cbdda7a", "waymo_split": "test", "type": "video", "frame_index": null, "question": "Which of the following is a correct description of road alignment?", "category": "Normal Perception & Prediction", "options": ["A. Overtaking", "B. Left turn", "C. Straight", "D. Right turn"], "answer_index": 2}
{"token": "1d81e9e0579506c17aae22a42cbdda7a", "waymo_split": "test", "type": "video", "frame_index": null, "question": "Which of the following is a correct description of traffic density?", "category": "Normal scene Understanding", "options": ["A. Usually, there are many surrounding vehicles (mainly large trucks). It continues uphill.", "B. Fast, there are many surrounding vehicles (mainly parked cars on the shoulder). It is downhill.", "C. Slow, there are few surrounding vehicles (intermittent passing vehicles). It is uphill.", "D. Fast, there are few surrounding vehicles (the shoulder is empty). There is almost no slope."], "answer_index": 1}
{"token": "1d81e9e0579506c17aae22a42cbdda7a", "waymo_split": "test", "type": "video", "frame_index": null, "question": "What is correct regarding Video Summary from a Safety-critical Scene perspective?", "category": "Safety-critical scene caption", "options": ["A. In the right lane, about three vehicles are slowly lined up and merging behind my vehicle. The speed difference is minimal, so it doesn't seem very dangerous.", "B. In the left opposite lane, about three vehicles are lined up and passing by, at which point they brush past my vehicle. The relative speed is high, so it could be dangerous.", "C. A delivery motorcycle slowly passes by next to the central divider, and there is a sufficient gap from my vehicle. The relative speed is low, so the danger is not significant.", "D. In the left lane going in the same direction, the vehicle in front suddenly brakes, but my vehicle maintains a safe distance while braking comfortably. The speeds are similar, so there is no significant danger."], "answer_index": 1}
{"token": "1d81e9e0579506c17aae22a42cbdda7a", "waymo_split": "test", "type": "video", "frame_index": null, "question": "What is the classification of the scene?", "category": "Normal scene Understanding", "options": ["A. Downhill four-lane highway with a central divider", "B. Three-lane one-way suburban road on flat land", "C. Two-lane residential road with an upward slope (facing front)", "D. Two-lane urban road with a downward slope (facing front)"], "answer_index": 3}
{"token": "1d81e9e0579506c17aae22a42cbdda7a", "waymo_split": "test", "type": "video", "frame_index": null, "question": "Which of the following is a correct description of the environment?", "category": "Normal scene Understanding", "options": ["A. Evening shower", "B. Morning overcast", "C. Dusk fog", "D. Clear during the day"], "answer_index": 3}
{"token": "1d81e9e0579506c17aae22a42cbdda7a", "waymo_split": "test", "type": "video", "frame_index": null, "question": "Which of the following is a correct description of traffic signals?", "category": "Traffic Signal", "options": ["A. Bicycle lane sign on the road - roadway", "B. Bicycle crossing sign on the road - intersection", "C. Bicycle prohibited sign on the road - roadway", "D. Bus-only lane sign on the road - roadway"], "answer_index": 0}
{"token": "1d81e9e0579506c17aae22a42cbdda7a", "waymo_split": "test", "type": "video", "frame_index": null, "question": "What is the answer regarding parked vehicles on the shoulder, the presence of a center line, and Ego's encroachment on the center line?", "category": "Normal Perception & Prediction", "options": ["A. No parked vehicles on the shoulder. There is a center line.", "B. A few parked vehicles on the shoulder (right side). There is a center line (dashed).", "C. A few parked vehicles on the shoulder (left side). There is a solid center line.", "D. Many parked vehicles on the shoulder (both sides). There is no center line."], "answer_index": 3}
{"token": "1d81e9e0579506c17aae22a42cbdda7a", "waymo_split": "test", "type": "video", "frame_index": null, "question": "Is there a blind spot in your field of vision?", "category": "Uncertainty", "options": ["A. There is a blind spot between parked vehicles on the right side.", "B. There is a blind spot between parked vehicles on the left side.", "C. The visibility on the right sidewalk is good; no blind spot.", "D. Visibility is clear in the right lane; no blind spot."], "answer_index": 0}
{"token": "1d81e9e0579506c17aae22a42cbdda7a", "waymo_split": "test", "type": "video", "frame_index": null, "question": "What is the correlation in safety-critical situations?", "category": "Safety-critical scene Understanding", "options": ["A. Car - Two-wheeled vehicle", "B. Car - Car", "C. Car - Person", "D. Person - Two-wheeled vehicle"], "answer_index": 1}
{"token": "1d81e9e0579506c17aae22a42cbdda7a", "waymo_split": "test", "type": "video", "frame_index": null, "question": "Summary of Ego (self-vehicle) behavior before a safety-critical situation", "category": "Normal scene Understanding", "options": ["A. Going straight", "B. Stopping", "C. Turning right", "D. Turning left"], "answer_index": 0}
{"token": "1d81e9e0579506c17aae22a42cbdda7a", "waymo_split": "test", "type": "video", "frame_index": null, "question": "What is a safety-critical object?", "category": "Safety-critical Perception", "options": ["A. Two vehicles in the right lane", "B. One passenger car stopped in the left opposite lane", "C. Three vehicles in the left opposite lane", "D. Three vehicles waiting to turn left at the intersection ahead"], "answer_index": 2}
{"token": "1d81e9e0579506c17aae22a42cbdda7a", "waymo_split": "test", "type": "video", "frame_index": null, "question": "Who is responsible in a safety-critical situation? What is the cause?", "category": "Safety-critical scene Understanding", "options": ["A. It is mutual, especially since it is a narrow two-lane road with a slope and parked vehicles on the shoulder, so both should be careful not to encroach on the center or drive too closely.", "B. It is the responsibility of the oncoming driver, especially since it is a two-lane road on flat ground with a wide view, so they should have passed first by using the center more broadly.", "C. It is the responsibility of the road management, especially since there were no warning signs or speed reduction facilities even though it was not a construction zone, which increased the speed and created danger.", "D. It is largely the responsibility of the driver behind, especially since it is a road with sufficient shoulder width, so it would have been appropriate to stop briefly and let the car in front go first."], "answer_index": 0}
{"token": "1d81e9e0579506c17aae22a42cbdda7a", "waymo_split": "test", "type": "image", "frame_index": 8, "question": "Based on the current appearance of the person/vehicle (two-wheeled), how do you intend to move?", "category": "Normal Perception & Prediction", "options": ["A. Attempting a U-turn", "B. Entering a left turn", "C. Preparing for a right turn", "D. Driving straight"], "answer_index": 3}
{"token": "1d81e9e0579506c17aae22a42cbdda7a", "waymo_split": "test", "type": "image", "frame_index": 8, "question": "What is the plan for yielding when an ambulance/fire truck approaches?", "category": "Special Event", "options": ["A. Stop briefly in the center of the intersection to clear the passage", "B. Turn on hazard lights and overtake the car in front to exit first", "C. Stay in the left lane and maintain speed while proceeding", "D. Pull over to the right shoulder and stop the vehicle to yield space"], "answer_index": 3}
{"token": "1d81e9e0579506c17aae22a42cbdda7a", "waymo_split": "test", "type": "video", "frame_index": null, "question": "How did the safety-critical object move and how did the ego vehicle behave?", "category": "Safety-critical scene Understanding", "options": ["A. Driving in the opposite lane (going straight). The ego vehicle goes straight in the driving lane. They pass each other (without collision).", "B. Merging from the right (into our lane). The ego vehicle changes to the right lane. Stops after a light contact.", "C. Entering a left turn from the opposite lane. The ego vehicle slows down and stops. Stops facing the intersection.", "D. Reversing out from the right alley. The ego vehicle honks and proceeds slowly. Passes with a gap."], "answer_index": 0}
{"token": "1d81e9e0579506c17aae22a42cbdda7a", "waymo_split": "test", "type": "image", "frame_index": 8, "question": "Which of the following is correct as an Image Caption from the perspective of a Normal Frame?", "category": "Normal scene caption", "options": ["A. A car driving on a two-lane flat road with few parked cars on the roadside, cafes and shops visible, a black vehicle slowly driving in the same direction on the left side of the car, and a motorcycle riding in the center of the lane ahead.", "B. A car climbing a one-way two-lane uphill road, with shops and street trees lining both sides of the road, a white SUV driving in the same direction on the right side of the car with a clear center line, and a passenger car waiting at a traffic signal ahead.", "C. A car slowly driving in a narrow single-lane alley, with a bicycle parked at the edge of the road and residential fences continuing, a white van entering the alley ahead on the left, and a pedestrian crossing in front.", "D. A car driving on a two-lane road (with a slope below the front). There are many parked vehicles on the shoulders of this road, and a residential area is spread out. A black vehicle is driving in the opposite lane on the left side of the car (without a center line). Ahead of the car, a bicycle is already riding on the roadway."], "answer_index": 3}
{"token": "1d81e9e0579506c17aae22a42cbdda7a", "waymo_split": "test", "type": "image", "frame_index": 8, "question": "What are the behavioral restrictions in school zones/congested areas?", "category": "Special Event", "options": ["A. Must proceed with high beams on", "B. Must drive slowly", "C. Must pass quickly", "D. Must proceed while honking the horn"], "answer_index": 1}
{"token": "1d81e9e0579506c17aae22a42cbdda7a", "waymo_split": "test", "type": "image", "frame_index": 8, "question": "Which of the following is a correct description of traffic density?", "category": "Normal scene Understanding", "options": ["A. Fast, many parked vehicles on the shoulder", "B. Slow, few parked vehicles on the shoulder", "C. Fast, almost no vehicles around", "D. Slow, many waiting vehicles at nearby intersections"], "answer_index": 0}
{"token": "1d81e9e0579506c17aae22a42cbdda7a", "waymo_split": "test", "type": "image", "frame_index": 8, "question": "Which of the following is a correct description of the environment?", "category": "Normal scene Understanding", "options": ["A. Night, fog", "B. Morning, cloudy", "C. Evening, shower", "D. Day, clear"], "answer_index": 3}
{"token": "1d81e9e0579506c17aae22a42cbdda7a", "waymo_split": "test", "type": "image", "frame_index": 8, "question": "Which of the following is a correct description of traffic signals?", "category": "Traffic Signal", "options": ["A. Left turn arrow illuminated on the front traffic light", "B. Bicycle lane sign on the front road sign", "C. Bus-only lane indication on the right road sign", "D. Pedestrian protection sign on the front sign"], "answer_index": 1}
{"token": "1d81e9e0579506c17aae22a42cbdda7a", "waymo_split": "test", "type": "image", "frame_index": 8, "question": "What are the classifications of scenes?", "category": "Normal scene Understanding", "options": ["A. Urban four-lane road", "B. Rural unpaved farm road", "C. Residential two-lane road", "D. Highway one-way three-lane"], "answer_index": 2}
{"token": "1d81e9e0579506c17aae22a42cbdda7a", "waymo_split": "test", "type": "image", "frame_index": 8, "question": "What is the description of a non-safety-critical object?", "category": "Normal Perception & Prediction", "options": ["A. There is almost no street parking on both sides, with trees and shops. A motorcycle is approaching from the opposite lane in front. Traffic lights and pedestrian overpass structures are mainly visible at the top of the screen. The rear is quiet with no following vehicles.", "B. It is an urban main road with bus-only lanes and a concentration of shops on both sides. A city bus is stopped at a bus stop, occupying part of the lane in front. The upper part of the screen is largely occupied by an overpass. A taxi is quickly approaching from behind, narrowing the distance.", "C. On the left, there is a construction site and safety fence, and on the right, there is a river guardrail. A pedestrian pushing a stroller is starting to cross in front. Only mountain ridges and clouds are visible at the top of the screen, with no power lines. A bicycle is slowly following from a distance behind.", "D. There are parked vehicles on the shoulder and sidewalks on both sides, as well as residential areas. A bicycle in front is present in the driving lane of my vehicle. Utility poles and power lines are mainly present at the top of the screen. There is a vehicle following my car from behind."], "answer_index": 3}
{"token": "1d81e9e0579506c17aae22a42cbdda7a", "waymo_split": "test", "type": "image", "frame_index": 8, "question": "What is the answer regarding parked vehicles on the shoulder, the presence of a center line, and whether Ego crosses the center line?", "category": "Normal Perception & Prediction", "options": ["A. Many parked vehicles on the shoulder. No center line", "B. Many parked vehicles on the shoulder. There is a center line", "C. Few parked vehicles on the shoulder. There is a center line", "D. No parked vehicles on the shoulder. There is a center line"], "answer_index": 0}
{"token": "1d81e9e0579506c17aae22a42cbdda7a", "waymo_split": "test", "type": "image", "frame_index": 8, "question": "How do you think a safety-critical object will be moved?", "category": "Safety-critical Prediction", "options": ["A. Entering the front of the safety-critical object", "B. There is a safety-critical object", "C. Approaching the right side of the safety-critical vehicle", "D. There is no safety-critical object"], "answer_index": 3}
{"token": "1d81e9e0579506c17aae22a42cbdda7a", "waymo_split": "test", "type": "image", "frame_index": 8, "question": "What is a safety-critical object?", "category": "Safety-critical Perception", "options": ["A. Safety-critical object: has an emergency stop button", "B. No safety-critical object", "C. Safety-critical object: has a power cut-off switch", "D. Safety-critical object: has a brake control module"], "answer_index": 1}
{"token": "1d81e9e0579506c17aae22a42cbdda7a", "waymo_split": "test", "type": "image", "frame_index": 8, "question": "Are there any other safety-critical objects besides the first safety-critical object? If so, how will they be moved?", "category": "Safety-critical Prediction", "options": ["A. None", "B. The fuel drums are sent to the corner opposite the entrance with a forklift.", "C. The oxygen tanks are pulled out from under the left workbench and secured with a chain.", "D. The fire extinguisher is slightly moved from the aisle towards the wall."], "answer_index": 0}
{"token": "1d81e9e0579506c17aae22a42cbdda7a", "waymo_split": "test", "type": "image", "frame_index": 8, "question": "How should I drive to address the first risk while also resolving the second risk?", "category": "Safety-critical Planning", "options": ["A. Change to the left lane", "B. Slow down and go straight", "C. None", "D. Pass while honking the horn"], "answer_index": 2}
{"token": "1d81e9e0579506c17aae22a42cbdda7a", "waymo_split": "test", "type": "image", "frame_index": 8, "question": "Is lane changing possible? Which is safer between slowing down and changing lanes?", "category": "Safety-critical Planning", "options": ["A. Slowing down is safer. Slowing down allows for enough distance from the front and rear, making it possible with ease. Changing lanes is dangerous due to vehicles merging into the left lane.", "B. Changing lanes is safer. Slowing down could cause the vehicle behind to stop suddenly, which is more dangerous. Changing lanes is possible with enough space to the right in a one-way three-lane road.", "C. Neither is possible. Slowing down is not possible because the vehicle behind is following closely. Changing lanes is not possible because it is a two-lane road.", "D. Both are possible. Slowing down is fine as the vehicle behind is far away. Changing lanes is feasible as the right lane is empty."], "answer_index": 2}
{"token": "1d81e9e0579506c17aae22a42cbdda7a", "waymo_split": "test", "type": "image", "frame_index": 8, "question": "What are the potential situations that could occur in the current scenario?", "category": "Counterfactual", "options": ["A. Making a right turn and slowly going up a gentle slope", "B. Driving straight down an inclined road", "C. Reversing and changing direction into the right alley", "D. Stopping and making a left turn to enter a flat intersection"], "answer_index": 1}
{"token": "1d81e9e0579506c17aae22a42cbdda7a", "waymo_split": "test", "type": "image", "frame_index": 8, "question": "Where are the areas that hide risks by being obscured in the current frame?", "category": "Uncertainty", "options": ["A. Space behind the vehicles stopped at the left bus stop", "B. Narrow gaps behind the central median guardrail", "C. Inner spaces at the corners of the intersection ahead", "D. Spaces between parked vehicles on the right shoulder"], "answer_index": 3}
{"token": "1d81e9e0579506c17aae22a42cbdda7a", "waymo_split": "test", "type": "image", "frame_index": 8, "question": "Are there any blind spots in your field of view?", "category": "Uncertainty", "options": ["A. There are no blind spots near the bus stop on the right.", "B. There is a blind spot between the parked cars on the right shoulder.", "C. There are no blind spots between the street trees on the right sidewalk.", "D. There is a blind spot between the parked cars on the left shoulder."], "answer_index": 1}
{"token": "1d81e9e0579506c17aae22a42cbdda7a", "waymo_split": "test", "type": "image", "frame_index": 69, "question": "Based on the current appearance of the person/vehicle (two-wheeled), how do you intend to move?", "category": "Normal Perception & Prediction", "options": ["A. Going straight", "B. Attempting a U-turn", "C. Turning left", "D. Turning right"], "answer_index": 0}
{"token": "1d81e9e0579506c17aae22a42cbdda7a", "waymo_split": "test", "type": "image", "frame_index": 69, "question": "What is the plan for yielding when an emergency vehicle/fire truck approaches?", "category": "Special Event", "options": ["A. Stay close to the left lane and proceed slowly", "B. Keep the hazard lights on and maintain speed to pass", "C. Temporarily stop in the center of the intersection and wait", "D. Pull over to the right shoulder and yield space"], "answer_index": 3}
{"token": "1d81e9e0579506c17aae22a42cbdda7a", "waymo_split": "test", "type": "image", "frame_index": 69, "question": "What is correct as an Image Caption from the perspective of Safety-critical Frame?", "category": "Safety-critical scene caption", "options": ["A. A bicycle closely exists near the left shoulder of the road, merging diagonally into the lane. There is a risk of brushing past this bicycle on the narrow two-lane road.", "B. A vehicle is far away, entering from the opposite lane on the left side of the car towards the direction of the car. There is a risk of brushing past this vehicle on the narrow two-lane road.", "C. A truck is closely present, moving slowly in the same lane on the right side of the car. There is a risk of side contact when overtaking this vehicle on the narrow two-lane road.", "D. A situation of sudden stop exists for the vehicle in front in the left lane. There is a risk of collision with this vehicle on the narrow two-lane road."], "answer_index": 1}
{"token": "1d81e9e0579506c17aae22a42cbdda7a", "waymo_split": "test", "type": "image", "frame_index": 69, "question": "Which of the following is a correct description of traffic density?", "category": "Normal scene Understanding", "options": ["A. Slow, few surrounding vehicles", "B. Fast, many parked vehicles on the shoulder", "C. Fast, no parked vehicles on the shoulder", "D. Slow, many waiting vehicles at the intersection"], "answer_index": 1}
{"token": "1d81e9e0579506c17aae22a42cbdda7a", "waymo_split": "test", "type": "image", "frame_index": 69, "question": "What are the behavior restrictions in school zones/congested areas?", "category": "Special Event", "options": ["A. Must accelerate to pass", "B. Must drive with hazard lights on", "C. Must drive slowly", "D. Must honk to pass"], "answer_index": 2}
{"token": "1d81e9e0579506c17aae22a42cbdda7a", "waymo_split": "test", "type": "image", "frame_index": 69, "question": "Which of the following is a correct description of the environment?", "category": "Normal scene Understanding", "options": ["A. Evening, rain", "B. Night, cloudy", "C. Dawn, fog", "D. Day, clear"], "answer_index": 3}
{"token": "1d81e9e0579506c17aae22a42cbdda7a", "waymo_split": "test", "type": "image", "frame_index": 69, "question": "What are the classifications of scenes?", "category": "Normal scene Understanding", "options": ["A. Unpaved farm road", "B. Urban two-lane road", "C. Residential two-lane road", "D. Highway merge area"], "answer_index": 2}
{"token": "1d81e9e0579506c17aae22a42cbdda7a", "waymo_split": "test", "type": "image", "frame_index": 69, "question": "What is the description of a non-safety-critical object?", "category": "Normal Perception & Prediction", "options": ["A. There are bus stops and a bicycle rack on both sides, with an apartment complex nearby. A delivery motorcycle is proceeding in the adjacent lane in front. A pedestrian overpass crosses the top of the screen. A large bus is approaching from a distance in the rear. There are construction barriers and safety cones in front of the right-side commercial area.", "B. There are parked cars on the shoulder and a sidewalk, as well as a residential area on both sides. A bicycle is ahead in the driving lane in front of the vehicle. Utility poles and wires are mainly present at the top of the screen. There is a vehicle following behind the car. An empty parking lot exists between the left-side houses.", "C. There are street trees and commercial buildings on both sides, as well as a sidewalk. An electric scooter is moving slowly in the right shoulder in front. Traffic lights and store signs are mainly visible at the top of the screen. There are no vehicles following behind. A small playground is located at the entrance of the right alley.", "D. There are low fences and a riverbank path on both sides. Only a crosswalk and a flashing pedestrian signal are visible in front. The top of the screen shows a clear sky without wires. A motorcycle is trying to overtake the car from behind. There are several parked vehicles in the left convenience store parking lot."], "answer_index": 1}
{"token": "1d81e9e0579506c17aae22a42cbdda7a", "waymo_split": "test", "type": "image", "frame_index": 69, "question": "What is the answer regarding parked vehicles on the shoulder, the presence of a center line, and whether Ego crosses the center line?", "category": "Normal Perception & Prediction", "options": ["A. One or two parked vehicles on the shoulder. A faint center line exists.", "B. Many parked vehicles on the shoulder. No center line.", "C. No parked vehicles on the shoulder. A center line exists.", "D. A few parked vehicles on the shoulder. A clear center line."], "answer_index": 1}
{"token": "1d81e9e0579506c17aae22a42cbdda7a", "waymo_split": "test", "type": "image", "frame_index": 69, "question": "Is there a blind spot in your field of vision?", "category": "Uncertainty", "options": ["A. There is a blind spot between parked cars on the left side.", "B. There is no blind spot in the area in front of the bus stop on the right.", "C. There is a blind spot caused by motorcycles on the right.", "D. There is a blind spot between parked cars on the right side."], "answer_index": 3}
{"token": "1d81e9e0579506c17aae22a42cbdda7a", "waymo_split": "test", "type": "image", "frame_index": 69, "question": "Which of the following is a correct description of traffic signals?", "category": "Traffic Signal", "options": ["A. Bus-only lane sign on the right signboard (in the driving lane)", "B. Bicycle lane sign on the front road surface (in the opposite lane)", "C. Crosswalk marking on the left road surface (on the sidewalk side)", "D. Bicycle signal on the front traffic light (in the same lane)"], "answer_index": 1}
{"token": "1d81e9e0579506c17aae22a42cbdda7a", "waymo_split": "test", "type": "image", "frame_index": 69, "question": "What is a safety-critical object?", "category": "Safety-critical Perception", "options": ["A. A vehicle coming into your lane from the opposite direction at a distance", "B. A vehicle driving away in the direction of the opposite lane", "C. A vehicle parked for a long time with hazard lights on in the right shoulder", "D. A pedestrian standing at the edge of the sidewalk next to the crosswalk ahead"], "answer_index": 0}
{"token": "1d81e9e0579506c17aae22a42cbdda7a", "waymo_split": "test", "type": "image", "frame_index": 69, "question": "How do you think a safety-critical object will move?", "category": "Safety-critical Prediction", "options": ["A. Proceed with a left turn at the intersection", "B. Move to the edge of the sidewalk", "C. Change lanes to the right lane", "D. Drive using the opposite lane"], "answer_index": 3}
{"token": "1d81e9e0579506c17aae22a42cbdda7a", "waymo_split": "test", "type": "image", "frame_index": 69, "question": "What is the correlation in safety-critical situations?", "category": "Safety-critical scene Understanding", "options": ["A. Person - Two-wheeler", "B. Car - Car", "C. Car - Person", "D. Two-wheeler - Car"], "answer_index": 1}
{"token": "1d81e9e0579506c17aae22a42cbdda7a", "waymo_split": "test", "type": "image", "frame_index": 69, "question": "How should I drive to solve the first risk while also addressing the second risk?", "category": "Safety-critical Planning", "options": ["A. None", "B. Accelerate to pass the first risk first", "C. Decelerate and move to the right lane", "D. Stay close to the left edge and go straight"], "answer_index": 0}
{"token": "1d81e9e0579506c17aae22a42cbdda7a", "waymo_split": "test", "type": "image", "frame_index": 69, "question": "What should I do to drive safely?", "category": "Safety-critical Planning", "options": ["A. When passing by the vehicle, it is better to stay close to the center line without breaking the flow, passing on the left side while maintaining speed.", "B. When encountering large vehicles, it is safer to use a wide lane, stay close to the center, and accelerate to pass quickly.", "C. When crossing with oncoming vehicles, it is advisable to narrow the gap and pass quickly while signaling your presence with the horn and high beams, maintaining a steady speed rather than slowing down.", "D. When passing by the vehicle, you should be careful to avoid collisions by keeping a distance from the center, driving close to the right side, and maintaining a slow speed."], "answer_index": 3}
{"token": "1d81e9e0579506c17aae22a42cbdda7a", "waymo_split": "test", "type": "image", "frame_index": 69, "question": "Are there any other safety-critical objects besides the first safety-critical object? If so, how will they be moved?", "category": "Safety-critical Prediction", "options": ["A. Emergency power supply box, move carefully to the rear", "B. None", "C. Oxygen tank, move towards the front aisle", "D. Fire extinguisher, slowly move to the left"], "answer_index": 1}
{"token": "1d81e9e0579506c17aae22a42cbdda7a", "waymo_split": "test", "type": "image", "frame_index": 69, "question": "Is lane changing possible? Which is safer, slowing down or changing lanes?", "category": "Safety-critical Planning", "options": ["A. Slowing down is safer; you must signal or indicate to the vehicles behind that you are slowing down. Lane changing is not allowed on a two-lane road.", "B. Changing lanes is safer; just make sure to signal left and quickly move over. It's a one-way two-lane section, so changing is possible.", "C. Maintaining speed is safer than slowing down; keep your speed in line with the flow of traffic and move to the right lane. Even on a two-lane road, you can use the passing lane.", "D. Slightly accelerating is safer; it's better to change to the adjacent lane right after passing the merging point. Lane changes are allowed on a two-way road if the lines are dashed."], "answer_index": 0}
{"token": "1d81e9e0579506c17aae22a42cbdda7a", "waymo_split": "test", "type": "image", "frame_index": 69, "question": "Where are the areas that hide risks by being obscured in the current frame?", "category": "Uncertainty", "options": ["A. Spaces between parked vehicles on the left shoulder", "B. Spaces between parked vehicles on the right shoulder", "C. Blind spots behind the bus stopped in front", "D. Gaps behind the central median flower bed"], "answer_index": 1}
{"token": "1d81e9e0579506c17aae22a42cbdda7a", "waymo_split": "test", "type": "image", "frame_index": 69, "question": "What is the safest choice just before entering a yellow signal: stop vs. pass?", "category": "Special Event", "options": ["A. Immediate stop", "B. Accelerate through", "C. No signal. Unable to judge", "D. Proceed with a right turn"], "answer_index": 2}
{"token": "1d81e9e0579506c17aae22a42cbdda7a", "waymo_split": "test", "type": "image", "frame_index": 69, "question": "Who is responsible in a safety-critical situation? What is the cause?", "category": "Safety-critical scene Understanding", "options": ["A. It lies with the leading vehicle, as it is a two-lane road with a central line, and care must be taken not to cross the lane.", "B. It lies with one driver, as it is a wide road with a shoulder, providing space to evade, and care must be taken to drive towards the right edge.", "C. It lies with both, as the narrow two-lane road lacks a central line, and care must be taken not to encroach into the center.", "D. It lies more with the following vehicle, as the straight two-lane section makes it easy to slow down, and care must be taken to maintain a safe distance from the leading vehicle."], "answer_index": 2}
{"token": "1d81e9e0579506c17aae22a42cbdda7a", "waymo_split": "test", "type": "image", "frame_index": 95, "question": "Based on the current appearance of the person/vehicle (two-wheeled), how do you intend to move?", "category": "Normal Perception & Prediction", "options": ["A. Moving straight", "B. Entering left turn", "C. Waiting at a stop", "D. Proceeding right turn"], "answer_index": 0}
{"token": "1d81e9e0579506c17aae22a42cbdda7a", "waymo_split": "test", "type": "image", "frame_index": 69, "question": "What are the potential situations that could occur in the current scenario?", "category": "Counterfactual", "options": ["A. Driving and making a right turn to go up an inclined road", "B. Stopping and waiting for the signal", "C. Driving and making a left turn to enter a flat road", "D. Driving straight down an inclined road"], "answer_index": 3}
{"token": "1d81e9e0579506c17aae22a42cbdda7a", "waymo_split": "test", "type": "image", "frame_index": 69, "question": "What is the method to avoid the blind spot next to a large vehicle?", "category": "Special Event", "options": ["A. Overtake on the right", "B. Slow down the large vehicle", "C. No large vehicle. Unable to judge", "D. Pass while slowing down"], "answer_index": 2}
{"token": "1d81e9e0579506c17aae22a42cbdda7a", "waymo_split": "test", "type": "image", "frame_index": 95, "question": "Which of the following is a correct description of traffic density?", "category": "Normal scene Understanding", "options": ["A. Fast, many parked vehicles on the shoulder", "B. Slow, almost no parked vehicles on the shoulder", "C. Fast, few vehicles driving around", "D. Slow, few vehicles around"], "answer_index": 0}
{"token": "1d81e9e0579506c17aae22a42cbdda7a", "waymo_split": "test", "type": "image", "frame_index": 95, "question": "Which of the following is correct from the perspective of Safety-critical Frame regarding Image Caption?", "category": "Safety-critical scene caption", "options": ["A. A vehicle is entering from the opposite lane on the left side of the front of my vehicle. There is a risk of brushing past this vehicle on the narrow two-lane road.", "B. There is a delivery vehicle stopped on the right side of the center line in front of my vehicle. The opposite lane is empty, so it is possible to safely pass by reducing speed.", "C. There is a vehicle merging from the left alley in front of my vehicle while making a right turn. The intersection is gentle, so there is enough distance between us.", "D. There is a vehicle moving slowly in the same lane on the right side in front of my vehicle. The area is a four-lane road, so there is enough space to overtake without difficulty."], "answer_index": 0}
{"token": "1d81e9e0579506c17aae22a42cbdda7a", "waymo_split": "test", "type": "image", "frame_index": 95, "question": "What is the plan for yielding when an ambulance/fire truck approaches?", "category": "Special Event", "options": ["A. Move to the left lane and slow down to provide a passage", "B. Enter the intersection and stop briefly in the center", "C. Pull over to the right shoulder to yield space", "D. Turn on hazard lights and continue following closely behind the vehicle in front"], "answer_index": 2}
{"token": "1d81e9e0579506c17aae22a42cbdda7a", "waymo_split": "test", "type": "image", "frame_index": 95, "question": "What are the behavioral restrictions in school zones/congested areas?", "category": "Special Event", "options": ["A. Must drive slowly", "B. Should change lanes to avoid congestion", "C. Must continue to proceed even in front of crosswalks", "D. Should increase speed to pass quickly"], "answer_index": 0}
{"token": "1d81e9e0579506c17aae22a42cbdda7a", "waymo_split": "test", "type": "image", "frame_index": 95, "question": "Which of the following is a correct description of the environment?", "category": "Normal scene Understanding", "options": ["A. Night, rain", "B. Day, clear", "C. Evening, cloudy", "D. Morning, fog"], "answer_index": 1}
{"token": "1d81e9e0579506c17aae22a42cbdda7a", "waymo_split": "test", "type": "image", "frame_index": 95, "question": "What is the classification of the scene?", "category": "Normal scene Understanding", "options": ["A. Unpaved two-lane road", "B. Residential two-lane road", "C. Residential three-lane road", "D. Urban two-lane road"], "answer_index": 1}
{"token": "1d81e9e0579506c17aae22a42cbdda7a", "waymo_split": "test", "type": "image", "frame_index": 95, "question": "Which of the following is a correct description of traffic signals?", "category": "Traffic Signal", "options": ["A. Speed limit 30 sign (start of section) on the front signboard", "B. Bus-only lane sign (in the right lane) on the front road marking", "C. Bicycle lane sign (in the opposite lane) on the front road marking", "D. Left turn arrow illuminated (in my lane) on the front traffic light"], "answer_index": 2}
{"token": "1d81e9e0579506c17aae22a42cbdda7a", "waymo_split": "test", "type": "image", "frame_index": 95, "question": "What is the description of a non-safety-critical object?", "category": "Normal Perception & Prediction", "options": ["A. Low fences and vacant lots instead of commercial-residential buildings on both sides. A small truck is parked in front, occupying part of the lane. Mountain slopes and clouds mainly exist at the top of the screen. A bus is closely following from behind. There is a construction site fence and equipment on the left.", "B. Parked vehicles on the shoulder and sidewalks, along with residential areas on both sides. A bicycle is ahead in the lane of my vehicle. Utility poles and wires mainly exist at the top of the screen. A vehicle is following my car from behind. There is an empty parking lot between the houses on the left.", "C. Commercial buildings, street trees, and a bus stop on both sides. A group of pedestrians waiting for the signal is at the edge of the crosswalk in front. Overhead structures of an overpass and guide signs exist at the top of the screen. No vehicles are following from behind. There is a no parking sign in front of the alley on the left.", "D. Construction barriers and cones are placed on both sides, with pedestrian areas controlled. An electric scooter is slowly moving on the sidewalk in front. Streetlights and advertising banners mainly exist at the top of the screen. A bicycle is approaching from a distance behind. There is a convenience store and stacked delivery boxes at the entrance of the alley on the right."], "answer_index": 1}
{"token": "1d81e9e0579506c17aae22a42cbdda7a", "waymo_split": "test", "type": "image", "frame_index": 95, "question": "What is a safety-critical object?", "category": "Safety-critical Perception", "options": ["A. A vehicle waiting at a signal in the opposite lane.", "B. A vehicle driving normally while adhering to the speed limit in the same lane ahead.", "C. A vehicle parked with hazard lights on in the right shoulder.", "D. A vehicle entering from the opposite lane towards your direction."], "answer_index": 3}
{"token": "1d81e9e0579506c17aae22a42cbdda7a", "waymo_split": "test", "type": "image", "frame_index": 95, "question": "Is there a blind spot in your field of vision?", "category": "Uncertainty", "options": ["A. There is a blind spot between parked cars on the shoulder to the right.", "B. There is no blind spot on the right side as it is adjacent to the sidewalk.", "C. There is a blind spot between parked cars on the shoulder to the left.", "D. There are no visual obstruction factors in the right bus stop area."], "answer_index": 0}
{"token": "1d81e9e0579506c17aae22a42cbdda7a", "waymo_split": "test", "type": "image", "frame_index": 95, "question": "What is the answer regarding parked vehicles on the shoulder, the presence of a center line, and whether Ego crosses the center line?", "category": "Normal Perception & Prediction", "options": ["A. Many parked vehicles on the shoulder. No center line.", "B. One or two parked vehicles on the shoulder. Center line is faint.", "C. Almost no parked vehicles on the shoulder. Center line is clear.", "D. No parked vehicles on the shoulder. There is a center line."], "answer_index": 0}
{"token": "1d81e9e0579506c17aae22a42cbdda7a", "waymo_split": "test", "type": "image", "frame_index": 95, "question": "How do you think safety-critical objects should be moved?", "category": "Safety-critical Prediction", "options": ["A. Use the shoulder to drive", "B. Merge into the right lane to drive", "C. Use the opposite lane to drive", "D. Turn left and pass through the intersection"], "answer_index": 2}
{"token": "1d81e9e0579506c17aae22a42cbdda7a", "waymo_split": "test", "type": "image", "frame_index": 95, "question": "How should I drive to resolve the first risk while also addressing the second risk?", "category": "Safety-critical Planning", "options": ["A. Reduce speed and move to the right lane", "B. Maintain speed and go straight", "C. Accelerate and overtake on the left", "D. None"], "answer_index": 3}
{"token": "1d81e9e0579506c17aae22a42cbdda7a", "waymo_split": "test", "type": "image", "frame_index": 95, "question": "Are there any other safety-critical objects besides the first safety-critical object? If so, how would you move?", "category": "Safety-critical Prediction", "options": ["A. None", "B. Emergency button, turn right", "C. Fire extinguisher, move left", "D. High voltage line, step back"], "answer_index": 0}
{"token": "1d81e9e0579506c17aae22a42cbdda7a", "waymo_split": "test", "type": "image", "frame_index": 95, "question": "What should I do to drive safely?", "category": "Safety-critical Planning", "options": ["A. When passing by the vehicle, attempt to overtake by sticking close to the left edge, slightly crossing the center line to use a wider lane, and passing at a constant speed.", "B. When passing by the vehicle, maintain speed for the flow, pass close to the center, and if necessary, alert with the horn and pass quickly.", "C. When passing by the vehicle, be careful not to collide, avoid crossing the center, keep a distance from the center, stick to the right, and reduce speed.", "D. When passing by the vehicle, to finish quickly, narrow the gap, accelerate instead of braking to pass in one go, and flexibly use the lane depending on the situation."], "answer_index": 2}
{"token": "1d81e9e0579506c17aae22a42cbdda7a", "waymo_split": "test", "type": "image", "frame_index": 95, "question": "What is the correlation in safety-critical situations?", "category": "Safety-critical scene Understanding", "options": ["A. Car-Car", "B. Car-Person", "C. Two-wheeler-Person", "D. Car-Two-wheeler"], "answer_index": 0}
{"token": "1d81e9e0579506c17aae22a42cbdda7a", "waymo_split": "test", "type": "image", "frame_index": 95, "question": "What is the safest choice just before entering a yellow signal: stop vs proceed?", "category": "Special Event", "options": ["A. Proceed after slowing down", "B. No signal. Unable to judge", "C. Proceed with a right turn", "D. Stop immediately"], "answer_index": 1}
{"token": "1d81e9e0579506c17aae22a42cbdda7a", "waymo_split": "test", "type": "image", "frame_index": 95, "question": "Where are the areas that hide dangers in the current frame?", "category": "Uncertainty", "options": ["A. Spaces between parked vehicles on the right shoulder", "B. Shaded area next to the central divider on the opposite lane", "C. Edge of the sidewalk behind the left bus stop", "D. Blind spot inside the right turn corner at the upcoming intersection"], "answer_index": 0}
{"token": "1d81e9e0579506c17aae22a42cbdda7a", "waymo_split": "test", "type": "image", "frame_index": 95, "question": "What is the method to avoid blind spots when passing large vehicles?", "category": "Special Event", "options": ["A. Driving alongside the large vehicle", "B. Overtaking closely on the left", "C. No large vehicle present. Unable to judge", "D. Passing closely on the right"], "answer_index": 2}
{"token": "1d81e9e0579506c17aae22a42cbdda7a", "waymo_split": "test", "type": "image", "frame_index": 95, "question": "Who is responsible in a safety-critical situation? What is the cause?", "category": "Safety-critical scene Understanding", "options": ["A. It lies with the road management, as there were too many signs and lane markings, and construction signs obstructed visibility, causing confusion.", "B. It lies with both parties, as the narrow two-lane road requires caution to avoid crossing the center line.", "C. It lies with the vehicle behind, as there was ample space on the wide four-lane road, and it was sufficient to stay in the lane with the median.", "D. It lies with one driver, as it was a section with a clear center line, and the principle of driving on the right edge was not followed."], "answer_index": 1}
{"token": "1d81e9e0579506c17aae22a42cbdda7a", "waymo_split": "test", "type": "image", "frame_index": 95, "question": "What are the potential situations that could occur in the current scenario?", "category": "Counterfactual", "options": ["A. Going up an inclined road in reverse", "B. Stopping and waiting for the pedestrian signal", "C. Driving straight down an inclined road", "D. Turning right and entering an uphill road"], "answer_index": 2}
{"token": "1d81e9e0579506c17aae22a42cbdda7a", "waymo_split": "test", "type": "image", "frame_index": 95, "question": "What is the guideline for your vehicle's behavior based on the actions of a safety-critical object?", "category": "Safety-critical Planning", "options": ["A. If the vehicle encroaches into the center while driving, your vehicle is at risk of collision, so it should either pull over to the right shoulder or move to the right to avoid the collision and decelerate rapidly.", "B. If the vehicle slightly encroaches into the center and gets closer, your vehicle should maintain its position in the lane and not change speed significantly, signaling only with the horn and high beams.", "C. If the vehicle shows signs of crossing the center line into our lane, your vehicle should turn on the hazard lights and maintain its lane while observing the situation with gentle deceleration.", "D. If the vehicle pushes in from the left, your vehicle should move closer to the left to create space and accelerate to pass the intersection quickly."], "answer_index": 0}
{"token": "1d81e9e0579506c17aae22a42cbdda7a", "waymo_split": "test", "type": "image", "frame_index": 114, "question": "Based on the current appearance of the person/vehicle (two-wheeled), how do you intend to move?", "category": "Normal Perception & Prediction", "options": ["A. Entering left turn (slow speed)", "B. Driving right turn (decelerating)", "C. Attempting a U-turn (low speed)", "D. Driving straight (slow speed)"], "answer_index": 3}
{"token": "1d81e9e0579506c17aae22a42cbdda7a", "waymo_split": "test", "type": "image", "frame_index": 114, "question": "What is the plan for yielding when an ambulance/fire truck approaches?", "category": "Special Event", "options": ["A. Pull over to the right edge", "B. Yield at the next signal", "C. Currently unable to yield", "D. Move to the left lane"], "answer_index": 2}
{"token": "1d81e9e0579506c17aae22a42cbdda7a", "waymo_split": "test", "type": "image", "frame_index": 114, "question": "What are the behavioral restrictions in school zones/congested areas?", "category": "Special Event", "options": ["A. Must drive slowly", "B. Must accelerate to pass", "C. Proceed while honking", "D. Must change lanes to overtake"], "answer_index": 0}
{"token": "1d81e9e0579506c17aae22a42cbdda7a", "waymo_split": "test", "type": "image", "frame_index": 114, "question": "Which of the following is a correct description of traffic density?", "category": "Normal scene Understanding", "options": ["A. Fast, many parked vehicles on the shoulder", "B. Slow, few vehicles driving nearby", "C. Slow, many waiting vehicles at nearby intersections", "D. Fast, almost no vehicles nearby"], "answer_index": 0}
{"token": "1d81e9e0579506c17aae22a42cbdda7a", "waymo_split": "test", "type": "image", "frame_index": 114, "question": "Which of the following is a correct description of the environment?", "category": "Normal scene Understanding", "options": ["A. Dawn, fog", "B. Night, rain", "C. Day, clear", "D. Dusk, cloudy"], "answer_index": 2}
{"token": "1d81e9e0579506c17aae22a42cbdda7a", "waymo_split": "test", "type": "image", "frame_index": 114, "question": "What is the classification of the scene?", "category": "Normal scene Understanding", "options": ["A. urban four-lane road", "B. highway three-lane road", "C. residential two-lane road", "D. unpaved one-lane road"], "answer_index": 2}
{"token": "1d81e9e0579506c17aae22a42cbdda7a", "waymo_split": "test", "type": "image", "frame_index": 114, "question": "Which of the following is a correct description of traffic signals?", "category": "Traffic Signal", "options": ["A. Speed limit 60", "B. Traffic light red", "C. No sign", "D. No left turn"], "answer_index": 2}
{"token": "1d81e9e0579506c17aae22a42cbdda7a", "waymo_split": "test", "type": "image", "frame_index": 114, "question": "Is there a blind spot in your field of vision?", "category": "Uncertainty", "options": ["A. There is a blind spot between parked vehicles on the right shoulder.", "B. There is a blind spot between parked vehicles on the left shoulder.", "C. There are no parked vehicles on the right shoulder, so there is no blind spot.", "D. A blind spot is formed at the bus stop near the central divider."], "answer_index": 0}
{"token": "1d81e9e0579506c17aae22a42cbdda7a", "waymo_split": "test", "type": "image", "frame_index": 114, "question": "What is the answer regarding parked vehicles on the shoulder, the presence of a center line, and whether Ego has crossed the center line?", "category": "Normal Perception & Prediction", "options": ["A. Many parked vehicles on the shoulder. No center line.", "B. One or two parked vehicles on the shoulder. There is a center line.", "C. A few parked vehicles on the shoulder. There is a center line.", "D. No parked vehicles on the shoulder. There is a center line."], "answer_index": 0}
{"token": "1d81e9e0579506c17aae22a42cbdda7a", "waymo_split": "test", "type": "image", "frame_index": 114, "question": "What is a safety-critical object?", "category": "Safety-critical Perception", "options": ["A. A two-wheeled vehicle waiting to enter while proceeding slowly at the left alley exit is present at the edge of the roadway.", "B. A vehicle waiting at a signal in the opposite lane is present behind the stop line.", "C. A vehicle entering from the opposite lane towards your direction is right in front of you.", "D. A vehicle proceeding in the same direction in the right lane is present far ahead."], "answer_index": 2}
{"token": "1d81e9e0579506c17aae22a42cbdda7a", "waymo_split": "test", "type": "image", "frame_index": 114, "question": "How do you think a safety-critical object would move?", "category": "Safety-critical Prediction", "options": ["A. Enter the left turn lane and drive, left turn", "B. Use the opposite lane to drive, go straight", "C. Merge into the bus-only lane and proceed, U-turn", "D. Move to the right lane and drive, right turn"], "answer_index": 1}
{"token": "1d81e9e0579506c17aae22a42cbdda7a", "waymo_split": "test", "type": "image", "frame_index": 114, "question": "What should I do to drive safely?", "category": "Safety-critical Planning", "options": ["A. When encountering an oncoming vehicle, be careful to keep to the center of the lane, slightly crossing the center line if necessary, and do not reduce speed but continue as is.", "B. In narrow sections, be careful to stay close to the left as if matching the width of the vehicle, alerting with the horn and lights, and continue driving without interrupting the flow.", "C. When passing by the vehicle, be careful not to collide and not to invade the center, keeping a distance from the center and driving close to the right, while also reducing speed.", "D. When passing by the vehicle, be careful to pass quickly, staying close to the center line, allowing more space on the left, and maintaining acceleration."], "answer_index": 2}
{"token": "1d81e9e0579506c17aae22a42cbdda7a", "waymo_split": "test", "type": "image", "frame_index": 114, "question": "Is there any other safety-critical object besides the first safety-critical object? If so, how would it move?", "category": "Safety-critical Prediction", "options": ["A. A stopped vehicle on the opposite side", "B. Two vehicles ahead in the same lane", "C. A motorcycle approaching from behind", "D. Two vehicles coming from the opposite lane"], "answer_index": 3}
{"token": "1d81e9e0579506c17aae22a42cbdda7a", "waymo_split": "test", "type": "image", "frame_index": 114, "question": "How should I drive to resolve the first risk while also addressing the second risk?", "category": "Safety-critical Planning", "options": ["A. I should accelerate slightly to get out before these vehicles and quickly pass by narrowing the gap to the left.", "B. I should slow down and wait until these vehicles have passed, while widening the gap to the right to get by.", "C. I should stop briefly before the section, then move close to the center line and quickly get out in one go.", "D. I should use hazard lights and the horn to alert others, maintain speed, and keep the center of the lane while driving straight through."], "answer_index": 1}
{"token": "1d81e9e0579506c17aae22a42cbdda7a", "waymo_split": "test", "type": "image", "frame_index": 114, "question": "What is the correlation in safety-critical situations?", "category": "Safety-critical scene Understanding", "options": ["A. Car - Two-wheeled vehicle", "B. Car - Car", "C. Car - Person", "D. Person - Two-wheeled vehicle"], "answer_index": 1}
{"token": "1d81e9e0579506c17aae22a42cbdda7a", "waymo_split": "test", "type": "image", "frame_index": 114, "question": "Is lane changing possible? Which is safer between slowing down and changing lanes?", "category": "Safety-critical Planning", "options": ["A. Changing lanes is safer than maintaining the lane. The bus-only lane is empty, so it's possible to move.", "B. Slowing down is safer. Lane changing is not allowed on a two-lane road.", "C. Changing lanes is safer. It's possible to change on a one-way two-lane road.", "D. Accelerating is safer. You can avoid it by using the left overtaking lane."], "answer_index": 1}
{"token": "1d81e9e0579506c17aae22a42cbdda7a", "waymo_split": "test", "type": "image", "frame_index": 114, "question": "What is the safest choice just before entering a yellow signal: stop vs. proceed?", "category": "Special Event", "options": ["A. Immediate stop, prevent accidents", "B. Slow down and proceed, reduce risk", "C. No signal, cannot judge", "D. Wait to turn left, maintain flow"], "answer_index": 2}
{"token": "1d81e9e0579506c17aae22a42cbdda7a", "waymo_split": "test", "type": "image", "frame_index": 114, "question": "Who is responsible in a safety-critical situation? What is the cause?", "category": "Safety-critical scene Understanding", "options": ["A. It is the front vehicle's fault for encroaching into the opposite lane on a clearly marked road.", "B. It is mutual responsibility due to the characteristics of a narrow two-lane road and the absence of a central line, requiring caution to avoid encroaching the center or driving too closely.", "C. It is the fault of one driver, who should have slowed down and maintained the right edge near the intersection but abruptly merged.", "D. It is the fault of the rear vehicle, which increased the risk of collision by following too closely in a wide straight section."], "answer_index": 1}
{"token": "1d81e9e0579506c17aae22a42cbdda7a", "waymo_split": "test", "type": "image", "frame_index": 114, "question": "What is the method to avoid the blind spot next to a large vehicle?", "category": "Special Event", "options": ["A. No large vehicle. Unable to judge", "B. Maintain blind spot", "C. Pass on the right", "D. Drive next to the large vehicle"], "answer_index": 0}
{"token": "1d81e9e0579506c17aae22a42cbdda7a", "waymo_split": "test", "type": "image", "frame_index": 114, "question": "Where are the areas that hide risks by being obscured in the current frame?", "category": "Uncertainty", "options": ["A. Space behind large trucks in front of the intersection stop line", "B. Spaces between the stopped bus at the left bus stop and the fence", "C. Spaces between parked vehicles on the right shoulder", "D. Shadow areas next to the left median barrier"], "answer_index": 2}
{"token": "1d81e9e0579506c17aae22a42cbdda7a", "waymo_split": "test", "type": "image", "frame_index": 114, "question": "What situation might occur if the vehicle acted this way?", "category": "Counterfactual", "options": ["A. If the vehicle accurately maintains the center line, it can safely pass oncoming vehicles.", "B. If the vehicle drives on the right shoulder, there is a risk of contact with parked vehicles.", "C. If the vehicle suddenly changes lanes, there is a risk of collision with following vehicles.", "D. If the vehicle encroaches on the left and center, there is a risk of collision with oncoming vehicles."], "answer_index": 3}
{"token": "1d81e9e0579506c17aae22a42cbdda7a", "waymo_split": "test", "type": "image", "frame_index": 147, "question": "Based on the current appearance of the person/vehicle (two-wheeled), how do they intend to move?", "category": "Normal Perception & Prediction", "options": ["A. Entering left turn (slow)", "B. Driving right turn (slow)", "C. Preparing to stop (decelerating)", "D. Driving straight (slow)"], "answer_index": 3}
{"token": "1d81e9e0579506c17aae22a42cbdda7a", "waymo_split": "test", "type": "image", "frame_index": 147, "question": "Which of the following is correct as an Image Caption from the perspective of a Normal Frame?", "category": "Normal scene caption", "options": ["A. A vehicle driving on a two-lane road (with a slope present in front). There are many parked cars on both sides of the road, and a residential area is spread out. In front of the vehicle, a bicycle is already riding on the road. Behind the vehicle, there is a black car following closely. On the left side of the vehicle, in the opposite lane, there are two cars approaching from the side and directly in front.", "B. A two-lane road in a neighborhood, with an empty lot and a convenience store on the right, and the shoulders on both sides are relatively empty; in front of the vehicle, a slow-moving delivery motorcycle is using the center of the lane; behind, a blue taxi is closely following; in the opposite lane, only a small car is approaching from a distance.", "C. A vehicle driving on a gently sloping two-lane road, with only park fences and low walls on both sides, so there are almost no parked cars; in front of the vehicle, a pedestrian pushing a stroller is crossing the crosswalk; no vehicles are visible behind for the time being; in the opposite lane, there is only one bus stopped at a bus stop without any other vehicles.", "D. A vehicle driving on a flat two-lane road, with shops and street trees on both sides and few parked cars on the shoulder; in front of the vehicle, an electric scooter is moving on the sidewalk; behind, a white sedan is following at a distance; the opposite lane is empty, with only one vehicle waiting at a traffic signal in the distance."], "answer_index": 0}
{"token": "1d81e9e0579506c17aae22a42cbdda7a", "waymo_split": "test", "type": "image", "frame_index": 147, "question": "What is correct from the perspective of Safety-critical Frame regarding Image Caption?", "category": "Safety-critical scene caption", "options": ["A. There is no risk of encountering oncoming vehicles driving in the separated lane on a wide road with a central divider.", "B. There is a slow-moving vehicle in the same lane directly in front of my car, but the distance to the vehicle is maintained, so the immediate risk is low.", "C. A bicycle is moving in the opposite direction to my car on the left shoulder directly in front of my car. Although it is a narrow two-lane road, the risk of contact is low.", "D. There is a vehicle approaching from the opposite lane on the left side directly in front of my car. There is a risk of passing closely by this vehicle on the narrow two-lane road."], "answer_index": 3}
{"token": "1d81e9e0579506c17aae22a42cbdda7a", "waymo_split": "test", "type": "image", "frame_index": 147, "question": "What are the behavior restrictions in school zones/congested areas?", "category": "Special Event", "options": ["A. Must drive with high beams on", "B. Must drive while honking the horn", "C. Must drive slowly", "D. Must drive while overtaking"], "answer_index": 2}
{"token": "1d81e9e0579506c17aae22a42cbdda7a", "waymo_split": "test", "type": "image", "frame_index": 147, "question": "What is the plan for yielding when an ambulance/fire truck approaches?", "category": "Special Event", "options": ["A. Currently unable to yield", "B. Align to the right before the intersection", "C. Immediately stop on the right shoulder", "D. Yield to the left for rear approach"], "answer_index": 0}
{"token": "1d81e9e0579506c17aae22a42cbdda7a", "waymo_split": "test", "type": "image", "frame_index": 147, "question": "Which of the following is a correct description of traffic density?", "category": "Normal scene Understanding", "options": ["A. Slow, few surrounding vehicles", "B. Slow, many surrounding buses and trucks", "C. Fast, many surrounding parked vehicles on the shoulder", "D. Fast, almost no surrounding vehicles"], "answer_index": 2}
{"token": "1d81e9e0579506c17aae22a42cbdda7a", "waymo_split": "test", "type": "image", "frame_index": 147, "question": "What is the description of a non-safety-critical object?", "category": "Normal Perception & Prediction", "options": ["A. There are parked vehicles on both sides, a sidewalk, and residential areas. In front, a bicycle is present in the driving lane of the vehicle. Utility poles and wires are mainly above the screen. There is a vehicle following behind the car. In front, there is an intersection where a two-lane road can be accessed.", "B. There are bus stops and bike lanes on both sides, along with commercial housing. A city bus is stopped in the right lane in front. The lower structure of an overpass and signs are mainly visible at the top of the screen. A motorcycle is quickly approaching from behind. In front, there is a three-lane intersection with a left turn only lane.", "C. There are a median strip and commercial buildings on both sides, along with a small park. In front, a pedestrian waiting for the signal is standing at the edge of the crosswalk. Street trees and streetlights occupy the upper part of the screen. There are no vehicles following behind as it is quiet. In front, there is a one-way alley that only allows straight movement.", "D. There are unpaved shoulders and rice fields on both sides, along with sparse farms. In front, a tractor is slowly driving in the same lane. Only a clear sky is visible above the screen without any wires. A large truck is approaching closely from behind. In front, there is a small bridge where the lane narrows."], "answer_index": 0}
{"token": "1d81e9e0579506c17aae22a42cbdda7a", "waymo_split": "test", "type": "image", "frame_index": 147, "question": "Which of the following is a correct description of the environment?", "category": "Normal scene Understanding", "options": ["A. Night, cloudy", "B. Evening, fog", "C. Dawn, rain", "D. Day, clear"], "answer_index": 3}
{"token": "1d81e9e0579506c17aae22a42cbdda7a", "waymo_split": "test", "type": "image", "frame_index": 147, "question": "Which of the following is a correct description of traffic signals?", "category": "Traffic Signal", "options": ["A. Dedicated left turn arrow on the road (2 lanes indicated)", "B. Green sign facing the intersection (text is not visible)", "C. Red light on the traffic signal facing forward (left turn prohibited)", "D. Blue sign at the top of the right lane (exit indicated)"], "answer_index": 1}
{"token": "1d81e9e0579506c17aae22a42cbdda7a", "waymo_split": "test", "type": "image", "frame_index": 147, "question": "How do you think a safety-critical object will move?", "category": "Safety-critical Prediction", "options": ["A. Driving in the main lane, turning right", "B. Driving along the shoulder, turning left", "C. Driving using the opposite lane, going straight", "D. Stopping briefly before the intersection, making a U-turn"], "answer_index": 2}
{"token": "1d81e9e0579506c17aae22a42cbdda7a", "waymo_split": "test", "type": "image", "frame_index": 147, "question": "Is there a blind spot in the field of view?", "category": "Uncertainty", "options": ["A. There is no blind spot in front of the right bus stop.", "B. The right side has good visibility with no blind spots.", "C. There is a blind spot between parked vehicles on the right shoulder.", "D. There is a blind spot between parked vehicles on the left shoulder."], "answer_index": 2}
{"token": "1d81e9e0579506c17aae22a42cbdda7a", "waymo_split": "test", "type": "image", "frame_index": 147, "question": "What is the classification of the scene?", "category": "Normal scene Understanding", "options": ["A. Residential area secondary road", "B. Unpaved rural road", "C. Urban 4-lane road", "D. Highway 4 lanes"], "answer_index": 0}
{"token": "1d81e9e0579506c17aae22a42cbdda7a", "waymo_split": "test", "type": "image", "frame_index": 147, "question": "What is the answer regarding parked vehicles on the shoulder, the presence of a center line, and whether Ego crosses the center line?", "category": "Normal Perception & Prediction", "options": ["A. Many parked vehicles on the shoulder. No center line.", "B. Few parked vehicles on the shoulder. There is a center line.", "C. Rarely parked vehicles on the shoulder. The center line is faintly present.", "D. No parked vehicles on the shoulder. There is a center line."], "answer_index": 0}
{"token": "1d81e9e0579506c17aae22a42cbdda7a", "waymo_split": "test", "type": "image", "frame_index": 147, "question": "What is a safety-critical object?", "category": "Safety-critical Perception", "options": ["A. A vehicle traveling in the same direction on the opposite lane is far ahead.", "B. A vehicle traveling in the same direction on the opposite lane is directly to the left.", "C. A vehicle traveling in the opposite direction on the opposite lane is directly to the left.", "D. A stopped vehicle with its hazard lights on is directly to the right."], "answer_index": 1}
{"token": "1d81e9e0579506c17aae22a42cbdda7a", "waymo_split": "test", "type": "image", "frame_index": 147, "question": "What is the correlation in safety-critical situations?", "category": "Safety-critical scene Understanding", "options": ["A. Person - Two-wheeler", "B. Vehicle - Two-wheeler", "C. Vehicle - Vehicle", "D. Vehicle - Person"], "answer_index": 2}
{"token": "1d81e9e0579506c17aae22a42cbdda7a", "waymo_split": "test", "type": "image", "frame_index": 147, "question": "What should I do to drive safely?", "category": "Safety-critical Planning", "options": ["A. In narrow sections, do not stick to the right but keep the car in the center of the road, and if necessary, honk the horn to encourage the other party to yield, and if it is not a dangerous area, do not slow down unnecessarily and proceed as is.", "B. To avoid colliding with the vehicle passing by, do not encroach on the center. Maintain a distance from the center and drive to the right while being cautious to slow down.", "C. To pass the vehicle quickly, minimize the gap and drive closely to the left towards the center line, keeping the lane closer to the center than the right, and maintain or slightly accelerate the speed.", "D. Even if an oncoming vehicle is visible, signal your presence with hazard lights, briefly cross the center line to create space for safety, keep the car in the center of the lane while driving straight, and pass at a constant speed instead of slowing down."], "answer_index": 1}
{"token": "1d81e9e0579506c17aae22a42cbdda7a", "waymo_split": "test", "type": "image", "frame_index": 147, "question": "Is there any other safety-critical object besides the first safety-critical object? If so, how will it move?", "category": "Safety-critical Prediction", "options": ["A. There is a bicycle approaching in the opposite direction in the right lane of the safety-critical object.", "B. There is a vehicle approaching from behind the safety-critical object.", "C. There is a vehicle approaching head-on in front of the safety-critical object.", "D. There is a pedestrian illegally entering the roadway from the left side of the safety-critical object."], "answer_index": 1}
{"token": "1d81e9e0579506c17aae22a42cbdda7a", "waymo_split": "test", "type": "image", "frame_index": 147, "question": "Is lane changing possible? Which is safer between slowing down and changing lanes?", "category": "Safety-critical Planning", "options": ["A. Changing lanes is safer; it is recommended to avoid left on a three-lane road.", "B. Slowing down is safer; lane changing is not possible on a two-lane road.", "C. Accelerating is safer; it is recommended to change lanes as there is an overtaking lane.", "D. Changing lanes is safer; it is possible to move right on a one-way two-lane road."], "answer_index": 1}
{"token": "1d81e9e0579506c17aae22a42cbdda7a", "waymo_split": "test", "type": "image", "frame_index": 147, "question": "How should I drive to solve the first risk while also addressing the second risk?", "category": "Safety-critical Planning", "options": ["A. I should alert these vehicles only with caution and open the way, while driving tightly by reducing the right-side clearance.", "B. I should overtake these vehicles to secure the lead and pass quickly while slightly moving to the left.", "C. I should slow down and proceed cautiously until these vehicles have all passed, while widening the gap on the right to get by.", "D. I should maintain my speed even as these vehicles approach, keeping my lane close to the center line and driving straight."], "answer_index": 2}
{"token": "1d81e9e0579506c17aae22a42cbdda7a", "waymo_split": "test", "type": "image", "frame_index": 147, "question": "What is the safest choice when approaching a yellow signal: stop vs proceed?", "category": "Special Event", "options": ["A. Deceleration is necessary, stopping is a priority", "B. No signal, unable to judge", "C. Entering the intersection, proceeding is a priority", "D. Maintain speed, proceeding is safe"], "answer_index": 1}
{"token": "1d81e9e0579506c17aae22a42cbdda7a", "waymo_split": "test", "type": "image", "frame_index": 147, "question": "Who is responsible in a safety-critical situation? What is the cause?", "category": "Safety-critical scene Understanding", "options": ["A. It is mutual, due to the characteristics of the narrow two-lane road and the lack of a central line, caution must be taken to avoid encroaching on the center or driving too closely.", "B. It is the responsibility of the leading vehicle, as it moved to the right without signaling and drove slowly, significantly blocking the path of the following vehicle and creating danger.", "C. It is the responsibility of the following vehicle, as it exceeded the speed limit and failed to maintain a safe distance from the vehicle in front, making it unable to react to sudden stops.", "D. It is the responsibility of the motorcycle rider, as they merged recklessly from the shoulder into the main lane and neglected to check both sides."], "answer_index": 0}
{"token": "1d81e9e0579506c17aae22a42cbdda7a", "waymo_split": "test", "type": "image", "frame_index": 147, "question": "Where are the areas that hide risks by being obscured in the current frame?", "category": "Uncertainty", "options": ["A. Narrow gaps beyond the central divider flower bed", "B. Blind spots behind large trucks in front", "C. Inside the corner of the left alley exit", "D. Spaces between parked vehicles on the right shoulder"], "answer_index": 3}
{"token": "1d81e9e0579506c17aae22a42cbdda7a", "waymo_split": "test", "type": "image", "frame_index": 147, "question": "What are the new potential hazards that may be exposed in the following section?", "category": "Safety-critical Prediction", "options": ["A. Vehicles may skid in the area where the front intersection entry is blocked.", "B. Motorcycles may suddenly cut into the lane from the edge of the left bus-only lane.", "C. People or objects may suddenly emerge from the spaces between parked vehicles on the right shoulder.", "D. Bicycles may suddenly cross the lane from the opening in the central divider."], "answer_index": 2}
{"token": "1d81e9e0579506c17aae22a42cbdda7a", "waymo_split": "test", "type": "image", "frame_index": 147, "question": "What situation might occur if the vehicle acted this way?", "category": "Counterfactual", "options": ["A. If the vehicle drives to the right, avoiding the center of the lane, there is a risk of colliding with the guardrail.", "B. If the vehicle completely changes to the left lane, it risks contact due to obstructing the overtaking of following vehicles.", "C. If the vehicle drives close to the right shoulder, there is a risk of contact with pedestrians or bicycles.", "D. If the vehicle invades the left and center lanes, there is a risk of colliding with oncoming vehicles in the opposite lane."], "answer_index": 3}
{"token": "1d81e9e0579506c17aae22a42cbdda7a", "waymo_split": "test", "type": "image", "frame_index": 147, "question": "What is the guideline for your vehicle's behavior in response to the actions of a safety-critical object?", "category": "Safety-critical Planning", "options": ["A. If the vehicle encroaches on the center line while driving, sudden deceleration increases the risk of a rear-end collision, so your vehicle should stay close to the center line and maintain a straight path to create space.", "B. If the vehicle encroaches on the center line while driving, there is a high possibility that it will soon return to its lane, so your vehicle should maintain its lane, alert with the horn and high beams, and keep the speed steady.", "C. If the vehicle encroaches on the center line while driving, there is a risk of collision with your vehicle, so your vehicle should either stop on the right shoulder or move to the right to avoid a collision and decelerate rapidly.", "D. If the vehicle encroaches on the center line while driving, it is safer to quickly exit the congested area, so your vehicle should enter the left lane and increase speed to pass through the situation."], "answer_index": 2}
{"token": "20fc29f0d090769cd5daaa4cc1c0bef1", "waymo_split": "test", "type": "video", "frame_index": null, "question": "Is there a special situation?", "category": "Special Event", "options": ["A. Obstruction of view due to rain", "B. School bus stopping", "C. None", "D. Fire truck responding"], "answer_index": 2}
{"token": "20fc29f0d090769cd5daaa4cc1c0bef1", "waymo_split": "test", "type": "video", "frame_index": null, "question": "What is the classification of the scene?", "category": "Normal scene Understanding", "options": ["A. Narrow road in a residential area", "B. Wide road in the city center", "C. Unpaved rural road section", "D. Three-lane highway section"], "answer_index": 0}
{"token": "20fc29f0d090769cd5daaa4cc1c0bef1", "waymo_split": "test", "type": "video", "frame_index": null, "question": "What is correct regarding Video Summary from the perspective of Safety-critical Scene?", "category": "Safety-critical scene caption", "options": ["A. 1. There is a bus slowly driving from right to left just before entering the intersection. 2. There is a bicycle quickly driving from right to left while entering the intersection (at a slow speed).", "B. 1. There is a pedestrian slowly crossing from right to left in front of the stop line just before entering the intersection. 2. There is a vehicle quickly driving from left to right while entering the intersection (at a slow speed).", "C. 1. There is a vehicle quickly driving from left to right just before entering the intersection. 2. There is a bicycle slowly driving from left to right while entering the intersection (at a slow speed).", "D. 1. There is a vehicle quickly driving from right to left just before entering the intersection. 2. There is a kickboard slowly driving from right to left while entering the intersection (at a slow speed)."], "answer_index": 3}
{"token": "20fc29f0d090769cd5daaa4cc1c0bef1", "waymo_split": "test", "type": "video", "frame_index": null, "question": "Which of the following is a correct description of traffic density?", "category": "Normal scene Understanding", "options": ["A. Moderate speed. There are almost no surrounding vehicles. Slight noise.", "B. Moderate speed. There are a few surrounding vehicles. Gentle uphill.", "C. Slow speed. There are almost no surrounding vehicles. Slight downhill.", "D. Fast speed. There are many surrounding vehicles. Slight incline."], "answer_index": 0}
{"token": "20fc29f0d090769cd5daaa4cc1c0bef1", "waymo_split": "test", "type": "video", "frame_index": null, "question": "Which of the following is a correct description of road alignment?", "category": "Normal Perception & Prediction", "options": ["A. Right turn", "B. Straight", "C. Overtaking", "D. Left turn"], "answer_index": 1}
{"token": "20fc29f0d090769cd5daaa4cc1c0bef1", "waymo_split": "test", "type": "video", "frame_index": null, "question": "Which of the following is a correct description of the environment?", "category": "Normal scene Understanding", "options": ["A. Night, cloudy", "B. Day, clear", "C. Evening, fog", "D. Dawn, rain"], "answer_index": 1}
{"token": "20fc29f0d090769cd5daaa4cc1c0bef1", "waymo_split": "test", "type": "video", "frame_index": null, "question": "Which of the following is a correct description of traffic signals?", "category": "Traffic Signal", "options": ["A. No parking sign on the right side of the intersection", "B. Yield sign on the left side of the intersection", "C. STOP sign on the right side of the intersection", "D. Red traffic light ahead of the intersection"], "answer_index": 2}
{"token": "20fc29f0d090769cd5daaa4cc1c0bef1", "waymo_split": "test", "type": "video", "frame_index": null, "question": "What is the answer regarding parked vehicles on the shoulder, the presence of a center line, and whether Ego is crossing the center line?", "category": "Normal Perception & Prediction", "options": ["A. No parked vehicles on the shoulder. No center line. My vehicle is driving close to the right edge (leaving space in the center).", "B. One or two parked vehicles on the shoulder, spaced out. There is a center line. My vehicle is going straight without crossing the center line (maintaining distance from oncoming traffic).", "C. Many parked vehicles on the shoulder. No center line. My vehicle is driving while encroaching into the center (effectively occupying the width of the alley by itself).", "D. Almost no parked vehicles on the shoulder. There is a center line. My vehicle is driving within the lane without crossing the center line (staying in the right lane)."], "answer_index": 2}
{"token": "20fc29f0d090769cd5daaa4cc1c0bef1", "waymo_split": "test", "type": "video", "frame_index": null, "question": "What is the description of a non-safety-critical object?", "category": "Normal Perception & Prediction", "options": ["A. Numerous parked vehicles on the shoulder on both sides. There are also sidewalks and houses on the left and right. Later, at the intersection, there are palm trees along the sidewalk on the road directly across.", "B. There are shopping streets and a bus stop on both sides. Instead of parked vehicles on the shoulder, there is a taxi stand. Later, directly across the intersection, there is a small park and a row of pine trees.", "C. A few parked vehicles on the shoulder only on the left side. On the right, there are commercial buildings and flower beds. Later, at the intersection, there are maple trees along the central divider.", "D. Almost no parked vehicles on either side. There are also sidewalks and apartments on the left and right. Later, at the intersection, there are streetlights continuously along the sidewalk directly across."], "answer_index": 0}
{"token": "20fc29f0d090769cd5daaa4cc1c0bef1", "waymo_split": "test", "type": "video", "frame_index": null, "question": "Which of the following is a correct description of Spatial Relationship?", "category": "Spatial Relationship", "options": ["A. At the beginning, a person trying to get out is standing on the road after closing the left curbside parking vehicle's door.", "B. At the beginning, a person trying to get in is standing on the sidewalk after opening the right curbside parking vehicle's door.", "C. In the middle, a person taking out luggage is standing at the edge of the road after opening the right curbside parking vehicle's back door.", "D. At the beginning, a person leaving is walking along the sidewalk after locking the right curbside parking vehicle's front door."], "answer_index": 1}
{"token": "20fc29f0d090769cd5daaa4cc1c0bef1", "waymo_split": "test", "type": "video", "frame_index": null, "question": "Is there a blind spot in your field of vision?", "category": "Uncertainty", "options": ["A. There is a blind spot behind the vehicle parked on the right shoulder.", "B. There is no blind spot in front of the vehicle parked on the right shoulder.", "C. There is a blind spot in front of the vehicle parked on the left shoulder.", "D. There is a blind spot in front of the vehicle parked on the right shoulder."], "answer_index": 3}
{"token": "20fc29f0d090769cd5daaa4cc1c0bef1", "waymo_split": "test", "type": "video", "frame_index": null, "question": "What are the correlations in safety-critical situations?", "category": "Safety-critical scene Understanding", "options": ["A. 1.-Pedestrian-Bicycle. 2. Two-wheeler-Scooter", "B. 1.-Car-Person. 2. Two-wheeler-Car", "C. 1.-Car-Car. 2. Car-Scooter", "D. 1.-Car-Bicycle. 2. Bus-Car"], "answer_index": 2}
{"token": "20fc29f0d090769cd5daaa4cc1c0bef1", "waymo_split": "test", "type": "video", "frame_index": null, "question": "Summary of Ego (own vehicle) behavior before a safety-critical situation", "category": "Normal scene Understanding", "options": ["A. Slowing down just before entering the intersection. In the process of entering the intersection (decelerating)", "B. In the process of making a right turn (accelerating)", "C. Completely stopped at the stop line", "D. Accelerating after entering the intersection"], "answer_index": 0}
{"token": "20fc29f0d090769cd5daaa4cc1c0bef1", "waymo_split": "test", "type": "video", "frame_index": null, "question": "What situation might have occurred if the car acted this way?", "category": "Counterfactual", "options": ["A. If it had suddenly stopped just before entering, the taxi coming from behind would have crashed into the car.", "B. If it had gone straight at the same speed, there would have been a side collision with the bicycle coming from the left.", "C. If it had entered the intersection faster, the scooter would have passed first, and there would have been no contact.", "D. If it had been going faster when entering the intersection, the scooter on the right would have crashed into the car."], "answer_index": 3}
{"token": "20fc29f0d090769cd5daaa4cc1c0bef1", "waymo_split": "test", "type": "image", "frame_index": 9, "question": "Based on the current appearance of the person/vehicle (two-wheeled), how do you intend to move?", "category": "Normal Perception & Prediction", "options": ["A. Go straight", "B. Turn left", "C. Turn right", "D. Make a U-turn"], "answer_index": 0}
{"token": "20fc29f0d090769cd5daaa4cc1c0bef1", "waymo_split": "test", "type": "image", "frame_index": 9, "question": "What is correct from the perspective of Safety-critical Frame regarding Image Caption?", "category": "Safety-critical scene caption", "options": ["A. A person is currently on the sidewalk next to a parked vehicle on the right, but can move as soon as they get into the vehicle. (There is enough time from getting in to starting to drive, so it is not a major risk factor.)", "B. The parked vehicle on the right has already started and is trying to enter the lane, which could overlap with the direction of my vehicle. (There may be an imminent merging that requires evasion.)", "C. A person getting out of the parked vehicle on the left is already positioned towards the road and can immediately enter the lane. (There is a possibility to move right away, so the gap with my vehicle is narrow, making it an immediate risk factor.)", "D. There are only pedestrians on the right sidewalk, and there is no movement to get into a vehicle, only moving towards the sidewalk. (There are no changes related to vehicles, so the likelihood of affecting my vehicle is almost nonexistent.)"], "answer_index": 0}
{"token": "20fc29f0d090769cd5daaa4cc1c0bef1", "waymo_split": "test", "type": "image", "frame_index": 9, "question": "What are the restrictions on behavior in school zones/congested areas?", "category": "Special Event", "options": ["A. Slow down", "B. Stop", "C. Accelerate", "D. Turn right"], "answer_index": 0}
{"token": "20fc29f0d090769cd5daaa4cc1c0bef1", "waymo_split": "test", "type": "image", "frame_index": 9, "question": "What is the plan for yielding when an ambulance/fire truck approaches?", "category": "Special Event", "options": ["A. Yield towards the rear intersection", "B. Yield towards the left shoulder parking vehicles", "C. Yield towards the lane adjacent to the center line", "D. Yield towards the empty space on the right shoulder"], "answer_index": 1}
{"token": "20fc29f0d090769cd5daaa4cc1c0bef1", "waymo_split": "test", "type": "image", "frame_index": 9, "question": "Which of the following is a correct description of traffic density?", "category": "Normal scene Understanding", "options": ["A. Usually, no parked vehicles on the shoulder, many moving vehicles with narrow gaps between them", "B. Fast, many parked vehicles on both sides of the shoulder, no moving vehicles", "C. Fast, the shoulder is empty with almost no parked vehicles, moving vehicles are present in front and behind", "D. Slow, a few parked vehicles on one side of the shoulder, a few moving vehicles present"], "answer_index": 1}
{"token": "20fc29f0d090769cd5daaa4cc1c0bef1", "waymo_split": "test", "type": "image", "frame_index": 9, "question": "Which of the following is a correct description of traffic signals?", "category": "Traffic Signal", "options": ["A. STOP sign on the right side of the intersection", "B. YIELD sign on the left side of the intersection", "C. Dedicated right turn marking on the entrance road", "D. Red signal at the top of the intersection"], "answer_index": 0}
{"token": "20fc29f0d090769cd5daaa4cc1c0bef1", "waymo_split": "test", "type": "image", "frame_index": 9, "question": "What is the classification of the scene?", "category": "Normal scene Understanding", "options": ["A. Entrance to a highway toll booth", "B. Narrow alley in a residential area", "C. Unpaved rural mountain road", "D. Intersection in front of urban commercial buildings"], "answer_index": 1}
{"token": "20fc29f0d090769cd5daaa4cc1c0bef1", "waymo_split": "test", "type": "image", "frame_index": 9, "question": "Which of the following is a correct description of the environment?", "category": "Normal scene Understanding", "options": ["A. Day, clear", "B. Night, raining", "C. Evening, cloudy", "D. Dawn, fog"], "answer_index": 0}
{"token": "20fc29f0d090769cd5daaa4cc1c0bef1", "waymo_split": "test", "type": "image", "frame_index": 9, "question": "Is there a blind spot?", "category": "Uncertainty", "options": ["A. The right shoulder is clear, no blind spot.", "B. There is a blind spot between parked cars on the left shoulder.", "C. The area in front of the right bus stop is clear, no blind spot.", "D. There is a blind spot between parked cars on the right shoulder."], "answer_index": 3}
{"token": "20fc29f0d090769cd5daaa4cc1c0bef1", "waymo_split": "test", "type": "image", "frame_index": 9, "question": "What is the answer regarding parked vehicles on the shoulder, the presence of a center line, and whether Ego is crossing the center line?", "category": "Normal Perception & Prediction", "options": ["A. Many parked vehicles on the shoulder. There is a center line. My vehicle is driving close to the right edge.", "B. No parked vehicles on the shoulder. There is a center line. My vehicle is driving normally within the lane.", "C. A few parked vehicles on the shoulder. There is a center line. My vehicle is slightly crossing the center line.", "D. Many parked vehicles on the shoulder. There is no center line. My vehicle is essentially driving in the center."], "answer_index": 3}
{"token": "20fc29f0d090769cd5daaa4cc1c0bef1", "waymo_split": "test", "type": "image", "frame_index": 9, "question": "Are there any other safety-critical objects besides the first safety-critical object? If so, how will they be moved?", "category": "Safety-critical Prediction", "options": ["A. There is another safety-critical object, move to the right after wearing protective equipment.", "B. There is another safety-critical object, move forward after confirming it is secured.", "C. There are no other safety-critical objects.", "D. There is another safety-critical object, move to the left after clearing the surroundings."], "answer_index": 2}
{"token": "20fc29f0d090769cd5daaa4cc1c0bef1", "waymo_split": "test", "type": "image", "frame_index": 9, "question": "What is a safety-critical object?", "category": "Safety-critical Perception", "options": ["A. Brake", "B. Airbag", "C. Emergency button", "D. None"], "answer_index": 3}
{"token": "20fc29f0d090769cd5daaa4cc1c0bef1", "waymo_split": "test", "type": "image", "frame_index": 9, "question": "How do you think a safety-critical object will move?", "category": "Safety-critical Prediction", "options": ["A. Move to the left", "B. Rotate in place", "C. Slightly forward", "D. None"], "answer_index": 3}
{"token": "20fc29f0d090769cd5daaa4cc1c0bef1", "waymo_split": "test", "type": "image", "frame_index": 9, "question": "How should I drive to resolve the first risk while also addressing the second risk?", "category": "Safety-critical Planning", "options": ["A. No safety-critical objects ahead", "B. Sudden stop vehicle ahead as a safety-critical object", "C. Pedestrian at the crosswalk as a safety-critical object", "D. Merging vehicle from the right lane as a safety-critical object"], "answer_index": 0}
{"token": "20fc29f0d090769cd5daaa4cc1c0bef1", "waymo_split": "test", "type": "image", "frame_index": 9, "question": "Where is the area that hides danger in the current frame?", "category": "Uncertainty", "options": ["A. Blind spot between parked vehicles on the right shoulder", "B. Blind spot on the opposite lane beyond the median", "C. Blind spot at the left corner of the building at the intersection ahead", "D. Blind spot between the bus and taxi on the left"], "answer_index": 0}
{"token": "20fc29f0d090769cd5daaa4cc1c0bef1", "waymo_split": "test", "type": "image", "frame_index": 9, "question": "What is the method to avoid the blind spot next to a large vehicle?", "category": "Special Event", "options": ["A. Maintain speed since it is to the right of the truck", "B. Cannot judge as there is no large vehicle", "C. Reduce speed when passing the blind spot next to the bus", "D. Pass quickly since it is to the left of the large vehicle"], "answer_index": 1}
{"token": "20fc29f0d090769cd5daaa4cc1c0bef1", "waymo_split": "test", "type": "image", "frame_index": 9, "question": "Is lane changing possible? Which is safer, slowing down or changing lanes?", "category": "Safety-critical Planning", "options": ["A. Changing lanes is safer. There is enough space on the left (wide lane)", "B. Changing lanes is safer. Easy merging on the right (low traffic)", "C. Changing lanes is safer. Risk of rear-end collision when slowing down", "D. Slowing down is safer. Lane change not possible (narrow road)"], "answer_index": 3}
{"token": "20fc29f0d090769cd5daaa4cc1c0bef1", "waymo_split": "test", "type": "image", "frame_index": 9, "question": "What is the safest choice when approaching a yellow signal: stop vs. proceed?", "category": "Special Event", "options": ["A. Pedestrian yellow light. Vehicles must stop for pedestrians.", "B. Flashing yellow. The safest option is to slow down and proceed with caution.", "C. No signal. Unable to make a judgment about entering the yellow signal.", "D. Left turn yellow arrow. Wait and turn left on the next green light."], "answer_index": 2}
{"token": "20fc29f0d090769cd5daaa4cc1c0bef1", "waymo_split": "test", "type": "image", "frame_index": 43, "question": "Which of the following is correct as an Image Caption from the perspective of Safety-critical Frame?", "category": "Safety-critical scene caption", "options": ["A. A passenger car turning right from the right side of the intersection.", "B. A vehicle driving left from the right side of the intersection.", "C. A vehicle driving right from the left side of the intersection.", "D. A truck stopped in the center of the intersection."], "answer_index": 1}
{"token": "20fc29f0d090769cd5daaa4cc1c0bef1", "waymo_split": "test", "type": "image", "frame_index": 43, "question": "Based on the current appearance of the person/vehicle (two-wheeled), how do you intend to move?", "category": "Normal Perception & Prediction", "options": ["A. Left turn", "B. U-turn", "C. Straight", "D. Right turn"], "answer_index": 2}
{"token": "20fc29f0d090769cd5daaa4cc1c0bef1", "waymo_split": "test", "type": "image", "frame_index": 43, "question": "What is the plan for yielding when an ambulance/fire truck approaches?", "category": "Special Event", "options": ["A. Move to the left shoulder and slow down to yield", "B. Stop towards the right shoulder where parked vehicles are to yield", "C. Pass through the intersection first and then stop at the edge", "D. Stop in the center lane and use hazard lights to alert"], "answer_index": 1}
{"token": "20fc29f0d090769cd5daaa4cc1c0bef1", "waymo_split": "test", "type": "image", "frame_index": 43, "question": "What are the classifications of scenes?", "category": "Normal scene Understanding", "options": ["A. Highway entrance ramp", "B. Narrow alley in a residential area", "C. Unpaved farm road section", "D. Urban center intersection"], "answer_index": 1}
{"token": "20fc29f0d090769cd5daaa4cc1c0bef1", "waymo_split": "test", "type": "image", "frame_index": 43, "question": "Which of the following is a correct description of traffic density?", "category": "Normal scene Understanding", "options": ["A. Slow, only one enforcement vehicle is parked on the right shoulder", "B. Slow, both shoulders are empty and there are few moving vehicles", "C. Fast, many parked vehicles are present on both shoulders", "D. Fast, there is ample distance between vehicles ahead and surrounding vehicles are sparse"], "answer_index": 2}
{"token": "20fc29f0d090769cd5daaa4cc1c0bef1", "waymo_split": "test", "type": "image", "frame_index": 43, "question": "What are the restrictions on behavior in school zones/congested areas?", "category": "Special Event", "options": ["A. U-turn", "B. Acceleration", "C. Overtaking", "D. Slow driving"], "answer_index": 3}
{"token": "20fc29f0d090769cd5daaa4cc1c0bef1", "waymo_split": "test", "type": "image", "frame_index": 43, "question": "Which of the following is a correct description of the environment?", "category": "Normal scene Understanding", "options": ["A. Dawn, fog", "B. Evening, cloudy", "C. Night, shower", "D. Day, clear"], "answer_index": 3}
{"token": "20fc29f0d090769cd5daaa4cc1c0bef1", "waymo_split": "test", "type": "image", "frame_index": 43, "question": "What is the answer regarding parked vehicles on the shoulder, the presence of a center line, and whether Ego crosses the center line?", "category": "Normal Perception & Prediction", "options": ["A. There are almost no parked vehicles on the shoulder. The center line is clearly marked. My vehicle stays in the right lane.", "B. One or two vehicles are parked on the shoulder. There is a center line. My vehicle does not cross the center line.", "C. There are many parked vehicles on the shoulder. There is no center line. My vehicle is essentially driving in the center.", "D. Parked vehicles on the shoulder are rare. The center line is faint but present. My vehicle stays as far right as possible."], "answer_index": 2}
{"token": "20fc29f0d090769cd5daaa4cc1c0bef1", "waymo_split": "test", "type": "image", "frame_index": 43, "question": "Which of the following is a correct description of traffic signals?", "category": "Traffic Signal", "options": ["A. Red traffic light at the top of the intersection", "B. STOP sign on the right side of the intersection", "C. No parking sign on the right side of the intersection", "D. YIELD sign on the left side of the intersection"], "answer_index": 1}
{"token": "20fc29f0d090769cd5daaa4cc1c0bef1", "waymo_split": "test", "type": "image", "frame_index": 43, "question": "What is the description of a non-safety-critical object?", "category": "Normal Perception & Prediction", "options": ["A. Shared bicycles parked on the bike lanes on both sides. A tunnel entrance and a speed limit sign of 40 ahead. In the distance, willow trees are draped along the riverside walking path on both sides.", "B. Parked vehicles on the shoulders on both sides. An intersection and a STOP sign ahead. In the distance, palm trees are spread out on both sides of the sidewalk in the alley.", "C. Several electric scooters are parked on the sidewalks on both sides. A traffic light and a crosswalk ahead. In the distance, cherry trees are lined up in the flower beds on both sides of the park entrance.", "D. Outdoor tables and umbrellas in front of shops on both sides. A roundabout and a YIELD sign ahead. In the distance, streetlights are next to the guardrails along the coastal road."], "answer_index": 1}
{"token": "20fc29f0d090769cd5daaa4cc1c0bef1", "waymo_split": "test", "type": "image", "frame_index": 43, "question": "What is a safety-critical object?", "category": "Safety-critical Perception", "options": ["A. A truck that appears from the right at a straight intersection and turns left", "B. A vehicle that appears from the right at a straight intersection and goes straight to the left", "C. A bicycle that appears from the left at a straight intersection and goes straight to the right", "D. A vehicle that appears from the left at a straight intersection and turns right"], "answer_index": 1}
{"token": "20fc29f0d090769cd5daaa4cc1c0bef1", "waymo_split": "test", "type": "image", "frame_index": 43, "question": "Is there a blind spot in your field of vision?", "category": "Uncertainty", "options": ["A. There is a blind spot on the right", "B. There is a blind spot in the A-pillar", "C. None", "D. There is a blind spot in the lower right"], "answer_index": 2}
{"token": "20fc29f0d090769cd5daaa4cc1c0bef1", "waymo_split": "test", "type": "image", "frame_index": 43, "question": "How do you think a safety-critical object will move?", "category": "Safety-critical Prediction", "options": ["A. Move straight parallel from right to left at the intersection (from the camera's perspective)", "B. Move straight vertically from right to left at the intersection (from the camera's perspective)", "C. Pass diagonally from right to left at the intersection (from the camera's perspective)", "D. Move straight vertically from left to right at the intersection (from the camera's perspective)"], "answer_index": 1}
{"token": "20fc29f0d090769cd5daaa4cc1c0bef1", "waymo_split": "test", "type": "image", "frame_index": 43, "question": "Is there any other safety-critical object besides the first one? If so, how will you move?", "category": "Safety-critical Prediction", "options": ["A. There is a safety-critical object on the front left, divert to the right", "B. There is a safety-critical object on the ground, stop briefly and move backward", "C. There is a safety-critical object close to the right, slightly evade to the left", "D. There is no next safety-critical object"], "answer_index": 3}
{"token": "20fc29f0d090769cd5daaa4cc1c0bef1", "waymo_split": "test", "type": "image", "frame_index": 43, "question": "What should I do to drive safely?", "category": "Safety-critical Planning", "options": ["A. If the car on the left hesitates, look for a gap and wait inside the intersection beyond the stop line.", "B. Honk the horn to alert and pass through without slowing down.", "C. Do not enter the intersection until the vehicle passes, and proceed slowly to wait.", "D. If the other vehicle seems far away, enter the intersection first and maintain speed."], "answer_index": 2}
{"token": "20fc29f0d090769cd5daaa4cc1c0bef1", "waymo_split": "test", "type": "image", "frame_index": 43, "question": "How should I drive to address the first risk while also addressing the second risk?", "category": "Safety-critical Planning", "options": ["A. Next safety-critical object: left merging vehicle", "B. Next safety-critical object: vehicle suddenly braking ahead", "C. No next safety-critical object", "D. Next safety-critical object: pedestrian entering from the right"], "answer_index": 2}
{"token": "20fc29f0d090769cd5daaa4cc1c0bef1", "waymo_split": "test", "type": "image", "frame_index": 43, "question": "What is the correlation in safety-critical situations?", "category": "Safety-critical scene Understanding", "options": ["A. Two-wheeled vehicle", "B. Car-car", "C. Person-two-wheeled", "D. Car-person"], "answer_index": 1}
{"token": "20fc29f0d090769cd5daaa4cc1c0bef1", "waymo_split": "test", "type": "image", "frame_index": 43, "question": "Is lane changing possible? Which is safer, slowing down or changing lanes?", "category": "Safety-critical Planning", "options": ["A. Slowing down is safer. Lane change not possible (narrow road)", "B. Changing lanes is safer. Lane change possible (left side has space)", "C. Changing lanes is safer. Lane change possible (good visibility, straight section)", "D. Changing lanes is safer. Lane change possible (before intersection, low traffic)"], "answer_index": 0}
{"token": "20fc29f0d090769cd5daaa4cc1c0bef1", "waymo_split": "test", "type": "image", "frame_index": 43, "question": "Who is responsible in a safety-critical situation? What is the cause?", "category": "Safety-critical scene Understanding", "options": ["A. The pedestrian is responsible. They entered the roadway without permission, causing vehicles to brake suddenly and increasing the risk of a chain reaction.", "B. The vehicle making a right turn is responsible. They rushed into the corner without signaling, making the already limited visibility more dangerous.", "C. The vehicle driving through the intersection is responsible. It is a narrow alley intersection, and driving fast creates danger due to speed.", "D. The motorcycle in the opposite lane is responsible. They ignored the stop line and drove straight through the intersection, causing confusion in the middle of the intersection."], "answer_index": 2}
{"token": "20fc29f0d090769cd5daaa4cc1c0bef1", "waymo_split": "test", "type": "image", "frame_index": 43, "question": "What is the safest choice when approaching a yellow signal: stop or proceed?", "category": "Special Event", "options": ["A. Continue turning right. Proceed is prioritized while the yellow is on.", "B. No signal. Unable to make a judgment on entering the yellow signal.", "C. Slow down and proceed. Safer than a sudden stop when the light turns yellow.", "D. Stop immediately. Yellow is the same as a stop signal."], "answer_index": 1}
{"token": "20fc29f0d090769cd5daaa4cc1c0bef1", "waymo_split": "test", "type": "image", "frame_index": 43, "question": "Where is the area that hides danger in the current frame?", "category": "Uncertainty", "options": ["A. Blind spot between parked vehicles on the right shoulder", "B. Blind spot next to the corner of the left alley exit", "C. Blind spot behind the bushes of the left median", "D. Blind spot behind the cargo area of the large truck ahead"], "answer_index": 0}
{"token": "20fc29f0d090769cd5daaa4cc1c0bef1", "waymo_split": "test", "type": "image", "frame_index": 43, "question": "What situation might occur if the vehicle acted this way?", "category": "Counterfactual", "options": ["A. If the vehicle changed to the right lane in advance and made a right turn, there would be no encounter with oncoming vehicles.", "B. If the vehicle accelerated and entered the intersection at a high speed, there would be a risk of collision with that vehicle.", "C. If the vehicle proceeded slowly and stopped at the intersection's stop line to wait, there would be no special risk.", "D. If the vehicle waited for the left signal and then slowly entered the left turn, there would be enough distance from the surroundings."], "answer_index": 1}
{"token": "20fc29f0d090769cd5daaa4cc1c0bef1", "waymo_split": "test", "type": "image", "frame_index": 43, "question": "What is the method to safely pass through the blind spot next to a large vehicle?", "category": "Special Event", "options": ["A. Unable to judge as there is no large vehicle", "B. Quickly pass in the right lane", "C. Stay to the left for a quick overtaking", "D. Safely pass by following behind a large bus"], "answer_index": 0}
{"token": "20fc29f0d090769cd5daaa4cc1c0bef1", "waymo_split": "test", "type": "image", "frame_index": 43, "question": "What are the driving guidelines for your vehicle based on the behavior of a safety-critical object?", "category": "Safety-critical Planning", "options": ["A. If a vehicle at the intersection is turning left to merge, your vehicle should slightly move towards the left center line to create space while maintaining the flow on the right, allowing the left-turning vehicle to align itself.", "B. If a left-turning vehicle at the intersection encroaches towards your vehicle, your vehicle should honk once and accelerate to exit the intersection first, reducing the possibility of a collision.", "C. If a vehicle at the intersection is turning left and entering the road towards your vehicle, your vehicle should maintain its lane while slightly decelerating to pass through, ensuring the left-turning vehicle waits at the stop line.", "D. If a vehicle at the intersection is turning left and entering the road towards your vehicle, your vehicle should turn towards the right shoulder where there are currently no parked vehicles to create space for the entering vehicle."], "answer_index": 3}
{"token": "20fc29f0d090769cd5daaa4cc1c0bef1", "waymo_split": "test", "type": "image", "frame_index": 61, "question": "What is the plan for yielding when an ambulance/fire truck approaches?", "category": "Special Event", "options": ["A. Pull over to the left shoulder to yield", "B. Stay close to the center line and yield while moving slowly", "C. Keep the hazard lights on and maintain speed while yielding", "D. Pull over to the right shoulder where parked vehicles are to yield"], "answer_index": 3}
{"token": "20fc29f0d090769cd5daaa4cc1c0bef1", "waymo_split": "test", "type": "image", "frame_index": 61, "question": "Based on the current appearance of the person/car (two-wheeled), how are they likely to move?", "category": "Normal Perception & Prediction", "options": ["A. It seems they will turn left immediately with the left turn signal on.", "B. It seems they will accelerate before the signal changes and pass through the intersection.", "C. It seems they will stay close to the right and turn right while proceeding.", "D. It seems they will stop just before entering the intersection."], "answer_index": 3}
{"token": "20fc29f0d090769cd5daaa4cc1c0bef1", "waymo_split": "test", "type": "image", "frame_index": 61, "question": "What is the classification of the scene?", "category": "Normal scene Understanding", "options": ["A. Unpaved rural road", "B. Highway entrance ramp", "C. Intersection on a city main road", "D. Narrow alley in a residential area"], "answer_index": 3}
{"token": "20fc29f0d090769cd5daaa4cc1c0bef1", "waymo_split": "test", "type": "image", "frame_index": 61, "question": "Which of the following is a correct description of traffic density?", "category": "Normal scene Understanding", "options": ["A. Slow, only a few parked vehicles on the right shoulder", "B. Fast, the shoulder is empty and there are few moving vehicles", "C. Slow, almost no surrounding vehicles", "D. Fast, many parked vehicles on both sides of the shoulder"], "answer_index": 3}
{"token": "20fc29f0d090769cd5daaa4cc1c0bef1", "waymo_split": "test", "type": "image", "frame_index": 61, "question": "Which of the following is a correct description of the environment?", "category": "Normal scene Understanding", "options": ["A. Night, clear", "B. Day, clear", "C. Day, cloudy", "D. Morning, fog"], "answer_index": 1}
{"token": "20fc29f0d090769cd5daaa4cc1c0bef1", "waymo_split": "test", "type": "image", "frame_index": 61, "question": "What are the restrictions on behavior in school zones/congested areas?", "category": "Special Event", "options": ["A. Overtaking", "B. Accelerating", "C. Driving slowly", "D. Detouring"], "answer_index": 2}
{"token": "20fc29f0d090769cd5daaa4cc1c0bef1", "waymo_split": "test", "type": "image", "frame_index": 61, "question": "Which of the following is a correct description of traffic signals?", "category": "Traffic Signal", "options": ["A. Dedicated left turn arrow on the road surface in front", "B. Red light illuminated on the traffic signal at the intersection ahead", "C. STOP sign on the right side of the intersection ahead", "D. YIELD sign on the left side of the intersection ahead"], "answer_index": 2}
{"token": "20fc29f0d090769cd5daaa4cc1c0bef1", "waymo_split": "test", "type": "image", "frame_index": 61, "question": "What is a safety-critical object?", "category": "Safety-critical Perception", "options": ["A. Emergency stop button", "B. None", "C. Airbag", "D. Pacemaker"], "answer_index": 1}
{"token": "20fc29f0d090769cd5daaa4cc1c0bef1", "waymo_split": "test", "type": "image", "frame_index": 61, "question": "What is the answer regarding parked vehicles on the shoulder, the presence of a center line, and whether Ego is crossing the center line?", "category": "Normal Perception & Prediction", "options": ["A. A few parked vehicles on the shoulder. Clear center line. My vehicle is driving close to the shoulder.", "B. No parked vehicles on the shoulder. There is a center line. My vehicle is not crossing the center line.", "C. Many parked vehicles on the shoulder. No center line. My vehicle is essentially driving in the center.", "D. One or two parked vehicles on the shoulder. There is a center line. My vehicle is slightly touching the center line while driving."], "answer_index": 2}
{"token": "20fc29f0d090769cd5daaa4cc1c0bef1", "waymo_split": "test", "type": "image", "frame_index": 61, "question": "Is there a blind spot in your field of vision?", "category": "Uncertainty", "options": ["A. Yes", "B. It is on the left", "C. No", "D. It is present in rainy weather"], "answer_index": 2}
{"token": "20fc29f0d090769cd5daaa4cc1c0bef1", "waymo_split": "test", "type": "image", "frame_index": 61, "question": "Are there any safety-critical objects other than the first safety-critical object? If so, how will they be moved?", "category": "Safety-critical Prediction", "options": ["A. No other safety-critical objects", "B. Next safety-critical object: AED, move with cushioning packaging to the adjacent station", "C. Next safety-critical object: high-pressure gas cylinder, move with a dedicated cart", "D. Next safety-critical object: fire extinguisher, move along the wall to the safe area"], "answer_index": 0}
{"token": "20fc29f0d090769cd5daaa4cc1c0bef1", "waymo_split": "test", "type": "image", "frame_index": 61, "question": "How do you think a safety-critical object will move?", "category": "Safety-critical Prediction", "options": ["A. None", "B. Straight", "C. Left", "D. Rotate"], "answer_index": 0}
{"token": "20fc29f0d090769cd5daaa4cc1c0bef1", "waymo_split": "test", "type": "image", "frame_index": 61, "question": "How should I drive to address the first risk while also addressing the second risk?", "category": "Safety-critical Planning", "options": ["A. No safety-critical objects ahead", "B. Safety-critical objects present ahead", "C. Caution for right-side safety-critical objects", "D. Avoidance of front safety-critical objects"], "answer_index": 0}
{"token": "20fc29f0d090769cd5daaa4cc1c0bef1", "waymo_split": "test", "type": "image", "frame_index": 61, "question": "Where is the area that hides danger in the current frame?", "category": "Uncertainty", "options": ["A. Blind spot right behind the large truck in front", "B. Blind spot behind the parked vehicle on the left side", "C. Blind spot between the trees in the central divider", "D. Blind spot between the parked vehicles on the right shoulder"], "answer_index": 3}
{"token": "20fc29f0d090769cd5daaa4cc1c0bef1", "waymo_split": "test", "type": "image", "frame_index": 61, "question": "What is the safest choice when approaching a yellow signal: stop or proceed?", "category": "Special Event", "options": ["A. Recommended to stop. Slow down and wait when the yellow light is on.", "B. Proceed slowly. If there are no pedestrians, it is possible to continue.", "C. No signal. Unable to make a judgment about entering the yellow signal.", "D. Priority to proceed. If there is space ahead, continue as is."], "answer_index": 2}
{"token": "20fc29f0d090769cd5daaa4cc1c0bef1", "waymo_split": "test", "type": "image", "frame_index": 61, "question": "What is the method to avoid the blind spot next to a large vehicle?", "category": "Special Event", "options": ["A. Enter by only looking at the side mirror", "B. Proceed quickly to the right of the large vehicle", "C. Cannot judge as there is no large vehicle", "D. Overtake after closely following the rear of the large vehicle"], "answer_index": 2}
{"token": "20fc29f0d090769cd5daaa4cc1c0bef1", "waymo_split": "test", "type": "image", "frame_index": 102, "question": "Based on the current appearance of the person/vehicle (two-wheeled), how are they trying to move?", "category": "Normal Perception & Prediction", "options": ["A. Attempting to enter a right turn", "B. Attempting to enter an intersection", "C. Attempting to enter a left turn", "D. Preparing for a U-turn"], "answer_index": 1}
{"token": "20fc29f0d090769cd5daaa4cc1c0bef1", "waymo_split": "test", "type": "image", "frame_index": 102, "question": "What is the plan for yielding when an ambulance/fire truck approaches?", "category": "Special Event", "options": ["A. Enter the intersection to create space and yield", "B. Stop towards the right shoulder parking vehicles to yield", "C. Stay close to the center line and yield while moving slowly", "D. Move towards the left shoulder, stop, and yield"], "answer_index": 1}
{"token": "20fc29f0d090769cd5daaa4cc1c0bef1", "waymo_split": "test", "type": "image", "frame_index": 102, "question": "What is correct as an Image Caption from the perspective of Safety-critical Frame?", "category": "Safety-critical scene caption", "options": ["A. There is an electric scooter entering the intersection while closely approaching a vehicle on the right shoulder of the road at the intersection. It is important to either enter or yield to avoid a collision since my vehicle is also about to enter the intersection.", "B. There is a bicycle entering the intersection while closely approaching the center line on the left road at the intersection. It is important to check the right of way and maintain distance since my vehicle is also about to enter the intersection.", "C. A taxi attempting to turn right at the intersection is seen slowly maneuvering inward to avoid a vehicle on the shoulder. It is important to adjust speed or yield to avoid overlapping with the taxi since my vehicle is also about to enter the intersection.", "D. Visibility is obstructed by a bus stopped in the right lane just before the intersection, and the scooter is not visible. It is important to proceed slowly while checking the blind spots around the bus since my vehicle is also about to enter the intersection."], "answer_index": 0}
{"token": "20fc29f0d090769cd5daaa4cc1c0bef1", "waymo_split": "test", "type": "image", "frame_index": 102, "question": "What are the classifications of scenes?", "category": "Normal scene Understanding", "options": ["A. Highway shoulder section", "B. Narrow alley in a residential area", "C. Main street in a bustling city center", "D. Unpaved rural dirt road"], "answer_index": 1}
{"token": "20fc29f0d090769cd5daaa4cc1c0bef1", "waymo_split": "test", "type": "image", "frame_index": 102, "question": "Which of the following is a correct description of traffic density?", "category": "Normal scene Understanding", "options": ["A. Fast, few parked vehicles on one side of the road", "B. Slow, few surrounding vehicles distributed in front and behind", "C. Fast, many parked vehicles on both sides", "D. Slow, many vehicles concentrated in the center lane"], "answer_index": 2}
{"token": "20fc29f0d090769cd5daaa4cc1c0bef1", "waymo_split": "test", "type": "image", "frame_index": 102, "question": "What are the restrictions on behavior in school zones/congested areas?", "category": "Special Event", "options": ["A. Acceleration", "B. Detour", "C. Stop", "D. Slow down"], "answer_index": 3}
{"token": "20fc29f0d090769cd5daaa4cc1c0bef1", "waymo_split": "test", "type": "image", "frame_index": 102, "question": "Which of the following is a correct description of the environment?", "category": "Normal scene Understanding", "options": ["A. Evening, cloudy", "B. Night, shower", "C. Day, clear", "D. Dawn, fog"], "answer_index": 2}
{"token": "20fc29f0d090769cd5daaa4cc1c0bef1", "waymo_split": "test", "type": "image", "frame_index": 102, "question": "What is correct as an Image Caption from the perspective of a Normal Frame?", "category": "Normal scene caption", "options": ["A. A vehicle approaching a T-intersection. A speed limit sign of 30 on the right corner. An electric scooter quickly passing along the left shoulder from the left road. There are almost no parked cars on the front roads.", "B. A vehicle going straight after passing an intersection. A yield sign at the left corner of the intersection. A bicycle trying to enter the left road of the intersection, moving towards the center line. The shoulder on the front road is mostly empty.", "C. A vehicle waiting for a left turn signal. A pedestrian crossing signal at the right corner. A pedestrian walking along the sidewalk around the corner from the right road. Only one construction vehicle is parked on the opposite shoulder.", "D. A vehicle attempting to enter an intersection. A STOP sign at the right corner of the intersection. A scooter driving closely towards the right shoulder vehicle on the right road to enter the intersection. There are many parked vehicles on the shoulders of the front roads."], "answer_index": 3}
{"token": "20fc29f0d090769cd5daaa4cc1c0bef1", "waymo_split": "test", "type": "image", "frame_index": 102, "question": "Which of the following is a correct description of traffic signals?", "category": "Traffic Signal", "options": ["A. STOP pavement marking in the lane ahead", "B. YIELD sign on the left side of the intersection ahead", "C. Red traffic light at the top of the intersection ahead", "D. STOP sign on the right side of the intersection ahead"], "answer_index": 3}
{"token": "20fc29f0d090769cd5daaa4cc1c0bef1", "waymo_split": "test", "type": "image", "frame_index": 102, "question": "What is the description of a non-safety-critical object?", "category": "Normal Perception & Prediction", "options": ["A. Long-term parked vehicles on the left shoulder of each road at the intersection. A YIELD sign and a small roundabout are visible ahead. In the distance, the alleyway has climbing plants hanging from the walls on both sides. A building with a blue glass facade is at the corner across the left front.", "B. The shoulder around the intersection is blocked by construction cones and temporary fences. A speed limit sign of 25 is visible ahead, but there is no STOP sign. In the distance, the alleyway has terrace umbrellas in front of shops on both sides. A gray warehouse-type building is at the corner across the right front.", "C. The front connects to a T-intersection, with bike lanes marked on both sides. There are traffic lights and a pedestrian signal button box ahead. In the distance, maple trees line the central strip of the alleyway. A white low-rise house is at the corner just ahead on the right.", "D. Parking vehicles are on both sides of the shoulder of each road at the intersection. There are intersection and STOP signs ahead. In the distance, palm trees are spread out on both sides of the sidewalk in the alleyway. A red building is at the corner across the right front."], "answer_index": 3}
{"token": "20fc29f0d090769cd5daaa4cc1c0bef1", "waymo_split": "test", "type": "image", "frame_index": 102, "question": "What is the answer regarding parked vehicles on the shoulder, the presence of a center line, and whether Ego is crossing the center line?", "category": "Normal Perception & Prediction", "options": ["A. Many parked vehicles on the shoulder. No center line. My vehicle is essentially driving in the center.", "B. One or two parked vehicles on the shoulder. Solid center line. My vehicle is maintaining its position in the right lane.", "C. No parked vehicles on the shoulder. There is a center line. My vehicle is driving close to the right side of the lane.", "D. One parked vehicle on the shoulder. Dashed center line. My vehicle is slightly crossing over the center line to the left."], "answer_index": 0}
{"token": "20fc29f0d090769cd5daaa4cc1c0bef1", "waymo_split": "test", "type": "image", "frame_index": 102, "question": "Is there any Safety-critical object other than the first Safety-critical object? If so, how will you move?", "category": "Safety-critical Prediction", "options": ["A. There is another Safety-critical object, pause and move to the left safety zone", "B. There is another Safety-critical object, back up to secure distance and then move straight", "C. There is another Safety-critical object, slowly maneuver to the front right", "D. There is no other Safety-critical object"], "answer_index": 3}
{"token": "20fc29f0d090769cd5daaa4cc1c0bef1", "waymo_split": "test", "type": "image", "frame_index": 102, "question": "How do you think a safety-critical object will move?", "category": "Safety-critical Prediction", "options": ["A. Proceed to the right to turn right (decelerate)", "B. Wait near the center line to prepare for a U-turn (stop)", "C. Drive straight to enter the intersection (slow down)", "D. Enter the left lane to turn left (slow down)"], "answer_index": 2}
{"token": "20fc29f0d090769cd5daaa4cc1c0bef1", "waymo_split": "test", "type": "image", "frame_index": 102, "question": "What should I do to drive safely?", "category": "Safety-critical Planning", "options": ["A. Since the left lane at the intersection is wide, I need to change lanes and quickly turn left while overtaking the scooter.", "B. Since the pedestrian signal is about to end, I should turn right before the pedestrians and exit the intersection.", "C. Since my vehicle has a green light, I should pass through at a steady speed without worrying about the scooter.", "D. Since my vehicle is also about to enter the intersection, I should slow down to avoid colliding with the scooter and either go straight or turn."], "answer_index": 3}
{"token": "20fc29f0d090769cd5daaa4cc1c0bef1", "waymo_split": "test", "type": "image", "frame_index": 102, "question": "Is there a blind spot in your field of vision?", "category": "Uncertainty", "options": ["A. None", "B. On the right", "C. Only on the left", "D. Yes"], "answer_index": 0}
{"token": "20fc29f0d090769cd5daaa4cc1c0bef1", "waymo_split": "test", "type": "image", "frame_index": 102, "question": "What is a safety-critical object?", "category": "Safety-critical Perception", "options": ["A. A bicycle moving diagonally towards the crosswalk from the front lane at an intersection.", "B. A passenger car approaching to stop close to the bus stop from the right lane at an intersection.", "C. A kickboard driving into the intersection while closely adhering to the right shoulder vehicle from the right road at an intersection.", "D. A motorcycle attempting to turn left while closely adhering to the center line from the left road at an intersection."], "answer_index": 2}
{"token": "20fc29f0d090769cd5daaa4cc1c0bef1", "waymo_split": "test", "type": "image", "frame_index": 102, "question": "How should I drive to address the first risk while also addressing the second risk?", "category": "Safety-critical Planning", "options": ["A. Approach the left side of the safety-critical object", "B. There is a next safety-critical object", "C. There is no next safety-critical object", "D. Detect the safety-critical object ahead"], "answer_index": 2}
{"token": "20fc29f0d090769cd5daaa4cc1c0bef1", "waymo_split": "test", "type": "image", "frame_index": 102, "question": "What are the correlations in safety-critical situations?", "category": "Safety-critical scene Understanding", "options": ["A. Motorcycle-Bicycle", "B. Car-Scooter", "C. Bus-Pedestrian", "D. Car-Pedestrian"], "answer_index": 1}
{"token": "20fc29f0d090769cd5daaa4cc1c0bef1", "waymo_split": "test", "type": "image", "frame_index": 102, "question": "What is the safer choice just before entering a yellow signal: stop vs pass?", "category": "Special Event", "options": ["A. Decelerate and stop. Choosing to stop in front of the stop line is safer.", "B. Maintain speed and pass. Passing is safer as the gap with the car behind is narrow.", "C. Accelerate and pass quickly. Passing swiftly when the intersection is clear is safer.", "D. No signal. Unable to make a judgment about entering a yellow signal."], "answer_index": 3}
{"token": "20fc29f0d090769cd5daaa4cc1c0bef1", "waymo_split": "test", "type": "image", "frame_index": 102, "question": "Is lane changing possible? Which is safer, slowing down or changing lanes?", "category": "Safety-critical Planning", "options": ["A. Changing lanes is safer than slowing down. Lane change possible (ample space in the right lane)", "B. Slowing down is safer. Lane change not possible (narrow road)", "C. Changing lanes is safer. Lane change possible (3-lane one-way road, plenty of space)", "D. Changing lanes is safer. Lane change possible (wide visibility in a straight section)"], "answer_index": 1}
{"token": "20fc29f0d090769cd5daaa4cc1c0bef1", "waymo_split": "test", "type": "image", "frame_index": 102, "question": "Where is the area that hides danger in the current frame?", "category": "Uncertainty", "options": ["A. Blind spot between parked vehicles on the right shoulder", "B. Blind spot behind the large bus on the left", "C. Blind spot behind the pedestrian crossing sign on the right", "D. Blind spot inside the corner of the intersection ahead"], "answer_index": 0}
{"token": "20fc29f0d090769cd5daaa4cc1c0bef1", "waymo_split": "test", "type": "image", "frame_index": 102, "question": "Who is responsible in a safety-critical situation? What is the cause?", "category": "Safety-critical scene Understanding", "options": ["A. The responsibility lies with the car, and the cause is that it failed to see the scooter coming from the left while trying to take the intersection (the scooter actually entered first).", "B. The responsibility lies with both parties, and the cause is that the scooter was already in the center while the car excessively narrowed the gap from the right (both lacked attention).", "C. The responsibility lies with the scooter, and the cause is that it ignored the left signal and squeezed between vehicles to enter the intersection (the car entered normally from the stop line).", "D. There is no responsibility on either side, but the fact that the scooter appeared from the right and entered the intersection is a contributing factor (the car was already entering the intersection first)."], "answer_index": 3}
{"token": "20fc29f0d090769cd5daaa4cc1c0bef1", "waymo_split": "test", "type": "image", "frame_index": 102, "question": "What is the method to avoid the blind spot next to a large vehicle?", "category": "Special Event", "options": ["A. Cannot determine as there is no large vehicle", "B. Pass while maintaining the blind spot on the right side of the large vehicle", "C. Pass closely behind the large vehicle", "D. Increase speed and overtake next to the large vehicle"], "answer_index": 0}
{"token": "20fc29f0d090769cd5daaa4cc1c0bef1", "waymo_split": "test", "type": "image", "frame_index": 140, "question": "Based on the current appearance of the person/vehicle (two-wheeled), how do you intend to move?", "category": "Normal Perception & Prediction", "options": ["A. Entering the intersection and turning left", "B. Going straight through the intersection", "C. Entering the intersection and turning right", "D. Entering the center of the intersection to prepare for a U-turn"], "answer_index": 0}
{"token": "20fc29f0d090769cd5daaa4cc1c0bef1", "waymo_split": "test", "type": "image", "frame_index": 140, "question": "Which of the following is correct as an Image Caption from the perspective of a Normal Frame?", "category": "Normal scene caption", "options": ["A. A car accelerating straight through the center of an intersection (recovering speed). An electric scooter waiting to turn right in the right lane. The opposite roadside is temporarily formed with construction fences.", "B. A car waiting at the stop line in front of a T-intersection (at a stop). A pedestrian waiting for the crossing signal at the end of the right sidewalk. Few stopped vehicles on both sides in front, only a bus stop is visible.", "C. A car entering an intersection attempting to turn left (at a low speed). An electric scooter on the right side of the intersection trying to enter the left road like the car. Many parked vehicles on the shoulder of each road in front.", "D. A car entering an intersection preparing to turn right (gently slowing down). A bicycle on the left side of the intersection attempting to merge into the right road. Almost no parked vehicles on the lanes in front."], "answer_index": 2}
{"token": "20fc29f0d090769cd5daaa4cc1c0bef1", "waymo_split": "test", "type": "image", "frame_index": 140, "question": "What is the plan for yielding when an ambulance/fire truck approaches?", "category": "Special Event", "options": ["A. Turn on emergency lights and stop briefly inside the intersection", "B. Yield by pulling over to the shoulder after passing the intersection", "C. Yield by moving towards the center line before entering the intersection", "D. Enter the right turn lane and yield while proceeding slowly"], "answer_index": 1}
{"token": "20fc29f0d090769cd5daaa4cc1c0bef1", "waymo_split": "test", "type": "image", "frame_index": 102, "question": "What situation might occur if the vehicle acted this way?", "category": "Counterfactual", "options": ["A. If the vehicle comes to a stop in front of the stop line at a slow speed, there is a risk of collision with a motorcycle.", "B. If the vehicle enters the parking lot exit while moving slowly, there is a risk of collision with a bicycle.", "C. If the vehicle reverses out of an alley onto the road, there is a risk of collision with a bus.", "D. If the vehicle enters the intersection at a high speed and goes straight or turns, there is a risk of collision with a scooter."], "answer_index": 3}
{"token": "20fc29f0d090769cd5daaa4cc1c0bef1", "waymo_split": "test", "type": "image", "frame_index": 140, "question": "Which of the following is a correct description of traffic density?", "category": "Normal scene Understanding", "options": ["A. Fast, many vehicles changing lanes around", "B. Slow, few vehicles driving around", "C. Slow, many vehicles parked on the shoulder", "D. Fast, almost no vehicles around"], "answer_index": 2}
{"token": "20fc29f0d090769cd5daaa4cc1c0bef1", "waymo_split": "test", "type": "image", "frame_index": 140, "question": "What is the classification of the scene?", "category": "Normal scene Understanding", "options": ["A. Ramp section of a highway entrance", "B. Intersection of a narrow alley in a residential area", "C. T-junction of a one-way alley in a residential area", "D. Intersection of a main road in the city center"], "answer_index": 1}
{"token": "20fc29f0d090769cd5daaa4cc1c0bef1", "waymo_split": "test", "type": "image", "frame_index": 140, "question": "Which of the following is a correct description of the environment?", "category": "Normal scene Understanding", "options": ["A. sunset, rain", "B. night, clear", "C. day, clear", "D. day, cloudy"], "answer_index": 2}
{"token": "20fc29f0d090769cd5daaa4cc1c0bef1", "waymo_split": "test", "type": "image", "frame_index": 140, "question": "What are the restrictions on behavior in school zones/congested areas?", "category": "Special Event", "options": ["A. Detour", "B. Slow down", "C. Stop", "D. Reverse"], "answer_index": 1}
{"token": "20fc29f0d090769cd5daaa4cc1c0bef1", "waymo_split": "test", "type": "image", "frame_index": 140, "question": "What is the description of a non-safety-critical object?", "category": "Normal Perception & Prediction", "options": ["A. A bicycle rack on both sides of the lane in front. Benches on both sides of the walkway far ahead. A green sign shop at the corner directly across on the right.", "B. A row of low bollards in the center of the road in front. Numerous road signs on both sides towards the intersection far ahead. A building with a blue glass facade at the corner directly across on the right.", "C. Parked vehicles on both sides of the shoulder on the road in front. Palm trees spread out on both sides of the walkway in the alley far ahead. A red building at the corner directly across on the right.", "D. Wires hanging from a utility pole above the lane in front. Flower pots on both sides at the entrance of the alley far ahead. A gray warehouse building at the corner directly across on the right."], "answer_index": 2}
{"token": "20fc29f0d090769cd5daaa4cc1c0bef1", "waymo_split": "test", "type": "image", "frame_index": 140, "question": "Is there a blind spot in your field of vision?", "category": "Uncertainty", "options": ["A. No visibility on the right road at the T-intersection", "B. Good visibility on the right road at the intersection", "C. No visibility on the left road at the intersection", "D. No visibility on the right road at the intersection"], "answer_index": 3}
{"token": "20fc29f0d090769cd5daaa4cc1c0bef1", "waymo_split": "test", "type": "image", "frame_index": 140, "question": "What is the answer regarding parked vehicles on the shoulder, the presence of a center line, and whether Ego crosses the center line?", "category": "Normal Perception & Prediction", "options": ["A. Few parked vehicles on the shoulder. There is a center line.", "B. No parked vehicles on the shoulder. There is a center line.", "C. Many parked vehicles on the shoulder. There is no center line.", "D. One or two parked vehicles on the shoulder. The center line is clear."], "answer_index": 2}
{"token": "20fc29f0d090769cd5daaa4cc1c0bef1", "waymo_split": "test", "type": "image", "frame_index": 140, "question": "Which of the following is a correct description of traffic signals?", "category": "Traffic Signal", "options": ["A. One-way sign on the right side of the intersection ahead", "B. YIELD sign on the left side of the intersection ahead", "C. STOP sign on the right side of the intersection ahead", "D. Stop line marked on the road at the intersection ahead"], "answer_index": 2}
{"token": "20fc29f0d090769cd5daaa4cc1c0bef1", "waymo_split": "test", "type": "image", "frame_index": 140, "question": "What is a safety-critical object?", "category": "Safety-critical Perception", "options": ["A. An electric scooter stopped in the center of the intersection", "B. A delivery motorcycle going straight from the right side of the intersection", "C. A bicycle traveling from the left to the right side of the intersection", "D. A scooter traveling from the right to the left side of the intersection"], "answer_index": 3}
{"token": "20fc29f0d090769cd5daaa4cc1c0bef1", "waymo_split": "test", "type": "image", "frame_index": 140, "question": "How should I drive to address the first risk while also resolving the second risk?", "category": "Safety-critical Planning", "options": ["A. Approaching the next safety-critical object", "B. No next safety-critical object", "C. Change lanes to the left in advance", "D. Anticipate the risk ahead and stop temporarily"], "answer_index": 1}
{"token": "20fc29f0d090769cd5daaa4cc1c0bef1", "waymo_split": "test", "type": "image", "frame_index": 140, "question": "How do you think a safety-critical object would move?", "category": "Safety-critical Prediction", "options": ["A. Enter the intersection and turn left after checking signals", "B. Slow down to change to the center lane while following the car in front", "C. Go straight to enter the left lane just like your own vehicle", "D. Turn right to merge into the right lane opposite to your own vehicle"], "answer_index": 2}
{"token": "20fc29f0d090769cd5daaa4cc1c0bef1", "waymo_split": "test", "type": "image", "frame_index": 140, "question": "Are there any safety-critical objects other than the first safety-critical object? If so, how will you move?", "category": "Safety-critical Prediction", "options": ["A. No more safety-critical objects", "B. Check for the next safety-critical object, change to the center lane while maintaining distance", "C. There is a next safety-critical object, slow down and detour to the left", "D. Detect the next safety-critical object, stop briefly and pass to the right edge"], "answer_index": 0}
{"token": "20fc29f0d090769cd5daaa4cc1c0bef1", "waymo_split": "test", "type": "image", "frame_index": 140, "question": "What should I do to drive safely?", "category": "Safety-critical Planning", "options": ["A. Proceed with a right turn in your car, honk once if you see a scooter, and pass through without interrupting the flow for safety.", "B. Since the car has priority to go straight, maintain speed and continue until the scooter stops to exit the intersection first.", "C. When turning left, stay close to the center line and exit quickly, as the scooter will move aside on its own, so you should pass without stopping.", "D. Since the car is also turning left, drive slowly to avoid collisions and stop to allow the scooter to pass first."], "answer_index": 3}
{"token": "20fc29f0d090769cd5daaa4cc1c0bef1", "waymo_split": "test", "type": "image", "frame_index": 140, "question": "What is the correlation in safety-critical situations?", "category": "Safety-critical scene Understanding", "options": ["A. Car - Kickboard", "B. Car - Pedestrian", "C. Car - Bicycle", "D. Person - Kickboard"], "answer_index": 0}
{"token": "20fc29f0d090769cd5daaa4cc1c0bef1", "waymo_split": "test", "type": "image", "frame_index": 140, "question": "Where is the area that hides danger in the current frame?", "category": "Uncertainty", "options": ["A. Blind spot between parked vehicles on the right shoulder", "B. Blind spot next to the crosswalk railing on the right side of the intersection", "C. Blind spot between the left median and the vehicle", "D. Blind spot extending behind the large bus ahead"], "answer_index": 0}
{"token": "20fc29f0d090769cd5daaa4cc1c0bef1", "waymo_split": "test", "type": "image", "frame_index": 140, "question": "What is the safest choice when approaching a yellow signal: stop or proceed?", "category": "Special Event", "options": ["A. Left turn only signal. Vehicles going straight must stop", "B. Yellow flashing light. Proceed slowly", "C. No signal. Unable to make a judgment on entering the yellow signal", "D. Green straight signal. Maintain speed and proceed"], "answer_index": 2}
{"token": "20fc29f0d090769cd5daaa4cc1c0bef1", "waymo_split": "test", "type": "image", "frame_index": 140, "question": "Who is responsible in a safety-critical situation? What is the cause?", "category": "Safety-critical scene Understanding", "options": ["A. The responsibility lies with the vehicle on the right. The cause is that it skipped the waiting line and pushed into the intersection.", "B. There is no responsibility on either side. The cause is that both entered the left road of the intersection simultaneously.", "C. The responsibility lies with the vehicle on the left. The cause is that it ignored the right of way in a non-protected left turn and turned first.", "D. The responsibility lies with the following vehicle. The cause is the sudden lane change and cutting in just before entering the intersection."], "answer_index": 1}
{"token": "20fc29f0d090769cd5daaa4cc1c0bef1", "waymo_split": "test", "type": "image", "frame_index": 140, "question": "What is the method to avoid the blind spot next to a large vehicle?", "category": "Special Event", "options": ["A. Unable to judge as there is no large vehicle", "B. Increase speed and immediately overtake to the right lane", "C. Quickly pass in the left lane", "D. Drive closely next to the large vehicle"], "answer_index": 0}
{"token": "20fc29f0d090769cd5daaa4cc1c0bef1", "waymo_split": "test", "type": "image", "frame_index": 140, "question": "What situation might occur if the vehicle acted this way?", "category": "Counterfactual", "options": ["A. If the vehicle turns left slowly, it crosses paths with the kickboard without issue", "B. If the vehicle turns right quickly, there is a risk of collision with the electric bicycle", "C. If the vehicle suddenly slows down and goes straight, it safely passes the pedestrian", "D. If the vehicle turns left quickly, there is a risk of collision with the kickboard"], "answer_index": 3}
{"token": "22797b0ef9f5ee2a20cbf4765ef0b438", "waymo_split": "test", "type": "video", "frame_index": null, "question": "What are the classifications of scenes?", "category": "Normal scene Understanding", "options": ["A. Highway", "B. Urban road", "C. Residential road", "D. Unpaved road"], "answer_index": 3}
{"token": "22797b0ef9f5ee2a20cbf4765ef0b438", "waymo_split": "test", "type": "video", "frame_index": null, "question": "Where is the safety-critical situation in the video?", "category": "Temporal Grounding", "options": ["A. 4/4", "B. 3/4", "C. 2/4", "D. 1/4"], "answer_index": 1}
{"token": "22797b0ef9f5ee2a20cbf4765ef0b438", "waymo_split": "test", "type": "video", "frame_index": null, "question": "Which of the following is a correct description of traffic density?", "category": "Normal scene Understanding", "options": ["A. Fast, with one or two surrounding vehicles. Slight downhill.", "B. Fast, with no surrounding vehicles. No slope.", "C. Slow, with many surrounding vehicles. Gentle downhill.", "D. Slow, with several surrounding vehicles. Gentle uphill."], "answer_index": 1}
{"token": "22797b0ef9f5ee2a20cbf4765ef0b438", "waymo_split": "test", "type": "video", "frame_index": null, "question": "Which of the following is a correct description of road alignment?", "category": "Normal Perception & Prediction", "options": ["A. Left turn", "B. Straight", "C. Overtaking", "D. Right turn"], "answer_index": 1}
{"token": "22797b0ef9f5ee2a20cbf4765ef0b438", "waymo_split": "test", "type": "video", "frame_index": null, "question": "Which of the following is correct regarding Video Summary from a Safety-critical Scene perspective?", "category": "Safety-critical scene caption", "options": ["A. A pedestrian steps partially onto the road while turning right. The vehicle responds by coming to a stop. The pedestrian then moves onto the right sidewalk.", "B. While driving straight, a cat hesitates at the edge of the road in front of the vehicle. The driver lightly slows down and continues. The cat then retreats to the right sidewalk.", "C. While driving straight, a dog crosses in front and quickly veers to the right. The driver only taps the brakes briefly and passes through. The dog then moves along the right shoulder.", "D. While driving straight, a dog blocks the vehicle's path ahead. The driver slows down almost to a stop. The dog then moves to the left side."], "answer_index": 3}
{"token": "22797b0ef9f5ee2a20cbf4765ef0b438", "waymo_split": "test", "type": "video", "frame_index": null, "question": "Which of the following is a correct description of the environment?", "category": "Normal scene Understanding", "options": ["A. Dawn, fog", "B. Day, cloudy", "C. Night, clear", "D. Dusk, light rain"], "answer_index": 1}
{"token": "22797b0ef9f5ee2a20cbf4765ef0b438", "waymo_split": "test", "type": "video", "frame_index": null, "question": "Are there any special conditions?", "category": "Special Event", "options": ["A. Rockfall area", "B. Icy road", "C. Flooded area", "D. Unpaved road"], "answer_index": 3}
{"token": "22797b0ef9f5ee2a20cbf4765ef0b438", "waymo_split": "test", "type": "video", "frame_index": null, "question": "Which of the following is correct regarding the Video Summary from the perspective of a Normal Scene?", "category": "Normal scene caption", "options": ["A. A vehicle is driving on a paved village road, with a construction vehicle stopped on the right side in front. On the left, there are bushes and utility poles. The road width is relatively wide. While going straight, a construction sign and a worker are seen ahead. The sign blocks the center of the lane, causing a temporary stop. Afterward, the vehicle proceeds to the right edge under the worker's guidance.", "B. A vehicle is driving on an unpaved road, with the right shoulder empty. On the left, there are rice paddy ridges and a drainage ditch. The road width is average. Ahead, a passenger car and a cat are visible. As the cat approaches the center, the vehicle maintains a slow speed. Later, the cat moves to the right.", "C. A vehicle is driving on an unpaved road, with parked cars on the right shoulder. On the left, there is a stone wall and bushes. The road width is wide. At this time, while driving straight, a person and a dog are seen on the road ahead. The dog is standing still in the middle, causing the vehicle to slow down almost to a stop. Later, the dog moves to the left side ahead.", "D. A vehicle is driving on a paved road, with parked cars on the left shoulder. On the right, there is a low fence and shrubs. The road width is somewhat narrow. At this time, while driving straight, a pedestrian and a bicycle are seen on the road ahead. The bicycle is moving slowly in the center, causing the vehicle to slow down. Later, the bicycle moves to the right edge."], "answer_index": 2}
{"token": "22797b0ef9f5ee2a20cbf4765ef0b438", "waymo_split": "test", "type": "video", "frame_index": null, "question": "Which of the following is a correct description of Spatial Relationship?", "category": "Spatial Relationship", "options": ["A. A person moving slowly along the center line and a dog passing by on the left sidewalk and moving forward.", "B. A person stopping briefly on the left sidewalk and a dog standing only in the middle of the road and not following.", "C. A person walking on the side of the right road and a dog standing at the edge of the road and heading in the opposite direction first.", "D. A person walking on the side of the left road and a dog standing still in the middle and following that person."], "answer_index": 3}
{"token": "22797b0ef9f5ee2a20cbf4765ef0b438", "waymo_split": "test", "type": "video", "frame_index": null, "question": "What is the description of a non-safety-critical object?", "category": "Normal Perception & Prediction", "options": ["A. On the right is an open space with a low grass curb. On the left are shop windows and signs. A person pushing a stroller is on the right sidewalk (not overlapping with the driving path).", "B. On the right is a dedicated bicycle lane. On the left are a low fence and a display of flower pots. A person jogging is on the right side in front (separated from the lane and not overlapping with the driving path).", "C. On the right are a bus stop and several benches. On the left are street trees and a guardrail next to the road. A person standing near the median (wearing work clothes, not entering the lane).", "D. On the right are several parked cars on the shoulder. On the left, the wall and bushes are dense. A person walking on the left side in front (this is also a road, but it does not overlap with the driving path)."], "answer_index": 3}
{"token": "22797b0ef9f5ee2a20cbf4765ef0b438", "waymo_split": "test", "type": "video", "frame_index": null, "question": "Which of the following is a correct description of traffic signals?", "category": "Traffic Signal", "options": ["A. Stop", "B. Left turn", "C. Bus only", "D. None"], "answer_index": 3}
{"token": "22797b0ef9f5ee2a20cbf4765ef0b438", "waymo_split": "test", "type": "video", "frame_index": null, "question": "What is the answer regarding parked vehicles on the shoulder, the presence of a center line, and whether Ego is crossing the center line?", "category": "Normal Perception & Prediction", "options": ["A. There are sporadic parked vehicles on both sides of the shoulder. There is a center line. My vehicle slightly crosses the center line while overtaking.", "B. There are almost no parked vehicles on the shoulder. There is a center line. My vehicle is driving straight along the center line.", "C. There are a few parked vehicles on the left side of the shoulder. There is a center line. My vehicle is maintaining its lane on the right side.", "D. There are many parked vehicles on the right side of the shoulder. There is no center line. My vehicle is driving in the middle of the unpaved road."], "answer_index": 3}
{"token": "22797b0ef9f5ee2a20cbf4765ef0b438", "waymo_split": "test", "type": "video", "frame_index": null, "question": "What is the correlation in safety-critical situations?", "category": "Safety-critical scene Understanding", "options": ["A. car-cat", "B. car-dog", "C. person-scooter", "D. two-wheeler-pedestrian"], "answer_index": 1}
{"token": "22797b0ef9f5ee2a20cbf4765ef0b438", "waymo_split": "test", "type": "video", "frame_index": null, "question": "Who is responsible in a safety-critical situation? What is the cause?", "category": "Safety-critical scene Understanding", "options": ["A. The pedestrian. They suddenly jumped onto the road outside the crosswalk.", "B. The dog. The dog is standing in the middle of the road blocking the path.", "C. The driver. They did not slow down despite seeing an animal in the middle of the road.", "D. The bicycle. It invaded the lane against the direction of vehicle travel."], "answer_index": 1}
{"token": "22797b0ef9f5ee2a20cbf4765ef0b438", "waymo_split": "test", "type": "video", "frame_index": null, "question": "Are there any blind spots in your field of vision?", "category": "Uncertainty", "options": ["A. Between parked vehicles on the left shoulder and the rear blind spot.", "B. In the center of the lane and the left front corner blind spot.", "C. Between parked vehicles on the right shoulder and the front blind spot.", "D. In front of the bus stop on the right and the front blind spot."], "answer_index": 2}
{"token": "22797b0ef9f5ee2a20cbf4765ef0b438", "waymo_split": "test", "type": "video", "frame_index": null, "question": "Summary of Ego (own vehicle) behavior before a safety-critical situation", "category": "Normal scene Understanding", "options": ["A. Left turn", "B. Going straight", "C. Right turn", "D. Stop"], "answer_index": 1}
{"token": "22797b0ef9f5ee2a20cbf4765ef0b438", "waymo_split": "test", "type": "video", "frame_index": null, "question": "What is a safety-critical object?", "category": "Safety-critical Perception", "options": ["A. A dog standing in the middle of the road", "B. A motorcycle parked in a parking lot", "C. A dog standing at the edge of the sidewalk", "D. A cat sitting behind the median barrier"], "answer_index": 0}
{"token": "22797b0ef9f5ee2a20cbf4765ef0b438", "waymo_split": "test", "type": "video", "frame_index": null, "question": "What situation might have occurred if the vehicle acted this way?", "category": "Counterfactual", "options": ["A. If the vehicle had made an emergency stop, it would have collided with the car behind.", "B. If the vehicle had turned right suddenly, it would have collided with the guardrail.", "C. If the vehicle had continued straight, it would have collided with a dog.", "D. If the vehicle had entered a left turn, it would have collided with a pedestrian."], "answer_index": 2}
{"token": "22797b0ef9f5ee2a20cbf4765ef0b438", "waymo_split": "test", "type": "video", "frame_index": null, "question": "What situations may potentially arise depending on the type/condition of the road?", "category": "Normal Perception & Prediction", "options": ["A. The unpaved road may be bumpy.", "B. On the highway, there may be many traffic lights.", "C. In the tunnel section, GPS may become more accurate.", "D. On the bike lane, trucks may frequently pass."], "answer_index": 0}
{"token": "22797b0ef9f5ee2a20cbf4765ef0b438", "waymo_split": "test", "type": "image", "frame_index": 28, "question": "Based on the current appearance of the person/vehicle (two-wheeled), how do you intend to move?", "category": "Normal Perception & Prediction", "options": ["A. Turn right", "B. Make a U-turn", "C. Turn left", "D. Go straight"], "answer_index": 3}
{"token": "22797b0ef9f5ee2a20cbf4765ef0b438", "waymo_split": "test", "type": "image", "frame_index": 28, "question": "What are the restrictions in school zones/congested areas?", "category": "Special Event", "options": ["A. It is a pedestrian priority area.", "B. It is a no stopping/parking zone.", "C. It is a speed limit of 20 zone.", "D. It is not applicable."], "answer_index": 3}
{"token": "22797b0ef9f5ee2a20cbf4765ef0b438", "waymo_split": "test", "type": "image", "frame_index": 28, "question": "Which of the following is correct as an Image Caption from the perspective of a Normal Frame?", "category": "Normal scene caption", "options": ["A. Driving on an unpaved road with a left wall and dense bushes. There are parked cars on the right shoulder, and a person is visible in the distance ahead.", "B. On the left, there is a low grassy area and a wide paved lane, while a bus is temporarily stopped on the right, and no one is visible ahead.", "C. Driving on a paved road with a right wall, there are no parked cars on the left shoulder, and one pedestrian is close ahead.", "D. Driving on well-maintained asphalt alongside a left stream, only store signs are visible on the right, and in the distance ahead, there are only vehicles."], "answer_index": 0}
{"token": "22797b0ef9f5ee2a20cbf4765ef0b438", "waymo_split": "test", "type": "image", "frame_index": 28, "question": "What is the plan for yielding when an ambulance/fire truck approaches?", "category": "Special Event", "options": ["A. Pull over to the left or right shoulder to yield", "B. Enter the intersection and follow the vehicle in front to pass", "C. Proceed straight with priority after turning on the emergency lights", "D. Align with the center lane and maintain a slow speed"], "answer_index": 0}
{"token": "22797b0ef9f5ee2a20cbf4765ef0b438", "waymo_split": "test", "type": "image", "frame_index": 28, "question": "Which of the following is a correct description of the environment?", "category": "Normal scene Understanding", "options": ["A. Night, clear", "B. Day, cloudy", "C. Morning, fog", "D. Evening, rain"], "answer_index": 1}
{"token": "22797b0ef9f5ee2a20cbf4765ef0b438", "waymo_split": "test", "type": "image", "frame_index": 28, "question": "Which of the following is a correct description of traffic signals?", "category": "Traffic Signal", "options": ["A. Stop line marking", "B. None", "C. No left turn", "D. Traffic light present"], "answer_index": 1}
{"token": "22797b0ef9f5ee2a20cbf4765ef0b438", "waymo_split": "test", "type": "image", "frame_index": 28, "question": "Which of the following is a correct description of traffic density?", "category": "Normal scene Understanding", "options": ["A. Fast", "B. Low", "C. Slow", "D. High"], "answer_index": 0}
{"token": "22797b0ef9f5ee2a20cbf4765ef0b438", "waymo_split": "test", "type": "image", "frame_index": 28, "question": "What are the classifications of scenes?", "category": "Normal scene Understanding", "options": ["A. Paved road", "B. Urban road", "C. Highway", "D. Unpaved road"], "answer_index": 3}
{"token": "22797b0ef9f5ee2a20cbf4765ef0b438", "waymo_split": "test", "type": "image", "frame_index": 28, "question": "What is the description of a non-safety-critical object?", "category": "Normal Perception & Prediction", "options": ["A. Construction materials stacked on the right shoulder, with a narrow flower bed on the right (vehicle access not possible), and a glass wall of a store on the left.", "B. There are parked vehicles on the right shoulder. There is a wide open space to the right of the parked vehicles (vehicle access is possible). A fence and bushes on the left.", "C. There are parked vehicles on the left shoulder, with a sidewalk and street trees on the right (vehicle access not possible), and a fence and bushes in front.", "D. The right shoulder is empty, with a bench and streetlight on the right (pedestrian space), and a wide parking lot entrance on the left."], "answer_index": 1}
{"token": "22797b0ef9f5ee2a20cbf4765ef0b438", "waymo_split": "test", "type": "image", "frame_index": 28, "question": "What is a safety-critical object?", "category": "Safety-critical Perception", "options": ["A. None", "B. Fire extinguisher", "C. Brake", "D. Gas valve"], "answer_index": 0}
{"token": "22797b0ef9f5ee2a20cbf4765ef0b438", "waymo_split": "test", "type": "image", "frame_index": 28, "question": "Is there a blind spot?", "category": "Uncertainty", "options": ["A. There is a blind spot at the rear of the parked vehicle on the right shoulder.", "B. There is a blind spot at the side of the parked vehicle on the right shoulder.", "C. There is a blind spot at the front of the parked vehicle on the left shoulder.", "D. There is a blind spot at the front of the parked vehicle on the right shoulder."], "answer_index": 3}
{"token": "22797b0ef9f5ee2a20cbf4765ef0b438", "waymo_split": "test", "type": "image", "frame_index": 28, "question": "What is the answer regarding parked vehicles on the shoulder, the presence of a center line, and Ego's crossing of the center line?", "category": "Normal Perception & Prediction", "options": ["A. There is a parked vehicle on the left shoulder. Paved road with a center line.", "B. There is a parked vehicle on the right shoulder. Unpaved road without a center line.", "C. Temporarily parked vehicle on the left shoulder. Asphalt road with a center line.", "D. No parked vehicle on the right shoulder. Unpaved road with a center line."], "answer_index": 1}
{"token": "22797b0ef9f5ee2a20cbf4765ef0b438", "waymo_split": "test", "type": "image", "frame_index": 28, "question": "Is there any other safety-critical object besides the first safety-critical object? If so, how would you move?", "category": "Safety-critical Prediction", "options": ["A. There is a fire hydrant in the center of the corridor, move along the right edge avoiding obstacles.", "B. There is an electrical distribution panel to the right of the entrance, move to the left avoiding the crowded area.", "C. There is a high-pressure gas cylinder at the end of the left corridor, move straight while keeping distance from the wall.", "D. There are no other safety-critical objects."], "answer_index": 3}
{"token": "22797b0ef9f5ee2a20cbf4765ef0b438", "waymo_split": "test", "type": "image", "frame_index": 28, "question": "How do you think safety-critical objects will be moved?", "category": "Safety-critical Prediction", "options": ["A. Close to a safety-critical obstacle", "B. There is a safety-critical object", "C. A safety-critical object is in front", "D. There is no safety-critical object"], "answer_index": 3}
{"token": "22797b0ef9f5ee2a20cbf4765ef0b438", "waymo_split": "test", "type": "image", "frame_index": 28, "question": "How should I drive to address the first risk while also resolving the second risk?", "category": "Safety-critical Planning", "options": ["A. Next, be cautious of pedestrians on the left", "B. Next, change to the right lane", "C. Next, prepare for sudden braking of the vehicle ahead", "D. Next, there are no safety-critical objects"], "answer_index": 3}
{"token": "22797b0ef9f5ee2a20cbf4765ef0b438", "waymo_split": "test", "type": "image", "frame_index": 28, "question": "Is lane changing possible? Which is safer between slowing down and changing lanes?", "category": "Safety-critical Planning", "options": ["A. Changing lanes is safer; the lane is a clearly marked road, and moving to the left lane provides more space.", "B. Changing lanes is recommended over slowing down; it's a two-lane one-way environment, and moving to the right lane maintains flow.", "C. Slowing down is safer; it's an unpaved road with no concept of lanes, and it's possible to drive closely on both sides.", "D. Accelerating is safer; it's a two-way road with a central line, and it's better to stay close to the center when overtaking."], "answer_index": 2}
{"token": "22797b0ef9f5ee2a20cbf4765ef0b438", "waymo_split": "test", "type": "image", "frame_index": 28, "question": "Where is the area that hides danger in the current frame?", "category": "Uncertainty", "options": ["A. Blind spot inside the right merge guardrail", "B. Blind spot in front of the right shoulder parking vehicle", "C. Blind spot behind the left shoulder parking vehicle", "D. Blind spot on the right side of the bus stopped ahead"], "answer_index": 1}
{"token": "22797b0ef9f5ee2a20cbf4765ef0b438", "waymo_split": "test", "type": "image", "frame_index": 28, "question": "What is the safest choice just before entering a yellow signal: stop vs. pass?", "category": "Special Event", "options": ["A. No signal, so judgment is impossible", "B. If there are no pedestrians, pass", "C. Slowing down and passing is safe", "D. If turning left, stopping is a priority"], "answer_index": 0}
{"token": "22797b0ef9f5ee2a20cbf4765ef0b438", "waymo_split": "test", "type": "image", "frame_index": 53, "question": "Based on the current appearance of the person/vehicle (two-wheeled), how do you intend to move?", "category": "Normal Perception & Prediction", "options": ["A. Turn right", "B. Turn left", "C. Reverse", "D. Go straight"], "answer_index": 3}
{"token": "22797b0ef9f5ee2a20cbf4765ef0b438", "waymo_split": "test", "type": "image", "frame_index": 53, "question": "Which of the following is correct as an Image Caption from the perspective of a Normal Frame?", "category": "Normal scene caption", "options": ["A. Driving on an unpaved road with a left wall and dense bushes. There is a parked vehicle on the right shoulder and an entrance to an open area (accessible for vehicles, if turning right). In the distance ahead, there are also people.", "B. On the left, a small alley opens between the bushes, and there are no parked vehicles on the right shoulder. An entrance to the left is visible (left turn possible). In the distance ahead, only bicycles pass by.", "C. Driving along a low fence instead of a left wall, with the right open area blocked and no entrance (vehicle access not possible). In the distance ahead, no people are visible.", "D. Moving along the left rice paddy embankment and a flat straight paved road, with only a sidewalk in front of the store on the right and no entrance visible (pedestrian only). In the distance ahead, only traffic lights are visible."], "answer_index": 0}
{"token": "22797b0ef9f5ee2a20cbf4765ef0b438", "waymo_split": "test", "type": "image", "frame_index": 28, "question": "What is the method to avoid the blind spot next to a large vehicle?", "category": "Special Event", "options": ["A. No large vehicle", "B. Pass through the blind spot", "C. Approach the large vehicle", "D. Overtake the large vehicle"], "answer_index": 0}
{"token": "22797b0ef9f5ee2a20cbf4765ef0b438", "waymo_split": "test", "type": "image", "frame_index": 53, "question": "What are the classifications of scenes?", "category": "Normal scene Understanding", "options": ["A. Highway", "B. Urban road", "C. Residential road", "D. Unpaved road"], "answer_index": 3}
{"token": "22797b0ef9f5ee2a20cbf4765ef0b438", "waymo_split": "test", "type": "image", "frame_index": 53, "question": "What is the plan for yielding when an ambulance/fire truck approaches?", "category": "Special Event", "options": ["A. Pull over to the left or right shoulder to yield", "B. Turn on hazard lights and proceed slowly in the lane", "C. Move to the center lane and continue driving", "D. Enter the intersection and stop"], "answer_index": 0}
{"token": "22797b0ef9f5ee2a20cbf4765ef0b438", "waymo_split": "test", "type": "image", "frame_index": 53, "question": "Which of the following is a correct description of the environment?", "category": "Normal scene Understanding", "options": ["A. Morning, fog", "B. Dusk, rain", "C. Daytime, cloudy", "D. Night, clear"], "answer_index": 2}
{"token": "22797b0ef9f5ee2a20cbf4765ef0b438", "waymo_split": "test", "type": "image", "frame_index": 53, "question": "What are the restrictions on behavior in school zones/congested areas?", "category": "Special Event", "options": ["A. It is a zone where slow driving is mandatory", "B. It is not a relevant area", "C. It is a children's protection zone", "D. It is classified as a congested area"], "answer_index": 1}
{"token": "22797b0ef9f5ee2a20cbf4765ef0b438", "waymo_split": "test", "type": "image", "frame_index": 53, "question": "Which of the following is a correct description of traffic signals?", "category": "Traffic Signal", "options": ["A. None", "B. Red signal", "C. No right turn", "D. Stop line marking"], "answer_index": 0}
{"token": "22797b0ef9f5ee2a20cbf4765ef0b438", "waymo_split": "test", "type": "image", "frame_index": 53, "question": "What is a safety-critical object?", "category": "Safety-critical Perception", "options": ["A. Pacemaker", "B. Brake", "C. None", "D. Airbag"], "answer_index": 2}
{"token": "22797b0ef9f5ee2a20cbf4765ef0b438", "waymo_split": "test", "type": "image", "frame_index": 53, "question": "Is there a blind spot in your field of vision?", "category": "Uncertainty", "options": ["A. None", "B. Yes", "C. Yes when turning right", "D. Yes on the right side"], "answer_index": 0}
{"token": "22797b0ef9f5ee2a20cbf4765ef0b438", "waymo_split": "test", "type": "image", "frame_index": 53, "question": "Is there a safety-critical object other than the first safety-critical object? If so, how will you move?", "category": "Safety-critical Prediction", "options": ["A. There is a next safety-critical object, move slowly along the left wall", "B. Detect the next safety-critical object, make a large detour to the right and proceed", "C. There is no next safety-critical object", "D. Check the next safety-critical object, retreat to avoid danger ahead"], "answer_index": 2}
{"token": "22797b0ef9f5ee2a20cbf4765ef0b438", "waymo_split": "test", "type": "image", "frame_index": 53, "question": "What is the answer regarding the parked vehicle on the shoulder, the presence of a center line, and whether Ego crosses the center line?", "category": "Normal Perception & Prediction", "options": ["A. There is a parked vehicle on the shoulder to the right. Unpaved road without a center line.", "B. There is a parked vehicle on the shoulder to the left. Paved road with a center line.", "C. There is a parked vehicle on the shoulder to the right. Paved road with a center line, Ego crosses the center line.", "D. There is no parked vehicle on the shoulder to the right. Two-lane road with a center line, Ego does not cross."], "answer_index": 0}
{"token": "22797b0ef9f5ee2a20cbf4765ef0b438", "waymo_split": "test", "type": "image", "frame_index": 53, "question": "How do you think a safety-critical object will move?", "category": "Safety-critical Prediction", "options": ["A. Maintain straight movement of the safety-critical object", "B. Move the safety-critical object to the left", "C. Expect the safety-critical object to turn right", "D. No safety-critical object"], "answer_index": 3}
{"token": "22797b0ef9f5ee2a20cbf4765ef0b438", "waymo_split": "test", "type": "image", "frame_index": 53, "question": "Is lane changing possible? Which is safer between deceleration and lane changing?", "category": "Safety-critical Planning", "options": ["A. Deceleration is safer; it is an unpaved road without lane concepts, and it is possible to drive closely on the left and right.", "B. Maintaining speed is safer; it is a section with defined lanes, so driving fixed in the right lane is recommended.", "C. Lane changing is safer; it appears to be a paved road with lane markings, and it is appropriate to move to the left lane to proceed.", "D. Acceleration is safer; it is a two-lane road with two-way traffic, and it is acceptable to drive close to the center line."], "answer_index": 0}
{"token": "22797b0ef9f5ee2a20cbf4765ef0b438", "waymo_split": "test", "type": "image", "frame_index": 53, "question": "How should I drive to address the first risk while also resolving the second risk?", "category": "Safety-critical Planning", "options": ["A. No safety-critical objects ahead", "B. Forward pedestrian object detected", "C. There is a safety-critical object ahead", "D. Approaching a left-side safety-critical object"], "answer_index": 0}
{"token": "22797b0ef9f5ee2a20cbf4765ef0b438", "waymo_split": "test", "type": "image", "frame_index": 53, "question": "What are the new risk candidates that will be exposed in the following section?", "category": "Safety-critical Prediction", "options": ["A. None", "B. Shoulder subsidence", "C. Pothole", "D. Falling rocks"], "answer_index": 0}
{"token": "22797b0ef9f5ee2a20cbf4765ef0b438", "waymo_split": "test", "type": "image", "frame_index": 53, "question": "What is the safest choice when approaching a yellow signal: stop vs. proceed?", "category": "Special Event", "options": ["A. Proceeding is safe when waiting to turn left", "B. Proceeding is safe when a car is close behind", "C. Cannot determine as there is no signal", "D. Stopping just before the stop line is safe"], "answer_index": 2}
{"token": "22797b0ef9f5ee2a20cbf4765ef0b438", "waymo_split": "test", "type": "image", "frame_index": 53, "question": "What is the method to avoid the blind spot next to a large vehicle?", "category": "Special Event", "options": ["A. Overtaking the large vehicle", "B. To the right of the large vehicle", "C. No large vehicle", "D. To the left of the large vehicle"], "answer_index": 2}
{"token": "22797b0ef9f5ee2a20cbf4765ef0b438", "waymo_split": "test", "type": "image", "frame_index": 53, "question": "Where is the area that hides danger in the current frame?", "category": "Uncertainty", "options": ["A. Blind spot at the intersection corner", "B. Behind the left truck", "C. Next to the vehicle on the right", "D. None"], "answer_index": 3}
{"token": "22797b0ef9f5ee2a20cbf4765ef0b438", "waymo_split": "test", "type": "image", "frame_index": 78, "question": "Based on the current appearance of the person/vehicle (two-wheeled), how do you intend to move?", "category": "Normal Perception & Prediction", "options": ["A. Left turn", "B. U-turn", "C. Straight", "D. Right turn"], "answer_index": 2}
{"token": "22797b0ef9f5ee2a20cbf4765ef0b438", "waymo_split": "test", "type": "image", "frame_index": 53, "question": "If the self-driving car behaved like this, what situation might have occurred?", "category": "Counterfactual", "options": ["A. If the self-driving car drives close to the left, it can proceed while colliding with the left bushes (there is a risk of obstructed visibility, but not necessarily a collision risk).", "B. If the self-driving car drives close to the right, it can proceed while interfering with the right guardrail (there is a possibility of fender contact, but visibility issues are not significant).", "C. Even if the self-driving car drives close to the left, it can pass through stably with a wide forward view (no visibility obstruction, and almost no contact risk).", "D. If the self-driving car drives further to the left, it may leave the shoulder and directly contact the stones (high collision risk, need to maintain low speed)."], "answer_index": 0}
{"token": "22797b0ef9f5ee2a20cbf4765ef0b438", "waymo_split": "test", "type": "image", "frame_index": 78, "question": "Which of the following is correct as an Image Caption from the perspective of a Normal Frame?", "category": "Normal scene caption", "options": ["A. Driving on a paved road where the right wall and trees are connected, this road has a straight section extending to the left. The road splits to allow a right turn into a narrow alley on the right. In the distance ahead, there is a bicycle and a child on the edge of the sidewalk.", "B. Driving on a gravel road with an empty lot on the left instead of a wall, this road has a gentle curve to the left. A sign indicating entry to a narrow side road is visible on the right. In the distance ahead, there are construction signs and cones blocking part of the lane.", "C. Driving on an asphalt road with a low fence and rice paddy visible on the left, the road continues straight ahead. There is a path that only allows a right turn into a small road on the right. In the distance ahead, only parked vehicles are visible, with no pedestrians or animals.", "D. Driving on an unpaved road with a wall and dense bushes on the left, this road extends straight to the right. There is a path that allows a left turn into a narrow road on the left. In the distance ahead, there are a person and a puppy on the road."], "answer_index": 3}
{"token": "22797b0ef9f5ee2a20cbf4765ef0b438", "waymo_split": "test", "type": "image", "frame_index": 78, "question": "Which is correct as an Image Caption from a Safety-critical Frame perspective?", "category": "Safety-critical scene caption", "options": ["A. A dog is in the center front, obstructing the driving path of the vehicle on the road. The vehicle is currently moving straight at a high speed.", "B. A bicycle is riding to the right front, away from the lane, so it does not obstruct the lane. The vehicle is currently changing lanes to the right.", "C. A pedestrian is in the center front on the crosswalk, waiting according to the signal. The vehicle is currently stopped at the stop line.", "D. A dog is on the edge of the left lane, moving towards the sidewalk, but it does not affect the driving path. The vehicle is currently moving straight at a slow speed."], "answer_index": 0}
{"token": "22797b0ef9f5ee2a20cbf4765ef0b438", "waymo_split": "test", "type": "image", "frame_index": 78, "question": "What are the restrictions in school zones/congested areas?", "category": "Special Event", "options": ["A. It is not applicable in this area", "B. Congested area regulations apply", "C. It is a school zone", "D. Must adhere to child protection speed"], "answer_index": 0}
{"token": "22797b0ef9f5ee2a20cbf4765ef0b438", "waymo_split": "test", "type": "image", "frame_index": 78, "question": "What is the plan for yielding when an emergency vehicle/fire truck approaches?", "category": "Special Event", "options": ["A. Slow down with emergency lights on towards the center line", "B. Move to the left lane and continue driving", "C. Pull over to the left or right shoulder to yield", "D. Maintain speed and go straight at intersections"], "answer_index": 2}
{"token": "22797b0ef9f5ee2a20cbf4765ef0b438", "waymo_split": "test", "type": "image", "frame_index": 78, "question": "Which of the following is a correct description of the environment?", "category": "Normal scene Understanding", "options": ["A. Night, rain", "B. Evening, clear", "C. Day, cloudy", "D. Morning, fog"], "answer_index": 2}
{"token": "22797b0ef9f5ee2a20cbf4765ef0b438", "waymo_split": "test", "type": "image", "frame_index": 78, "question": "Which of the following is a correct description of traffic density?", "category": "Normal scene Understanding", "options": ["A. Fast, 4 vehicles are present on the right side of parked cars in the adjacent shoulder.", "B. Slow, 5 vehicles are present on the rear side of the adjacent shoulder.", "C. Fast, 2 vehicles are present in the right lane ahead.", "D. Slow, 3 vehicles are present on the left side of parked cars in the adjacent shoulder."], "answer_index": 0}
{"token": "22797b0ef9f5ee2a20cbf4765ef0b438", "waymo_split": "test", "type": "image", "frame_index": 78, "question": "What is the classification of the scene?", "category": "Normal scene Understanding", "options": ["A. Residential road", "B. Urban road", "C. Unpaved road", "D. Highway"], "answer_index": 2}
{"token": "22797b0ef9f5ee2a20cbf4765ef0b438", "waymo_split": "test", "type": "image", "frame_index": 78, "question": "Which of the following is a correct description of traffic signals?", "category": "Traffic Signal", "options": ["A. Left turn signal", "B. None", "C. Stop line", "D. Red light"], "answer_index": 1}
{"token": "22797b0ef9f5ee2a20cbf4765ef0b438", "waymo_split": "test", "type": "image", "frame_index": 78, "question": "What is the description of a non-safety-critical object?", "category": "Normal Perception & Prediction", "options": ["A. There is a parked vehicle on the left shoulder. On the right, there is only a sidewalk and guardrail, making vehicle entry impossible. There is a wide entrance to an open area on the left.", "B. On the right, there is a very narrow entrance to a commercial area (enough for one vehicle). The left side is connected to a green space with a low fence, making vehicle entry impossible. No parked vehicles are visible on the shoulder.", "C. The right side is blocked by a wall, leading only to a narrow passage without an open area. The left side has a wide alley that allows easy vehicle entry. There are no parked vehicles on the right shoulder.", "D. There is a parked vehicle on the right shoulder. On the right, there is a wide open area next to the parked vehicle (vehicle entry is also possible). The road leading to the open area or elsewhere on the left is very narrow."], "answer_index": 3}
{"token": "22797b0ef9f5ee2a20cbf4765ef0b438", "waymo_split": "test", "type": "image", "frame_index": 78, "question": "Is there a blind spot in your field of vision?", "category": "Uncertainty", "options": ["A. It is on the left", "B. None", "C. Partially on the right", "D. Yes"], "answer_index": 1}
{"token": "22797b0ef9f5ee2a20cbf4765ef0b438", "waymo_split": "test", "type": "image", "frame_index": 78, "question": "How do you think a safety-critical object will move?", "category": "Safety-critical Prediction", "options": ["A. It seems like it will roll slowly.", "B. It seems like it will slide down.", "C. It seems like it will stay still.", "D. It seems like it will move slightly to the left."], "answer_index": 2}
{"token": "22797b0ef9f5ee2a20cbf4765ef0b438", "waymo_split": "test", "type": "image", "frame_index": 78, "question": "Is there any safety-critical object other than the first safety-critical object? If so, how will you move?", "category": "Safety-critical Prediction", "options": ["A. Move straight while reducing speed near the next safety-critical object", "B. There is a next safety-critical object, evade to the right", "C. There is no next safety-critical object", "D. Detect the next safety-critical object, stop and turn left"], "answer_index": 2}
{"token": "22797b0ef9f5ee2a20cbf4765ef0b438", "waymo_split": "test", "type": "image", "frame_index": 78, "question": "What is a safety-critical object?", "category": "Safety-critical Perception", "options": ["A. A pedestrian on the left sidewalk edge who is stopped and on the phone (far away)", "B. A dog sitting and resting on the shoulder next to the oncoming lane (nearby)", "C. A passenger car parked and waiting in a parking area outside the oncoming lane (far away)", "D. A dog standing in the middle of the road obstructing oncoming traffic (far away)"], "answer_index": 3}
{"token": "22797b0ef9f5ee2a20cbf4765ef0b438", "waymo_split": "test", "type": "image", "frame_index": 78, "question": "What should I do to drive safely?", "category": "Safety-critical Planning", "options": ["A. Slightly move to the right while maintaining speed and slowly pass by the dog (use light flashing to guide movement instead of honking)", "B. Lower the engine noise to avoid startling and proceed without stopping while widening the gap (stopping would disrupt the flow of traffic behind)", "C. Do not change lanes and slightly cross the center line to overtake (or pass quickly by staying close to the sidewalk)", "D. Stop until the dog moves aside so it does not obstruct the path (or you can warn the dog to move by honking)"], "answer_index": 3}
{"token": "22797b0ef9f5ee2a20cbf4765ef0b438", "waymo_split": "test", "type": "image", "frame_index": 78, "question": "What is the correlation in safety-critical situations?", "category": "Safety-critical scene Understanding", "options": ["A. Car-Person", "B. Two-wheeler-Dog", "C. Car-Dog", "D. Person-Dog"], "answer_index": 2}
{"token": "22797b0ef9f5ee2a20cbf4765ef0b438", "waymo_split": "test", "type": "image", "frame_index": 78, "question": "How should I drive to address the first risk while also addressing the second risk?", "category": "Safety-critical Planning", "options": ["A. Position to the right of the next safety-critical object", "B. There is a next safety-critical object", "C. Decelerate compared to the next safety-critical object", "D. There is no next safety-critical object"], "answer_index": 3}
{"token": "22797b0ef9f5ee2a20cbf4765ef0b438", "waymo_split": "test", "type": "image", "frame_index": 78, "question": "What is the answer regarding parked vehicles on the shoulder, the presence of a center line, and Ego's encroachment on the center line?", "category": "Normal Perception & Prediction", "options": ["A. The right shoulder is empty. Asphalt road with a center line.", "B. No parked vehicles on the shoulder. Two-lane road with a center line.", "C. There is a parked vehicle on the left shoulder. Paved road with a center line.", "D. There is a parked vehicle on the right shoulder. Unpaved road without a center line."], "answer_index": 3}
{"token": "22797b0ef9f5ee2a20cbf4765ef0b438", "waymo_split": "test", "type": "image", "frame_index": 78, "question": "Is lane changing possible? Which is safer between slowing down and changing lanes?", "category": "Safety-critical Planning", "options": ["A. Changing lanes is safer, move comfortably to the right lane (the road has clear lane markings)", "B. Slowing down is safer. However, it is possible to drive closely on the left and right (it is an unpaved road without lane markings)", "C. Accelerating is safer, quickly merge with the flow of the car behind (less risk of contact than sudden deceleration)", "D. Driving at a constant speed close to the center line is safer, change to the left lane if necessary (following road markings)"], "answer_index": 1}
{"token": "22797b0ef9f5ee2a20cbf4765ef0b438", "waymo_split": "test", "type": "image", "frame_index": 78, "question": "Where is the area that hides danger in the current frame?", "category": "Uncertainty", "options": ["A. None", "B. Right in front of the hood", "C. Next to the right truck", "D. Behind the left A-pillar"], "answer_index": 0}
{"token": "22797b0ef9f5ee2a20cbf4765ef0b438", "waymo_split": "test", "type": "image", "frame_index": 78, "question": "What is the safer choice just before entering a yellow signal: stop or pass?", "category": "Special Event", "options": ["A. No signal, so it's impossible to judge", "B. Following the car in front is safer", "C. If it's before the stop line, stop without exception", "D. Passing is safer at high speed"], "answer_index": 0}
{"token": "22797b0ef9f5ee2a20cbf4765ef0b438", "waymo_split": "test", "type": "image", "frame_index": 78, "question": "Who is responsible in a safety-critical situation? What is the cause?", "category": "Safety-critical scene Understanding", "options": ["A. It is the dog's fault. It was standing still in the middle of the road, obstructing the vehicle's path.", "B. It is the driver's fault. The driver could have slowed down or avoided the situation but approached without reducing speed.", "C. It is the guardian's fault. The dog was allowed to enter the road without a leash.", "D. It is the responsibility of the road management authority. The lack of animal intrusion prevention measures and warning signs on the road created a danger."], "answer_index": 0}
{"token": "22797b0ef9f5ee2a20cbf4765ef0b438", "waymo_split": "test", "type": "image", "frame_index": 78, "question": "What are the new exposure risk candidates in the following section?", "category": "Safety-critical Prediction", "options": ["A. Front freezing", "B. Right construction", "C. Left falling rocks", "D. None"], "answer_index": 3}
{"token": "22797b0ef9f5ee2a20cbf4765ef0b438", "waymo_split": "test", "type": "image", "frame_index": 78, "question": "What situation might occur if the self-driving car behaved like this?", "category": "Counterfactual", "options": ["A. If the self-driving car maintains speed while going straight and turns left at the central signal, it can safely enter a large intersection (road surface is good, low risk of slipping).", "B. If the self-driving car quickly turns left onto the left road, it can slide into the narrow left road (but the road surface appears slippery, caution is needed).", "C. If the self-driving car briefly stops, adjusts the reverse angle, and enters the narrow alley on the right, it can pass through without difficulty (road surface is flat, visibility is good).", "D. If the self-driving car slowly turns right onto the right road, it can smoothly merge into the wide right lane (the road surface appears dry and there is room for braking)."], "answer_index": 1}
{"token": "22797b0ef9f5ee2a20cbf4765ef0b438", "waymo_split": "test", "type": "image", "frame_index": 78, "question": "What are the driving guidelines for the vehicle based on the behavior of the safety-critical object?", "category": "Safety-critical Planning", "options": ["A. If the safety-critical object jumps towards the vehicle, the vehicle must brake suddenly.", "B. If the safety-critical object enters from the side, the vehicle must evade into the opposite lane.", "C. If the safety-critical object runs in the opposite direction of the vehicle, the vehicle should maintain its speed.", "D. If the safety-critical object is standing in the center of the lane, the vehicle should only honk and pass."], "answer_index": 0}
{"token": "22797b0ef9f5ee2a20cbf4765ef0b438", "waymo_split": "test", "type": "image", "frame_index": 78, "question": "What is the method to avoid the blind spot next to a large vehicle?", "category": "Special Event", "options": ["A. Close to the large vehicle", "B. No large vehicle", "C. Slow parallel", "D. Entering the blind spot"], "answer_index": 1}
{"token": "22797b0ef9f5ee2a20cbf4765ef0b438", "waymo_split": "test", "type": "image", "frame_index": 110, "question": "Based on the current appearance of the person/vehicle (two-wheeled), how do you intend to move?", "category": "Normal Perception & Prediction", "options": ["A. Turn left", "B. Turn right", "C. Go straight", "D. Make a U-turn"], "answer_index": 2}
{"token": "22797b0ef9f5ee2a20cbf4765ef0b438", "waymo_split": "test", "type": "image", "frame_index": 110, "question": "Which is correct as an Image Caption from a Safety-critical Frame perspective?", "category": "Safety-critical scene caption", "options": ["A. There is a construction sign on the left side ahead, but the driving lane is clear, and the vehicle is maintaining its lane while gradually accelerating.", "B. A dog is present in the middle ahead, obstructing the vehicle's driving path on the road. The vehicle is currently aware of this and is decelerating.", "C. A small cat is visible on the right shoulder, but it is far from the lane and does not interfere with driving. The vehicle is proceeding at a constant speed.", "D. The vehicle is approaching a crosswalk, but no movement of pedestrians or animals is detected. The vehicle is passing through without stopping according to the signal."], "answer_index": 1}
{"token": "22797b0ef9f5ee2a20cbf4765ef0b438", "waymo_split": "test", "type": "image", "frame_index": 110, "question": "What are the restrictions in school zones/congested areas?", "category": "Special Event", "options": ["A. It is not a relevant area.", "B. It is a place with partial restrictions.", "C. It is a relevant area.", "D. It is a time-restricted area."], "answer_index": 0}
{"token": "22797b0ef9f5ee2a20cbf4765ef0b438", "waymo_split": "test", "type": "image", "frame_index": 110, "question": "What are the classifications of scenes?", "category": "Normal scene Understanding", "options": ["A. Unpaved road", "B. Residential alley", "C. City road", "D. Highway"], "answer_index": 0}
{"token": "22797b0ef9f5ee2a20cbf4765ef0b438", "waymo_split": "test", "type": "image", "frame_index": 110, "question": "Which of the following is a correct description of the environment?", "category": "Normal scene Understanding", "options": ["A. Night, shower", "B. Evening, clear", "C. Morning, fog", "D. Day, cloudy"], "answer_index": 3}
{"token": "22797b0ef9f5ee2a20cbf4765ef0b438", "waymo_split": "test", "type": "image", "frame_index": 110, "question": "What is the plan for yielding when an ambulance/fire truck approaches?", "category": "Special Event", "options": ["A. Yield after passing the intersection", "B. Yield by pulling over to the left shoulder", "C. Yield by pulling over to the right shoulder", "D. Yield by continuing in the left lane"], "answer_index": 1}
{"token": "22797b0ef9f5ee2a20cbf4765ef0b438", "waymo_split": "test", "type": "image", "frame_index": 110, "question": "Which of the following is a correct description of traffic density?", "category": "Normal scene Understanding", "options": ["A. Fast, with parked vehicles on the right shoulder", "B. Fast, with parked vehicles on the left shoulder", "C. Fast, with almost no vehicles ahead", "D. Slow, with vehicles concentrated in the left lane"], "answer_index": 0}
{"token": "22797b0ef9f5ee2a20cbf4765ef0b438", "waymo_split": "test", "type": "image", "frame_index": 110, "question": "Which of the following is a correct description of traffic signals?", "category": "Traffic Signal", "options": ["A. Red light", "B. Stop line", "C. None", "D. Left turn"], "answer_index": 2}
{"token": "22797b0ef9f5ee2a20cbf4765ef0b438", "waymo_split": "test", "type": "image", "frame_index": 110, "question": "What is the answer regarding parked vehicles on the shoulder, the presence of a center line, and Ego's encroachment on the center line?", "category": "Normal Perception & Prediction", "options": ["A. No parked vehicles on the shoulder. Two lanes with a yellow double center line.", "B. There is a parked vehicle on the shoulder to the left. Paved road with a center line.", "C. There is a parked vehicle on the shoulder to the right. Asphalt road with a dashed center line.", "D. There is a parked vehicle on the shoulder to the right. Unpaved road without a center line."], "answer_index": 3}
{"token": "22797b0ef9f5ee2a20cbf4765ef0b438", "waymo_split": "test", "type": "image", "frame_index": 110, "question": "Is there a blind spot in your field of vision?", "category": "Uncertainty", "options": ["A. There is a blind spot in front of the parked vehicle on the left shoulder.", "B. There is a blind spot in front of the parked vehicle on the right shoulder.", "C. There is a blind spot in front of the parked vehicle on the right shoulder.", "D. There is a blind spot behind the parked vehicle on the right shoulder."], "answer_index": 2}
{"token": "22797b0ef9f5ee2a20cbf4765ef0b438", "waymo_split": "test", "type": "image", "frame_index": 110, "question": "What is a safety-critical object?", "category": "Safety-critical Perception", "options": ["A. A dog sitting on the sidewalk outside the road, tied with a leash", "B. A dog standing in the middle of the road, obstructing oncoming traffic", "C. A dog standing at the edge of a parking lot inside a fence next to the road", "D. A dog briefly staying in the grass on the shoulder beyond the opposite lane"], "answer_index": 1}
{"token": "22797b0ef9f5ee2a20cbf4765ef0b438", "waymo_split": "test", "type": "image", "frame_index": 110, "question": "How do you think a safety-critical object will move?", "category": "Safety-critical Prediction", "options": ["A. It seems like it will stay still", "B. It seems like it will slide", "C. It seems like it will roll", "D. It seems like it will go sideways"], "answer_index": 0}
{"token": "22797b0ef9f5ee2a20cbf4765ef0b438", "waymo_split": "test", "type": "image", "frame_index": 110, "question": "Are there any other safety-critical objects besides the first one? If so, how will they be moved?", "category": "Safety-critical Prediction", "options": ["A. There is another safety-critical object, a hazardous chemical container, which will be secured on a cart and moved without shaking.", "B. There is another safety-critical object, the faulty electrical equipment, which will be moved to the maintenance area after power is turned off.", "C. There is another safety-critical object, the fire extinguisher, which will be moved slowly towards the emergency exit.", "D. There are no other safety-critical objects."], "answer_index": 3}
{"token": "22797b0ef9f5ee2a20cbf4765ef0b438", "waymo_split": "test", "type": "image", "frame_index": 110, "question": "How should I drive to address the first risk while also addressing the second risk?", "category": "Safety-critical Planning", "options": ["A. No safety-critical objects ahead", "B. Safety-critical pedestrian appearing ahead", "C. Safety-critical vehicle approaching from the left lane", "D. Safety-critical object detected"], "answer_index": 0}
{"token": "22797b0ef9f5ee2a20cbf4765ef0b438", "waymo_split": "test", "type": "image", "frame_index": 110, "question": "Is lane changing possible? Which is safer, slowing down or changing lanes?", "category": "Safety-critical Planning", "options": ["A. Slowing down is safer, lane change to the left is possible", "B. Changing lanes is safer, lane change to the right is possible", "C. Accelerating is safer, lane change is only possible to the right", "D. Maintaining speed is safer, lane change to the left is not possible"], "answer_index": 0}
{"token": "22797b0ef9f5ee2a20cbf4765ef0b438", "waymo_split": "test", "type": "image", "frame_index": 110, "question": "What is the correlation in safety-critical situations?", "category": "Safety-critical scene Understanding", "options": ["A. car-cat", "B. car-dog", "C. person-bicycle", "D. two-wheeler-pedestrian"], "answer_index": 1}
{"token": "22797b0ef9f5ee2a20cbf4765ef0b438", "waymo_split": "test", "type": "image", "frame_index": 110, "question": "What should I do to drive safely?", "category": "Safety-critical Planning", "options": ["A. The vehicle must slow down and come to a stop until the dog moves to the left or right side.", "B. The vehicle can maintain speed and only honk intermittently until the bicycle moves to the right shoulder.", "C. The vehicle should accelerate and pass quickly if the pedestrian steps back towards the center line.", "D. The vehicle should avoid by changing lanes and continue driving even if the cat jumps into the left side."], "answer_index": 0}
{"token": "22797b0ef9f5ee2a20cbf4765ef0b438", "waymo_split": "test", "type": "image", "frame_index": 110, "question": "What are the new exposure risk candidates in the following section?", "category": "Safety-critical Prediction", "options": ["A. Falling", "B. Rockfall", "C. Electric shock", "D. None"], "answer_index": 3}
{"token": "22797b0ef9f5ee2a20cbf4765ef0b438", "waymo_split": "test", "type": "image", "frame_index": 110, "question": "Where is the area that hides danger in the current frame?", "category": "Uncertainty", "options": ["A. Behind the bus", "B. None", "C. Right corner", "D. Behind the A-pillar"], "answer_index": 1}
{"token": "22797b0ef9f5ee2a20cbf4765ef0b438", "waymo_split": "test", "type": "image", "frame_index": 110, "question": "What is the safest choice just before entering a yellow signal: stop vs. proceed?", "category": "Special Event", "options": ["A. Slowing down and stopping is the best option", "B. Cannot judge due to no signal", "C. If close, proceeding is advantageous", "D. Right turn has priority to proceed"], "answer_index": 1}
{"token": "22797b0ef9f5ee2a20cbf4765ef0b438", "waymo_split": "test", "type": "image", "frame_index": 110, "question": "Who is responsible in a safety-critical situation? What is the cause?", "category": "Safety-critical scene Understanding", "options": ["A. It is the vehicle coming from the opposite direction. They continuously shone their high beams, obstructing visibility and making proper evasion difficult.", "B. It is the pedestrian. They entered the roadway at a place that is not a crosswalk, obstructing the progress of my vehicle.", "C. It is the dog. It was standing still in the middle of the road, obstructing the path of my vehicle.", "D. It is the driver of my vehicle. They neglected to pay attention to the front, causing a delay in slowing down or stopping, which increased the risk of collision."], "answer_index": 2}
{"token": "22797b0ef9f5ee2a20cbf4765ef0b438", "waymo_split": "test", "type": "image", "frame_index": 110, "question": "What situation might occur if the vehicle acted this way?", "category": "Counterfactual", "options": ["A. Risk of contact with a motorcycle stopped on the shoulder if the vehicle changes lanes to the right.", "B. Risk of collision with a dog standing in the middle if the vehicle accelerates and goes straight.", "C. Risk of collision with a pedestrian who has entered the crosswalk if the vehicle turns left without slowing down.", "D. Risk of collision with a vehicle merging from the left if the vehicle accelerates rapidly through the intersection."], "answer_index": 1}
{"token": "22797b0ef9f5ee2a20cbf4765ef0b438", "waymo_split": "test", "type": "image", "frame_index": 146, "question": "Based on the current appearance of the person/vehicle (two-wheeled), how do you intend to move?", "category": "Normal Perception & Prediction", "options": ["A. Stop", "B. Turn right", "C. Turn left", "D. Go straight"], "answer_index": 3}
{"token": "22797b0ef9f5ee2a20cbf4765ef0b438", "waymo_split": "test", "type": "image", "frame_index": 110, "question": "What is the guideline for the behavior of my vehicle in response to the behavior of a safety-critical object?", "category": "Safety-critical Planning", "options": ["A. If the safety-critical object jumps towards my vehicle, my vehicle should only honk the horn.", "B. If the safety-critical object approaches from the adjacent lane, my vehicle should maintain its lane and pass through.", "C. If the safety-critical object jumps towards my vehicle, my vehicle should make an emergency stop.", "D. If the safety-critical object enters the lane ahead, my vehicle should turn on the hazard lights and proceed slowly."], "answer_index": 2}
{"token": "22797b0ef9f5ee2a20cbf4765ef0b438", "waymo_split": "test", "type": "image", "frame_index": 146, "question": "What is the plan for yielding when an ambulance/fire truck approaches?", "category": "Special Event", "options": ["A. Stop completely and yield", "B. Move to the left and continue driving", "C. Turn on hazard lights and proceed slowly", "D. Honk the horn to alert and pass"], "answer_index": 0}
{"token": "22797b0ef9f5ee2a20cbf4765ef0b438", "waymo_split": "test", "type": "image", "frame_index": 146, "question": "Which of the following is correct as an Image Caption from the perspective of a Normal Frame?", "category": "Normal scene caption", "options": ["A. Driving on an unpaved road with a left fence and dense bushes, this road curves to the left, and a cat walking in the center of the oncoming lane moves to the right as the vehicle passes by while maintaining speed.", "B. Driving on an unpaved road with a left fence and dense bushes, this road extends straight to the right. A puppy that was in the center of the oncoming lane is moving to the left side. The vehicle recognizes this and proceeds slowly straight.", "C. Driving on an unpaved road with a right stone wall and bushes visible, this road leads to a dead end on the right. A puppy that was in the center of the oncoming lane is staying in the middle of the road. The vehicle stops and waits.", "D. Driving on a paved road between a right fence and bushes, this road extends straight to the left. A puppy that was in the center of the oncoming lane is moving to the right side. The vehicle continues straight without slowing down."], "answer_index": 1}
{"token": "22797b0ef9f5ee2a20cbf4765ef0b438", "waymo_split": "test", "type": "image", "frame_index": 146, "question": "Which of the following is correct from the perspective of Safety-critical Frame regarding Image Caption?", "category": "Safety-critical scene caption", "options": ["A. A dog is present in the center front, obstructing the vehicle's driving path on the road, but is currently moving to the left side where it does not obstruct the vehicle's driving. The vehicle is currently aware of this and is proceeding slowly straight.", "B. A dog is located at the far right edge in front, far from the road, and does not affect the vehicle's driving. The vehicle is currently aware of this and is proceeding straight at normal speed.", "C. A dog is quickly moving to the right side in front, with a high possibility of crossing the vehicle's driving path. The vehicle is currently avoiding this by proceeding slowly to the left and changing lanes.", "D. A dog is further into the road in front, continuously blocking the vehicle's driving path, with no movement to move to the left. The vehicle is currently aware of this and is coming to a stop."], "answer_index": 0}
{"token": "22797b0ef9f5ee2a20cbf4765ef0b438", "waymo_split": "test", "type": "image", "frame_index": 146, "question": "What are the classifications of scenes?", "category": "Normal scene Understanding", "options": ["A. Unpaved road", "B. Residential area", "C. Urban road", "D. Highway"], "answer_index": 0}
{"token": "22797b0ef9f5ee2a20cbf4765ef0b438", "waymo_split": "test", "type": "image", "frame_index": 146, "question": "What are the restrictions in school zones/congested areas?", "category": "Special Event", "options": ["A. It is an area inside a tunnel that is not applicable.", "B. It is an unpaved road area that is not applicable.", "C. It is a road exclusively for agricultural machinery that is not applicable.", "D. It is a construction control area that is not subject to application."], "answer_index": 1}
{"token": "22797b0ef9f5ee2a20cbf4765ef0b438", "waymo_split": "test", "type": "image", "frame_index": 146, "question": "Which of the following is a correct description of traffic density?", "category": "Normal scene Understanding", "options": ["A. Fast, few surrounding vehicles", "B. Slow, many vehicles in the left and right lanes", "C. Fast, vehicles parked on the shoulder to the right", "D. Slow, vehicles parked on the shoulder to the left"], "answer_index": 2}
{"token": "22797b0ef9f5ee2a20cbf4765ef0b438", "waymo_split": "test", "type": "image", "frame_index": 146, "question": "Which of the following descriptions about the environment is correct?", "category": "Normal scene Understanding", "options": ["A. Morning, light fog", "B. Dusk, clear", "C. Night, light rain", "D. Daytime, cloudy"], "answer_index": 3}
{"token": "22797b0ef9f5ee2a20cbf4765ef0b438", "waymo_split": "test", "type": "image", "frame_index": 146, "question": "Which of the following is a correct description of traffic signals?", "category": "Traffic Signal", "options": ["A. None", "B. Stop line marking", "C. Left turn signal", "D. Right turn prohibited"], "answer_index": 0}
{"token": "22797b0ef9f5ee2a20cbf4765ef0b438", "waymo_split": "test", "type": "image", "frame_index": 146, "question": "What is the description of a non-safety-critical object?", "category": "Normal Perception & Prediction", "options": ["A. In the distance ahead, there are mainly storefront signs and glass buildings, the left side of the road is quiet with no pedestrians, and the right shoulder is empty with streetlights on the median side.", "B. In the distance ahead, there are river railings and blue billboards visible, on the left side, parked motorcycles are lined up with no people in sight, and on the right side, there is only one bus stop with a waiting bus, and the streetlight is on the left sidewalk.", "C. In the distance ahead, there are many trees outside the roadway, and a wooden building is also visible. On the left side of the road, a person is walking, which does not obstruct the vehicle path. On the right side, there are many parked cars on the shoulder, and a streetlight is also present in the right open space.", "D. In front, there is only one red brick warehouse visible with almost no trees, a bicycle slightly enters the left lane which could affect driving, and on the right open space, there are only a bench and a signpost, with the streetlight on the left."], "answer_index": 2}
{"token": "22797b0ef9f5ee2a20cbf4765ef0b438", "waymo_split": "test", "type": "image", "frame_index": 146, "question": "What is a safety-critical object?", "category": "Safety-critical Perception", "options": ["A. A pedestrian on the right shoulder is slowly moving into the roadway, obstructing oncoming traffic.", "B. A cat in the middle of the road is moving to the right side, obstructing oncoming traffic.", "C. A delivery motorcycle that has stopped in the middle of the road is slowly moving to the right lane, obstructing oncoming traffic.", "D. A puppy in the middle of the road is moving to the left side, obstructing oncoming traffic."], "answer_index": 3}
{"token": "22797b0ef9f5ee2a20cbf4765ef0b438", "waymo_split": "test", "type": "image", "frame_index": 146, "question": "Is there a blind spot in your field of vision?", "category": "Uncertainty", "options": ["A. There is a blind spot behind the parked vehicle on the right shoulder.", "B. There is a blind spot in front of the parked vehicle on the right shoulder.", "C. There is a blind spot in front of the parked vehicle on the left shoulder.", "D. There is no blind spot in front of the parked vehicle on the right shoulder."], "answer_index": 1}
{"token": "22797b0ef9f5ee2a20cbf4765ef0b438", "waymo_split": "test", "type": "image", "frame_index": 146, "question": "How do you think a safety-critical object will move?", "category": "Safety-critical Prediction", "options": ["A. Move to the left side", "B. Move to the right side", "C. Move to the bottom line", "D. Move straight ahead"], "answer_index": 0}
{"token": "22797b0ef9f5ee2a20cbf4765ef0b438", "waymo_split": "test", "type": "image", "frame_index": 146, "question": "What is the answer regarding parked vehicles on the shoulder, the presence of a center line, and Ego's encroachment on the center line?", "category": "Normal Perception & Prediction", "options": ["A. There is a parked vehicle on the left shoulder. Paved road with a center line.", "B. No parked vehicles on the shoulder. Paved road with a center line.", "C. There is a parked vehicle on the right shoulder. Unpaved road without a center line.", "D. A parked vehicle is stopped on the left shoulder. Two-lane road with a marked center line."], "answer_index": 2}
{"token": "22797b0ef9f5ee2a20cbf4765ef0b438", "waymo_split": "test", "type": "image", "frame_index": 146, "question": "How should I drive to address the first risk while also resolving the second risk?", "category": "Safety-critical Planning", "options": ["A. Next, a safety-critical object needs to stop", "B. There is no next safety-critical object", "C. Maintain deceleration for the next safety-critical object", "D. Avoid the next safety-critical object to the right"], "answer_index": 1}
{"token": "22797b0ef9f5ee2a20cbf4765ef0b438", "waymo_split": "test", "type": "image", "frame_index": 146, "question": "What is the correlation in safety-critical situations?", "category": "Safety-critical scene Understanding", "options": ["A. Car - Dog", "B. Car - Pedestrian", "C. Two-wheeler - Dog", "D. Person - Dog"], "answer_index": 0}
{"token": "22797b0ef9f5ee2a20cbf4765ef0b438", "waymo_split": "test", "type": "image", "frame_index": 146, "question": "Is lane changing possible? Which is safer between slowing down and changing lanes?", "category": "Safety-critical Planning", "options": ["A. Slowing down is safer, lane change to the left is possible", "B. Changing lanes is safer, lane change to the right is possible", "C. Maintaining speed is safer, lane change to the right is recommended", "D. Accelerating is safer, lane change to the left is restricted"], "answer_index": 0}
{"token": "22797b0ef9f5ee2a20cbf4765ef0b438", "waymo_split": "test", "type": "image", "frame_index": 146, "question": "What should I do to drive safely?", "category": "Safety-critical Planning", "options": ["A. If the cat moves half to the right side, my car should pass through while maintaining the center of the lane. The cat won't change direction, so just a moment of attention is enough.", "B. When the dog completely moves to the left or right side, my car should slow down. And since this dog is not a person, it might suddenly rush in or change direction quickly, so my car should continue to slow down even after it moves to the left side.", "C. If the dog comes out from the left, slightly steer towards the center line to avoid it, and my car should pass quickly. Turning on the high beams will make the animal stop, so no additional slowing down is necessary.", "D. If the dog is visible, honk the horn several times briefly to drive it to the side of the road, and my car can pass at the existing speed. It will react to the sound and move out of the way faster, so unnecessary slowing down is not needed."], "answer_index": 1}
{"token": "22797b0ef9f5ee2a20cbf4765ef0b438", "waymo_split": "test", "type": "image", "frame_index": 146, "question": "Is there any other safety-critical object besides the first safety-critical object? If so, how will it be moved?", "category": "Safety-critical Prediction", "options": ["A. There is a construction cone, proceed slowly and go straight", "B. There are no other safety-critical objects", "C. There is an emergency vehicle, stop at the right edge", "D. There is a fire hydrant, detour to the left"], "answer_index": 1}
{"token": "22797b0ef9f5ee2a20cbf4765ef0b438", "waymo_split": "test", "type": "image", "frame_index": 146, "question": "Where is the area that hides danger in the current frame?", "category": "Uncertainty", "options": ["A. Between parked cars on the left shoulder", "B. Between parked cars on the right shoulder", "C. Inside the bushes next to the central divider", "D. Behind the advertisement board at the bus stop ahead"], "answer_index": 1}
{"token": "22797b0ef9f5ee2a20cbf4765ef0b438", "waymo_split": "test", "type": "image", "frame_index": 146, "question": "What is the safest choice just before entering a yellow signal: stop vs proceed?", "category": "Special Event", "options": ["A. Proceed after slowing down is safer", "B. Cannot judge due to lack of signal", "C. Stopping is always the best option", "D. Continue with the right turn"], "answer_index": 1}
{"token": "22797b0ef9f5ee2a20cbf4765ef0b438", "waymo_split": "test", "type": "image", "frame_index": 146, "question": "Who is responsible in a safety-critical situation? What is the cause?", "category": "Safety-critical scene Understanding", "options": ["A. It is the dog's fault. It was positioned in the middle of the road and obstructed the driving path of my vehicle while moving to the left.", "B. It is the responsibility of the road management authority. The lack of safety facilities such as warnings for stray animals and protective barriers failed to prevent or guide the intrusion into the lane.", "C. It is the fault of the vehicle behind in the left lane. Unnecessary close overtaking and horn usage hindered my vehicle's judgment to slow down or evade, compromising driving stability.", "D. It is the driver's fault. Neglecting to pay attention to the front, I failed to recognize the obstacle in the middle of the lane in advance, could not slow down, and did not secure a safe evasion route."], "answer_index": 0}
{"token": "22797b0ef9f5ee2a20cbf4765ef0b438", "waymo_split": "test", "type": "image", "frame_index": 146, "question": "What are the new exposure risk candidates in the following section?", "category": "Safety-critical Prediction", "options": ["A. An electric scooter may suddenly emerge from the front alley exit without checking the signal.", "B. A motorcycle may cross over from the opposite lane at the central divider opening.", "C. A passenger may suddenly walk into the lane in front of the left bus stop.", "D. A dog or an object may suddenly appear from between parked vehicles on the right shoulder."], "answer_index": 3}
{"token": "22797b0ef9f5ee2a20cbf4765ef0b438", "waymo_split": "test", "type": "image", "frame_index": 146, "question": "What situation might occur if the self-driving car behaved like this?", "category": "Counterfactual", "options": ["A. Risk of collision with a dog moving from the center to the left while the self-driving car accelerates and drives straight.", "B. Risk of collision with a cat jumping into the lane from the left edge while the self-driving car accelerates and drives straight.", "C. Risk of collision with a bicycle entering from the right into the center while the self-driving car accelerates and drives straight.", "D. Risk of collision with a pedestrian rushing across towards the center line while the self-driving car accelerates and drives straight."], "answer_index": 0}
{"token": "22797b0ef9f5ee2a20cbf4765ef0b438", "waymo_split": "test", "type": "image", "frame_index": 146, "question": "What are the driving guidelines for the vehicle based on the behavior of a safety-critical object?", "category": "Safety-critical Planning", "options": ["A. If the safety-critical object suddenly jumps towards the vehicle or moves towards the center instead of the left side, the vehicle must brake suddenly due to the risk of collision.", "B. If the safety-critical object crosses the path or hesitates in the center, the vehicle should turn on the hazard lights and gradually decelerate while moving forward.", "C. If the safety-critical object suddenly jumps towards the vehicle or moves towards the center instead of the left side, the vehicle should only honk the horn and maintain speed.", "D. If the safety-critical object moves into the vehicle's path or stays close to the center, the vehicle should change lanes to the right and pass through."], "answer_index": 0}
{"token": "234501e613efd8e0429be3e5a22c7d97", "waymo_split": "test", "type": "video", "frame_index": null, "question": "What are the classifications of scenes?", "category": "Normal scene Understanding", "options": ["A. Main lanes of the highway", "B. Wide roads in residential areas", "C. Roads in busy urban areas", "D. Narrow roads in residential areas"], "answer_index": 3}
{"token": "234501e613efd8e0429be3e5a22c7d97", "waymo_split": "test", "type": "video", "frame_index": null, "question": "Where is the safety-critical situation in the video?", "category": "Temporal Grounding", "options": ["A. 1/4", "B. 4/4", "C. 2/4", "D. 3/4"], "answer_index": 1}
{"token": "234501e613efd8e0429be3e5a22c7d97", "waymo_split": "test", "type": "video", "frame_index": null, "question": "Is there a special situation?", "category": "Special Event", "options": ["A. None", "B. Emergency vehicle access", "C. School bus stop", "D. Construction cone installation"], "answer_index": 0}
{"token": "234501e613efd8e0429be3e5a22c7d97", "waymo_split": "test", "type": "video", "frame_index": null, "question": "Which of the following is a correct description of traffic density?", "category": "Normal scene Understanding", "options": ["A. Few surrounding vehicles, no interruption of driving vehicles after the intersection, downhill slope.", "B. A small number of surrounding vehicles, becomes busier with parked cars on the shoulder after the intersection, gentle uphill.", "C. Many surrounding vehicles, excluding parked cars on the shoulder after the intersection, clear road, no slope.", "D. Normal number of surrounding vehicles, congestion continues before and after the intersection, slight slope."], "answer_index": 2}
{"token": "234501e613efd8e0429be3e5a22c7d97", "waymo_split": "test", "type": "video", "frame_index": null, "question": "What is correct regarding Video Summary from a Safety-critical Scene perspective?", "category": "Safety-critical scene caption", "options": ["A. Decelerating before entering an intersection and waiting to turn left, with a vehicle from the opposite direction attempting to turn left, clear center line, and slow relative speed.", "B. Merging into the right lane after passing the intersection, with a vehicle entering from the right alley into the main road, clear lane markings, and approaching slowly.", "C. Driving straight after the intersection with a vehicle coming straight from the opposite road towards your vehicle. In a situation where there is no center line and both vehicles are passing each other, the relative speed is fast.", "D. Attempting to overtake the vehicle in front in a right turn curve section after passing the intersection, with no vehicles coming from the opposite direction and a small speed difference."], "answer_index": 2}
{"token": "234501e613efd8e0429be3e5a22c7d97", "waymo_split": "test", "type": "video", "frame_index": null, "question": "Which of the following is a correct description of road alignment?", "category": "Normal Perception & Prediction", "options": ["A. Right turn", "B. Straight", "C. Left turn", "D. Unprotected left turn"], "answer_index": 1}
{"token": "234501e613efd8e0429be3e5a22c7d97", "waymo_split": "test", "type": "video", "frame_index": null, "question": "Which of the following is a correct description of the environment?", "category": "Normal scene Understanding", "options": ["A. Day, clear", "B. Dusk, cloudy", "C. Morning, light fog", "D. Night, light rain"], "answer_index": 0}
{"token": "234501e613efd8e0429be3e5a22c7d97", "waymo_split": "test", "type": "video", "frame_index": null, "question": "Which of the following is a correct description of traffic signals?", "category": "Traffic Signal", "options": ["A. No signal. Intersection road sign STOP. Sign STOP", "B. Traffic light red", "C. Sign no right turn", "D. Intersection road sign left turn only"], "answer_index": 0}
{"token": "234501e613efd8e0429be3e5a22c7d97", "waymo_split": "test", "type": "video", "frame_index": null, "question": "What is the answer regarding parked vehicles on the shoulder, the presence of a center line, and whether Ego crosses the center line?", "category": "Normal Perception & Prediction", "options": ["A. No parked vehicles on the shoulder. Solid center line.", "B. Parked vehicles only on the left side. There is a center line.", "C. Parked vehicles exist on both sides of the shoulder. No center line.", "D. Parked vehicles only on the right side. Dashed center line."], "answer_index": 2}
{"token": "234501e613efd8e0429be3e5a22c7d97", "waymo_split": "test", "type": "video", "frame_index": null, "question": "What is the description of a non-safety-critical object?", "category": "Normal Perception & Prediction", "options": ["A. Vehicles parked on the shoulder on both sides of the road. A large trash can is placed on the sidewalk to the left. There is a STOP pavement sign and a STOP sign on the right when entering the intersection. There are utility poles and wires widely present on the right sidewalk.", "B. There are motorcycles parked in a line on the right side of the road. Two small recycling bins are placed on the right sidewalk. When entering the intersection, there is a YIELD pavement sign and a YIELD sign on the left. Tree branches and a banner are widely draped over the left sidewalk.", "C. There is a long public bicycle rack next to the central divider. Delivery boxes are stacked low in front of the convenience store on the left. When entering the intersection, there is a SCHOOL ZONE pavement sign and a sign directly ahead. Air conditioning outdoor units are lined up on the right building wall.", "D. Shared scooters are haphazardly parked next to the bus stop on the left side of the road. Flower pots and benches are sparsely arranged on the right sidewalk. Near the intersection on the right, there is a NO PARKING sign and a yellow solid line. On the left, low bollards are installed in a row instead of utility poles."], "answer_index": 0}
{"token": "234501e613efd8e0429be3e5a22c7d97", "waymo_split": "test", "type": "video", "frame_index": null, "question": "Which of the following is a correct description of Spatial Relationship?", "category": "Spatial Relationship", "options": ["A. A line of vehicles (two) driving in the opposite direction on the left road at the intersection.", "B. A line of vehicles (two) waiting to enter the road in the same direction on the left road at the intersection.", "C. A line of vehicles (two) coming from the left road at the intersection driving in the same direction.", "D. A line of vehicles (three) coming from the right road at the intersection driving in the same direction."], "answer_index": 2}
{"token": "234501e613efd8e0429be3e5a22c7d97", "waymo_split": "test", "type": "video", "frame_index": null, "question": "Are there any blind spots in your field of vision?", "category": "Uncertainty", "options": ["A. Blind spot near the central divider yes", "B. No blind spot with clear view on the right shoulder", "C. Blind spot between vehicles exiting the left alley yes", "D. Blind spot between parked vehicles on the right shoulder yes"], "answer_index": 3}
{"token": "234501e613efd8e0429be3e5a22c7d97", "waymo_split": "test", "type": "video", "frame_index": null, "question": "What is the correlation in safety-critical situations?", "category": "Safety-critical scene Understanding", "options": ["A. car-person", "B. car-car", "C. person-two-wheeled", "D. car-two-wheeled"], "answer_index": 1}
{"token": "234501e613efd8e0429be3e5a22c7d97", "waymo_split": "test", "type": "video", "frame_index": null, "question": "What is a safety-critical object?", "category": "Safety-critical Perception", "options": ["A. A vehicle stopped in the opposite lane beyond the median on a straight road due to congestion", "B. A fast-moving vehicle coming from the opposite lane on a straight road", "C. A vehicle stopped on the shoulder of a straight road with its hazard lights on", "D. A vehicle driving slowly in front of our lane on a straight road"], "answer_index": 1}
{"token": "234501e613efd8e0429be3e5a22c7d97", "waymo_split": "test", "type": "video", "frame_index": null, "question": "How did the safety-critical object move and how did the ego vehicle behave?", "category": "Safety-critical scene Understanding", "options": ["A. Entered a right turn. The ego vehicle proceeded with the right turn by staying in the right lane.", "B. Changed lanes while driving. The ego vehicle reduced speed and changed to the right lane.", "C. Executed a left turn. The ego vehicle made a left turn at the intersection.", "D. Drove straight. The ego vehicle also drove straight along its lane."], "answer_index": 3}
{"token": "234501e613efd8e0429be3e5a22c7d97", "waymo_split": "test", "type": "video", "frame_index": null, "question": "Summary of Ego (own vehicle) behavior before safety-critical situation", "category": "Normal scene Understanding", "options": ["A. Driving straight on the main road after passing the intersection", "B. Turning right at the intersection and entering the side road", "C. Waiting to turn left before entering the intersection", "D. Stopping temporarily at the crosswalk before the intersection"], "answer_index": 0}
{"token": "234501e613efd8e0429be3e5a22c7d97", "waymo_split": "test", "type": "video", "frame_index": null, "question": "Who is responsible in a safety-critical situation? What is the cause?", "category": "Safety-critical scene Understanding", "options": ["A. The responsibility lies with the road management authority. The risk arose from structural issues due to inadequate lane width and signage.", "B. The responsibility lies with the following vehicle. It is customary to move towards the center line for overtaking, so there is no need to slow down while veering.", "C. The responsibility lies with both parties. Due to the characteristics of a narrow two-lane road, both should slow down when passing each other to avoid collision or the risk of grazing.", "D. The responsibility lies with one of the oncoming vehicles. With a four-lane road in both directions, there is ample space for normal driving, and there is no reason to slow down."], "answer_index": 2}
{"token": "234501e613efd8e0429be3e5a22c7d97", "waymo_split": "test", "type": "video", "frame_index": null, "question": "What situation might have occurred if the self-driving car behaved like this?", "category": "Counterfactual", "options": ["A. If the self-driving car slightly backed to the right and increased its speed, it would pass without any significant danger.", "B. If the self-driving car encroached a little into the left center while driving, there would be a risk of collision with oncoming vehicles.", "C. If the self-driving car maintained a distance from the center line and drove straight, it would pass by oncoming vehicles without any issues.", "D. If the self-driving car drove close to the right edge, it would make it easier for following vehicles to overtake, improving the flow."], "answer_index": 1}
{"token": "234501e613efd8e0429be3e5a22c7d97", "waymo_split": "test", "type": "image", "frame_index": 9, "question": "Based on the current appearance of the person/vehicle (two-wheeled), how do they intend to move?", "category": "Normal Perception & Prediction", "options": ["A. Entering a left turn at the intersection", "B. Turning right towards the right alley", "C. Changing lanes to the left lane", "D. Driving straight towards the intersection"], "answer_index": 3}
{"token": "234501e613efd8e0429be3e5a22c7d97", "waymo_split": "test", "type": "image", "frame_index": 9, "question": "What are the behavior restrictions in school zones/congested areas?", "category": "Special Event", "options": ["A. Must stop.", "B. Must accelerate.", "C. Must drive slowly.", "D. Must overtake."], "answer_index": 2}
{"token": "234501e613efd8e0429be3e5a22c7d97", "waymo_split": "test", "type": "image", "frame_index": 9, "question": "Which of the following is a correct description of traffic density?", "category": "Normal scene Understanding", "options": ["A. There are many vehicles in front and behind. There are almost no parked vehicles on the shoulder.", "B. There are a few vehicles in front and none behind. There are a few parked vehicles on the shoulder.", "C. There are many vehicles behind and a few in front. There are no parked vehicles on the shoulder.", "D. There are a few vehicles in both front and back. There are many parked vehicles on the shoulder."], "answer_index": 3}
{"token": "234501e613efd8e0429be3e5a22c7d97", "waymo_split": "test", "type": "image", "frame_index": 9, "question": "What are the classifications of scenes?", "category": "Normal scene Understanding", "options": ["A. Urban busy street", "B. Highway merging section", "C. Narrow road in a residential area", "D. Unpaved country road"], "answer_index": 2}
{"token": "234501e613efd8e0429be3e5a22c7d97", "waymo_split": "test", "type": "image", "frame_index": 9, "question": "What is the plan for yielding when an ambulance/fire truck approaches?", "category": "Special Event", "options": ["A. Pass through the intersection and move to the right (slowing down is recommended)", "B. The only option is to stop and yield (lane change not possible)", "C. Maintain distance from the car in front and continue driving while securing a passage (maintain lane)", "D. Turn on hazard lights and change to the right lane while proceeding slowly (no need to stop)"], "answer_index": 1}
{"token": "234501e613efd8e0429be3e5a22c7d97", "waymo_split": "test", "type": "image", "frame_index": 9, "question": "Which of the following is a correct description of the environment?", "category": "Normal scene Understanding", "options": ["A. Dawn, fog", "B. Day, clear", "C. Evening, rain", "D. Night, cloudy"], "answer_index": 1}
{"token": "234501e613efd8e0429be3e5a22c7d97", "waymo_split": "test", "type": "image", "frame_index": 9, "question": "Which of the following is a correct description of traffic signals?", "category": "Traffic Signal", "options": ["A. STOP signs and road markings at intersections", "B. Dedicated left turn signals and lane markings at intersections", "C. Yield signs and road markings at T-intersections", "D. Priority road signs and road markings at roundabouts"], "answer_index": 0}
{"token": "234501e613efd8e0429be3e5a22c7d97", "waymo_split": "test", "type": "image", "frame_index": 9, "question": "What is the answer regarding parked vehicles on the shoulder, the presence of a center line, and whether Ego crosses the center line?", "category": "Normal Perception & Prediction", "options": ["A. No parked vehicles on the shoulder. Solid center line", "B. Many parked vehicles on the shoulder. No center line", "C. Few parked vehicles on the shoulder. There is a center line", "D. Sparsely parked vehicles on the shoulder. Dashed center line"], "answer_index": 1}
{"token": "234501e613efd8e0429be3e5a22c7d97", "waymo_split": "test", "type": "image", "frame_index": 9, "question": "Is there any other safety-critical object besides the first safety-critical object? If so, how will it be moved?", "category": "Safety-critical Prediction", "options": ["A. There is an AED, move next to the exit", "B. There is a first aid kit, move to the front shelf", "C. There are no other safety-critical objects", "D. There is a fire extinguisher, move to the right"], "answer_index": 2}
{"token": "234501e613efd8e0429be3e5a22c7d97", "waymo_split": "test", "type": "image", "frame_index": 9, "question": "How should I drive to address the first risk while also resolving the second risk?", "category": "Safety-critical Planning", "options": ["A. Next safety critical object is a stopped vehicle ahead", "B. Next safety critical object is a pedestrian at the crosswalk on the right", "C. Next safety critical object is a motorcycle merging from the left", "D. Next safety critical object is none"], "answer_index": 3}
{"token": "234501e613efd8e0429be3e5a22c7d97", "waymo_split": "test", "type": "image", "frame_index": 9, "question": "How do you think a safety-critical object should be moved?", "category": "Safety-critical Prediction", "options": ["A. Slowly rotate", "B. Slightly upward", "C. None", "D. To the right"], "answer_index": 2}
{"token": "234501e613efd8e0429be3e5a22c7d97", "waymo_split": "test", "type": "image", "frame_index": 9, "question": "What is a safety-critical object?", "category": "Safety-critical Perception", "options": ["A. None", "B. Pressure relief valve", "C. Emergency stop button", "D. Safety light curtain"], "answer_index": 0}
{"token": "234501e613efd8e0429be3e5a22c7d97", "waymo_split": "test", "type": "image", "frame_index": 9, "question": "Where is the area that hides danger in the current frame?", "category": "Uncertainty", "options": ["A. Blind spot behind the parked vehicle on the left shoulder", "B. Blind spot near the right bumper of the large truck ahead", "C. Blind spot between the parked vehicles on the right shoulder", "D. Blind spot behind the advertisement board at the bus stop on the right"], "answer_index": 2}
{"token": "234501e613efd8e0429be3e5a22c7d97", "waymo_split": "test", "type": "image", "frame_index": 9, "question": "Is lane change possible? Which is safer, slowing down or changing lanes?", "category": "Safety-critical Planning", "options": ["A. It is possible to move to the right lane. Maintaining speed is safer.", "B. Lane change is not possible. Slowing down is safer.", "C. Changing to the left lane is recommended. Accelerating is safer.", "D. Lane change is possible. Changing lanes is safer."], "answer_index": 1}
{"token": "234501e613efd8e0429be3e5a22c7d97", "waymo_split": "test", "type": "image", "frame_index": 9, "question": "What is the safest choice just before entering a yellow signal: stop vs pass?", "category": "Special Event", "options": ["A. There is no signal, so it's impossible to judge", "B. Since it's a straight situation, pass", "C. Since there are no pedestrians, pass", "D. Since I am close to the stop line, stop"], "answer_index": 0}
{"token": "234501e613efd8e0429be3e5a22c7d97", "waymo_split": "test", "type": "image", "frame_index": 9, "question": "What is the method to avoid the blind spot next to a large vehicle?", "category": "Special Event", "options": ["A. Pass through the left blind spot as it is", "B. Cannot judge as there is no large vehicle", "C. Pass closely to the right of the bus", "D. Pass quickly as there is a large vehicle"], "answer_index": 1}
{"token": "234501e613efd8e0429be3e5a22c7d97", "waymo_split": "test", "type": "image", "frame_index": 9, "question": "What are the new exposure risk candidates in the following section?", "category": "Safety-critical Prediction", "options": ["A. A silent electric scooter may approach rapidly from behind in a blind spot.", "B. The traffic signals at the intersection ahead may be tangled, allowing vehicles from both directions to enter simultaneously.", "C. A pedestrian may suddenly emerge onto the road from the queue at the left bus stop.", "D. A person or object may appear in the blind spot between parked vehicles on the right shoulder."], "answer_index": 3}
{"token": "234501e613efd8e0429be3e5a22c7d97", "waymo_split": "test", "type": "image", "frame_index": 39, "question": "Based on the current appearance of the person/vehicle (two-wheeled), how do they intend to move?", "category": "Normal Perception & Prediction", "options": ["A. Proceed straight towards the intersection", "B. Stop and wait in front of the crosswalk", "C. Merge into the left lane", "D. Turn right into the right alley"], "answer_index": 0}
{"token": "234501e613efd8e0429be3e5a22c7d97", "waymo_split": "test", "type": "image", "frame_index": 39, "question": "Which of the following is correct as an Image Caption from a Safety-critical Frame perspective?", "category": "Safety-critical scene caption", "options": ["A. A vehicle's front end is visible as it turns right from the left road into the vehicle's lane. If the vehicle attempts to make a left turn recklessly at this moment, there is a risk of collision. The vehicle is currently about to enter an intersection but has slowed down.", "B. The rear end of a vehicle is visible as it changes lanes from the right road into the vehicle's lane. If the vehicle accelerates at this moment, there is a risk of contact. The vehicle is already passing through the center of the intersection.", "C. A bicycle is seen coming down from the sidewalk onto the road. If the vehicle rushes straight ahead at this moment, there is a risk of a side collision. The vehicle is traveling close to the speed limit.", "D. A taxi is making a sharp left turn from the front. If the vehicle starts to turn right at this moment, there may be interference due to the angle of merging. The vehicle is in a situation where the signal has just changed and is about to start moving."], "answer_index": 0}
{"token": "234501e613efd8e0429be3e5a22c7d97", "waymo_split": "test", "type": "image", "frame_index": 39, "question": "Which of the following statements about traffic density is correct?", "category": "Normal scene Understanding", "options": ["A. Vehicles in motion are consistently distributed in both directions. Only a few parked vehicles on the shoulder are observed.", "B. There are only a few vehicles in motion in the front and rear. Many parked vehicles on the shoulder are present.", "C. Vehicles in motion are concentrated in the front, while the rear is sparse. Parked vehicles on the shoulder are only occasionally visible.", "D. There are many vehicles in motion in the left and right lanes. There are almost no parked vehicles on the shoulder."], "answer_index": 1}
{"token": "234501e613efd8e0429be3e5a22c7d97", "waymo_split": "test", "type": "image", "frame_index": 39, "question": "What is the plan for yielding when an ambulance/fire truck approaches?", "category": "Special Event", "options": ["A. Accelerate to the intersection and let it pass (acceleration allowed)", "B. The only option is to stop and yield (lane change not possible)", "C. Drive in the bus-only lane to give way (lane change recommended)", "D. Change to the right lane to yield (no need to stop)"], "answer_index": 1}
{"token": "234501e613efd8e0429be3e5a22c7d97", "waymo_split": "test", "type": "image", "frame_index": 39, "question": "Which of the following is correct as an Image Caption from the perspective of a Normal Frame?", "category": "Normal scene caption", "options": ["A. A vehicle is passing through an intersection, and there are vehicles waiting at a traffic signal in the opposite lane beyond the median. A vehicle is seen merging from the left in the same direction, while a bus is stopped on the right shoulder. On the left, vehicles from the opposite side are exiting to the left lane, and there is a no right turn sign on the right.", "B. Approaching an intersection, there are vehicles in the left opposite lane, and a vehicle is seen turning right from the left intersection road towards the direction of the vehicle. There are parked vehicles on both shoulders. Vehicles are coming from the opposite lane towards the direction of the vehicle at the intersection. There is a STOP sign on the right.", "C. Slowing down before the intersection, there is a motorcycle moving slowly in the right lane, and the rear of a vehicle attempting to turn left towards the vehicle's direction is visible on the right road. Both shoulders are empty, and there are no vehicles approaching the vehicle's direction at the intersection. There is a yield sign on the left.", "D. There is still some distance to the intersection, and a truck is stopped in the left opposite lane. A passenger car is seen turning left and exiting in the opposite direction on the right intersection road. There are no parked vehicles on either shoulder, and no vehicles are visible entering the vehicle's lane at the intersection. There is a speed limit sign of 30 on the right."], "answer_index": 1}
{"token": "234501e613efd8e0429be3e5a22c7d97", "waymo_split": "test", "type": "image", "frame_index": 39, "question": "What is the classification of the scene?", "category": "Normal scene Understanding", "options": ["A. Road in front of a city shopping area", "B. Highway merging section", "C. Unpaved rural road", "D. Narrow road in a residential area"], "answer_index": 3}
{"token": "234501e613efd8e0429be3e5a22c7d97", "waymo_split": "test", "type": "image", "frame_index": 39, "question": "Which of the following is a correct description of the environment?", "category": "Normal scene Understanding", "options": ["A. Day, clear", "B. Dawn, shower", "C. Night, cloudy", "D. Evening, snow"], "answer_index": 0}
{"token": "234501e613efd8e0429be3e5a22c7d97", "waymo_split": "test", "type": "image", "frame_index": 39, "question": "Which of the following is a correct description of traffic signals?", "category": "Traffic Signal", "options": ["A. Red traffic light at an intersection", "B. Bus-only lane sign on the road", "C. STOP sign at an intersection", "D. One-way sign at a T-intersection"], "answer_index": 2}
{"token": "234501e613efd8e0429be3e5a22c7d97", "waymo_split": "test", "type": "image", "frame_index": 39, "question": "What is the answer regarding parked vehicles on the shoulder, the presence of a center line, and Ego's encroachment on the center line?", "category": "Normal Perception & Prediction", "options": ["A. No parked vehicles on the shoulder. Center line is clear.", "B. Many parked vehicles on the shoulder. No center line.", "C. Few parked vehicles on the shoulder. Center line is distinct.", "D. One or two parked vehicles on the shoulder. There is a center line."], "answer_index": 1}
{"token": "234501e613efd8e0429be3e5a22c7d97", "waymo_split": "test", "type": "image", "frame_index": 39, "question": "Is there a blind spot?", "category": "Uncertainty", "options": ["A. No blind spot", "B. There is a blind spot on the right", "C. There is a blind spot in the rear", "D. There is a blind spot when turning right"], "answer_index": 0}
{"token": "234501e613efd8e0429be3e5a22c7d97", "waymo_split": "test", "type": "image", "frame_index": 39, "question": "How do you think a safety-critical object will move?", "category": "Safety-critical Prediction", "options": ["A. Proceed straight from the intersection ahead to the road towards your vehicle", "B. Make a right turn from the left road to the road towards your vehicle", "C. Make a left turn from the left road to the opposite road", "D. Make a left turn from the right road to the road towards your vehicle"], "answer_index": 1}
{"token": "234501e613efd8e0429be3e5a22c7d97", "waymo_split": "test", "type": "image", "frame_index": 39, "question": "What should I do to drive safely?", "category": "Safety-critical Planning", "options": ["A. Maintain the center of the lane while entering the intersection and continue straight at a steady speed.", "B. As I enter the current intersection, stay away from the center and drive close to the right.", "C. As I enter the current intersection, move towards the center line and proceed along the left edge.", "D. When approaching the intersection, move to the left lane in advance and enter close to the center."], "answer_index": 1}
{"token": "234501e613efd8e0429be3e5a22c7d97", "waymo_split": "test", "type": "image", "frame_index": 39, "question": "What is a safety-critical object?", "category": "Safety-critical Perception", "options": ["A. A vehicle turning right from the left road to the road towards your vehicle", "B. A vehicle merging into your lane from the front road", "C. A vehicle going straight in the opposite direction to your vehicle from the left road", "D. A vehicle turning left from the right road to the road towards your vehicle"], "answer_index": 0}
{"token": "234501e613efd8e0429be3e5a22c7d97", "waymo_split": "test", "type": "image", "frame_index": 39, "question": "How should I drive to resolve the first risk while also addressing the second risk?", "category": "Safety-critical Planning", "options": ["A. Wait to stop for the next safety critical object", "B. No next safety critical object", "C. Avoid the next safety critical object to the right", "D. Maintain slow speed for the next safety critical object"], "answer_index": 1}
{"token": "234501e613efd8e0429be3e5a22c7d97", "waymo_split": "test", "type": "image", "frame_index": 39, "question": "Is there any safety-critical object other than the first safety-critical object? If so, how will it be moved?", "category": "Safety-critical Prediction", "options": ["A. There is a gas cylinder, slowly move to the left safety zone", "B. There are no more safety-critical objects", "C. There is a fire extinguisher, move towards the wall to avoid obstructing traffic", "D. There is a lithium battery pack, move to the back shade to avoid direct sunlight"], "answer_index": 1}
{"token": "234501e613efd8e0429be3e5a22c7d97", "waymo_split": "test", "type": "image", "frame_index": 39, "question": "What is the correlation in safety-critical situations?", "category": "Safety-critical scene Understanding", "options": ["A. car-person", "B. person-two-wheeler", "C. car-two-wheeler", "D. car-car"], "answer_index": 3}
{"token": "234501e613efd8e0429be3e5a22c7d97", "waymo_split": "test", "type": "image", "frame_index": 39, "question": "Is lane change possible? Which is safer between slowing down and changing lanes?", "category": "Safety-critical Planning", "options": ["A. Right lane change is possible. Maintaining speed is safer.", "B. Left lane change is possible. Acceleration is safer.", "C. Lane change is possible. Changing lanes is safer.", "D. Lane change is not possible. Slowing down is safer."], "answer_index": 3}
{"token": "234501e613efd8e0429be3e5a22c7d97", "waymo_split": "test", "type": "image", "frame_index": 39, "question": "Where is the area that hides danger in the current frame?", "category": "Uncertainty", "options": ["A. Blind spot behind the tree trunk on the right sidewalk", "B. Blind spot right behind the rear of a large bus in front", "C. Blind spot between parked vehicles on the right shoulder", "D. Blind spot behind the corner of the left median"], "answer_index": 2}
{"token": "234501e613efd8e0429be3e5a22c7d97", "waymo_split": "test", "type": "image", "frame_index": 39, "question": "What is the safest choice just before entering a yellow signal: stop vs proceed?", "category": "Special Event", "options": ["A. Proceed following the car in front", "B. Avoid to the right lane", "C. Accelerate and pass immediately", "D. Cannot judge as there is no signal"], "answer_index": 3}
{"token": "234501e613efd8e0429be3e5a22c7d97", "waymo_split": "test", "type": "image", "frame_index": 39, "question": "What is the method to avoid the blind spot next to a large vehicle?", "category": "Special Event", "options": ["A. Unable to judge as there is no large vehicle", "B. Honk the horn and enter the blind spot", "C. Proceed closely behind the truck", "D. Quickly pass by driving closely to the left"], "answer_index": 0}
{"token": "234501e613efd8e0429be3e5a22c7d97", "waymo_split": "test", "type": "image", "frame_index": 39, "question": "What are the new exposure risk candidates in the following section?", "category": "Safety-critical Prediction", "options": ["A. Bicycles can enter the roadway from the right bicycle path entrance.", "B. Construction materials may fall from the overhead bridge joint ahead.", "C. People or objects may appear in the blind spot between parked vehicles on the right shoulder.", "D. Two-wheeled vehicles may cross into the lane from the blind spot at the left median."], "answer_index": 2}
{"token": "234501e613efd8e0429be3e5a22c7d97", "waymo_split": "test", "type": "image", "frame_index": 39, "question": "What situation might occur if the self-driving car behaved like this?", "category": "Counterfactual", "options": ["A. If the self-driving car drives straight while sticking to the right center, there is a risk of collision with vehicles in the right lane.", "B. If the self-driving car drives straight while sticking closely to the left edge, there is a risk of collision with vehicles in the left lane going in the same direction.", "C. If the self-driving car drives straight while sticking to the left center, there is a risk of collision with vehicles in the opposite lane on the left.", "D. If the self-driving car drives straight while sticking to the left center, there is a risk of contact with the median barrier."], "answer_index": 2}
{"token": "234501e613efd8e0429be3e5a22c7d97", "waymo_split": "test", "type": "image", "frame_index": 39, "question": "What are the guidelines for the vehicle's behavior based on the actions of a safety-critical object?", "category": "Safety-critical Planning", "options": ["A. If it starts to reverse, there is a low risk of collision with the vehicle, and the vehicle can proceed without honking.", "B. If it makes a wide left turn, there is no interference with the vehicle, and the vehicle can pass close to the center line.", "C. If it makes a wide right turn, there is a risk of collision with the vehicle, and the vehicle should move to the right.", "D. If it makes a sudden stop, there is no need to maintain distance from the vehicle, and the vehicle can quickly overtake on the left."], "answer_index": 2}
{"token": "234501e613efd8e0429be3e5a22c7d97", "waymo_split": "test", "type": "image", "frame_index": 77, "question": "What is the plan for yielding when an ambulance/fire truck approaches?", "category": "Special Event", "options": ["A. Move to the shoulder and continue driving (no need to stop)", "B. Increase speed to pass the intersection and yield (depending on the situation)", "C. The only option is to stop and yield (lane change not possible)", "D. Turn on hazard lights and proceed slowly while yielding (lane change possible)"], "answer_index": 2}
{"token": "234501e613efd8e0429be3e5a22c7d97", "waymo_split": "test", "type": "image", "frame_index": 77, "question": "Based on the current appearance of the person/vehicle (two-wheeled), how do you intend to move?", "category": "Normal Perception & Prediction", "options": ["A. Proceed straight after entering the intersection", "B. Turn left after entering the intersection", "C. Maintain the right lane and turn right", "D. Stop before entering the intersection"], "answer_index": 3}
{"token": "234501e613efd8e0429be3e5a22c7d97", "waymo_split": "test", "type": "image", "frame_index": 77, "question": "What are the behavior restrictions in school zones/congested areas?", "category": "Special Event", "options": ["A. Must accelerate.", "B. Must overtake.", "C. Must honk the horn.", "D. Must drive slowly."], "answer_index": 3}
{"token": "234501e613efd8e0429be3e5a22c7d97", "waymo_split": "test", "type": "image", "frame_index": 77, "question": "Which of the following is a correct description of traffic density?", "category": "Normal scene Understanding", "options": ["A. Vehicles in motion are concentrated in front, with an increase in the rear. Only single parked vehicles on the shoulder are observed.", "B. Few vehicles in motion are present in front and behind. Many parked vehicles on the shoulder are present.", "C. Many vehicles in motion are present in front and behind. There are almost no parked vehicles on the shoulder.", "D. Vehicles in motion are sporadically distributed in the left and right lanes. Parked vehicles on the shoulder are rarely 1 to 2."], "answer_index": 1}
{"token": "234501e613efd8e0429be3e5a22c7d97", "waymo_split": "test", "type": "image", "frame_index": 77, "question": "Which of the following is a correct description of the environment?", "category": "Normal scene Understanding", "options": ["A. Day, clear", "B. Night, light rain", "C. Dusk, cloudy", "D. Dawn, fog"], "answer_index": 0}
{"token": "234501e613efd8e0429be3e5a22c7d97", "waymo_split": "test", "type": "image", "frame_index": 77, "question": "What is the classification of the scene?", "category": "Normal scene Understanding", "options": ["A. Narrow road in a residential area", "B. Unpaved rural farm road", "C. Main section of a highway", "D. Wide avenue in the city center"], "answer_index": 0}
{"token": "234501e613efd8e0429be3e5a22c7d97", "waymo_split": "test", "type": "image", "frame_index": 77, "question": "Which of the following is a correct description of traffic signals?", "category": "Traffic Signal", "options": ["A. Yield sign at a T-intersection", "B. Stop line road marking at an intersection", "C. STOP sign at a crossroads", "D. Pedestrian traffic light at a crosswalk"], "answer_index": 2}
{"token": "234501e613efd8e0429be3e5a22c7d97", "waymo_split": "test", "type": "image", "frame_index": 77, "question": "What is a safety-critical object?", "category": "Safety-critical Perception", "options": ["A. None", "B. Fire extinguisher", "C. Fire hydrant", "D. Emergency exit"], "answer_index": 0}
{"token": "234501e613efd8e0429be3e5a22c7d97", "waymo_split": "test", "type": "image", "frame_index": 77, "question": "Is there a blind spot?", "category": "Uncertainty", "options": ["A. There is a blind spot on the right", "B. There is no blind spot", "C. There is a blind spot", "D. There is a blind spot due to the A-pillar"], "answer_index": 1}
{"token": "234501e613efd8e0429be3e5a22c7d97", "waymo_split": "test", "type": "image", "frame_index": 77, "question": "What is the answer regarding parked vehicles on the shoulder, the presence of a center line, and whether Ego crosses the center line?", "category": "Normal Perception & Prediction", "options": ["A. No parked vehicles on the shoulder. There is a center line.", "B. One or two parked vehicles on the shoulder. There is a center line.", "C. A few parked vehicles on the shoulder. There is a center line.", "D. Many parked vehicles on the shoulder. There is no center line."], "answer_index": 3}
{"token": "234501e613efd8e0429be3e5a22c7d97", "waymo_split": "test", "type": "image", "frame_index": 77, "question": "Are there any safety-critical objects other than the first safety-critical object? If so, how will they be moved?", "category": "Safety-critical Prediction", "options": ["A. There is a next safety-critical object, moving the fire extinguisher towards the emergency exit.", "B. There is a next safety-critical object: securing the high-pressure gas cylinder to the wall for movement.", "C. There is a next safety-critical object, moving the oxygen cylinder backward to avoid the aisle.", "D. There are no next safety-critical objects."], "answer_index": 3}
{"token": "234501e613efd8e0429be3e5a22c7d97", "waymo_split": "test", "type": "image", "frame_index": 77, "question": "How should I drive to address the first risk while also addressing the second risk?", "category": "Safety-critical Planning", "options": ["A. No next safety critical object", "B. Avoidance steering for the next safety critical object", "C. Deceleration needed for the next safety critical object", "D. Next safety critical object to the right"], "answer_index": 0}
{"token": "234501e613efd8e0429be3e5a22c7d97", "waymo_split": "test", "type": "image", "frame_index": 77, "question": "How do you think a safety-critical object would move?", "category": "Safety-critical Prediction", "options": ["A. None", "B. Roll lightly forward", "C. Slide slowly to the right", "D. Rotate slowly in place"], "answer_index": 0}
{"token": "234501e613efd8e0429be3e5a22c7d97", "waymo_split": "test", "type": "image", "frame_index": 77, "question": "What is the method to avoid the blind spot next to a large vehicle?", "category": "Special Event", "options": ["A. Quickly pass to the right of the large vehicle", "B. Move into the opposite lane to overtake", "C. Follow closely behind the bus to pass", "D. Cannot determine as there is no large vehicle"], "answer_index": 3}
{"token": "234501e613efd8e0429be3e5a22c7d97", "waymo_split": "test", "type": "image", "frame_index": 77, "question": "Where is the area that hides danger in the current frame?", "category": "Uncertainty", "options": ["A. Blind spot at the rear corner of a large truck in front", "B. Blind spot between people waiting at the right bus stop", "C. Blind spot between left-turning vehicles on the left", "D. Blind spot between parked vehicles on the right shoulder"], "answer_index": 3}
{"token": "234501e613efd8e0429be3e5a22c7d97", "waymo_split": "test", "type": "image", "frame_index": 77, "question": "What are the new exposure risk candidates in the following section?", "category": "Safety-critical Prediction", "options": ["A. A passenger may walk out towards the road near the front bus stop.", "B. A person or object may appear in the blind spot between parked vehicles on the right shoulder.", "C. A motorcycle may slowly emerge onto the road from behind the construction tarp on the right.", "D. A bicycle may enter the road from the blind spot behind the flower bed on the left."], "answer_index": 1}
{"token": "234501e613efd8e0429be3e5a22c7d97", "waymo_split": "test", "type": "image", "frame_index": 123, "question": "Which of the following is correct as an Image Caption from the perspective of Normal Frame?", "category": "Normal scene caption", "options": ["A. A vehicle driving on a three-lane road. A crosswalk marking is visible on the front road surface. A vehicle is seen moving away in the same lane ahead.", "B. A vehicle stopped on a two-lane road. A 30 speed limit sign is visible on the front road surface. A vehicle in the opposite lane appears to be stopped waiting for a signal.", "C. A vehicle driving on a two-lane road. A STOP sign is visible on the front road surface. A vehicle is seen approaching from the opposite lane towards the vehicle.", "D. A vehicle moving slowly in a narrow alley. A STOP sign is not visible on the front road surface. A motorcycle is seen merging towards the vehicle from the right."], "answer_index": 2}
{"token": "234501e613efd8e0429be3e5a22c7d97", "waymo_split": "test", "type": "image", "frame_index": 123, "question": "What is the plan for yielding when an ambulance/fire truck approaches?", "category": "Special Event", "options": ["A. Slow down and yield in the right lane", "B. Pull over to the right shoulder and yield", "C. Stop in the center of the intersection and yield", "D. Pull over to the left shoulder and yield"], "answer_index": 1}
{"token": "234501e613efd8e0429be3e5a22c7d97", "waymo_split": "test", "type": "image", "frame_index": 123, "question": "Based on the current appearance of the person/vehicle (two-wheeled), how do you intend to move?", "category": "Normal Perception & Prediction", "options": ["A. Entering left turn", "B. Proceeding right turn", "C. Attempting a U-turn", "D. Driving straight"], "answer_index": 3}
{"token": "234501e613efd8e0429be3e5a22c7d97", "waymo_split": "test", "type": "image", "frame_index": 123, "question": "Which of the following is correct as an Image Caption from a Safety-critical Frame perspective?", "category": "Safety-critical scene caption", "options": ["A. A motorcycle suddenly emerging from the left alley", "B. A vehicle cutting in from the right lane", "C. A vehicle coming from the opposite lane towards your direction", "D. A vehicle suddenly stopping in the front lane"], "answer_index": 2}
{"token": "234501e613efd8e0429be3e5a22c7d97", "waymo_split": "test", "type": "image", "frame_index": 123, "question": "Which of the following descriptions about the environment is correct?", "category": "Normal scene Understanding", "options": ["A. Dawn, fog", "B. Night, cloudy", "C. Evening, rain", "D. Day, clear"], "answer_index": 3}
{"token": "234501e613efd8e0429be3e5a22c7d97", "waymo_split": "test", "type": "image", "frame_index": 123, "question": "What are the classifications of scenes?", "category": "Normal scene Understanding", "options": ["A. Main highway section", "B. Narrow road in residential area", "C. Unpaved rural road", "D. Wide street in the city center"], "answer_index": 1}
{"token": "234501e613efd8e0429be3e5a22c7d97", "waymo_split": "test", "type": "image", "frame_index": 123, "question": "Which of the following is a correct description of traffic density?", "category": "Normal scene Understanding", "options": ["A. Vehicles are densely packed in front, and there are also many behind. There are no parked vehicles on the shoulder.", "B. Vehicles are few in the left and right lanes. Parked vehicles on the shoulder are rare.", "C. There are many vehicles in front and behind. There are almost no parked vehicles on the shoulder.", "D. There are few vehicles in front and behind. There are many parked vehicles on the shoulder."], "answer_index": 3}
{"token": "234501e613efd8e0429be3e5a22c7d97", "waymo_split": "test", "type": "image", "frame_index": 123, "question": "What is the description of a non-safety-critical object?", "category": "Normal Perception & Prediction", "options": ["A. STOP sign on the left opposing lane. Parked vehicles on both sides. And a residential area stretching out.", "B. Left turn only arrow on the road ahead of the intersection. Bus stops visible on both sides. And a warehouse area stretching out.", "C. YIELD sign on the right lane. Safety cones placed on the right shoulder. And a commercial street extending.", "D. SCHOOL ZONE written on the road next to the center line. Sign for a bus-only lane on the left. And an opening towards the park entrance."], "answer_index": 0}
{"token": "234501e613efd8e0429be3e5a22c7d97", "waymo_split": "test", "type": "image", "frame_index": 123, "question": "Which of the following is a correct description of traffic signals?", "category": "Traffic Signal", "options": ["A. SLOW sign on the right lane surface", "B. Green light for left turn at the intersection traffic light", "C. Stop sign on the right side of the road ahead", "D. STOP sign on the left opposite lane surface"], "answer_index": 3}
{"token": "234501e613efd8e0429be3e5a22c7d97", "waymo_split": "test", "type": "image", "frame_index": 123, "question": "What is the answer regarding parked vehicles on the shoulder, the presence of a center line, and whether Ego crosses the center line?", "category": "Normal Perception & Prediction", "options": ["A. Many parked vehicles on the shoulder. No center line.", "B. No parked vehicles on the shoulder. Center line is dashed.", "C. Rarely parked vehicles on the shoulder. Center line indicates both directions.", "D. Few parked vehicles on the shoulder. There is a center line."], "answer_index": 0}
{"token": "234501e613efd8e0429be3e5a22c7d97", "waymo_split": "test", "type": "image", "frame_index": 123, "question": "Is there a blind spot?", "category": "Uncertainty", "options": ["A. There is a blind spot on the right", "B. There is no blind spot", "C. Intermittent blind spots occur", "D. There is a blind spot when turning right"], "answer_index": 1}
{"token": "234501e613efd8e0429be3e5a22c7d97", "waymo_split": "test", "type": "image", "frame_index": 123, "question": "What should I do to drive safely?", "category": "Safety-critical Planning", "options": ["A. I need to speed.", "B. I need to drive slowly.", "C. I need to accelerate rapidly.", "D. I need to tailgate the car in front."], "answer_index": 1}
{"token": "234501e613efd8e0429be3e5a22c7d97", "waymo_split": "test", "type": "image", "frame_index": 123, "question": "Is there any safety-critical object other than the first safety-critical object? If so, how will you move?", "category": "Safety-critical Prediction", "options": ["A. Check the next safety-critical object, stop, and proceed slowly.", "B. There is a next safety-critical object, detour to the left.", "C. There is no next safety-critical object.", "D. Detect the next safety-critical object, change to the right lane."], "answer_index": 2}
{"token": "234501e613efd8e0429be3e5a22c7d97", "waymo_split": "test", "type": "image", "frame_index": 123, "question": "What is a safety-critical object?", "category": "Safety-critical Perception", "options": ["A. A vehicle driving forward in the same lane.", "B. A vehicle parked at the edge of the road.", "C. A vehicle coming from the opposite lane.", "D. A pedestrian standing on the sidewalk."], "answer_index": 2}
{"token": "234501e613efd8e0429be3e5a22c7d97", "waymo_split": "test", "type": "image", "frame_index": 123, "question": "How should I drive to address the first risk while also resolving the second risk?", "category": "Safety-critical Planning", "options": ["A. Next safety critical object is in the right lane.", "B. Pass the next safety critical object after slowing down.", "C. There is no next safety critical object.", "D. Need to avoid the next safety critical object to the left."], "answer_index": 2}
{"token": "234501e613efd8e0429be3e5a22c7d97", "waymo_split": "test", "type": "image", "frame_index": 123, "question": "How do you think a safety-critical object will move?", "category": "Safety-critical Prediction", "options": ["A. Moving backward", "B. Driving in the opposite direction", "C. Moving to the left", "D. Driving towards your own vehicle"], "answer_index": 3}
{"token": "234501e613efd8e0429be3e5a22c7d97", "waymo_split": "test", "type": "image", "frame_index": 123, "question": "What is the correlation in safety-critical situations?", "category": "Safety-critical scene Understanding", "options": ["A. Car - Two-wheeler", "B. Car - Car", "C. Car - Person", "D. Person - Two-wheeler"], "answer_index": 1}
{"token": "234501e613efd8e0429be3e5a22c7d97", "waymo_split": "test", "type": "image", "frame_index": 123, "question": "Who is responsible in a safety-critical situation? What is the cause?", "category": "Safety-critical scene Understanding", "options": ["A. The motorcycle that entered the alley while making a right turn is the cause (entered the intersection abruptly without stopping).", "B. Our vehicle that was driving close to the left edge is the cause (failed to maintain distance and slow down on a narrow road).", "C. The illegally parked vehicle on the roadside is the cause (further narrowed the width of the road and obstructed visibility).", "D. The vehicle coming from the opposite lane at a higher speed is the cause (should have slowed down since there is no center line on the narrow road)."], "answer_index": 3}
{"token": "234501e613efd8e0429be3e5a22c7d97", "waymo_split": "test", "type": "image", "frame_index": 123, "question": "Is lane change possible? Which is safer, slowing down or changing lanes?", "category": "Safety-critical Planning", "options": ["A. Lane change possible. Changing lanes is safer.", "B. Right lane change possible. Slowing down is not recommended.", "C. Lane change not possible. Slowing down is safer.", "D. Left lane change possible. Changing lanes is safer."], "answer_index": 2}
{"token": "234501e613efd8e0429be3e5a22c7d97", "waymo_split": "test", "type": "image", "frame_index": 123, "question": "What is the safest choice just before entering a yellow signal: stop vs proceed?", "category": "Special Event", "options": ["A. It is impossible to judge since there is no signal.", "B. The left-turning vehicle should stop immediately.", "C. If close enough, proceeding is safe.", "D. Right turns should proceed slowly."], "answer_index": 0}
{"token": "234501e613efd8e0429be3e5a22c7d97", "waymo_split": "test", "type": "image", "frame_index": 123, "question": "Where is the area that hides danger in the current frame?", "category": "Uncertainty", "options": ["A. Blind spot between parked vehicles on the left shoulder", "B. Blind spot beyond the median barrier in the opposite lane", "C. Blind spot behind a stopped bus ahead", "D. Blind spot between parked vehicles on the right shoulder"], "answer_index": 3}
{"token": "234501e613efd8e0429be3e5a22c7d97", "waymo_split": "test", "type": "image", "frame_index": 123, "question": "What is the method to safely pass through the blind spot next to a large vehicle?", "category": "Special Event", "options": ["A. Unable to judge as there is no large vehicle", "B. Safe passage as the left lane is empty", "C. Accelerate after checking the blind spot", "D. Quickly pass to the right of the large vehicle"], "answer_index": 0}
{"token": "234501e613efd8e0429be3e5a22c7d97", "waymo_split": "test", "type": "image", "frame_index": 123, "question": "What are the new exposure risk candidates in the following section?", "category": "Safety-critical Prediction", "options": ["A. A passenger may get out as the door opens from a taxi stopped on the left.", "B. An electric scooter may come through the crosswalk ahead, ignoring the signal.", "C. A person or object may appear in the blind spot between parked vehicles on the right shoulder.", "D. A vehicle from the opposite lane may illegally turn in through the opening in the median."], "answer_index": 2}
{"token": "234501e613efd8e0429be3e5a22c7d97", "waymo_split": "test", "type": "image", "frame_index": 148, "question": "Which of the following is correct as an Image Caption from the perspective of Safety-critical Frame?", "category": "Safety-critical scene caption", "options": ["A. A vehicle coming from the opposite lane towards your vehicle's lane", "B. A vehicle attempting to change lanes from the right lane to your vehicle's lane", "C. A vehicle driving in the same direction as your vehicle in the same lane", "D. A vehicle waiting to make a U-turn in the opposite lane"], "answer_index": 0}
{"token": "234501e613efd8e0429be3e5a22c7d97", "waymo_split": "test", "type": "image", "frame_index": 123, "question": "What is the guideline for your vehicle's behavior in response to the actions of a safety-critical object?", "category": "Safety-critical Planning", "options": ["A. If a vehicle from the opposite lane encroaches into the center, it is safe for your vehicle to brake hard and stop in the center of the lane.", "B. If a vehicle from the opposite lane approaches while straddling the center line, it is safe for your vehicle to accelerate and move to the left to pass quickly.", "C. If a bus from the opposite lane crosses the center line, it is safe for your vehicle to maintain speed while using high beams and honking the horn.", "D. If a vehicle from the opposite lane quickly encroaches into the center, it is safe for your vehicle to evade to the right shoulder and come to a stop."], "answer_index": 3}
{"token": "234501e613efd8e0429be3e5a22c7d97", "waymo_split": "test", "type": "image", "frame_index": 148, "question": "Based on the current appearance of the person/vehicle (two-wheeled), how do you intend to move?", "category": "Normal Perception & Prediction", "options": ["A. Turn right", "B. Proceed straight", "C. Turn left", "D. Change lanes"], "answer_index": 1}
{"token": "234501e613efd8e0429be3e5a22c7d97", "waymo_split": "test", "type": "image", "frame_index": 148, "question": "What is the plan for yielding when an emergency vehicle/fire truck approaches?", "category": "Special Event", "options": ["A. Turn on emergency lights and just reduce speed to yield", "B. Stay close to the center of the lane and yield while moving slowly", "C. Pull over to the right shoulder to yield", "D. Pull over to the left shoulder to yield"], "answer_index": 2}
{"token": "234501e613efd8e0429be3e5a22c7d97", "waymo_split": "test", "type": "image", "frame_index": 148, "question": "What are the behavior restrictions in school zones/congested areas?", "category": "Special Event", "options": ["A. Must drive slowly.", "B. Must stop.", "C. Must overtake.", "D. Must accelerate."], "answer_index": 0}
{"token": "234501e613efd8e0429be3e5a22c7d97", "waymo_split": "test", "type": "image", "frame_index": 148, "question": "What are the classifications of scenes?", "category": "Normal scene Understanding", "options": ["A. Wide streets in urban areas", "B. Narrow roads in residential areas", "C. Highway entrance ramps", "D. Unpaved rural roads"], "answer_index": 1}
{"token": "234501e613efd8e0429be3e5a22c7d97", "waymo_split": "test", "type": "image", "frame_index": 148, "question": "Which of the following is a correct description of traffic density?", "category": "Normal scene Understanding", "options": ["A. There are a few vehicles in front and behind, and many vehicles parked on the shoulder.", "B. There are a few vehicles distributed in the left and right lanes, and one or two parked vehicles on the shoulder are rarely seen.", "C. There are many vehicles in front and behind, and almost no vehicles parked on the shoulder.", "D. There are continuously many vehicles in the front section, and no vehicles are visible on the shoulder."], "answer_index": 0}
{"token": "234501e613efd8e0429be3e5a22c7d97", "waymo_split": "test", "type": "image", "frame_index": 148, "question": "Which of the following is a correct description of the environment?", "category": "Normal scene Understanding", "options": ["A. Day, clear", "B. Dawn, fog", "C. Evening, cloudy", "D. Night, rain"], "answer_index": 0}
{"token": "234501e613efd8e0429be3e5a22c7d97", "waymo_split": "test", "type": "image", "frame_index": 148, "question": "Which of the following is correct as an Image Caption from the perspective of Normal Frame?", "category": "Normal scene caption", "options": ["A. A vehicle driving on a two-lane road. A vehicle in the same lane and direction is positioned in front to the right. Both the vehicle and the leading vehicle are moving slowly.", "B. A vehicle driving on a one-way single-lane road. There is a stopped vehicle on the left shoulder ahead, so it swerves to the right. The overall speed of surrounding vehicles is low.", "C. A vehicle driving on a two-lane road. A vehicle in the opposite lane is moving left far ahead. The speed of the vehicle is normal, while the opposing vehicle is slowing down.", "D. A vehicle driving on a two-lane road. A vehicle coming from the opposite lane is located directly in front to the left. Both the vehicle and the opposing vehicle are moving at high speeds."], "answer_index": 3}
{"token": "234501e613efd8e0429be3e5a22c7d97", "waymo_split": "test", "type": "image", "frame_index": 148, "question": "Which of the following is a correct description of traffic signals?", "category": "Traffic Signal", "options": ["A. STOP sign ahead", "B. Stop line marked on the left lane", "C. YIELD sign behind", "D. STOP sign behind"], "answer_index": 3}
{"token": "234501e613efd8e0429be3e5a22c7d97", "waymo_split": "test", "type": "image", "frame_index": 148, "question": "What is the description of a non-safety-critical object?", "category": "Normal Perception & Prediction", "options": ["A. Vehicles parked on the left and right shoulders. There is a long residential area, and many utility poles and wires are present.", "B. A few street vendors on the right and a short shopping street, with streetlights sparsely placed.", "C. A central median and a low flower bed, with a long bicycle lane on the left, and one bus stop visible.", "D. Near an intersection, there are many crosswalks and traffic lights, and trees line the left park fence, with a lot of pedestrian traffic."], "answer_index": 0}
{"token": "234501e613efd8e0429be3e5a22c7d97", "waymo_split": "test", "type": "image", "frame_index": 148, "question": "Is there a blind spot in your field of vision?", "category": "Uncertainty", "options": ["A. There is a blind spot on the right", "B. There is a partial blind spot", "C. There is a blind spot", "D. There is no blind spot"], "answer_index": 3}
{"token": "234501e613efd8e0429be3e5a22c7d97", "waymo_split": "test", "type": "image", "frame_index": 148, "question": "What is a safety-critical object?", "category": "Safety-critical Perception", "options": ["A. A vehicle approaching from the opposite lane", "B. A vehicle parked on the shoulder", "C. A vehicle approaching from behind", "D. A vehicle driving parallel in the adjacent lane"], "answer_index": 0}
{"token": "234501e613efd8e0429be3e5a22c7d97", "waymo_split": "test", "type": "image", "frame_index": 148, "question": "What is the answer regarding parked vehicles on the shoulder, the presence of a center line, and whether Ego crosses the center line?", "category": "Normal Perception & Prediction", "options": ["A. One or two vehicles parked on the shoulder. Solid center line.", "B. Almost no vehicles parked on the shoulder. Clear center line.", "C. The shoulder is empty. Double center line.", "D. Many vehicles parked on the shoulder. No center line."], "answer_index": 3}
{"token": "234501e613efd8e0429be3e5a22c7d97", "waymo_split": "test", "type": "image", "frame_index": 148, "question": "What should I do to drive safely?", "category": "Safety-critical Planning", "options": ["A. If you see an oncoming vehicle, signal with high beams and continue driving (do not reduce speed and maintain flow)", "B. Since the road is narrow, you should stay close to the left edge (even without a center line, staying left minimizes interference with oncoming cars)", "C. Since both are driving at high speeds, you should drive slowly (be extra careful as there is no center line and stay close to the right)", "D. Since both are driving at high speeds, you should increase your speed to match the flow (without a center line, stay towards the center for better visibility)"], "answer_index": 2}
{"token": "234501e613efd8e0429be3e5a22c7d97", "waymo_split": "test", "type": "image", "frame_index": 148, "question": "How do you think a safety-critical object should be moved?", "category": "Safety-critical Prediction", "options": ["A. Moving forward to the right", "B. Driving towards the vehicle's own direction", "C. Driving in the opposite direction", "D. Moving towards the city center"], "answer_index": 1}
{"token": "234501e613efd8e0429be3e5a22c7d97", "waymo_split": "test", "type": "image", "frame_index": 148, "question": "How should I drive to address the first risk while also resolving the second risk?", "category": "Safety-critical Planning", "options": ["A. No next safety critical object", "B. Stop at the next safety critical object", "C. Decelerate in preparation for the next safety critical object", "D. Avoid to the right of the next safety critical object"], "answer_index": 0}
{"token": "234501e613efd8e0429be3e5a22c7d97", "waymo_split": "test", "type": "image", "frame_index": 148, "question": "What is the correlation in safety-critical situations?", "category": "Safety-critical scene Understanding", "options": ["A. Person-Person", "B. Two-wheeled Vehicle-Car", "C. Car-Person", "D. Car-Car"], "answer_index": 3}
{"token": "234501e613efd8e0429be3e5a22c7d97", "waymo_split": "test", "type": "image", "frame_index": 148, "question": "Is lane changing possible? Which is safer, slowing down or changing lanes?", "category": "Safety-critical Planning", "options": ["A. Lane changing is possible. Changing lanes is safer than slowing down.", "B. Lane changing is not possible. Slowing down is safer.", "C. Lane changing to the left is possible. Changing lanes is safer.", "D. Lane changing is possible. Changing lanes is safer."], "answer_index": 1}
{"token": "234501e613efd8e0429be3e5a22c7d97", "waymo_split": "test", "type": "image", "frame_index": 148, "question": "Is there any other safety-critical object besides the first safety-critical object? If so, how will it be moved?", "category": "Safety-critical Prediction", "options": ["A. There is a fire extinguisher, move slowly to the left along the wall", "B. There are no more safety-critical objects", "C. There is a high-pressure gas cylinder, secure it on a cart and move slowly forward", "D. There is a container of hazardous chemicals, move to the right avoiding people's paths"], "answer_index": 1}
{"token": "234501e613efd8e0429be3e5a22c7d97", "waymo_split": "test", "type": "image", "frame_index": 148, "question": "Where is the area that hides danger in the current frame?", "category": "Uncertainty", "options": ["A. Blind spot between parked vehicles on the right shoulder", "B. Blind spot next to the traffic light pole at the intersection ahead", "C. Blind spot inside the construction barrier on the rear lane", "D. Blind spot behind parked vehicles on the left shoulder corner"], "answer_index": 0}
{"token": "234501e613efd8e0429be3e5a22c7d97", "waymo_split": "test", "type": "image", "frame_index": 148, "question": "Who is responsible in a safety-critical situation? What is the cause?", "category": "Safety-critical scene Understanding", "options": ["A. The illegally parked vehicle on the right shoulder is the cause (it obstructed the view, delaying the discovery of the oncoming vehicle)", "B. The vehicle coming from the opposite lane at a higher speed is the cause (on a narrow road without a center line, it should have been moving slowly)", "C. Both sides are at fault (on a road without a center line, both should have been moving slowly and waiting, but neither did)", "D. The dashcam vehicle is the cause (it did not stop or yield before entering the narrow road)"], "answer_index": 1}
{"token": "234501e613efd8e0429be3e5a22c7d97", "waymo_split": "test", "type": "image", "frame_index": 148, "question": "What is the method to avoid the blind spot next to a large vehicle?", "category": "Special Event", "options": ["A. Unable to judge as there is no large vehicle", "B. Quickly pass by staying close to the bus", "C. Quickly pass by widening the gap with the large vehicle", "D. Pass by only looking at the side mirror"], "answer_index": 0}
{"token": "234501e613efd8e0429be3e5a22c7d97", "waymo_split": "test", "type": "image", "frame_index": 148, "question": "What is the guideline for the behavior of my vehicle in response to the actions of a safety-critical object?", "category": "Safety-critical Planning", "options": ["A. If a large truck is coming down the opposite lane while straddling the center, it is safe for my vehicle to stay to the left and pass by.", "B. If a vehicle in the opposite lane approaches while crossing the center line, it is safe for my vehicle to move closer to the center line, narrow the path, and gradually slow down.", "C. If a vehicle in the opposite lane quickly invades the center, it is safe for my vehicle to maintain speed, signal with high beams and horn to indicate presence, and continue straight.", "D. If a vehicle in the opposite lane is quickly encroaching on the center, it is safe for my vehicle to evade to the right shoulder and come to a stop."], "answer_index": 3}
{"token": "234501e613efd8e0429be3e5a22c7d97", "waymo_split": "test", "type": "image", "frame_index": 148, "question": "What are the newly exposed risk candidates in the following section?", "category": "Safety-critical Prediction", "options": ["A. Motorcycles or delivery bicycles may emerge from the blind spot at the right alley exit.", "B. People or objects may appear in the gap between parked vehicles on the right shoulder.", "C. Oncoming vehicles may suddenly turn in from the blind spot at the U-turn area of the intersection ahead.", "D. Pedestrians or bicycles may enter the roadway from the blind spot at the left edge of the sidewalk."], "answer_index": 1}
{"token": "234501e613efd8e0429be3e5a22c7d97", "waymo_split": "test", "type": "image", "frame_index": 148, "question": "What situation might occur if the vehicle acted this way?", "category": "Counterfactual", "options": ["A. If the vehicle slightly crossed the center line and moved straight, the distance from the car in front would increase, reducing the risk of collision.", "B. If the vehicle encroached on the left center while driving, there would be a risk of collision with oncoming traffic right ahead.", "C. If the vehicle drove closely along the right shoulder, the forward visibility would increase, making it safer.", "D. If the vehicle only turned on the left turn signal and proceeded, the oncoming vehicle would slow down, reducing the risk."], "answer_index": 1}
{"token": "2560d5455e526aea6b9f330c24d7b213", "waymo_split": "test", "type": "video", "frame_index": null, "question": "Where is the safety-critical situation in the video?", "category": "Temporal Grounding", "options": ["A. 1/4", "B. 3/4", "C. 2/4", "D. 4/4"], "answer_index": 3}
{"token": "2560d5455e526aea6b9f330c24d7b213", "waymo_split": "test", "type": "video", "frame_index": null, "question": "What are the classifications of scenes?", "category": "Normal scene Understanding", "options": ["A. Unpaved farm road", "B. Urban main road", "C. Residential area road", "D. Highway entrance"], "answer_index": 2}
{"token": "2560d5455e526aea6b9f330c24d7b213", "waymo_split": "test", "type": "video", "frame_index": null, "question": "Is there a special situation?", "category": "Special Event", "options": ["A. School bus stop", "B. Obstruction by rainwater", "C. None", "D. Fire truck access"], "answer_index": 2}
{"token": "2560d5455e526aea6b9f330c24d7b213", "waymo_split": "test", "type": "video", "frame_index": null, "question": "Which of the following is a correct description of traffic density?", "category": "Normal scene Understanding", "options": ["A. Many parked vehicles on the shoulder. No road incline. Relatively slow.", "B. Many waiting vehicles in the center lane. Slight road incline. Normal speed.", "C. Few surrounding vehicles. Gentle downhill. Faster than average.", "D. Almost no parked vehicles on the shoulder. Gentle uphill. Fast."], "answer_index": 0}
{"token": "2560d5455e526aea6b9f330c24d7b213", "waymo_split": "test", "type": "video", "frame_index": null, "question": "Which of the following is a correct description of road alignment?", "category": "Normal Perception & Prediction", "options": ["A. Right turn", "B. Left turn", "C. Overtaking", "D. Straight ahead"], "answer_index": 3}
{"token": "2560d5455e526aea6b9f330c24d7b213", "waymo_split": "test", "type": "video", "frame_index": null, "question": "Which of the following is a correct description of Spatial Relationship?", "category": "Spatial Relationship", "options": ["A. A pedestrian waiting for a signal at the right crosswalk at an intersection.", "B. A pedestrian walking parallel to the roadway along the left sidewalk at an intersection.", "C. A pedestrian crossing at the left crosswalk at an intersection in accordance with the signal.", "D. A pedestrian looking across from near the median at an intersection."], "answer_index": 2}
{"token": "2560d5455e526aea6b9f330c24d7b213", "waymo_split": "test", "type": "video", "frame_index": null, "question": "Which of the following descriptions about the environment is correct?", "category": "Normal scene Understanding", "options": ["A. Dusk, fog. Soft lighting", "B. Evening, light rain. There are streetlights", "C. Daytime, cloudy. No lighting", "D. Night, clear. Lights are on"], "answer_index": 2}
{"token": "2560d5455e526aea6b9f330c24d7b213", "waymo_split": "test", "type": "video", "frame_index": null, "question": "What is correct regarding Video Summary from a safety-critical scene perspective?", "category": "Safety-critical scene caption", "options": ["A. The vehicle approaches a signalized intersection and follows a line of left-turning vehicles, gradually decelerating to a complete stop.", "B. In a wide one-way three-lane road, the vehicle attempts to overtake a slow vehicle in the same lane, approaching at a low speed and then accelerating to overtake.", "C. On a narrow two-lane road, the vehicle tries to pass by an oncoming vehicle, driving at a high speed and then decelerating to pass by.", "D. In a residential alley, the vehicle swerves to the right to avoid a pedestrian on the crosswalk, slightly changing direction while maintaining almost the same speed."], "answer_index": 2}
{"token": "2560d5455e526aea6b9f330c24d7b213", "waymo_split": "test", "type": "video", "frame_index": null, "question": "Which of the following statements about traffic signals is correct?", "category": "Traffic Signal", "options": ["A. There is a traffic light, and there is a sign for Fairfax Blvd to the left of the traffic light.", "B. There is no traffic light, and there is a sign for Melrose Ave to the left of the intersection.", "C. There is a traffic light, and there is a sign for La Brea Ave above the traffic light.", "D. There is a traffic light, and there is a sign for Fairfax Av to the right of the traffic light."], "answer_index": 3}
{"token": "2560d5455e526aea6b9f330c24d7b213", "waymo_split": "test", "type": "video", "frame_index": null, "question": "What is the description of a non-safety-critical object?", "category": "Normal Perception & Prediction", "options": ["A. There are only streetlights without traffic lights in the straight section, a few empty benches on the sidewalk in front with no pedestrians, numerous street trees and advertising signs on the right sidewalk, and a sparse parking area on the left shoulder, with a cleaning truck moving slowly in the opposite direction in front.", "B. There are traffic lights and a crosswalk at the intersection. Pedestrians are walking on the sidewalk directly in front. Utility poles and wires are present on the left sidewalk. There are many parked vehicles on both shoulders of the road. A vehicle is driving in the same direction as the preceding vehicle in front.", "C. Only flashing signals are operating at the T-intersection, with a few people walking their dogs on the opposite sidewalk. Utility poles are sparse on the right sidewalk, and there is only one delivery van parked on each shoulder. The vehicle in front is stopped, waiting to turn left.", "D. In the center of a small roundabout, there is a flower bed and a small fountain. Pedestrians around the circular intersection are waiting without a crosswalk. The utility wires are underground, so the utility poles are not visible. There is ample space on both sides of the road without illegal parking, and a motorcycle is turning into the right lane in front."], "answer_index": 1}
{"token": "2560d5455e526aea6b9f330c24d7b213", "waymo_split": "test", "type": "video", "frame_index": null, "question": "What is the answer regarding parked vehicles on the shoulder, the presence of a center line, and whether Ego crosses the center line?", "category": "Normal Perception & Prediction", "options": ["A. There are almost no parked vehicles on the shoulder of the road. The center line is consistent from start to finish. My vehicle does not cross the center line.", "B. There are no parked vehicles on the shoulder of the road visible on either side. There is no center line from the beginning. My vehicle is driving in the right lane.", "C. There are long parked vehicles on both sides of the shoulder of the road. The center line appears and then disappears. My vehicle is in a state of crossing the center line.", "D. There are only intermittent parked vehicles on the right side of the shoulder of the road. The center line is continuously maintained. My vehicle is centered in the lane."], "answer_index": 2}
{"token": "2560d5455e526aea6b9f330c24d7b213", "waymo_split": "test", "type": "video", "frame_index": null, "question": "What is the correlation in safety-critical situations?", "category": "Safety-critical scene Understanding", "options": ["A. Person - Two-wheeler", "B. Car - Car", "C. Car - Person", "D. Car - Two-wheeler"], "answer_index": 1}
{"token": "2560d5455e526aea6b9f330c24d7b213", "waymo_split": "test", "type": "video", "frame_index": null, "question": "Are there any blind spots in your field of vision?", "category": "Uncertainty", "options": ["A. There are blind spots between parked vehicles on the right shoulder.", "B. The field of vision is open near the right bus stop, no blind spots.", "C. The right shoulder has good visibility, no blind spots.", "D. There are blind spots between parked vehicles on the left shoulder."], "answer_index": 0}
{"token": "2560d5455e526aea6b9f330c24d7b213", "waymo_split": "test", "type": "video", "frame_index": null, "question": "What is a safety-critical object?", "category": "Safety-critical Perception", "options": ["A. A vehicle that is stopped with its hazard lights on on the shoulder of the opposite lane after entering a two-lane road.", "B. A vehicle rapidly approaching from the same lane behind your vehicle after entering a two-lane road.", "C. A vehicle driving towards your vehicle from the opposite lane after entering a two-lane road.", "D. A leading vehicle gradually moving away in the same lane ahead after entering a two-lane road."], "answer_index": 2}
{"token": "2560d5455e526aea6b9f330c24d7b213", "waymo_split": "test", "type": "video", "frame_index": null, "question": "Summary of Ego (self-vehicle) behavior before a safety-critical situation", "category": "Normal scene Understanding", "options": ["A. Change to the left lane", "B. Wait to stop", "C. Continue driving straight", "D. Proceed with a right turn"], "answer_index": 2}
{"token": "2560d5455e526aea6b9f330c24d7b213", "waymo_split": "test", "type": "image", "frame_index": 9, "question": "Based on the current appearance of the person/vehicle (two-wheeled), how do you intend to move?", "category": "Normal Perception & Prediction", "options": ["A. Turn left", "B. Turn right", "C. Make a U-turn", "D. Go straight"], "answer_index": 3}
{"token": "2560d5455e526aea6b9f330c24d7b213", "waymo_split": "test", "type": "video", "frame_index": null, "question": "How did the safety-critical object move and how did the ego vehicle behave?", "category": "Safety-critical scene Understanding", "options": ["A. Turned right, the ego vehicle also turned right", "B. Turned left, the ego vehicle stopped", "C. Went straight, the ego vehicle also went straight in the opposite direction", "D. Made a U-turn, the ego vehicle proceeded slowly"], "answer_index": 2}
{"token": "2560d5455e526aea6b9f330c24d7b213", "waymo_split": "test", "type": "video", "frame_index": null, "question": "What situation might have occurred if the vehicle had behaved like this?", "category": "Counterfactual", "options": ["A. If the vehicle slightly veered to the left while driving, the visibility with oncoming vehicles would improve, making it easier to pass.", "B. If the vehicle drove a little closer to the center line, the distance from oncoming vehicles would increase, making it safer.", "C. If the vehicle drove a little closer to the right, it would be possible to drive safely alongside oncoming vehicles.", "D. If the vehicle slightly increased its speed to pass quickly, the risk of collision with oncoming vehicles would actually decrease."], "answer_index": 2}
{"token": "2560d5455e526aea6b9f330c24d7b213", "waymo_split": "test", "type": "image", "frame_index": 9, "question": "What is the plan for yielding when an ambulance/fire truck approaches?", "category": "Special Event", "options": ["A. Increase speed to create distance when approaching from behind", "B. Stop or slow down to yield depending on the direction of approach", "C. Pass through the intersection first and then yield", "D. Just turn on the hazard lights and continue driving"], "answer_index": 1}
{"token": "2560d5455e526aea6b9f330c24d7b213", "waymo_split": "test", "type": "image", "frame_index": 9, "question": "Which of the following is a correct description of traffic density?", "category": "Normal scene Understanding", "options": ["A. Slow, many surrounding vehicles", "B. Fast, almost no surrounding vehicles", "C. Slow, a few surrounding vehicles", "D. Fast, quite a few surrounding vehicles"], "answer_index": 1}
{"token": "2560d5455e526aea6b9f330c24d7b213", "waymo_split": "test", "type": "image", "frame_index": 9, "question": "What is the classification of the scene?", "category": "Normal scene Understanding", "options": ["A. Highway ramp", "B. Residential intersection", "C. Unpaved country road", "D. Urban intersection"], "answer_index": 1}
{"token": "2560d5455e526aea6b9f330c24d7b213", "waymo_split": "test", "type": "image", "frame_index": 9, "question": "Which of the following is a correct description of the environment?", "category": "Normal scene Understanding", "options": ["A. Clear night", "B. Rain at sunset", "C. Dawn fog", "D. Cloudy day"], "answer_index": 3}
{"token": "2560d5455e526aea6b9f330c24d7b213", "waymo_split": "test", "type": "image", "frame_index": 9, "question": "What are the behavioral restrictions in school zones/congested areas?", "category": "Special Event", "options": ["A. Must overtake", "B. Must drive slowly", "C. Must turn right", "D. Must accelerate"], "answer_index": 1}
{"token": "2560d5455e526aea6b9f330c24d7b213", "waymo_split": "test", "type": "image", "frame_index": 9, "question": "Which of the following describes a non-safety-critical object?", "category": "Normal Perception & Prediction", "options": ["A. A motorcycle exiting an intersection, a right-turn-only traffic light and a speed limit 30 sign (for guiding the right lane), a bus stop on the right, and a delivery person standing next to a median.", "B. A taxi entering a left turn lane from the front, a crosswalk without a signal, a parking lot entrance on the left, and a vehicle waiting to make a U-turn in the right lane with a waving pedestrian.", "C. A vehicle driving straight ahead. A traffic light and a no left turn sign (for notifying the left lane). A store building on the right. Vehicles waiting at the left signal and a person crossing the crosswalk.", "D. A bus stopped in front, a protected left turn signal and a U-turn allowed sign, a park fence on the left, vehicles waiting at the right signal, and a person riding a bicycle."], "answer_index": 2}
{"token": "2560d5455e526aea6b9f330c24d7b213", "waymo_split": "test", "type": "image", "frame_index": 9, "question": "Which of the following is a correct description of traffic signals?", "category": "Traffic Signal", "options": ["A. Flashing traffic light, no U-turn sign", "B. Presence of traffic light, no left turn sign", "C. Presence of traffic light, no parking sign", "D. No traffic light, no right turn sign"], "answer_index": 1}
{"token": "2560d5455e526aea6b9f330c24d7b213", "waymo_split": "test", "type": "image", "frame_index": 9, "question": "What is the answer regarding parked vehicles on the shoulder, the presence of a center line, and whether Ego crosses the center line?", "category": "Normal Perception & Prediction", "options": ["A. There is a parked vehicle on the shoulder", "B. There is a center line, Ego crosses the center line", "C. There is a center line, Ego does not cross", "D. None"], "answer_index": 3}
{"token": "2560d5455e526aea6b9f330c24d7b213", "waymo_split": "test", "type": "image", "frame_index": 9, "question": "What is a safety-critical object?", "category": "Safety-critical Perception", "options": ["A. None", "B. Emergency stop", "C. Pressure relief valve", "D. Brake"], "answer_index": 0}
{"token": "2560d5455e526aea6b9f330c24d7b213", "waymo_split": "test", "type": "image", "frame_index": 9, "question": "Is there a blind spot in your field of vision?", "category": "Uncertainty", "options": ["A. Yes", "B. There is one in the rear", "C. No", "D. There is one on the left"], "answer_index": 2}
{"token": "2560d5455e526aea6b9f330c24d7b213", "waymo_split": "test", "type": "image", "frame_index": 9, "question": "How do you think safety-critical objects should be moved?", "category": "Safety-critical Prediction", "options": ["A. None", "B. Rotation", "C. Descent", "D. Forward"], "answer_index": 0}
{"token": "2560d5455e526aea6b9f330c24d7b213", "waymo_split": "test", "type": "image", "frame_index": 30, "question": "Based on the current appearance of the person/vehicle (two-wheeled), how do you intend to move?", "category": "Normal Perception & Prediction", "options": ["A. Turn right", "B. Turn left", "C. Make a U-turn", "D. Go straight"], "answer_index": 3}
{"token": "2560d5455e526aea6b9f330c24d7b213", "waymo_split": "test", "type": "image", "frame_index": 9, "question": "Are there any safety-critical objects other than the first safety-critical object? If so, how will they be moved?", "category": "Safety-critical Prediction", "options": ["A. No.", "B. Yes. The high-pressure gas cylinder will be moved to the rear safety area.", "C. Yes. The fire extinguisher will be moved to the right.", "D. Yes. The battery pack will be slightly pulled to the left."], "answer_index": 0}
{"token": "2560d5455e526aea6b9f330c24d7b213", "waymo_split": "test", "type": "image", "frame_index": 9, "question": "What is the safest choice just before entering a yellow signal: stop or proceed?", "category": "Special Event", "options": ["A. If the signal is currently yellow, it is safe to slow down and wait at the intersection (a pedestrian signal is about to appear).", "B. If the signal is currently yellow, it is safe to make a right turn (going straight has already turned red).", "C. If the signal is currently yellow, it is safe to proceed straight (the light is green for your vehicle now).", "D. If the signal is currently yellow, it is safe to make a sudden stop at the stop line (the light is green for the opposite side now)."], "answer_index": 2}
{"token": "2560d5455e526aea6b9f330c24d7b213", "waymo_split": "test", "type": "image", "frame_index": 9, "question": "What is the method to avoid passing through the blind spot of a large vehicle?", "category": "Special Event", "options": ["A. Passing while the large vehicle is changing lanes", "B. Passing while maintaining close proximity to the rear of the large vehicle", "C. Passing closely on the right side of the large vehicle at low speed", "D. No large vehicle. Unable to judge"], "answer_index": 3}
{"token": "2560d5455e526aea6b9f330c24d7b213", "waymo_split": "test", "type": "image", "frame_index": 9, "question": "Where is the area that hides danger in the current frame?", "category": "Uncertainty", "options": ["A. Behind the bus", "B. Behind the street tree", "C. None", "D. Right front corner"], "answer_index": 2}
{"token": "2560d5455e526aea6b9f330c24d7b213", "waymo_split": "test", "type": "image", "frame_index": 30, "question": "Which of the following is correct from the perspective of a Normal Frame regarding Image Caption?", "category": "Normal scene caption", "options": ["A. Your vehicle just before completing a left turn at the intersection. A gray SUV driving in the same lane on the left front. There is a crosswalk at the intersection, but no traffic lights (uncontrolled intersection). No pedestrians at the front crosswalk.", "B. Your vehicle just before entering the straight road at the intersection. A black vehicle driving in the same direction in front. There are crosswalks and traffic lights at the intersection (green light for your vehicle). One person is almost across the left crosswalk and is moving on foot.", "C. Your vehicle waiting at the stop line in front of a T-intersection. One red vehicle approaching from the opposite lane. The intersection has only a crosswalk, and the traffic lights are off. A person on a bicycle has just entered the right crosswalk.", "D. Your vehicle entering the right turn lane at the intersection. A white vehicle trying to turn left directly in front. There are crosswalks and traffic lights at the intersection (red light for your vehicle). Two pedestrians are waiting at the right crosswalk."], "answer_index": 1}
{"token": "2560d5455e526aea6b9f330c24d7b213", "waymo_split": "test", "type": "image", "frame_index": 30, "question": "Which of the following is a correct description of traffic density?", "category": "Normal scene Understanding", "options": ["A. Fast, with almost no surrounding vehicles", "B. Fast, with many surrounding vehicles", "C. Slow, with a moderate number of surrounding vehicles", "D. Slow, with many surrounding vehicles"], "answer_index": 0}
{"token": "2560d5455e526aea6b9f330c24d7b213", "waymo_split": "test", "type": "image", "frame_index": 30, "question": "What are the divisions of the scene?", "category": "Normal scene Understanding", "options": ["A. city intersection", "B. residential area intersection", "C. unpaved forest road", "D. highway interchange"], "answer_index": 1}
{"token": "2560d5455e526aea6b9f330c24d7b213", "waymo_split": "test", "type": "image", "frame_index": 30, "question": "What is the plan for yielding when an ambulance/fire truck approaches?", "category": "Special Event", "options": ["A. Accelerate to create distance when approaching from behind", "B. Keep speed while turning on emergency lights and pass through", "C. Yield after entering the intersection first", "D. Stop or slow down to yield depending on the direction of approach"], "answer_index": 3}
{"token": "2560d5455e526aea6b9f330c24d7b213", "waymo_split": "test", "type": "image", "frame_index": 30, "question": "What are the behavior restrictions in school zones/congested areas?", "category": "Special Event", "options": ["A. Must honk", "B. Must drive slowly", "C. Must stop", "D. Must turn right"], "answer_index": 1}
{"token": "2560d5455e526aea6b9f330c24d7b213", "waymo_split": "test", "type": "image", "frame_index": 30, "question": "Which of the following is a correct description of the environment?", "category": "Normal scene Understanding", "options": ["A. Clear night", "B. Evening rain", "C. Dawn fog", "D. Cloudy day"], "answer_index": 3}
{"token": "2560d5455e526aea6b9f330c24d7b213", "waymo_split": "test", "type": "image", "frame_index": 30, "question": "Which of the following is a correct description of traffic signals?", "category": "Traffic Signal", "options": ["A. No traffic light", "B. Left turn allowed sign", "C. No right turn sign", "D. Traffic light present. No left turn sign"], "answer_index": 3}
{"token": "2560d5455e526aea6b9f330c24d7b213", "waymo_split": "test", "type": "image", "frame_index": 30, "question": "What is a safety-critical object?", "category": "Safety-critical Perception", "options": ["A. None", "B. Fire extinguisher", "C. Valve", "D. Airbag"], "answer_index": 0}
{"token": "2560d5455e526aea6b9f330c24d7b213", "waymo_split": "test", "type": "image", "frame_index": 30, "question": "What is the answer regarding parked vehicles on the shoulder, the presence of a center line, and Ego's encroachment on the center line?", "category": "Normal Perception & Prediction", "options": ["A. No parked vehicles on the shoulder (currently both sides of the entry road)", "B. A few parked vehicles on the shoulder (currently on the right side of the entry road)", "C. One parked vehicle on the shoulder (currently on the left side of the entry road)", "D. Multiple parked vehicles on the shoulder (currently on both sides of the entry road)"], "answer_index": 3}
{"token": "2560d5455e526aea6b9f330c24d7b213", "waymo_split": "test", "type": "image", "frame_index": 30, "question": "How do you think a safety-critical object should be moved?", "category": "Safety-critical Prediction", "options": ["A. Lightly rotate", "B. Slowly move straight", "C. Move sideways", "D. None"], "answer_index": 3}
{"token": "2560d5455e526aea6b9f330c24d7b213", "waymo_split": "test", "type": "image", "frame_index": 30, "question": "Is there a blind spot?", "category": "Uncertainty", "options": ["A. There is one on the right", "B. None", "C. There is one on the left", "D. There is one on the right rear"], "answer_index": 1}
{"token": "2560d5455e526aea6b9f330c24d7b213", "waymo_split": "test", "type": "image", "frame_index": 30, "question": "Is there any other safety-critical object besides the first safety-critical object? If so, how will it be moved?", "category": "Safety-critical Prediction", "options": ["A. Yes. It will be moved to the left safety zone.", "B. No.", "C. Yes. It will be moved to the safety cage along the right corridor.", "D. Yes. It will be manually separated to the rear emergency storage."], "answer_index": 1}
{"token": "2560d5455e526aea6b9f330c24d7b213", "waymo_split": "test", "type": "image", "frame_index": 30, "question": "What is the safe choice just before entering a yellow signal: stop vs. proceed?", "category": "Special Event", "options": ["A. It is safe to slow down and wait the moment it turns yellow (right now, the pedestrian signal takes priority)", "B. If the signal is currently yellow, it is safe to proceed straight (right now, the green signal is for your vehicle)", "C. If the signal is currently yellow, it is safe to stop in front of the stop line (right now, the opposite side has the green signal first)", "D. If it is yellow just before entering the intersection, it is safe to make a right turn (right now, vehicles on the left and right have priority)"], "answer_index": 1}
{"token": "2560d5455e526aea6b9f330c24d7b213", "waymo_split": "test", "type": "image", "frame_index": 30, "question": "Where is the area that hides danger in the current frame?", "category": "Uncertainty", "options": ["A. Beyond the guardrail", "B. None", "C. Behind the parked car on the left", "D. Behind the large truck on the right"], "answer_index": 1}
{"token": "2560d5455e526aea6b9f330c24d7b213", "waymo_split": "test", "type": "image", "frame_index": 30, "question": "What is the method to avoid the blind spot next to a large vehicle?", "category": "Special Event", "options": ["A. No large vehicle. Unable to judge", "B. Driving alongside the truck", "C. Stay to the right and pass slowly", "D. Entering the diagonal in front of the large bus"], "answer_index": 0}
{"token": "2560d5455e526aea6b9f330c24d7b213", "waymo_split": "test", "type": "image", "frame_index": 30, "question": "What potential situations could arise in the current scenario?", "category": "Counterfactual", "options": ["A. Entering a narrow two-lane road head-on", "B. Entering a narrow one-way alley on the left", "C. Waiting for a left turn signal at an intersection ahead", "D. Changing lanes to the right bus-only lane"], "answer_index": 0}
{"token": "2560d5455e526aea6b9f330c24d7b213", "waymo_split": "test", "type": "image", "frame_index": 80, "question": "Based on the current appearance of the person/vehicle (two-wheeled), how do you intend to move?", "category": "Normal Perception & Prediction", "options": ["A. Turn left", "B. Go straight", "C. Reverse", "D. Turn right"], "answer_index": 1}
{"token": "2560d5455e526aea6b9f330c24d7b213", "waymo_split": "test", "type": "image", "frame_index": 80, "question": "What is the plan for yielding when an ambulance/fire truck approaches?", "category": "Special Event", "options": ["A. If there is space in the left lane, change lanes to that side to yield", "B. If near an intersection, pull over to the center and stop briefly to yield", "C. If there is an empty spot on the right shoulder, park there to yield", "D. If approaching from behind, speed up to exit first and then yield"], "answer_index": 2}
{"token": "2560d5455e526aea6b9f330c24d7b213", "waymo_split": "test", "type": "image", "frame_index": 80, "question": "Which of the following is correct as an Image Caption from the perspective of a Normal Frame?", "category": "Normal scene caption", "options": ["A. The car exiting a narrow two-lane alley comes to a stop in front of the intersection. The car in front is a silver sedan moving at a constant speed without brake lights. A bus is stopped at the bus stop in the opposite lane. There is a business entrance and exit on the shoulder, allowing for a wide space for vehicles.", "B. The car driving on a narrow two-lane road gradually accelerates. A white vehicle traveling in the same direction ahead turns on its right turn signal and slows down. The opposite lane is empty, with no oncoming vehicles. There are no parked cars on the shoulder, so the passage space is relatively spacious.", "C. The car driving on a narrow two-lane road slows down. A black vehicle traveling in the same direction ahead slows down with a red light. There is one vehicle coming from the opposite lane. The road is very narrow due to parked cars on the shoulder.", "D. The car maintains a constant speed on the two-lane road. A gray vehicle traveling in the same direction ahead is waiting in the center of the lane for a left turn signal. A large truck slowly passes in the opposite lane. There are construction signs and cones on the shoulder, slightly narrowing the road."], "answer_index": 2}
{"token": "2560d5455e526aea6b9f330c24d7b213", "waymo_split": "test", "type": "image", "frame_index": 80, "question": "Which of the following is a correct description of traffic density?", "category": "Normal scene Understanding", "options": ["A. Slow, many surrounding vehicles", "B. Slow, few surrounding vehicles", "C. Fast, many surrounding vehicles", "D. Fast, almost no surrounding vehicles"], "answer_index": 3}
{"token": "2560d5455e526aea6b9f330c24d7b213", "waymo_split": "test", "type": "image", "frame_index": 80, "question": "What are the behavioral restrictions in school zones/congested areas?", "category": "Special Event", "options": ["A. Must stop", "B. Must overtake", "C. Must accelerate", "D. Must drive slowly"], "answer_index": 3}
{"token": "2560d5455e526aea6b9f330c24d7b213", "waymo_split": "test", "type": "image", "frame_index": 80, "question": "What is the classification of the scene?", "category": "Normal scene Understanding", "options": ["A. Dual carriageway highway", "B. One-way three-lane urban road", "C. Two-lane residential road", "D. Single-lane unpaved country road"], "answer_index": 2}
{"token": "2560d5455e526aea6b9f330c24d7b213", "waymo_split": "test", "type": "image", "frame_index": 80, "question": "Which of the following is a correct description of the environment?", "category": "Normal scene Understanding", "options": ["A. Evening rain", "B. Daytime cloudiness", "C. Morning fog", "D. Clear night"], "answer_index": 1}
{"token": "2560d5455e526aea6b9f330c24d7b213", "waymo_split": "test", "type": "image", "frame_index": 80, "question": "What is the description of a non-safety-critical object?", "category": "Normal Perception & Prediction", "options": ["A. Vehicle parked on the shoulder", "B. Wide alley on the right (two cars can pass each other)", "C. Large utility pole on the right", "D. Oncoming vehicle. Vehicle in the opposite lane. Vehicle parked on the shoulder. Large utility pole on the left. Alleys on both sides (barely enough for one car to fit)"], "answer_index": 3}
{"token": "2560d5455e526aea6b9f330c24d7b213", "waymo_split": "test", "type": "image", "frame_index": 80, "question": "Which of the following is a correct description of traffic signals?", "category": "Traffic Signal", "options": ["A. None", "B. Speed limit 60", "C. Stop", "D. No left turn"], "answer_index": 0}
{"token": "2560d5455e526aea6b9f330c24d7b213", "waymo_split": "test", "type": "image", "frame_index": 80, "question": "What is a safety-critical object?", "category": "Safety-critical Perception", "options": ["A. Emergency stop button", "B. Braking system", "C. Power switch", "D. None"], "answer_index": 3}
{"token": "2560d5455e526aea6b9f330c24d7b213", "waymo_split": "test", "type": "image", "frame_index": 80, "question": "Is there a blind spot in your view?", "category": "Uncertainty", "options": ["A. Behind the left bus stop and between the left alley", "B. Next to the left-turn waiting vehicle and at the entrance of the left intersection", "C. In front of the right shoulder parking vehicle and between the alleys", "D. Across from the central divider and at the end of the left shoulder"], "answer_index": 2}
{"token": "2560d5455e526aea6b9f330c24d7b213", "waymo_split": "test", "type": "image", "frame_index": 80, "question": "Are there any other safety-critical objects besides the first safety-critical object? If so, how will they be moved?", "category": "Safety-critical Prediction", "options": ["A. Yes. The high-pressure gas cylinder will be moved to the right safety area after the valve is closed.", "B. No.", "C. Yes. The hazardous chemical container will be moved with the rear ramp after a leak check.", "D. Yes. The lithium battery pack will be wrapped in an insulating pad and transported through the left aisle."], "answer_index": 1}
{"token": "2560d5455e526aea6b9f330c24d7b213", "waymo_split": "test", "type": "image", "frame_index": 80, "question": "How do you think safety-critical objects will move?", "category": "Safety-critical Prediction", "options": ["A. zigzag", "B. none", "C. straight", "D. rotate"], "answer_index": 1}
{"token": "2560d5455e526aea6b9f330c24d7b213", "waymo_split": "test", "type": "image", "frame_index": 80, "question": "What is the answer regarding the parked vehicle on the shoulder, the presence of a center line, and whether Ego crosses the center line?", "category": "Normal Perception & Prediction", "options": ["A. Only one parked vehicle on the shoulder exists", "B. Multiple parked vehicles on the shoulder exist", "C. Only a few parked vehicles on the shoulder exist", "D. No parked vehicles on the shoulder exist"], "answer_index": 1}
{"token": "2560d5455e526aea6b9f330c24d7b213", "waymo_split": "test", "type": "image", "frame_index": 80, "question": "What is the safest choice just before entering a yellow signal: stop vs proceed?", "category": "Special Event", "options": ["A. Yellow light, come to a complete stop", "B. No traffic light, unable to judge", "C. Yellow light, proceed with caution", "D. Left turn signal, continue moving"], "answer_index": 1}
{"token": "2560d5455e526aea6b9f330c24d7b213", "waymo_split": "test", "type": "image", "frame_index": 80, "question": "Is lane change possible? Which is safer between slowing down and changing lanes?", "category": "Safety-critical Planning", "options": ["A. Can change to the left lane. Changing lanes is safer (sufficient distance from the rear side).", "B. Can change to the right lane. Changing lanes is safer (can overtake the slow vehicle ahead without difficulty).", "C. Currently cannot change lanes. Slowing down is safer (no vehicles following from behind).", "D. Currently can change lanes. Changing lanes is safer (ample space in the adjacent lane and stable speed flow)."], "answer_index": 2}
{"token": "2560d5455e526aea6b9f330c24d7b213", "waymo_split": "test", "type": "image", "frame_index": 80, "question": "Where is the area that hides danger in the current frame?", "category": "Uncertainty", "options": ["A. An invisible gap between the crosswalk ahead and the median strip", "B. An unseen space between the right alley and parked cars on the shoulder", "C. A hidden space between the right bus stop and the stopped bus", "D. A blind spot concealed between the left alley and the street trees"], "answer_index": 1}
{"token": "2560d5455e526aea6b9f330c24d7b213", "waymo_split": "test", "type": "image", "frame_index": 111, "question": "Based on the current appearance of the person/vehicle (two-wheeled), how do you intend to move?", "category": "Normal Perception & Prediction", "options": ["A. Go straight", "B. Make a U-turn", "C. Turn right", "D. Turn left"], "answer_index": 0}
{"token": "2560d5455e526aea6b9f330c24d7b213", "waymo_split": "test", "type": "image", "frame_index": 80, "question": "What is the method to avoid the blind spot next to a large vehicle?", "category": "Special Event", "options": ["A. No large vehicle. Unable to judge", "B. Overtake on the right side of the large vehicle", "C. Accelerate in the blind spot", "D. Maintain the lane next to the large vehicle"], "answer_index": 0}
{"token": "2560d5455e526aea6b9f330c24d7b213", "waymo_split": "test", "type": "image", "frame_index": 80, "question": "What are the new exposure risk candidates in the following section?", "category": "Safety-critical Prediction", "options": ["A. There may be people or vehicles appearing in the invisible space between the right alley and parked cars on the shoulder.", "B. A motorcycle may enter in the opposite direction from the invisible gap near the central divider opening.", "C. A pedestrian may suddenly appear in the blind spot between the left alley and the bus stop.", "D. A pedestrian may enter ignoring the signal in the concealed area near the crosswalk ahead."], "answer_index": 0}
{"token": "2560d5455e526aea6b9f330c24d7b213", "waymo_split": "test", "type": "image", "frame_index": 111, "question": "What is correct as an Image Caption from the perspective of Safety-critical Frame?", "category": "Safety-critical scene caption", "options": ["A. A vehicle is entering the main road from the right alley. Visibility is limited, so speed should be reduced and caution should be exercised.", "B. There are cones installed due to road construction ahead. The lane is narrow, so you should align in the center and pass slowly.", "C. A vehicle is moving slowly in the same lane ahead. The road is narrow, so do not overtake and maintain a safe distance.", "D. A vehicle is approaching from the opposite lane ahead. As the distance to your vehicle decreases, you should pass each other on the narrow road."], "answer_index": 3}
{"token": "2560d5455e526aea6b9f330c24d7b213", "waymo_split": "test", "type": "image", "frame_index": 111, "question": "Which of the following is correct as an Image Caption from the perspective of a Normal Frame?", "category": "Normal scene caption", "options": ["A. A vehicle is slowly driving on a narrow two-lane road. A black vehicle is driving in the same direction ahead, while a vehicle in the opposite lane passes by. The road is very narrow due to parked cars on the shoulder.", "B. A vehicle is slowly driving on a narrow two-lane road, and only one white van is slowly passing by from the opposite direction. The shoulder is empty, allowing for easy passage.", "C. A vehicle is slowly driving on a narrow two-lane road, and a black vehicle ahead briefly stops on the right shoulder to give way. There are no vehicles coming from the opposite direction.", "D. A vehicle is slowly driving on a two-lane road, with ample space between it and a silver sedan driving in the same direction ahead (no vehicles coming from the opposite direction). No parked cars are visible on the shoulder."], "answer_index": 0}
{"token": "2560d5455e526aea6b9f330c24d7b213", "waymo_split": "test", "type": "image", "frame_index": 111, "question": "What is the plan for yielding when an ambulance/fire truck approaches?", "category": "Special Event", "options": ["A. If there is an empty space on the right shoulder, pull over and yield there.", "B. If there is an empty space on the left shoulder, pull over to that side and yield.", "C. Enter the intersection and stop briefly past the stop line in the center to yield.", "D. Yield by turning on the hazard lights and continuing to move slowly."], "answer_index": 0}
{"token": "2560d5455e526aea6b9f330c24d7b213", "waymo_split": "test", "type": "image", "frame_index": 111, "question": "What are the behavioral restrictions in school zones/congested areas?", "category": "Special Event", "options": ["A. Must overtake", "B. Must honk", "C. Must accelerate", "D. Must drive slowly"], "answer_index": 3}
{"token": "2560d5455e526aea6b9f330c24d7b213", "waymo_split": "test", "type": "image", "frame_index": 111, "question": "Which of the following is a correct description of traffic density?", "category": "Normal scene Understanding", "options": ["A. Slow, dense surrounding vehicles", "B. Fast, almost no surrounding vehicles", "C. Slow, no surrounding vehicles", "D. Normal, moderate surrounding vehicles"], "answer_index": 1}
{"token": "2560d5455e526aea6b9f330c24d7b213", "waymo_split": "test", "type": "image", "frame_index": 111, "question": "Which of the following is a correct description of the environment?", "category": "Normal scene Understanding", "options": ["A. Morning rain", "B. Clear night", "C. Cloudy day", "D. Evening fog"], "answer_index": 2}
{"token": "2560d5455e526aea6b9f330c24d7b213", "waymo_split": "test", "type": "image", "frame_index": 111, "question": "What is the classification of the scene?", "category": "Normal scene Understanding", "options": ["A. Unpaved rural road", "B. Three-lane urban boulevard", "C. Highway entrance ramp", "D. Two-lane residential street"], "answer_index": 3}
{"token": "2560d5455e526aea6b9f330c24d7b213", "waymo_split": "test", "type": "image", "frame_index": 111, "question": "Which of the following is a correct description of traffic signals?", "category": "Traffic Signal", "options": ["A. Pedestrian signal", "B. None", "C. Left turn signal", "D. Stop line marking"], "answer_index": 1}
{"token": "2560d5455e526aea6b9f330c24d7b213", "waymo_split": "test", "type": "image", "frame_index": 111, "question": "What is the answer regarding parked vehicles on the shoulder, the presence of a center line, and whether Ego has crossed the center line?", "category": "Normal Perception & Prediction", "options": ["A. There are almost no parked vehicles on the shoulder. The center line is clear. My vehicle stays in its lane.", "B. A few parked vehicles on the shoulder are visible. There is a center line. My vehicle does not cross the center line.", "C. There are many parked vehicles on the shoulder. There is no center line. My vehicle is in a state of crossing the center (there is no line, but).", "D. There are no parked vehicles on the shoulder. There is a center line (dashed). My vehicle does not cross the center line."], "answer_index": 2}
{"token": "2560d5455e526aea6b9f330c24d7b213", "waymo_split": "test", "type": "image", "frame_index": 111, "question": "Are there any blind spots in your field of vision?", "category": "Uncertainty", "options": ["A. In the middle of the right lane and directly below the traffic light, there is a blind spot.", "B. In the center of the right bus lane and in the middle of a wide intersection, there is a blind spot.", "C. Next to the left median strip and at the end of the crosswalk, there is a blind spot.", "D. In front of parked vehicles on the right shoulder and between alleyways, there is a blind spot."], "answer_index": 3}
{"token": "2560d5455e526aea6b9f330c24d7b213", "waymo_split": "test", "type": "image", "frame_index": 111, "question": "How do you think a safety-critical object will move?", "category": "Safety-critical Prediction", "options": ["A. Changes lanes to the right", "B. Has been driving towards the vehicle's direction", "C. Has been driving in the opposite direction", "D. Enters the left turn lane"], "answer_index": 1}
{"token": "2560d5455e526aea6b9f330c24d7b213", "waymo_split": "test", "type": "image", "frame_index": 111, "question": "What is a safety-critical object?", "category": "Safety-critical Perception", "options": ["A. A vehicle stopped on the right shoulder with hazard lights on", "B. A vehicle stopped in the opposite lane", "C. A pedestrian waiting at the edge of the sidewalk", "D. A vehicle approaching from the opposite lane"], "answer_index": 3}
{"token": "2560d5455e526aea6b9f330c24d7b213", "waymo_split": "test", "type": "image", "frame_index": 111, "question": "Are there any other safety-critical objects besides the first safety-critical object? If so, how would you move them?", "category": "Safety-critical Prediction", "options": ["A. There is a fire extinguisher; detach it from the wall and move it to a safe area.", "B. There are none.", "C. There are exposed wires; turn off the power and organize them to one side while wearing insulated gloves.", "D. There are broken glass pieces; wear thick gloves and place them in a designated collection box for transport."], "answer_index": 1}
{"token": "2560d5455e526aea6b9f330c24d7b213", "waymo_split": "test", "type": "image", "frame_index": 111, "question": "What should I do to drive safely?", "category": "Safety-critical Planning", "options": ["A. In areas where parked cars are lined up on the right, to avoid scratches, your vehicle should be driven closely to the left edge, leaning towards the opposite lane.", "B. In narrow alleys, to maintain equal spacing when passing each other, your vehicle should be positioned towards the center, keeping equal distance on both sides.", "C. If it's a short-visibility alley, to quickly cross paths with oncoming cars, your vehicle should maintain speed and slightly touch the center line while passing straight through.", "D. Due to the characteristics of narrow alleys, to avoid collisions when passing each other, your vehicle should be closely positioned to the right, moving away from the center."], "answer_index": 3}
{"token": "2560d5455e526aea6b9f330c24d7b213", "waymo_split": "test", "type": "image", "frame_index": 111, "question": "What is the correlation in safety-critical situations?", "category": "Safety-critical scene Understanding", "options": ["A. Car - Two-wheeler", "B. Car - Car", "C. Person - Two-wheeler", "D. Car - Person"], "answer_index": 1}
{"token": "2560d5455e526aea6b9f330c24d7b213", "waymo_split": "test", "type": "image", "frame_index": 111, "question": "Where is the area that hides danger in the current frame?", "category": "Uncertainty", "options": ["A. The area hidden behind the bus in the opposite lane", "B. The invisible space between parked vehicles on the shoulder", "C. The blind spot behind the central divider", "D. The space behind the trees at the corner of the intersection"], "answer_index": 1}
{"token": "2560d5455e526aea6b9f330c24d7b213", "waymo_split": "test", "type": "image", "frame_index": 111, "question": "Is lane change possible? Which is safer between slowing down and changing lanes?", "category": "Safety-critical Planning", "options": ["A. Left lane change is possible. Changing lanes is safer (low speed difference with rear vehicles)", "B. Current lane change is possible. Changing lanes is safer (sufficient distance to the right)", "C. Current lane change is possible. Changing lanes is safer (risk of sudden deceleration from the car in front)", "D. Current lane change is not possible. Slowing down is safer (no vehicles following behind)"], "answer_index": 3}
{"token": "2560d5455e526aea6b9f330c24d7b213", "waymo_split": "test", "type": "image", "frame_index": 111, "question": "Who is responsible in a safety-critical situation? What is the cause?", "category": "Safety-critical scene Understanding", "options": ["A. The responsibility lies with the pedestrian, who crossed the no-crossing zone unlawfully and interrupted the vehicle's path.", "B. The responsibility lies with the other vehicle, which suddenly encroached into the center line, creating a risk of collision.", "C. The responsibility lies with the road conditions, as water accumulation increased the stopping distance, making it difficult to avoid.", "D. There is no responsibility, but since my vehicle is driving more towards the center, it could provide a potential for collision."], "answer_index": 3}
{"token": "2560d5455e526aea6b9f330c24d7b213", "waymo_split": "test", "type": "image", "frame_index": 111, "question": "What is the safest choice just before entering a yellow signal: stop vs proceed?", "category": "Special Event", "options": ["A. Yellow flashing, proceed as is", "B. Left turn lane, accelerate to proceed", "C. Pedestrian green, vehicle proceeds", "D. No traffic light, impossible to judge"], "answer_index": 3}
{"token": "2560d5455e526aea6b9f330c24d7b213", "waymo_split": "test", "type": "image", "frame_index": 111, "question": "What situation might occur if the vehicle acted this way?", "category": "Counterfactual", "options": ["A. If the vehicle continues to drive while encroaching on the center, there is a risk of collision with oncoming traffic.", "B. If the vehicle recklessly cuts in between vehicles waiting at a signal, there is a risk of a side collision with the adjacent car.", "C. If the vehicle maintains its lane but suddenly reduces speed, there is a risk of being rear-ended by the following vehicle.", "D. If the vehicle continues to drive while sticking to the right edge, there is a risk of contact with the guardrail."], "answer_index": 0}
{"token": "2560d5455e526aea6b9f330c24d7b213", "waymo_split": "test", "type": "image", "frame_index": 111, "question": "What is the method to avoid the blind spot next to a large vehicle?", "category": "Special Event", "options": ["A. No large vehicle. Unable to judge", "B. Driving alongside", "C. Entering the blind spot", "D. Staying close to the rear"], "answer_index": 0}
{"token": "2560d5455e526aea6b9f330c24d7b213", "waymo_split": "test", "type": "image", "frame_index": 111, "question": "What are the new potential hazards that may be exposed in the following area?", "category": "Safety-critical Prediction", "options": ["A. A bicycle or motorcycle may appear in the invisible space between the left alley and parked cars on the street.", "B. A pedestrian may come out onto the road in the invisible space between the bus stop ahead and the stopped bus.", "C. A person or vehicle may appear in the invisible space between the right alley and parked cars on the shoulder.", "D. A vehicle may suddenly enter the invisible space between the opening of the median and vehicles in the opposite lane."], "answer_index": 2}
{"token": "2560d5455e526aea6b9f330c24d7b213", "waymo_split": "test", "type": "image", "frame_index": 111, "question": "What are the driving guidelines for your vehicle based on the behavior of a safety-critical object?", "category": "Safety-critical Planning", "options": ["A. If the vehicle backs up behind a black vehicle and slows down, and if it narrows its width to drive close to the right edge when meeting your vehicle, passing is possible. At this time, your vehicle should only honk and continue straight.", "B. If the vehicle hesitates to yield at the intersection with your vehicle while maintaining the flow of traffic, it can pass without encroaching on the center line. At this time, your vehicle should slightly accelerate to pass quickly.", "C. If the vehicle pulls to the right to avoid the center line immediately after passing a leading white vehicle while meeting your vehicle, the risk of collision is low. At this time, your vehicle can maintain its speed.", "D. If the vehicle moves slightly to the left to encroach on the center line while driving straight after passing a leading black vehicle and meets your vehicle, there is a possibility of collision with your vehicle. At this time, your vehicle must brake suddenly."], "answer_index": 3}
{"token": "2560d5455e526aea6b9f330c24d7b213", "waymo_split": "test", "type": "image", "frame_index": 143, "question": "Based on the current appearance of the person/vehicle (two-wheeled), how do they intend to move?", "category": "Normal Perception & Prediction", "options": ["A. Going straight, slow speed", "B. Left turn, acceleration", "C. U-turn, waiting", "D. Right turn, stopping"], "answer_index": 0}
{"token": "2560d5455e526aea6b9f330c24d7b213", "waymo_split": "test", "type": "image", "frame_index": 143, "question": "What is the plan for yielding when an emergency vehicle/fire truck approaches?", "category": "Special Event", "options": ["A. Turn on the emergency lights and reduce speed, yielding by proceeding slowly in the current lane.", "B. If there is an empty space on the left shoulder, move over and drive there to yield.", "C. Near intersections, gather towards the center line and slowly clear the road.", "D. If there is an empty space on the right shoulder, park there to yield."], "answer_index": 3}
{"token": "2560d5455e526aea6b9f330c24d7b213", "waymo_split": "test", "type": "image", "frame_index": 143, "question": "Which of the following is correct from the perspective of Safety-critical Frame regarding Image Caption?", "category": "Safety-critical scene caption", "options": ["A. A passenger car peeking out onto the main road from the right alley. The angle with my car is ambiguous, so I need to keep my distance and find the right moment to yield. (Immediate situation)", "B. A cargo truck suddenly reducing speed in the same lane ahead. The distance to my car is quickly closing, so I need to decelerate to avoid a collision. (Immediate situation)", "C. A vehicle approaching from the opposite lane ahead. As the distance to my car decreases, we need to pass each other on the narrow road. (Immediate situation)", "D. A vehicle in the left lane attempting to cut in abruptly. There is almost no space between my car and the side, so I should not turn the steering wheel abruptly and create space by adjusting my speed. (Immediate situation)"], "answer_index": 2}
{"token": "2560d5455e526aea6b9f330c24d7b213", "waymo_split": "test", "type": "image", "frame_index": 143, "question": "Which of the following is a correct description of traffic density?", "category": "Normal scene Understanding", "options": ["A. Slow, many surrounding vehicles (several in front)", "B. Slow, few surrounding vehicles (two behind)", "C. Fast, almost no surrounding vehicles (two in front)", "D. Fast, average number of surrounding vehicles (a few on the left and right)"], "answer_index": 2}
{"token": "2560d5455e526aea6b9f330c24d7b213", "waymo_split": "test", "type": "image", "frame_index": 143, "question": "What are the classifications of scenes?", "category": "Normal scene Understanding", "options": ["A. Four-lane urban boulevard", "B. Two-lane residential road", "C. Two-lane urban arterial road", "D. Two-lane commercial district road"], "answer_index": 1}
{"token": "2560d5455e526aea6b9f330c24d7b213", "waymo_split": "test", "type": "image", "frame_index": 143, "question": "What are the behavior restrictions in school zones/congested areas?", "category": "Special Event", "options": ["A. Must overtake", "B. Must drive slowly", "C. Must accelerate", "D. Must detour"], "answer_index": 1}
{"token": "2560d5455e526aea6b9f330c24d7b213", "waymo_split": "test", "type": "image", "frame_index": 143, "question": "What is the description of a non-safety-critical object?", "category": "Normal Perception & Prediction", "options": ["A. A bicycle path instead of a shoulder. Next to it, a playground and grass. And an apartment complex (only on one side)", "B. Numerous parked cars on the shoulder. Next to it, greenery and trees on the sidewalk. And buildings (on both sides)", "C. A central divider and flower beds. Next to it, a bus stop and a bicycle rack. And low-rise shops (only on the opposite side)", "D. Almost no parked cars. Next to it, the sidewalk has only benches and streetlights. And an open space and a gas station (on both sides)"], "answer_index": 1}
{"token": "2560d5455e526aea6b9f330c24d7b213", "waymo_split": "test", "type": "image", "frame_index": 143, "question": "Which of the following is a correct description of traffic signals?", "category": "Traffic Signal", "options": ["A. Left turn", "B. None", "C. No parking", "D. Stop line"], "answer_index": 1}
{"token": "2560d5455e526aea6b9f330c24d7b213", "waymo_split": "test", "type": "image", "frame_index": 143, "question": "Which of the following is a correct description of the environment?", "category": "Normal scene Understanding", "options": ["A. Cloudy in the afternoon", "B. Fog in the morning", "C. Evening shower", "D. Clear at night"], "answer_index": 0}
{"token": "2560d5455e526aea6b9f330c24d7b213", "waymo_split": "test", "type": "image", "frame_index": 143, "question": "Is there a blind spot in your field of vision?", "category": "Uncertainty", "options": ["A. Formed in the center of the right bus stop lane", "B. Exists between parked vehicles on the right shoulder", "C. Exists between parked vehicles on the left shoulder", "D. Almost none in the center of the right lane"], "answer_index": 1}
{"token": "2560d5455e526aea6b9f330c24d7b213", "waymo_split": "test", "type": "image", "frame_index": 143, "question": "What is a safety-critical object?", "category": "Safety-critical Perception", "options": ["A. There is some distance to the pedestrian lane on the front sidewalk.", "B. A truck with its hazard lights on is far away on the right shoulder.", "C. A vehicle is coming straight towards me in the opposite lane.", "D. A vehicle in the left lane is slowly overtaking in the same direction."], "answer_index": 2}
{"token": "2560d5455e526aea6b9f330c24d7b213", "waymo_split": "test", "type": "image", "frame_index": 143, "question": "What is the correlation in safety-critical situations?", "category": "Safety-critical scene Understanding", "options": ["A. Person - Two-wheeler", "B. Car - Car", "C. Car - Two-wheeler", "D. Car - Person"], "answer_index": 1}
{"token": "2560d5455e526aea6b9f330c24d7b213", "waymo_split": "test", "type": "image", "frame_index": 143, "question": "What should I do to drive safely?", "category": "Safety-critical Planning", "options": ["A. When there is an oncoming car, keep your vehicle close to the left side to maintain distance between the driver's seats and pass with a wide central space.", "B. In narrow alleys, if you see an oncoming vehicle, slightly increase your speed to pass through quickly.", "C. Due to the nature of narrow alleyways, to avoid collisions while passing each other, keep your vehicle close to the right side and drive away from the center.", "D. Due to the nature of narrow alleyways, to maintain an even distance while passing each other, keep your vehicle close to the center line and ensure equal space on both sides."], "answer_index": 2}
{"token": "2560d5455e526aea6b9f330c24d7b213", "waymo_split": "test", "type": "image", "frame_index": 143, "question": "How do you think a safety-critical object will move?", "category": "Safety-critical Prediction", "options": ["A. Advance to the left", "B. Proceed slowly towards the vehicle", "C. Accelerate towards the other vehicle", "D. Make a sharp turn in the opposite direction"], "answer_index": 1}
{"token": "2560d5455e526aea6b9f330c24d7b213", "waymo_split": "test", "type": "image", "frame_index": 143, "question": "Are there any other safety-critical objects besides the first safety-critical object? If so, how will you move them?", "category": "Safety-critical Prediction", "options": ["A. No.", "B. Yes. I will push the oxygen tank back to move it.", "C. Yes. I will carry the AED towards the central aisle.", "D. Yes. I will move the fire extinguisher to the left."], "answer_index": 0}
{"token": "2560d5455e526aea6b9f330c24d7b213", "waymo_split": "test", "type": "image", "frame_index": 143, "question": "What is the safest choice just before entering a yellow signal: stop vs proceed?", "category": "Special Event", "options": ["A. Yellow light, prioritize stopping", "B. No traffic light, unable to judge", "C. Approaching intersection, slow down and proceed", "D. Tailgating, maintain speed"], "answer_index": 1}
{"token": "2560d5455e526aea6b9f330c24d7b213", "waymo_split": "test", "type": "image", "frame_index": 143, "question": "Is lane change possible? Which is safer between slowing down and changing lanes?", "category": "Safety-critical Planning", "options": ["A. Currently, lane change is not possible. Slowing down is safer (no vehicles following from behind)", "B. Currently, lane change is possible. Changing lanes is safer (the vehicle in front is suddenly slowing down, it's better to evade to the side lane)", "C. Currently, lane change is possible. Changing lanes is safer (sufficient distance from the vehicle in the left rear)", "D. Currently, lane change is possible. Changing lanes is safer (the right lane is clear and the speed flow is consistent)"], "answer_index": 0}
{"token": "2560d5455e526aea6b9f330c24d7b213", "waymo_split": "test", "type": "image", "frame_index": 143, "question": "What situation would occur if the vehicle acted this way?", "category": "Counterfactual", "options": ["A. If the vehicle continues to drive while encroaching on the center, there is a risk of collision with oncoming vehicles.", "B. If the vehicle continues to drive while maintaining the center of the lane, it can safely pass with sufficient distance from vehicles in both directions.", "C. If the vehicle continues to drive while hugging the right shoulder, there is a risk of contact with the guardrail.", "D. If the vehicle continues to drive while in the left turn lane, there is a risk of contact with vehicles going in the same direction."], "answer_index": 0}
{"token": "2560d5455e526aea6b9f330c24d7b213", "waymo_split": "test", "type": "image", "frame_index": 143, "question": "Where is the area that hides danger and is obscured in the current frame?", "category": "Uncertainty", "options": ["A. A space that is not visible between parked vehicles on the shoulder", "B. A point in the center of the intersection with an unobstructed view", "C. An exposed area on the opposite lane beyond the median", "D. The area revealed at the edge of the sidewalk in front of the bus stop"], "answer_index": 0}
{"token": "2560d5455e526aea6b9f330c24d7b213", "waymo_split": "test", "type": "image", "frame_index": 143, "question": "What is the method to avoid passing through the blind spot of a large vehicle?", "category": "Special Event", "options": ["A. Passing closely on the right side of the large vehicle", "B. Driving closely behind the large vehicle", "C. No large vehicle. Unable to judge", "D. Accelerating to pass through the blind spot"], "answer_index": 2}
{"token": "2560d5455e526aea6b9f330c24d7b213", "waymo_split": "test", "type": "image", "frame_index": 143, "question": "What are the newly exposed risk candidates in the following section?", "category": "Safety-critical Prediction", "options": ["A. There may be people or vehicles appearing in the invisible space between the right alley and parked cars on the shoulder.", "B. A pedestrian may suddenly enter at the moment the traffic signal changes at the crosswalk ahead.", "C. An electric scooter may appear in the blind spot between the left sidewalk and the bus stop.", "D. Vehicles from the opposite lane may turn left and merge in the open section of the median."], "answer_index": 0}
{"token": "278f173b3b1d999f742d174be0701fdb", "waymo_split": "test", "type": "video", "frame_index": null, "question": "Where is the safety-critical situation in the video?", "category": "Temporal Grounding", "options": ["A. 3/4", "B. 1/4", "C. 4/4", "D. 2/4"], "answer_index": 3}
{"token": "278f173b3b1d999f742d174be0701fdb", "waymo_split": "test", "type": "video", "frame_index": null, "question": "Which of the following is a correct description of traffic density?", "category": "Normal scene Understanding", "options": ["A. Slow speed, surrounding vehicles are only parked cars on the shoulder, no incline", "B. Normal speed, surrounding vehicles are intermittent in front and behind, gentle downhill", "C. Medium speed, surrounding vehicles include a mix of buses and trucks, entering a bridge incline", "D. Fast speed, surrounding vehicles are numerous in the left and right lanes, slight uphill"], "answer_index": 0}
{"token": "278f173b3b1d999f742d174be0701fdb", "waymo_split": "test", "type": "video", "frame_index": null, "question": "What are the classifications of scenes?", "category": "Normal scene Understanding", "options": ["A. Urban road", "B. Residential road", "C. Unpaved road", "D. Suburban road"], "answer_index": 0}
{"token": "278f173b3b1d999f742d174be0701fdb", "waymo_split": "test", "type": "video", "frame_index": null, "question": "What is correct regarding Video Summary from a safety-critical scene perspective?", "category": "Safety-critical scene caption", "options": ["A. A motorcycle violates the signal and cuts in from the right while waiting to turn left at an intersection. The car honks and avoids it.", "B. A vehicle is driving on the opposite lane with its headlights on on a two-lane road. It narrowly passes by the car driving in the opposite direction.", "C. A car in front suddenly brakes with its brake lights on on a two-lane road. The car maintains a safe distance and reduces speed.", "D. A pedestrian wearing black crosses in front of a car in a dark alley at night. The car comes to a sudden stop."], "answer_index": 1}
{"token": "278f173b3b1d999f742d174be0701fdb", "waymo_split": "test", "type": "video", "frame_index": null, "question": "Which of the following is a correct description of road alignment?", "category": "Normal Perception & Prediction", "options": ["A. Straight", "B. Left turn", "C. Overtaking", "D. Right turn"], "answer_index": 0}
{"token": "278f173b3b1d999f742d174be0701fdb", "waymo_split": "test", "type": "video", "frame_index": null, "question": "What is the description of a non-safety-critical object?", "category": "Normal Perception & Prediction", "options": ["A. Exists to the left of the STOP sign at the intersection", "B. Vehicles parked only on the left shoulder", "C. Vehicles parked on both left and right shoulders. Vehicles following my car from behind. Exists to the right of the STOP sign at the intersection. Tall trees and low buildings standing in a line on the sidewalk", "D. Vehicles driving ahead of my car"], "answer_index": 2}
{"token": "278f173b3b1d999f742d174be0701fdb", "waymo_split": "test", "type": "video", "frame_index": null, "question": "Is there a special situation?", "category": "Special Event", "options": ["A. Narrow lane due to construction cones", "B. Obscured visibility due to rainwater", "C. Reduced visibility due to fog", "D. Glare from backlight in front"], "answer_index": 1}
{"token": "278f173b3b1d999f742d174be0701fdb", "waymo_split": "test", "type": "video", "frame_index": null, "question": "Which of the following is a correct description of traffic signals?", "category": "Traffic Signal", "options": ["A. STOP sign at an intersection", "B. Red traffic light at a junction", "C. YIELD sign in front of a crosswalk", "D. SLOW pavement sign in the lane"], "answer_index": 0}
{"token": "278f173b3b1d999f742d174be0701fdb", "waymo_split": "test", "type": "video", "frame_index": null, "question": "Which of the following descriptions about the environment is correct?", "category": "Normal scene Understanding", "options": ["A. Daytime, cloudy (raining). Lighting is from the vehicle's headlights.", "B. Early morning, light snow (gentle wind). Lighting is dim natural light.", "C. Night, clear. Lighting is from street lamps.", "D. Dusk, light fog (no rain). Lighting is from store sign lights."], "answer_index": 0}
{"token": "278f173b3b1d999f742d174be0701fdb", "waymo_split": "test", "type": "video", "frame_index": null, "question": "What is the correlation in safety-critical situations?", "category": "Safety-critical scene Understanding", "options": ["A. Car - Two-wheeler", "B. Car - Car", "C. Person - Two-wheeler", "D. Car - Person"], "answer_index": 1}
{"token": "278f173b3b1d999f742d174be0701fdb", "waymo_split": "test", "type": "video", "frame_index": null, "question": "How did the safety-critical object move and how did the ego vehicle behave?", "category": "Safety-critical scene Understanding", "options": ["A. The ego vehicle went straight, and the ego vehicle also went straight along its driving lane (in opposite directions)", "B. The ego vehicle went straight in the opposite direction, and the ego vehicle entered the right turn lane (preparing to exit)", "C. The ego vehicle entered a left turn towards its direction, and the ego vehicle slowed down and stopped in front of the intersection (waiting)", "D. The ego vehicle went straight in the same direction, and the ego vehicle also went straight along its driving lane (in the same direction)"], "answer_index": 0}
{"token": "278f173b3b1d999f742d174be0701fdb", "waymo_split": "test", "type": "video", "frame_index": null, "question": "Are there any blind spots?", "category": "Uncertainty", "options": ["A. There is a blind spot next to the left median.", "B. The area in front of the right bus stop has a clear view, no blind spot.", "C. The right shoulder is clear, no blind spot.", "D. There is a blind spot between the parked cars on the right shoulder."], "answer_index": 3}
{"token": "278f173b3b1d999f742d174be0701fdb", "waymo_split": "test", "type": "video", "frame_index": null, "question": "What is a safety-critical object?", "category": "Safety-critical Perception", "options": ["A. A motorcycle moving away from the rear", "B. A vehicle driving normally in the opposite lane", "C. A pedestrian waiting at the edge of the sidewalk", "D. A vehicle approaching from the opposite lane"], "answer_index": 3}
{"token": "278f173b3b1d999f742d174be0701fdb", "waymo_split": "test", "type": "video", "frame_index": null, "question": "Summary of Ego (own vehicle) behavior before a safety-critical situation", "category": "Normal scene Understanding", "options": ["A. Right turn on a two-lane road", "B. Going straight on a two-lane road", "C. Going straight on a three-lane road", "D. Stopping on a two-lane road"], "answer_index": 1}
{"token": "278f173b3b1d999f742d174be0701fdb", "waymo_split": "test", "type": "video", "frame_index": null, "question": "Who is responsible in a safety-critical situation? What is the cause?", "category": "Safety-critical scene Understanding", "options": ["A. It is the individual's responsibility. They missed the braking timing due to lack of attention on a rainy road.", "B. It is the other party's responsibility. They changed lanes abruptly while crossing the center line.", "C. It is the responsibility of both parties. In rainy conditions, both should drive slowly to avoid crossing the lane.", "D. It is the road manager's responsibility. Poor drainage caused water to accumulate on the road, leading to hydroplaning."], "answer_index": 2}
{"token": "278f173b3b1d999f742d174be0701fdb", "waymo_split": "test", "type": "video", "frame_index": null, "question": "What situations may potentially arise depending on the type/condition of the road?", "category": "Normal Perception & Prediction", "options": ["A. Gravel roads have a rough surface, which may improve grip and make high-speed braking more stable.", "B. Icy roads may improve steering, reduce slipping, and lower the risk of lane departure.", "C. Slippery surfaces may increase braking distance when sudden braking occurs.", "D. On wet surfaces, increased friction may shorten braking distance during sudden stops."], "answer_index": 2}
{"token": "278f173b3b1d999f742d174be0701fdb", "waymo_split": "test", "type": "video", "frame_index": null, "question": "What situation might have occurred if the self-driving car acted this way?", "category": "Counterfactual", "options": ["A. If the self-driving car briefly stopped in front of the center line to yield, traffic would flow smoothly (the rain has stopped, the road is dry, and there are no additional risks).", "B. If the self-driving car proceeded straight with only the left turn signal on, the possibility of contact is low (it's a straight section, so visibility is clear and the risk of secondary accidents is minimal).", "C. If the self-driving car invaded the left central lane, a collision could occur (especially on a wet road, making it slippery and possible for secondary accidents).", "D. If the self-driving car only stayed close to the right edge while proceeding, there would be no special risks (even on a wet road, braking works well, reducing the risk of skidding)."], "answer_index": 2}
{"token": "278f173b3b1d999f742d174be0701fdb", "waymo_split": "test", "type": "image", "frame_index": 10, "question": "Based on the current appearance of the person/vehicle (two-wheeled), how do you intend to move?", "category": "Normal Perception & Prediction", "options": ["A. Change to the left lane", "B. Waiting to make a U-turn at the intersection", "C. Entering a right turn at the intersection", "D. Driving straight on a two-lane road"], "answer_index": 3}
{"token": "278f173b3b1d999f742d174be0701fdb", "waymo_split": "test", "type": "image", "frame_index": 10, "question": "What is the plan for yielding when an ambulance/fire truck approaches?", "category": "Special Event", "options": ["A. Move to the right to secure the path", "B. Turn on emergency lights and continue straight while slowing down", "C. Move to the left to secure the path", "D. Stop in the center of the intersection to let them pass first"], "answer_index": 0}
{"token": "278f173b3b1d999f742d174be0701fdb", "waymo_split": "test", "type": "image", "frame_index": 10, "question": "What are the behavioral restrictions in school zones/congested areas?", "category": "Special Event", "options": ["A. Change lanes and proceed if there's a gap (more actively during rush hour)", "B. Must drive slowly (especially more slowly when it's raining)", "C. Maintain speed to pass quickly (to reduce congestion)", "D. Proceed while alerting others with the horn and high beams (the more pedestrians, the more necessary)"], "answer_index": 1}
{"token": "278f173b3b1d999f742d174be0701fdb", "waymo_split": "test", "type": "image", "frame_index": 10, "question": "Which of the following is a correct description of traffic density?", "category": "Normal scene Understanding", "options": ["A. Fast, with many surrounding vehicles (crowded in both adjacent lanes)", "B. Slow, with many vehicles (stretched out long in front and behind)", "C. Fast, with high traffic volume (several vehicles in a row ahead)", "D. Slow, with few vehicles on the road (one vehicle in front and one behind)"], "answer_index": 3}
{"token": "278f173b3b1d999f742d174be0701fdb", "waymo_split": "test", "type": "image", "frame_index": 10, "question": "What is the classification of the scene?", "category": "Normal scene Understanding", "options": ["A. Unpaved farm road section", "B. Urban secondary road", "C. Highway three-lane section", "D. Residential back road"], "answer_index": 1}
{"token": "278f173b3b1d999f742d174be0701fdb", "waymo_split": "test", "type": "image", "frame_index": 10, "question": "Which of the following is correct as an Image Caption from the perspective of a Normal Frame?", "category": "Normal scene caption", "options": ["A. A car driving on a three-lane road. There are almost no parked cars on the shoulder. A vehicle with its headlights off is stopped in the middle of the road in the distance. There are no following vehicles behind the car.", "B. A car slowly driving on a two-lane road. There are shop signs and street trees lined up on both sides. In front, a vehicle from the opposite lane has completed a U-turn and is moving away. Only one bicycle is visible behind the car, with no other vehicles.", "C. A car driving on a winding one-lane rural road. There are only snow piles on the shoulder, and no parked vehicles are visible. In front, vehicles are moving away to the right after the signal. Only distant lights are visible behind the car, with no nearby vehicles.", "D. A car driving on a two-lane road. There are many parked cars on both sides. In the distance, a vehicle with its headlights on from the opposite lane is approaching the car. There is a vehicle following behind the car."], "answer_index": 3}
{"token": "278f173b3b1d999f742d174be0701fdb", "waymo_split": "test", "type": "image", "frame_index": 10, "question": "What is the description of non-safety-critical objects?", "category": "Normal Perception & Prediction", "options": ["A. There are many central median obstacles.", "B. There is a bus stop in front.", "C. There are many parked vehicles in the shoulder on both sides.", "D. There are many pedestrians on the right sidewalk."], "answer_index": 2}
{"token": "278f173b3b1d999f742d174be0701fdb", "waymo_split": "test", "type": "image", "frame_index": 10, "question": "Which of the following is a correct description of traffic signals?", "category": "Traffic Signal", "options": ["A. None", "B. Go straight", "C. Stop", "D. Turn left"], "answer_index": 0}
{"token": "278f173b3b1d999f742d174be0701fdb", "waymo_split": "test", "type": "image", "frame_index": 10, "question": "Which of the following descriptions about the environment is correct?", "category": "Normal scene Understanding", "options": ["A. Daytime, raining. Most of the lighting is from headlights.", "B. Dusk, clear. Most of the lighting is from streetlights.", "C. Night, foggy. Most of the lighting is from sign lights.", "D. Early morning, light snowfall. Most of the lighting is from natural light."], "answer_index": 0}
{"token": "278f173b3b1d999f742d174be0701fdb", "waymo_split": "test", "type": "image", "frame_index": 10, "question": "What is a safety-critical object?", "category": "Safety-critical Perception", "options": ["A. Safety relay", "B. Emergency stop", "C. Brake", "D. None"], "answer_index": 3}
{"token": "278f173b3b1d999f742d174be0701fdb", "waymo_split": "test", "type": "video", "frame_index": null, "question": "What is the answer regarding parked vehicles on the shoulder, the presence of a center line, and whether Ego crosses the center line?", "category": "Normal Perception & Prediction", "options": ["A. A few parked vehicles on the shoulder (right side). No center line. No crossing.", "B. Many parked vehicles on the shoulder (both sides). There is a center line. No crossing.", "C. No parked vehicles on the shoulder. There is a center line. Crossing.", "D. A few parked vehicles on the shoulder (left side). There is a center line. Crossing."], "answer_index": 1}
{"token": "278f173b3b1d999f742d174be0701fdb", "waymo_split": "test", "type": "image", "frame_index": 10, "question": "What is the answer regarding the presence of parked vehicles on the shoulder, the presence of a center line, and whether Ego crosses the center line?", "category": "Normal Perception & Prediction", "options": ["A. There are many parked vehicles on the shoulder. No center line. My vehicle does not cross.", "B. No parked vehicles on the shoulder. There is a center line. My vehicle does not cross.", "C. There are many parked vehicles on the shoulder. There is a center line. My vehicle does not cross.", "D. There are few parked vehicles on the shoulder. There is a center line. My vehicle crosses."], "answer_index": 2}
{"token": "278f173b3b1d999f742d174be0701fdb", "waymo_split": "test", "type": "image", "frame_index": 10, "question": "How do you think a safety-critical object would move?", "category": "Safety-critical Prediction", "options": ["A. None", "B. Sliding on the ground", "C. Slowly rising", "D. Rolling to the left"], "answer_index": 0}
{"token": "278f173b3b1d999f742d174be0701fdb", "waymo_split": "test", "type": "image", "frame_index": 10, "question": "Is there a blind spot in the field of view?", "category": "Uncertainty", "options": ["A. There is a blind spot between parked vehicles on the shoulder.", "B. There is no blind spot in the section adjacent to the central divider.", "C. There is a blind spot in the gap between vehicles on the left shoulder.", "D. There is no blind spot in front of the bus stop on the right."], "answer_index": 0}
{"token": "278f173b3b1d999f742d174be0701fdb", "waymo_split": "test", "type": "image", "frame_index": 10, "question": "Are there any other safety-critical objects besides the first safety-critical object? If so, how will you move?", "category": "Safety-critical Prediction", "options": ["A. None", "B. There is equipment in operation, pass narrowly to the right", "C. There is an oxygen tank, stop and slowly reverse", "D. There is a high-pressure cable, detour to the left"], "answer_index": 0}
{"token": "278f173b3b1d999f742d174be0701fdb", "waymo_split": "test", "type": "image", "frame_index": 10, "question": "What is the safest choice just before entering a yellow signal: stop vs proceed?", "category": "Special Event", "options": ["A. Always stop at the stop line", "B. Cannot judge due to no signal", "C. Accelerate and pass through the intersection", "D. Continue with the left turn"], "answer_index": 1}
{"token": "278f173b3b1d999f742d174be0701fdb", "waymo_split": "test", "type": "image", "frame_index": 10, "question": "What is the method to pass through the blind spot next to a large vehicle?", "category": "Special Event", "options": ["A. Maintain the blind spot and continue driving", "B. It's hard to judge since there is no large vehicle", "C. Pass closely by the large vehicle quickly", "D. Use the horn continuously and then overtake immediately"], "answer_index": 1}
{"token": "278f173b3b1d999f742d174be0701fdb", "waymo_split": "test", "type": "image", "frame_index": 10, "question": "Where is the area that hides danger in the current frame?", "category": "Uncertainty", "options": ["A. Behind the rear alley exit corner", "B. Between parked vehicles on the right shoulder", "C. Behind the bus stop advertisement on the left", "D. Inside the guardrail at the start of the curve ahead"], "answer_index": 1}
{"token": "278f173b3b1d999f742d174be0701fdb", "waymo_split": "test", "type": "image", "frame_index": 10, "question": "Is lane changing possible? Which is safer between slowing down and changing lanes?", "category": "Safety-critical Planning", "options": ["A. Recommended to change lanes rather than slow down / There is space in the right lane (can merge immediately)", "B. Changing lanes is safer / Can move to the left lane (it's a one-way two-lane road)", "C. Changing lanes after accelerating is safe / Possible to change lanes as it's a four-lane road with traffic in both directions", "D. Slowing down is safe. Lane changing is not possible (it's a two-lane road with traffic in both directions)"], "answer_index": 3}
{"token": "278f173b3b1d999f742d174be0701fdb", "waymo_split": "test", "type": "image", "frame_index": 47, "question": "Based on the current appearance of the person/vehicle (two-wheeled), how do you intend to move?", "category": "Normal Perception & Prediction", "options": ["A. Walking straight along the edge of the sidewalk", "B. Driving right turn on a three-lane road", "C. Driving straight on a two-lane road", "D. Entering a left turn on a one-way single lane"], "answer_index": 2}
{"token": "278f173b3b1d999f742d174be0701fdb", "waymo_split": "test", "type": "image", "frame_index": 10, "question": "What are the newly exposed risk candidates in the following section?", "category": "Safety-critical Prediction", "options": ["A. Vehicles making unprotected left turns at the intersection may push into the straight lane (the signal duration is short, causing confusion)", "B. Vehicles may suddenly merge from the left merging lane (limited visibility to the left reduces reaction time)", "C. Objects or people may emerge between parked vehicles on the shoulder (especially on the right side, which is not visible, making it more dangerous)", "D. Bicycles may suddenly enter the lane from the right bicycle path (the divider is low, making it difficult to identify)"], "answer_index": 2}
{"token": "278f173b3b1d999f742d174be0701fdb", "waymo_split": "test", "type": "image", "frame_index": 47, "question": "What is the plan for yielding when an ambulance/fire truck approaches?", "category": "Special Event", "options": ["A. Move to the right to secure the path", "B. Move to the left to secure the path", "C. Enter the bus-only lane to get out of the way", "D. Stop in the center of the lane and turn on the hazard lights"], "answer_index": 0}
{"token": "278f173b3b1d999f742d174be0701fdb", "waymo_split": "test", "type": "image", "frame_index": 47, "question": "Which of the following is correct as an Image Caption from the perspective of a Normal Frame?", "category": "Normal scene caption", "options": ["A. A car maintaining its lane in the center on a two-lane road. There are shops and a sidewalk on the left, and parked cars occasionally appear on the right. A vehicle in the same direction changes lanes and cuts in from the front right. A motorcycle is following the car at a distance behind.", "B. A car driving on a two-lane road. There are many parked cars on both sides. A vehicle with its headlights on is approaching from the opposite lane directly in front of the car. There is a vehicle following the car from behind.", "C. A car driving on a two-lane road. A few vehicles are lined up only on the right shoulder. There are few vehicles in front, and the opposite lane appears empty for a while. The distance behind is clear, with no vehicles close to the car.", "D. A car moving slowly on a one-lane road where the end of an alley is visible. The shoulder is relatively empty, and there are few parked cars on both sides. A vehicle with its headlights off is parked on the left side in front. A bus is trying to overtake from behind by moving to the left."], "answer_index": 1}
{"token": "278f173b3b1d999f742d174be0701fdb", "waymo_split": "test", "type": "image", "frame_index": 47, "question": "What are the behavioral restrictions in school zones/congested areas?", "category": "Special Event", "options": ["A. Must pass quickly (especially faster when it rains)", "B. Honk to alert attention (use more actively in congestion)", "C. Must drive slowly (especially slower when it rains)", "D. Maintain the speed limit (no need to reduce further even in rain)"], "answer_index": 2}
{"token": "278f173b3b1d999f742d174be0701fdb", "waymo_split": "test", "type": "image", "frame_index": 47, "question": "Which of the following is correct from the perspective of Safety-critical Frame regarding Image Caption?", "category": "Safety-critical scene caption", "options": ["A. There is a vehicle coming from the left opposite lane. It seems to be passing by closely.", "B. The left opposite lane is empty and no vehicles are visible from the opposite side. There seems to be no concern for a collision.", "C. A pedestrian is entering the crosswalk in front of the vehicle. It seems necessary to slow down.", "D. There is a vehicle moving slowly in the same lane on the right side. The distance to the vehicle in front seems to be decreasing."], "answer_index": 0}
{"token": "278f173b3b1d999f742d174be0701fdb", "waymo_split": "test", "type": "image", "frame_index": 47, "question": "Which of the following is a correct description of traffic density?", "category": "Normal scene Understanding", "options": ["A. Slow, surrounding vehicles are dense (several cars close together in front and behind)", "B. Fast, surrounding vehicles are numerous (continuous driving left and right)", "C. Normal, vehicles are relatively sparse (occasionally one or two cars ahead)", "D. Slow, the number of vehicles driving is few (one car in front and one behind)"], "answer_index": 3}
{"token": "278f173b3b1d999f742d174be0701fdb", "waymo_split": "test", "type": "image", "frame_index": 47, "question": "What is the classification of the scene?", "category": "Normal scene Understanding", "options": ["A. Highway four-lane road", "B. Unpaved two-lane road", "C. Residential one-lane road", "D. Urban two-lane road"], "answer_index": 3}
{"token": "278f173b3b1d999f742d174be0701fdb", "waymo_split": "test", "type": "image", "frame_index": 47, "question": "Which of the following is a correct description of traffic signals?", "category": "Traffic Signal", "options": ["A. None", "B. No right turn", "C. Speed limit 30", "D. Green pedestrian signal"], "answer_index": 0}
{"token": "278f173b3b1d999f742d174be0701fdb", "waymo_split": "test", "type": "image", "frame_index": 47, "question": "Which of the following descriptions about the environment is correct?", "category": "Normal scene Understanding", "options": ["A. Night, clear. Most of the lighting is from streetlights.", "B. Midday, clear. Most of the lighting is from natural light.", "C. Day, raining. Most of the lighting is from headlights.", "D. Dusk, cloudy. Most of the lighting is from sign lights."], "answer_index": 2}
{"token": "278f173b3b1d999f742d174be0701fdb", "waymo_split": "test", "type": "image", "frame_index": 47, "question": "What is the answer regarding parked vehicles on the shoulder, the presence of a center line, and whether Ego crosses the center line?", "category": "Normal Perception & Prediction", "options": ["A. There are almost no parked vehicles on the shoulder. There is a center line. My vehicle temporarily crosses.", "B. Most parked vehicles are on the opposite side. There is a center line. My vehicle crosses the center line while overtaking.", "C. A few parked vehicles exist on the shoulder. There is no center line. My vehicle maintains its lane.", "D. Many parked vehicles exist on the shoulder. There is a center line. My vehicle does not cross."], "answer_index": 3}
{"token": "278f173b3b1d999f742d174be0701fdb", "waymo_split": "test", "type": "image", "frame_index": 47, "question": "Is there a blind spot in the field of view?", "category": "Uncertainty", "options": ["A. There is no blind spot in front of the bus stop.", "B. There is a blind spot between parked vehicles on the shoulder.", "C. There is no blind spot near the right turn only lane.", "D. There is a blind spot next to the central divider lane."], "answer_index": 1}
{"token": "278f173b3b1d999f742d174be0701fdb", "waymo_split": "test", "type": "image", "frame_index": 47, "question": "How do you think a safety-critical object will move?", "category": "Safety-critical Prediction", "options": ["A. Straight in the opposite direction", "B. Straight in the other vehicle's direction", "C. Right turn towards your own vehicle's direction", "D. Straight in your own vehicle's direction"], "answer_index": 3}
{"token": "278f173b3b1d999f742d174be0701fdb", "waymo_split": "test", "type": "image", "frame_index": 47, "question": "What is a safety-critical object?", "category": "Safety-critical Perception", "options": ["A. Vehicle in the same lane on the right (with headlights off)", "B. Pedestrian at the crosswalk ahead (waiting for the signal)", "C. Vehicle in the opposite lane on the left (with headlights on)", "D. Vehicle stopped on the left shoulder (with hazard lights on)"], "answer_index": 2}
{"token": "278f173b3b1d999f742d174be0701fdb", "waymo_split": "test", "type": "image", "frame_index": 47, "question": "Is lane change possible? Which is safer between slowing down and changing lanes?", "category": "Safety-critical Planning", "options": ["A. Changing lanes is advantageous. There is space in the right lane (3-lane section one way)", "B. Changing lanes is safer. Can move to the left lane (2-lane section one way)", "C. Slowing down is safe. Lane change is not possible (two-lane bidirectional)", "D. Move to the lane quickly rather than slowing down. The center line is dashed, so overtaking is possible"], "answer_index": 2}
{"token": "278f173b3b1d999f742d174be0701fdb", "waymo_split": "test", "type": "image", "frame_index": 47, "question": "What is the correlation in safety-critical situations?", "category": "Safety-critical scene Understanding", "options": ["A. Car-Car", "B. Two-wheeler-Two-wheeler", "C. Car-Two-wheeler", "D. Car-Person"], "answer_index": 0}
{"token": "278f173b3b1d999f742d174be0701fdb", "waymo_split": "test", "type": "image", "frame_index": 47, "question": "What should I do to drive safely?", "category": "Safety-critical Planning", "options": ["A. I need to drive without colliding with the vehicle, keeping a distance from the center, and driving slowly. Especially since it's raining, I need to drive even slower to avoid slipping.", "B. I need to narrow the gap with the car next to me, stay close to the shoulder, and drive faster than usual. In the rain, I should accelerate briefly to avoid delays.", "C. I need to overtake the car in front quickly, stay closer to the center line, and increase my speed to pass through. Since it's raining, I should go through in one go to avoid stopping.", "D. I need to keep my high beams on, honk the horn frequently, and accelerate. Especially in the rain, I should increase my speed rather than maintain it to get out quickly."], "answer_index": 0}
{"token": "278f173b3b1d999f742d174be0701fdb", "waymo_split": "test", "type": "image", "frame_index": 47, "question": "Are there any other safety-critical objects besides the first safety-critical object? If so, how would you move them?", "category": "Safety-critical Prediction", "options": ["A. Fire extinguisher, move along the wall", "B. Fuel tank, move towards ventilation", "C. Oxygen tank, move with a cart", "D. None"], "answer_index": 3}
{"token": "278f173b3b1d999f742d174be0701fdb", "waymo_split": "test", "type": "image", "frame_index": 47, "question": "What is the safest choice when approaching a yellow signal: stop or proceed?", "category": "Special Event", "options": ["A. Stop if turning left", "B. Cannot judge due to no signal", "C. Proceed if the distance is short", "D. Follow the car in front and proceed"], "answer_index": 1}
{"token": "278f173b3b1d999f742d174be0701fdb", "waymo_split": "test", "type": "image", "frame_index": 47, "question": "Who is responsible in a safety-critical situation? What is the cause?", "category": "Safety-critical scene Understanding", "options": ["A. It is mutual. Since it is raining, we must drive carefully in the opposite lane.", "B. It is the pedestrian's responsibility. Since there is no rain or wind, we should honk once and go straight.", "C. It is the responsibility of the left vehicle. Since visibility is clear, we should reduce the distance and overtake quickly.", "D. It is the responsibility of the vehicle in front. Since the road is dry, we should maintain speed and continue in the same lane."], "answer_index": 0}
{"token": "278f173b3b1d999f742d174be0701fdb", "waymo_split": "test", "type": "image", "frame_index": 47, "question": "Where is the area that hides danger in the current frame?", "category": "Uncertainty", "options": ["A. Between parked vehicles on the right shoulder", "B. Front corner of a large bus in the left lane", "C. Behind the corner of a building on the left side of the intersection ahead", "D. Area obscured by trees on the median"], "answer_index": 0}
{"token": "278f173b3b1d999f742d174be0701fdb", "waymo_split": "test", "type": "image", "frame_index": 47, "question": "What situation might occur if the vehicle acted this way?", "category": "Counterfactual", "options": ["A. If the vehicle crosses the left center line, there is a risk of collision with oncoming traffic.", "B. If the vehicle crosses the stop line at an intersection, there is a risk of contact with pedestrians at the crosswalk.", "C. If the vehicle changes to the right lane, there is a risk of collision with a motorcycle.", "D. If the vehicle suddenly stops in the middle of the lane, there is a risk of rear-end collision with following vehicles."], "answer_index": 0}
{"token": "278f173b3b1d999f742d174be0701fdb", "waymo_split": "test", "type": "image", "frame_index": 47, "question": "What is the guideline for your vehicle's behavior in response to the actions of a safety-critical object?", "category": "Safety-critical Planning", "options": ["A. If an oncoming vehicle crosses the center line, your vehicle should quickly steer left and maneuver into the empty space of the oncoming lane to avoid a collision.", "B. If an oncoming vehicle approaches while straddling the center line, your vehicle should accelerate and proceed straight, using the available space in the direction of travel to avoid a collision.", "C. If an oncoming vehicle crosses the center line, your vehicle should stop in the center of the lane and only warn with the horn and high beams while monitoring the situation.", "D. If an oncoming vehicle crosses the center line, your vehicle should immediately turn right and move to the empty space on the shoulder to avoid a collision."], "answer_index": 3}
{"token": "278f173b3b1d999f742d174be0701fdb", "waymo_split": "test", "type": "image", "frame_index": 53, "question": "Based on the current appearance of the person/vehicle (two-wheeled), how do you intend to move?", "category": "Normal Perception & Prediction", "options": ["A. Proceed straight on a two-lane road", "B. Merge into the first lane", "C. Make a right turn at the intersection", "D. Change to the left lane"], "answer_index": 0}
{"token": "278f173b3b1d999f742d174be0701fdb", "waymo_split": "test", "type": "image", "frame_index": 53, "question": "Which of the following is correct as an Image Caption from the perspective of a Normal Frame?", "category": "Normal scene caption", "options": ["A. A vehicle driving on a two-lane road. The shoulders on both sides are relatively quiet with almost no parked cars. Vehicles in the left opposing lane are stopped, waiting for the signal. There are no cars behind the vehicle, making it look empty for a while.", "B. A vehicle traveling on a one-way three-lane straight road. There are no parked cars at the edge of the road, only shops continue. There are no oncoming vehicles in front, and no headlights are visible. A motorcycle overtakes from behind and moves ahead.", "C. A vehicle gradually comes to a stop at a traffic signal in front of an intersection on a two-lane road. There are sidewalks on both sides, and almost no parking on the shoulder. Vehicles in the left opposing lane are waiting to turn right, so they do not meet the vehicle. A taxi is following behind at a distance.", "D. A vehicle driving on a two-lane road. There are many parked cars on both sides. On the left, an oncoming vehicle with its headlights on is driving towards the vehicle, passing it closely. There is a vehicle following behind the vehicle."], "answer_index": 3}
{"token": "278f173b3b1d999f742d174be0701fdb", "waymo_split": "test", "type": "image", "frame_index": 53, "question": "What is the plan for yielding when an emergency vehicle/fire truck approaches?", "category": "Special Event", "options": ["A. Turn on emergency lights and guide ahead at the same speed", "B. Stay close to the right to secure the passage", "C. Stay close to the left to secure the passage", "D. Stop in the center at intersections to assist passage"], "answer_index": 1}
{"token": "278f173b3b1d999f742d174be0701fdb", "waymo_split": "test", "type": "image", "frame_index": 53, "question": "What are the behavioral restrictions in school zones/congested areas?", "category": "Special Event", "options": ["A. You must turn on your high beams and proceed (to be noticeable from a distance)", "B. You should honk frequently (to alert pedestrians)", "C. You must pass quickly (especially hurry when it rains)", "D. You must drive slowly (especially slow down more when it rains)"], "answer_index": 3}
{"token": "278f173b3b1d999f742d174be0701fdb", "waymo_split": "test", "type": "image", "frame_index": 53, "question": "Which of the following is a correct description of traffic density?", "category": "Normal scene Understanding", "options": ["A. Slow, there are few vehicles on the road (one in front and one behind)", "B. Slow, there are many vehicles around (lined up in front)", "C. Fast, there are many vehicles around (multiple in front and on the sides)", "D. Normal, there are few vehicles on the road (only one behind)"], "answer_index": 0}
{"token": "278f173b3b1d999f742d174be0701fdb", "waymo_split": "test", "type": "image", "frame_index": 53, "question": "What is the classification of the scene?", "category": "Normal scene Understanding", "options": ["A. urban four-lane road", "B. urban two-lane road", "C. residential two-lane road", "D. one-way three-lane highway"], "answer_index": 1}
{"token": "278f173b3b1d999f742d174be0701fdb", "waymo_split": "test", "type": "image", "frame_index": 53, "question": "Which of the following descriptions about the environment is correct?", "category": "Normal scene Understanding", "options": ["A. Daytime, raining. Most of the lighting is from headlights.", "B. Dusk, clear. Most of the lighting is from the sunset glow.", "C. Cloudy, snowing. Most of the lighting is from sign lights.", "D. Night, clear. Most of the lighting is from streetlights."], "answer_index": 0}
{"token": "278f173b3b1d999f742d174be0701fdb", "waymo_split": "test", "type": "image", "frame_index": 53, "question": "Which of the following is a correct description of traffic signals?", "category": "Traffic Signal", "options": ["A. Stop line", "B. None", "C. No right turn", "D. Left turn signal"], "answer_index": 1}
{"token": "278f173b3b1d999f742d174be0701fdb", "waymo_split": "test", "type": "image", "frame_index": 53, "question": "What is the description of a non-safety-critical object?", "category": "Normal Perception & Prediction", "options": ["A. Numerous parked vehicles on both sides of the road. Streetlights and tall trees standing evenly on the sidewalk.", "B. A few temporarily parked vehicles on one side of the road. The sidewalk has irregularly spaced low trees and sparse streetlights.", "C. A flower bed and low shrubs extend along the central divider. Store signs and a bus stop shelter are visible next to the sidewalk.", "D. A few delivery motorcycles are parked at the edge of the road. Along the sidewalk, there are bicycle racks and a low fence."], "answer_index": 0}
{"token": "278f173b3b1d999f742d174be0701fdb", "waymo_split": "test", "type": "image", "frame_index": 53, "question": "Is there a blind spot?", "category": "Uncertainty", "options": ["A. There is a blind spot between parked vehicles on the right shoulder.", "B. There is a blind spot between parked vehicles on the left shoulder.", "C. The right shoulder has good visibility, no blind spots.", "D. A blind spot is formed in the center of the right driving lane."], "answer_index": 0}
{"token": "278f173b3b1d999f742d174be0701fdb", "waymo_split": "test", "type": "image", "frame_index": 53, "question": "What is the answer regarding parked vehicles on the shoulder, the presence of a center line, and whether Ego crosses the center line?", "category": "Normal Perception & Prediction", "options": ["A. There are many parked vehicles on the shoulder. There is a center line. My vehicle does not cross.", "B. There are no parked vehicles on the shoulder. There is a center line. My vehicle crosses the center line.", "C. There are 1 to 2 parked vehicles on the shoulder. There is a center line. My vehicle crosses while overtaking.", "D. There are few parked vehicles on the shoulder. There is no center line. My vehicle maintains its lane."], "answer_index": 0}
{"token": "278f173b3b1d999f742d174be0701fdb", "waymo_split": "test", "type": "image", "frame_index": 53, "question": "How do you think a safety-critical object would move?", "category": "Safety-critical Prediction", "options": ["A. Moving outward from the lane, diagonally to the left", "B. Moving diagonally past the car, going straight", "C. Slightly brushing against the front bumper of the car, turning right", "D. Sliding backward, slowly reversing"], "answer_index": 1}
{"token": "278f173b3b1d999f742d174be0701fdb", "waymo_split": "test", "type": "image", "frame_index": 53, "question": "What is a safety-critical object?", "category": "Safety-critical Perception", "options": ["A. A vehicle traveling in the opposite lane on the right (white)", "B. A vehicle traveling in the same lane ahead (gray)", "C. A vehicle traveling in the opposite lane on the left (black)", "D. A vehicle parked on the left shoulder (black)"], "answer_index": 2}
{"token": "278f173b3b1d999f742d174be0701fdb", "waymo_split": "test", "type": "image", "frame_index": 53, "question": "Are there any other safety-critical objects besides the first safety-critical object? If so, how will they be moved?", "category": "Safety-critical Prediction", "options": ["A. Move the glass chemical bottle to a lower shelf", "B. Put the utility knife in a locked drawer", "C. Move the fire extinguisher next to the entrance", "D. None"], "answer_index": 3}
{"token": "278f173b3b1d999f742d174be0701fdb", "waymo_split": "test", "type": "image", "frame_index": 53, "question": "What is the correlation in safety-critical situations?", "category": "Safety-critical scene Understanding", "options": ["A. Car - Two-wheeler", "B. Car - Person", "C. Two-wheeler - Person", "D. Car - Car"], "answer_index": 3}
{"token": "278f173b3b1d999f742d174be0701fdb", "waymo_split": "test", "type": "image", "frame_index": 53, "question": "What should I do to drive safely?", "category": "Safety-critical Planning", "options": ["A. Stay close to the center line, increase speed as much as possible to pass quickly, and since it's raining, it's better to accelerate to avoid lingering (to break the water film quickly), and currently, my car is driving this way.", "B. Avoid colliding with the vehicle, keep a distance from the center, and drive slowly. Especially in rainy conditions, you should drive even slower (to avoid slipping). Currently, my car is appropriately following this advice.", "C. Drive close to the outer edge of the lane, quickly steer to avoid puddles, and it's better to maintain a steady speed with cruise control rather than reducing speed even in the rain. Currently, my car is responding this way.", "D. Stay as close as possible to the right edge, maintain a steady speed to avoid braking, and since it's wet, it's safer not to use the brakes (to avoid slipping). Currently, my car is following this guideline."], "answer_index": 1}
{"token": "278f173b3b1d999f742d174be0701fdb", "waymo_split": "test", "type": "image", "frame_index": 53, "question": "Is lane changing possible? Which is safer between slowing down and changing lanes?", "category": "Safety-critical Planning", "options": ["A. Changing lanes is safer / Change to the right if the front view is clear", "B. It is safer to merge after overtaking on the left / Lane changing is possible (there is an overtaking lane)", "C. Slowing down is safe. Lane changing is not possible (it is a two-way lane)", "D. Lane changing is possible (one-way two lanes) / Moving lanes is more advantageous than slowing down"], "answer_index": 2}
{"token": "278f173b3b1d999f742d174be0701fdb", "waymo_split": "test", "type": "image", "frame_index": 53, "question": "What is the safest choice when approaching a yellow signal: stop or proceed?", "category": "Special Event", "options": ["A. Accelerate and pass on yellow", "B. Cannot judge due to no signal", "C. Must stop for safety", "D. If the car behind is close, proceed"], "answer_index": 1}
{"token": "278f173b3b1d999f742d174be0701fdb", "waymo_split": "test", "type": "image", "frame_index": 53, "question": "What situation might occur if the vehicle acted this way?", "category": "Counterfactual", "options": ["A. If the vehicle moves close to the right lane and makes a wide right turn, there is a risk of contacting the edge of the sidewalk.", "B. If the vehicle crosses the left center line and turns left, there is a risk of colliding with oncoming traffic.", "C. If the vehicle maintains its position inside the center line and continues straight, there is a risk of rear-ending if the car in front suddenly brakes.", "D. If the vehicle slowly enters the shoulder parking area, there is a risk of insufficient distance from the vehicle behind."], "answer_index": 1}
{"token": "278f173b3b1d999f742d174be0701fdb", "waymo_split": "test", "type": "image", "frame_index": 53, "question": "What is the method to avoid the blind spot next to a large vehicle?", "category": "Special Event", "options": ["A. It is difficult to judge because there is no large vehicle.", "B. Quickly overtake on the right side of the large vehicle.", "C. Stay briefly in the blind spot of the large vehicle.", "D. Pass while maintaining the lane next to the large vehicle."], "answer_index": 0}
{"token": "278f173b3b1d999f742d174be0701fdb", "waymo_split": "test", "type": "image", "frame_index": 53, "question": "Where is the area that hides danger in the current frame?", "category": "Uncertainty", "options": ["A. Behind the rear of a large truck in front", "B. The gap between parked vehicles on the right shoulder", "C. Beyond the left median barrier", "D. The entrance of a shop at the right corner"], "answer_index": 1}
{"token": "278f173b3b1d999f742d174be0701fdb", "waymo_split": "test", "type": "image", "frame_index": 53, "question": "What is the guideline for your vehicle's behavior in response to the actions of a safety-critical object?", "category": "Safety-critical Planning", "options": ["A. If an oncoming vehicle crosses the center line, your vehicle should continue straight and use the horn and high beams to warn and avoid a collision.", "B. If an oncoming vehicle crosses the center line, your vehicle should immediately brake hard, stop in the center of the lane, and use hazard lights to alert the following vehicle to avoid a collision.", "C. If an oncoming vehicle crosses the center line, your vehicle should immediately turn right and move to the empty space on the shoulder to avoid a collision.", "D. If an oncoming vehicle crosses the center line, your vehicle should turn left and move towards the median to avoid a collision."], "answer_index": 2}
{"token": "278f173b3b1d999f742d174be0701fdb", "waymo_split": "test", "type": "image", "frame_index": 87, "question": "What is the plan for yielding when an ambulance/fire truck approaches?", "category": "Special Event", "options": ["A. Stop in the middle of the intersection and wait for the signal", "B. Gradually move towards the center line while maintaining speed", "C. Stay close to the right side to secure a path", "D. Stay close to the left side to clear the lane"], "answer_index": 2}
{"token": "278f173b3b1d999f742d174be0701fdb", "waymo_split": "test", "type": "image", "frame_index": 87, "question": "Which of the following is a correct description of traffic density?", "category": "Normal scene Understanding", "options": ["A. Slow, there are few vehicles on the road (one in front and one behind)", "B. Fast, there are many surrounding vehicles (several clustered in front)", "C. Slow, the vehicle density is high (crowded all around)", "D. Fast, there are few vehicles on the road (sparse in front)"], "answer_index": 0}
{"token": "278f173b3b1d999f742d174be0701fdb", "waymo_split": "test", "type": "image", "frame_index": 87, "question": "What are the behavioral restrictions in school zones/congested areas?", "category": "Special Event", "options": ["A. You must turn on your high beams (shine brighter when it rains)", "B. You should pass through quickly (especially accelerate to alleviate congestion)", "C. You should honk frequently (to alert pedestrians of your presence)", "D. You must drive slowly (especially slow down more when it rains)"], "answer_index": 3}
{"token": "278f173b3b1d999f742d174be0701fdb", "waymo_split": "test", "type": "image", "frame_index": 87, "question": "Based on the current appearance of the person/vehicle (two-wheeled), how do they intend to move?", "category": "Normal Perception & Prediction", "options": ["A. Preparing to make a U-turn in an alley", "B. Entering a left turn at an intersection", "C. Going straight on a two-lane road", "D. Changing to the right lane on a one-way three-lane road"], "answer_index": 2}
{"token": "278f173b3b1d999f742d174be0701fdb", "waymo_split": "test", "type": "image", "frame_index": 87, "question": "Which of the following is correct as an Image Caption from the perspective of a Normal Frame?", "category": "Normal scene caption", "options": ["A. A car driving on a two-lane road. There are almost no parked cars on the shoulders, and the road is quiet. A motorcycle is approaching from the side, not from behind the car. A roundabout appears ahead, and a no right turn sign is visible on the right. Adjusting the entry angle while maintaining speed.", "B. A car driving on a two-lane road. There are only sidewalks in front of the shops on both sides, and parked cars on the shoulder are rare. No vehicles are visible behind the car. A T-intersection appears ahead, and a YIELD sign is visible on the left. Gradually accelerating to prepare for entry.", "C. A car driving on a one-way three-lane road. A bus-only lane is visible in the right lane, and there are no parked cars on the street. There is a slow-moving truck ahead of the car, maintaining distance. A signalized intersection appears ahead, and a red light is on. Gradually coming to a stop at the stop line.", "D. A car driving on a two-lane road. There are many parked cars on the shoulders on both sides. There is a vehicle following the car behind it. An intersection appears ahead, and a STOP sign is present on the right. Starting to slow down from this point."], "answer_index": 3}
{"token": "278f173b3b1d999f742d174be0701fdb", "waymo_split": "test", "type": "image", "frame_index": 87, "question": "What is the classification of the scene?", "category": "Normal scene Understanding", "options": ["A. Residential area secondary road", "B. Urban secondary road", "C. Highway four-lane main road", "D. Unpaved rural road"], "answer_index": 1}
{"token": "278f173b3b1d999f742d174be0701fdb", "waymo_split": "test", "type": "image", "frame_index": 87, "question": "What is the description of a non-safety-critical object?", "category": "Normal Perception & Prediction", "options": ["A. There are construction zones and safety cones on the right shoulder. Next to the sidewalk, there are utility poles and low trees. As you enter the intersection, vehicles are waiting in the lanes on both sides. And on the right, there is a no parking sign instead of a STOP sign.", "B. There are many parked vehicles on both shoulders. Streetlights are evenly spaced on the sidewalk along with tall trees. An intersection appears, and there are no vehicles on the roads to the left and right. And on the right, there is a STOP sign.", "C. A few vehicles are parked on one shoulder. The sidewalk is lined with low shrubs and benches. Instead of an intersection, there is a small roundabout, and there is one vehicle slowly driving on the left road. And on the left, there is a YIELD sign.", "D. Both sides of the road are empty. The streetlights are sparse, and there are almost no trees. A T-intersection appears, and vehicles pass continuously on the right road. And there is a speed limit sign of 30 on the median."], "answer_index": 1}
{"token": "278f173b3b1d999f742d174be0701fdb", "waymo_split": "test", "type": "image", "frame_index": 87, "question": "Which of the following is a correct description of traffic signals?", "category": "Traffic Signal", "options": ["A. There is a stop line marked on the road ahead.", "B. There is a STOP sign on the sidewalk to the right.", "C. There is a STOP sign on the sidewalk to the left.", "D. There is a YIELD sign on the sidewalk to the right."], "answer_index": 1}
{"token": "278f173b3b1d999f742d174be0701fdb", "waymo_split": "test", "type": "image", "frame_index": 87, "question": "Which of the following descriptions about the environment is correct?", "category": "Normal scene Understanding", "options": ["A. At sunset, cloudy lighting is mostly from sign lights", "B. In the early morning, foggy lighting is mostly from natural light", "C. During the day, rain. Lighting is mostly from headlights", "D. At night, clear lighting is mostly from streetlights"], "answer_index": 2}
{"token": "278f173b3b1d999f742d174be0701fdb", "waymo_split": "test", "type": "image", "frame_index": 87, "question": "What is the answer regarding parked vehicles on the shoulder, the presence of a center line, and whether Ego crosses the center line?", "category": "Normal Perception & Prediction", "options": ["A. There are almost no parked vehicles on the shoulder. There is no center line. My vehicle partially enters the opposite lane.", "B. There are many parked vehicles on the shoulder. There is a center line. My vehicle does not cross.", "C. 1 to 2 parked vehicles on the shoulder are visible. There is a center line. My vehicle slightly crosses the center line.", "D. There are no parked vehicles on the shoulder. The center line is dashed. My vehicle proceeds while straddling the center line."], "answer_index": 1}
{"token": "278f173b3b1d999f742d174be0701fdb", "waymo_split": "test", "type": "image", "frame_index": 87, "question": "What is a safety-critical object?", "category": "Safety-critical Perception", "options": ["A. No safety-critical object", "B. Safety-critical object: motorcycle close to the right", "C. Safety-critical object: stroller in front on the left", "D. Safety-critical object: pedestrian in the middle of the lane"], "answer_index": 0}
{"token": "278f173b3b1d999f742d174be0701fdb", "waymo_split": "test", "type": "image", "frame_index": 87, "question": "How do you think safety-critical objects will be moved?", "category": "Safety-critical Prediction", "options": ["A. No safety-critical object", "B. Approaching safety-critical vehicle from the front", "C. Safety-critical pedestrian crossing from the right", "D. There is a safety-critical object"], "answer_index": 0}
{"token": "278f173b3b1d999f742d174be0701fdb", "waymo_split": "test", "type": "image", "frame_index": 87, "question": "Is lane changing possible? Which is safer between deceleration and lane changing?", "category": "Safety-critical Planning", "options": ["A. Acceleration is safe / Quickly pass by maintaining the lane", "B. Lane changing is possible (two lanes in one direction) / Maintaining speed is appropriate", "C. Deceleration is safe. Lane changing is not possible (two-way lanes)", "D. Lane changing is safer / Move to the left lane in advance"], "answer_index": 2}
{"token": "278f173b3b1d999f742d174be0701fdb", "waymo_split": "test", "type": "image", "frame_index": 87, "question": "Are there any other safety-critical objects besides the first safety-critical object? If so, how would you navigate around them?", "category": "Safety-critical Prediction", "options": ["A. There are glass shards at the door, slow down and detour.", "B. There is a hot pot on the right, pass through the center line.", "C. Exposed power cable, detour to the left.", "D. There are no other safety-critical objects."], "answer_index": 3}
{"token": "278f173b3b1d999f742d174be0701fdb", "waymo_split": "test", "type": "image", "frame_index": 87, "question": "What is the safest choice just before entering a yellow signal: stop vs pass?", "category": "Special Event", "options": ["A. Stop at the stop line", "B. Left-turning vehicles pass", "C. Pass when a vehicle approaches from behind", "D. Cannot judge due to no signal"], "answer_index": 3}
{"token": "278f173b3b1d999f742d174be0701fdb", "waymo_split": "test", "type": "image", "frame_index": 87, "question": "Where is the area that hides danger by being obscured in the current frame?", "category": "Uncertainty", "options": ["A. The road obscured by construction barriers for the right turn lane at the intersection", "B. The crosswalk obscured by street trees and signs on the main road at the intersection", "C. The lane obscured by a large bus at the bus stop on the left road at the intersection", "D. The road obscured by parked vehicles on the shoulder on the right road at the intersection"], "answer_index": 3}
{"token": "278f173b3b1d999f742d174be0701fdb", "waymo_split": "test", "type": "image", "frame_index": 87, "question": "Who is responsible in safety-critical situations? What is the cause?", "category": "Safety-critical scene Understanding", "options": ["A. No event", "B. Operator negligence", "C. Operational team error", "D. Equipment defect"], "answer_index": 0}
{"token": "278f173b3b1d999f742d174be0701fdb", "waymo_split": "test", "type": "image", "frame_index": 87, "question": "What are the newly exposed risk candidates in the following section?", "category": "Safety-critical Prediction", "options": ["A. Vehicles may appear from the road side obscured by parked cars on the right side of the intersection.", "B. Pedestrians may come out onto the roadway from behind a bus stopped at the bus stop ahead.", "C. Vehicles from the opposite lane may make illegal U-turns near the opening of the median.", "D. An electric scooter may suddenly enter the roadway from the exit of the left alley at the intersection."], "answer_index": 0}
{"token": "278f173b3b1d999f742d174be0701fdb", "waymo_split": "test", "type": "image", "frame_index": 87, "question": "Is there a blind spot in your field of vision?", "category": "Uncertainty", "options": ["A. There is a blind spot in front of the right bus stop.", "B. There is a blind spot between parked cars on the left shoulder.", "C. There is a blind spot between parked cars on the right shoulder.", "D. The right side has good visibility and no blind spots."], "answer_index": 2}
{"token": "278f173b3b1d999f742d174be0701fdb", "waymo_split": "test", "type": "image", "frame_index": 87, "question": "What is the method to avoid the blind spot next to a large vehicle?", "category": "Special Event", "options": ["A. Pass quickly by staying close to the right side of the large vehicle", "B. Proceed alongside the truck at the same speed", "C. It's hard to judge since there is no large vehicle", "D. Honk after staying close to the bus and then overtake"], "answer_index": 2}
{"token": "278f173b3b1d999f742d174be0701fdb", "waymo_split": "test", "type": "image", "frame_index": 139, "question": "What is the classification of the scene?", "category": "Normal scene Understanding", "options": ["A. four-lane road in the city", "B. one-way alley in the city", "C. two-lane road in a residential area", "D. two-lane road in the city"], "answer_index": 3}
{"token": "278f173b3b1d999f742d174be0701fdb", "waymo_split": "test", "type": "image", "frame_index": 139, "question": "Based on the current appearance of the person/vehicle (two-wheeled), how are they trying to move?", "category": "Normal Perception & Prediction", "options": ["A. Stopping just before entering the intersection", "B. Changing to the left turn lane and proceeding slowly", "C. Entering the intersection and making a right turn", "D. Starting to go straight as the signal changes"], "answer_index": 0}
{"token": "278f173b3b1d999f742d174be0701fdb", "waymo_split": "test", "type": "image", "frame_index": 139, "question": "What is the plan for yielding when an ambulance/fire truck approaches?", "category": "Special Event", "options": ["A. Continue driving with emergency lights on", "B. Proceed slowly and yield", "C. Stop completely and yield", "D. Pass through the intersection first"], "answer_index": 2}
{"token": "278f173b3b1d999f742d174be0701fdb", "waymo_split": "test", "type": "image", "frame_index": 139, "question": "Which of the following is a correct description of traffic density?", "category": "Normal scene Understanding", "options": ["A. Slow, there are many vehicles driving (several in front, behind, and on both sides)", "B. Normal, there are few vehicles driving (only one behind)", "C. Slow, there are few vehicles driving (one in front and one behind)", "D. Fast, there are many vehicles driving (several in a row in front)"], "answer_index": 2}
{"token": "278f173b3b1d999f742d174be0701fdb", "waymo_split": "test", "type": "image", "frame_index": 139, "question": "What are the behavioral restrictions in school zones/congested areas?", "category": "Special Event", "options": ["A. Must pass quickly (minimize stopping due to congestion)", "B. Drive with hazard lights on and stay close to the center (more active in rain)", "C. Must drive slowly (especially slower in rain)", "D. Proceed while honking frequently (to alert pedestrians)"], "answer_index": 2}
{"token": "278f173b3b1d999f742d174be0701fdb", "waymo_split": "test", "type": "image", "frame_index": 139, "question": "Which of the following is a correct description of traffic signals?", "category": "Traffic Signal", "options": ["A. None", "B. No left turn", "C. Red signal", "D. Stop line marking"], "answer_index": 0}
{"token": "278f173b3b1d999f742d174be0701fdb", "waymo_split": "test", "type": "image", "frame_index": 139, "question": "What is the description of a non-safety-critical object?", "category": "Normal Perception & Prediction", "options": ["A. There are sporadic street vendors in front of the shops on both sides of the road. Only a few utility poles and small trees can be seen next to the sidewalk. Ahead, there is an uphill curve, and cars are coming down from the opposite side.", "B. There are many parked cars on both sides of the shoulder. Streetlights are evenly spaced on the sidewalk, along with tall trees. An intersection is directly ahead, and there are no vehicles on the roads to the left or right.", "C. A few cars are parked on the shoulder on one side only. Benches and a bus stop sign can be seen on the sidewalk. A small roundabout is in front, and vehicles are gradually entering from all directions.", "D. There are almost no parked cars on the shoulders on both sides. The sidewalk is lined with low fences and flower pots. A T-intersection is straight ahead, and vehicle flow can be seen in the right lane."], "answer_index": 1}
{"token": "278f173b3b1d999f742d174be0701fdb", "waymo_split": "test", "type": "image", "frame_index": 139, "question": "Which of the following descriptions about the environment is correct?", "category": "Normal scene Understanding", "options": ["A. Daytime, raining. Most of the lighting is from headlights.", "B. Nighttime, clear. Most of the lighting is from streetlights.", "C. Early morning, snowing. Most of the lighting is from natural light.", "D. Dusk, foggy. Most of the lighting is from sign lights."], "answer_index": 0}
{"token": "278f173b3b1d999f742d174be0701fdb", "waymo_split": "test", "type": "image", "frame_index": 139, "question": "Is there any other safety-critical object besides the first one? If so, how will you move?", "category": "Safety-critical Prediction", "options": ["A. There is another safety-critical object, pause and detour", "B. There is another safety-critical object, evade to the left", "C. Detected another safety-critical object, slow down and change to the right lane", "D. There is no other safety-critical object"], "answer_index": 3}
{"token": "278f173b3b1d999f742d174be0701fdb", "waymo_split": "test", "type": "image", "frame_index": 139, "question": "What is a safety-critical object?", "category": "Safety-critical Perception", "options": ["A. Driving brake controller", "B. Emergency stop switch", "C. Front collision detection sensor", "D. No safety-critical object"], "answer_index": 3}
{"token": "278f173b3b1d999f742d174be0701fdb", "waymo_split": "test", "type": "image", "frame_index": 139, "question": "Is lane changing possible? Which is safer, slowing down or changing lanes?", "category": "Safety-critical Planning", "options": ["A. Currently stopped with an intersection ahead. Both options are currently dangerous. Staying stopped is safer.", "B. Right lane merge is secured, and there is enough distance from the car behind. Changing to the right lane is safer than slowing down.", "C. The signal cycle is ample, and there is a gap from the car in front. Slowing down smoothly is safer than changing lanes.", "D. The left lane appears to have space. Changing lanes slowly is safer than slowing down."], "answer_index": 0}
{"token": "278f173b3b1d999f742d174be0701fdb", "waymo_split": "test", "type": "image", "frame_index": 139, "question": "What is the answer regarding parked vehicles on the shoulder, the presence of a center line, and whether Ego crosses the center line?", "category": "Normal Perception & Prediction", "options": ["A. There are many parked vehicles on the shoulder. The center line is not visible.", "B. There are hardly any parked vehicles on the shoulder. The center line is clear.", "C. Only one or two vehicles are parked on the shoulder. The center line is visible, and Ego does not cross it.", "D. There are no parked vehicles on the shoulder. Currently, Ego slightly crosses the center line."], "answer_index": 0}
{"token": "278f173b3b1d999f742d174be0701fdb", "waymo_split": "test", "type": "image", "frame_index": 139, "question": "How do you think a safety-critical object will move?", "category": "Safety-critical Prediction", "options": ["A. Move towards the center line of the bicycle", "B. Approach by riding the motorcycle in the opposite direction", "C. Enter the left pedestrian lane", "D. No safety-critical object"], "answer_index": 3}
{"token": "278f173b3b1d999f742d174be0701fdb", "waymo_split": "test", "type": "image", "frame_index": 139, "question": "Who is responsible in safety-critical situations? What is the cause?", "category": "Safety-critical scene Understanding", "options": ["A. Equipment failure", "B. Operator error", "C. No event", "D. User negligence"], "answer_index": 2}
{"token": "278f173b3b1d999f742d174be0701fdb", "waymo_split": "test", "type": "image", "frame_index": 139, "question": "What is the safest choice just before entering a yellow signal: stop or pass?", "category": "Special Event", "options": ["A. Unable to judge due to no signal", "B. Maintaining speed and passing is safe", "C. If there is a car behind, passing is safe", "D. Stopping is always safe"], "answer_index": 0}
{"token": "278f173b3b1d999f742d174be0701fdb", "waymo_split": "test", "type": "image", "frame_index": 139, "question": "Where is the area that hides danger by being obscured in the current frame?", "category": "Uncertainty", "options": ["A. The sidewalk obscured by the guide sign in the intersection U-turn area", "B. The road obscured by parked vehicles on the shoulder of the right road at the intersection", "C. The crosswalk obscured by a stopped bus in the front lane of the intersection", "D. The lane obscured by the median strip on the left road at the intersection"], "answer_index": 1}
{"token": "278f173b3b1d999f742d174be0701fdb", "waymo_split": "test", "type": "image", "frame_index": 139, "question": "What are the newly exposed risk candidates in the following section?", "category": "Safety-critical Prediction", "options": ["A. Vehicles may appear from the road side obscured by parked cars on the right side of the intersection.", "B. A delivery motorcycle may quickly enter the lane ignoring the stop line from the narrow alley on the right.", "C. A bus that just departed from the bus stop across the street may merge into the first lane while passing through the intersection.", "D. A pedestrian obscured by store signs and street trees on the left sidewalk of the intersection may enter the lane."], "answer_index": 0}
{"token": "278f173b3b1d999f742d174be0701fdb", "waymo_split": "test", "type": "image", "frame_index": 139, "question": "What is the method to avoid the blind spot next to a large vehicle?", "category": "Special Event", "options": ["A. It is difficult to judge because there is no large vehicle.", "B. Stay close behind the truck.", "C. Pass closely next to the large vehicle.", "D. Quickly evade into the opposite lane."], "answer_index": 0}
{"token": "27b29232b5da3b738d8b6be87263514c", "waymo_split": "test", "type": "video", "frame_index": null, "question": "Which of the following is a correct description of road alignment?", "category": "Normal Perception & Prediction", "options": ["A. Straight", "B. Left turn", "C. Overtaking", "D. Right turn"], "answer_index": 0}
{"token": "27b29232b5da3b738d8b6be87263514c", "waymo_split": "test", "type": "video", "frame_index": null, "question": "Which of the following is correct regarding Video Summary from a safety-critical scene perspective?", "category": "Safety-critical scene caption", "options": ["A. A motorcycle is driving through the lane from the left rear. It is attempting to overtake while relatively increasing its speed into the space in front of the vehicle.", "B. A scooter is weaving between lanes from the right rear. It is reducing speed and trying to merge behind the vehicle.", "C. A bicycle is riding along the shoulder from the left front. It is lowering its speed while trying to maintain its lane, aware of the vehicle in front.", "D. A passenger car is urgently changing lanes at an intersection. It is trying to cut in from the left, blocking the space in front of the vehicle."], "answer_index": 0}
{"token": "27b29232b5da3b738d8b6be87263514c", "waymo_split": "test", "type": "video", "frame_index": null, "question": "Which of the following is a correct description of traffic density?", "category": "Normal scene Understanding", "options": ["A. Slow. Few surrounding vehicles. Slight incline.", "B. Fast. Many surrounding vehicles. No incline.", "C. Slow. Few surrounding vehicles. Gentle uphill.", "D. Slow. Almost no surrounding vehicles. Gentle downhill."], "answer_index": 1}
{"token": "27b29232b5da3b738d8b6be87263514c", "waymo_split": "test", "type": "video", "frame_index": null, "question": "Is there a special situation?", "category": "Special Event", "options": ["A. None", "B. Emergency vehicle approaching", "C. Construction site cone installation", "D. School bus stopped"], "answer_index": 0}
{"token": "27b29232b5da3b738d8b6be87263514c", "waymo_split": "test", "type": "video", "frame_index": null, "question": "What is the description of a non-safety-critical object?", "category": "Normal Perception & Prediction", "options": ["A. Most lanes are empty, with only occasional trucks visible. The opposite lane (left) is partially blocked due to construction and is moving slowly. Gray sound barriers and streetlights line both sides of the road.", "B. There is a dedicated bus lane next to the median, with large buses passing in a line. The opposite lane is on the right and flows in the same direction. A concrete sound barrier stands long beside the highway.", "C. Each lane of the highway is sparse, with almost no vehicles around. The opposite lane (left) is also empty, with vehicles passing infrequently. Buildings and shops line both sides of the road.", "D. There are many vehicles in each lane of the highway, with a lot of traffic all around. Vehicles are also driving in the opposite direction in the opposite lane (left). Trees are present outside both sides of the highway."], "answer_index": 3}
{"token": "27b29232b5da3b738d8b6be87263514c", "waymo_split": "test", "type": "video", "frame_index": null, "question": "Which of the following descriptions about the environment is correct?", "category": "Normal scene Understanding", "options": ["A. Evening, cloudy", "B. Night, rain", "C. Dawn, fog", "D. Day, clear"], "answer_index": 3}
{"token": "27b29232b5da3b738d8b6be87263514c", "waymo_split": "test", "type": "video", "frame_index": null, "question": "What is the answer regarding parked vehicles on the shoulder, the presence of a center line, and whether Ego has crossed the center line?", "category": "Normal Perception & Prediction", "options": ["A. None, center line exists", "B. None, no center line", "C. Exists, center line exists", "D. Exists, no center line"], "answer_index": 0}
{"token": "27b29232b5da3b738d8b6be87263514c", "waymo_split": "test", "type": "video", "frame_index": null, "question": "Which of the following is a correct description of Spatial Relationship?", "category": "Spatial Relationship", "options": ["A. Vehicles in each lane are maintaining a safe distance from the vehicles in front and behind while driving at a constant speed.", "B. Vehicles in each lane are closely following the vehicle in front with frequent acceleration and deceleration.", "C. Vehicles in the right lane are changing lanes in succession to overtake and are converging to the left.", "D. Vehicles in the left lane are gradually merging into a single line to avoid a construction zone."], "answer_index": 0}
{"token": "27b29232b5da3b738d8b6be87263514c", "waymo_split": "test", "type": "video", "frame_index": null, "question": "Which of the following is a correct description of traffic signals?", "category": "Traffic Signal", "options": ["A. Straight arrow on the road", "B. No left turn sign", "C. None", "D. Red light of the traffic light"], "answer_index": 2}
{"token": "27b29232b5da3b738d8b6be87263514c", "waymo_split": "test", "type": "video", "frame_index": null, "question": "Is there a blind spot?", "category": "Uncertainty", "options": ["A. Yes", "B. It is in the rear", "C. It is on the right", "D. No"], "answer_index": 3}
{"token": "27b29232b5da3b738d8b6be87263514c", "waymo_split": "test", "type": "video", "frame_index": null, "question": "What is a safety-critical object?", "category": "Safety-critical Perception", "options": ["A. A motorcycle driving through the left rear lane of your vehicle", "B. A passenger car slowing down through the left front lane of your vehicle", "C. A bicycle driving along the left rear shoulder of your vehicle", "D. A motorcycle driving through the right rear lane of your vehicle"], "answer_index": 0}
{"token": "27b29232b5da3b738d8b6be87263514c", "waymo_split": "test", "type": "video", "frame_index": null, "question": "Summary of Ego (self-vehicle) behavior before a safety-critical situation", "category": "Normal scene Understanding", "options": ["A. Changing lanes", "B. Proceeding to turn right", "C. Proceeding to turn left", "D. Driving straight"], "answer_index": 3}
{"token": "27b29232b5da3b738d8b6be87263514c", "waymo_split": "test", "type": "video", "frame_index": null, "question": "What is the correlation in safety-critical situations?", "category": "Safety-critical scene Understanding", "options": ["A. Truck-Pedestrian", "B. Car-Bicycle", "C. Car-Motorcycle", "D. Person-Motorcycle"], "answer_index": 2}
{"token": "27b29232b5da3b738d8b6be87263514c", "waymo_split": "test", "type": "video", "frame_index": null, "question": "How did the safety-critical object move and how did the ego vehicle behave?", "category": "Safety-critical scene Understanding", "options": ["A. The object stopped at the traffic signal in front of the intersection. The ego vehicle is stopped while maintaining its lane.", "B. Other vehicles behind are overtaking and driving through the lanes. The ego vehicle is maintaining a constant speed and continuing to drive straight.", "C. The object changed lanes to the right and gradually decelerated. The ego vehicle is reducing speed while maintaining a safe distance and following.", "D. The object entered the left lane and blocked the front. The ego vehicle is braking and temporarily decelerating to maintain distance."], "answer_index": 1}
{"token": "27b29232b5da3b738d8b6be87263514c", "waymo_split": "test", "type": "video", "frame_index": null, "question": "Who is responsible in a safety-critical situation? What is the cause?", "category": "Safety-critical scene Understanding", "options": ["A. It is the rear vehicle's responsibility. Because it was tailgating due to speeding.", "B. It is the motorcycle's responsibility. Because it is quickly overtaking on a narrow road using the lane.", "C. It is the responsibility of the road management. Because there was insufficient signage and guidance in the construction area, obstructing visibility.", "D. It is the front vehicle's responsibility. Because it changed lanes suddenly without signaling."], "answer_index": 1}
{"token": "27b29232b5da3b738d8b6be87263514c", "waymo_split": "test", "type": "image", "frame_index": 9, "question": "Based on the current appearance of the person/vehicle (two-wheeled), how do you intend to move?", "category": "Normal Perception & Prediction", "options": ["A. Going straight", "B. Entering left turn", "C. Preparing for right turn", "D. Attempting a U-turn"], "answer_index": 0}
{"token": "27b29232b5da3b738d8b6be87263514c", "waymo_split": "test", "type": "video", "frame_index": null, "question": "What potential situations may arise depending on the type/condition of the road?", "category": "Normal Perception & Prediction", "options": ["A. Since it is an unpaved road, I will avoid bumps and drive slowly. After that, driving at a reduced speed will continue due to the slippery surface.", "B. Since it is a general urban road, there will be frequent stops and starts according to the signals. After that, situations where the flow is interrupted due to intersections and pedestrians will continue.", "C. Since it is a construction zone, there will be reduced lanes leading to slow driving and sudden lane changes. After that, deceleration and congestion according to the guide signs will continue.", "D. Since it is a highway, vehicles will continue to drive at high speeds. After that, the same road conditions and driving will continue."], "answer_index": 3}
{"token": "27b29232b5da3b738d8b6be87263514c", "waymo_split": "test", "type": "video", "frame_index": null, "question": "What situation would occur if the vehicle acted this way?", "category": "Counterfactual", "options": ["A. If the vehicle changes lanes to the right, the distance from the bus ahead increases, reducing the risk. Since the following vehicles are also moving slowly, the risk of a chain collision is low.", "B. If the vehicle changes lanes to the left, there is a risk of collision with the motorcycle behind. Additionally, the vehicles behind are also driving at high speed, increasing the risk of a chain collision.", "C. If the vehicle accelerates without entering the left lane, the distance to the vehicle in front is maintained, eliminating the risk of a collision. The vehicles behind also secure a safe distance, reducing the concern for a chain accident.", "D. If the vehicle maintains a straight path, the taxi in the left lane yields, allowing for smooth traffic flow. Subsequently, the motorcycle also reduces speed, eliminating the risk of a collision."], "answer_index": 1}
{"token": "27b29232b5da3b738d8b6be87263514c", "waymo_split": "test", "type": "image", "frame_index": 9, "question": "Which of the following is correct as an Image Caption from the perspective of a Normal Frame?", "category": "Normal scene caption", "options": ["A. A vehicle passing through an urban intersection. There are many shops and pedestrians on both sides. The distance to the vehicle in front is almost negligible.", "B. A vehicle trapped in a congestion section on a national road. The distance between vehicles in front, behind, and on both sides is tight, and the distance to the vehicle ahead is less than a few meters.", "C. A vehicle driving on the highway. There are many vehicles in front, behind, and on both sides, and the distance to the vehicles ahead is quite far.", "D. A vehicle leisurely driving on a coastal road. There are almost no vehicles around, and only one vehicle is slowly moving right in front."], "answer_index": 2}
{"token": "27b29232b5da3b738d8b6be87263514c", "waymo_split": "test", "type": "image", "frame_index": 9, "question": "What is the plan for yielding when an ambulance/fire truck approaches?", "category": "Special Event", "options": ["A. Move to the left lane to guide the direction of travel", "B. Temporarily increase speed to maintain distance from the vehicle ahead", "C. Slow down gradually to yield space in front", "D. Maintain the current lane and only turn on the hazard lights"], "answer_index": 2}
{"token": "27b29232b5da3b738d8b6be87263514c", "waymo_split": "test", "type": "image", "frame_index": 9, "question": "What are the restrictions on behavior in school zones/congested areas?", "category": "Special Event", "options": ["A. Not applicable (because it is a highway)", "B. Priority for pedestrians (children's protection area)", "C. Compliance with 30 km/h (because it is a school zone)", "D. Use of horn prohibited (congested area regulations)"], "answer_index": 0}
{"token": "27b29232b5da3b738d8b6be87263514c", "waymo_split": "test", "type": "image", "frame_index": 9, "question": "Which of the following is a correct description of traffic density?", "category": "Normal scene Understanding", "options": ["A. Slow, few surrounding vehicles exist", "B. Slow, almost no surrounding vehicles", "C. Slow, a small number of surrounding vehicles exist", "D. Fast, many surrounding vehicles exist"], "answer_index": 3}
{"token": "27b29232b5da3b738d8b6be87263514c", "waymo_split": "test", "type": "image", "frame_index": 9, "question": "What are the classifications of scenes?", "category": "Normal scene Understanding", "options": ["A. City", "B. Highway", "C. Unpaved", "D. Residential area"], "answer_index": 1}
{"token": "27b29232b5da3b738d8b6be87263514c", "waymo_split": "test", "type": "image", "frame_index": 9, "question": "Which of the following is a correct description of the environment?", "category": "Normal scene Understanding", "options": ["A. Evening, cloudy", "B. Morning, light fog", "C. Night, light rain", "D. Day, clear"], "answer_index": 3}
{"token": "27b29232b5da3b738d8b6be87263514c", "waymo_split": "test", "type": "image", "frame_index": 9, "question": "Which of the following is a correct description of traffic signals?", "category": "Traffic Signal", "options": ["A. Traffic light", "B. Sign", "C. Stop line", "D. None"], "answer_index": 3}
{"token": "27b29232b5da3b738d8b6be87263514c", "waymo_split": "test", "type": "image", "frame_index": 9, "question": "What is the answer regarding the presence of parked vehicles on the shoulder, the existence of a center line, and whether Ego crosses the center line?", "category": "Normal Perception & Prediction", "options": ["A. There is a center line. No parked vehicles on the shoulder. My vehicle does not cross the center line.", "B. There is a center line. There are parked vehicles on the shoulder. My vehicle crosses the center line.", "C. There is a center line. No parked vehicles on the shoulder. My vehicle crosses the center line.", "D. There is no center line. There are parked vehicles on the shoulder. My vehicle does not cross the center line."], "answer_index": 0}
{"token": "27b29232b5da3b738d8b6be87263514c", "waymo_split": "test", "type": "image", "frame_index": 9, "question": "Is there a blind spot in your field of vision?", "category": "Uncertainty", "options": ["A. There is a rear blind spot", "B. There is a right blind spot", "C. There is no blind spot", "D. There is no left blind spot"], "answer_index": 2}
{"token": "27b29232b5da3b738d8b6be87263514c", "waymo_split": "test", "type": "image", "frame_index": 9, "question": "What is the description of non-safety-critical objects?", "category": "Normal Perception & Prediction", "options": ["A. Vehicles moving slowly in front and behind, and large trucks in each lane", "B. Vehicles traveling in the same direction next to the right central divider", "C. Commercial buildings and a large parking lot outside the highway", "D. Vehicles speeding in front and behind, and in each lane. Vehicles traveling in the opposite lane next to the left central guardrail. Trees outside the highway"], "answer_index": 3}
{"token": "27b29232b5da3b738d8b6be87263514c", "waymo_split": "test", "type": "image", "frame_index": 9, "question": "Is there any other safety-critical object besides the first safety-critical object? If so, how will it be moved?", "category": "Safety-critical Prediction", "options": ["A. There is an oxygen cylinder, transported upright with a cart and valve protection cap attached.", "B. There is a high-pressure battery pack, moved with a cart while wearing insulated gloves.", "C. There are no other safety-critical objects.", "D. There is a hazardous chemical container, transported slowly with a lift after confirming it is sealed."], "answer_index": 2}
{"token": "27b29232b5da3b738d8b6be87263514c", "waymo_split": "test", "type": "image", "frame_index": 9, "question": "What is a safety-critical object?", "category": "Safety-critical Perception", "options": ["A. No safety-critical object", "B. Brake control module", "C. Emergency stop switch", "D. Steering torque sensor"], "answer_index": 0}
{"token": "27b29232b5da3b738d8b6be87263514c", "waymo_split": "test", "type": "image", "frame_index": 9, "question": "How do you think safety-critical objects will move?", "category": "Safety-critical Prediction", "options": ["A. Expected pedestrian crossing ahead", "B. Approach safety-critical object from the left", "C. Merge with cyclist in the right lane", "D. No safety-critical objects"], "answer_index": 3}
{"token": "27b29232b5da3b738d8b6be87263514c", "waymo_split": "test", "type": "image", "frame_index": 9, "question": "How should I drive to resolve the first risk while also addressing the second risk?", "category": "Safety-critical Planning", "options": ["A. There are no more safety-critical objects ahead", "B. Approach the next safety-critical object from the left", "C. Gradually slow down to avoid the next risk", "D. The next safety-critical object is in the right lane"], "answer_index": 0}
{"token": "27b29232b5da3b738d8b6be87263514c", "waymo_split": "test", "type": "image", "frame_index": 32, "question": "Based on the current appearance of the person/vehicle (two-wheeled), how do they intend to move?", "category": "Normal Perception & Prediction", "options": ["A. Preparing for a U-turn", "B. Driving straight", "C. Entering a left turn", "D. Proceeding with a right turn"], "answer_index": 1}
{"token": "27b29232b5da3b738d8b6be87263514c", "waymo_split": "test", "type": "image", "frame_index": 9, "question": "What is the safest choice just before entering a yellow signal: stop vs. pass?", "category": "Special Event", "options": ["A. No signal, unable to judge (it's a highway)", "B. Slow down and pass (yellow flashing section)", "C. Emergency stop at the stop line (it's a highway)", "D. Immediate stop at yellow (urban intersection)"], "answer_index": 0}
{"token": "27b29232b5da3b738d8b6be87263514c", "waymo_split": "test", "type": "image", "frame_index": 32, "question": "Which of the following is a correct description of traffic density?", "category": "Normal scene Understanding", "options": ["A. Slow. Few surrounding vehicles exist", "B. Fast. Many surrounding vehicles exist", "C. Slow. Almost no surrounding vehicles", "D. Fast. Surrounding vehicles are rarely seen"], "answer_index": 1}
{"token": "27b29232b5da3b738d8b6be87263514c", "waymo_split": "test", "type": "image", "frame_index": 32, "question": "What is the plan for yielding when an ambulance/fire truck approaches?", "category": "Special Event", "options": ["A. Gather towards the center line and pass through first", "B. Pull over to the shoulder to secure the path", "C. Maintain speed and proceed with only the hazard lights on", "D. Slow down gradually and yield space ahead"], "answer_index": 3}
{"token": "27b29232b5da3b738d8b6be87263514c", "waymo_split": "test", "type": "image", "frame_index": 32, "question": "What are the restrictions on behavior in school zones/congested areas?", "category": "Special Event", "options": ["A. No use of the horn (because it is a congested area)", "B. Pedestrians have the right of way (because it is a children's protection area)", "C. Speed limit of 30 km/h (because it is a school zone)", "D. Not applicable (because it is a highway)"], "answer_index": 3}
{"token": "27b29232b5da3b738d8b6be87263514c", "waymo_split": "test", "type": "image", "frame_index": 32, "question": "Which of the following is correct as an Image Caption from the perspective of a Normal Frame?", "category": "Normal scene caption", "options": ["A. A vehicle driving on a city road. There are few cars around, making it quiet. There is a sufficient distance from the vehicle in front.", "B. A vehicle slowing down at a highway exit ramp. The lanes on both sides are relatively empty, and there is a sufficient gap from the vehicle ahead.", "C. A vehicle traveling on a straight section of a national road. Only a few vehicles are visible behind, and the front is clear, maintaining a good distance from the vehicle ahead.", "D. A vehicle driving on the highway. There are many vehicles around, and the distance to the vehicles in front has decreased (but a safe distance is still maintained)."], "answer_index": 3}
{"token": "27b29232b5da3b738d8b6be87263514c", "waymo_split": "test", "type": "image", "frame_index": 32, "question": "Which of the following is a correct description of the environment?", "category": "Normal scene Understanding", "options": ["A. Dawn, fog", "B. Dusk, cloudy", "C. Daytime, clear", "D. Night, rain"], "answer_index": 2}
{"token": "27b29232b5da3b738d8b6be87263514c", "waymo_split": "test", "type": "image", "frame_index": 32, "question": "What are the classifications of scenes?", "category": "Normal scene Understanding", "options": ["A. Residential area", "B. City", "C. Highway", "D. Unpaved"], "answer_index": 2}
{"token": "27b29232b5da3b738d8b6be87263514c", "waymo_split": "test", "type": "image", "frame_index": 32, "question": "Which of the following is a correct description of traffic signals?", "category": "Traffic Signal", "options": ["A. Speed 30", "B. None", "C. Left turn signal", "D. Stop sign"], "answer_index": 1}
{"token": "27b29232b5da3b738d8b6be87263514c", "waymo_split": "test", "type": "image", "frame_index": 32, "question": "Is there a blind spot in your field of vision?", "category": "Uncertainty", "options": ["A. There is a blind spot on the left", "B. There is no blind spot", "C. There is a blind spot on the right", "D. There is a blind spot"], "answer_index": 1}
{"token": "27b29232b5da3b738d8b6be87263514c", "waymo_split": "test", "type": "image", "frame_index": 32, "question": "Which of the following describes a non-safety-critical object?", "category": "Normal Perception & Prediction", "options": ["A. Commercial buildings and large billboards outside the highway", "B. Vehicles traveling at high speed in front and behind, and in each lane. Vehicles traveling in the opposite lane next to the left central guardrail. Trees outside the highway", "C. A cargo truck parked on the right shoulder and a safety triangle", "D. Vehicles lined up at the toll booth in front of the tollgate"], "answer_index": 1}
{"token": "27b29232b5da3b738d8b6be87263514c", "waymo_split": "test", "type": "image", "frame_index": 32, "question": "What is a safety-critical object?", "category": "Safety-critical Perception", "options": ["A. Main power cutoff relay", "B. No safety-critical object", "C. Main emergency stop button", "D. Driving brake actuator"], "answer_index": 1}
{"token": "27b29232b5da3b738d8b6be87263514c", "waymo_split": "test", "type": "image", "frame_index": 32, "question": "How do you think a safety-critical object will move?", "category": "Safety-critical Prediction", "options": ["A. Accelerate while overtaking the car in front", "B. No safety-critical object", "C. Right turn towards the pedestrian", "D. Slightly merge into the left lane"], "answer_index": 1}
{"token": "27b29232b5da3b738d8b6be87263514c", "waymo_split": "test", "type": "image", "frame_index": 32, "question": "Are there any other safety-critical objects besides the first safety-critical object? If so, how would you move?", "category": "Safety-critical Prediction", "options": ["A. Next safety-critical object: floor power cable, turn left avoiding the cable", "B. Next safety-critical object: left fire hydrant, detour to the right", "C. Next safety-critical object: chemical container next to the workbench, move to the right while maintaining a safe distance", "D. No other safety-critical objects"], "answer_index": 3}
{"token": "27b29232b5da3b738d8b6be87263514c", "waymo_split": "test", "type": "image", "frame_index": 32, "question": "How should I drive to address the first risk while also addressing the second risk?", "category": "Safety-critical Planning", "options": ["A. There is a next safety-critical object.", "B. Enter the right bicycle lane and slow down.", "C. There is no next safety-critical object.", "D. Preparation for sudden stops ahead is necessary."], "answer_index": 2}
{"token": "27b29232b5da3b738d8b6be87263514c", "waymo_split": "test", "type": "image", "frame_index": 32, "question": "Is lane changing possible? Which is safer between slowing down and changing lanes?", "category": "Safety-critical Planning", "options": ["A. Slowing down is safer (there is space ahead and maintaining the current lane is stable)", "B. Slowing down is safer (the motorcycle behind is too close, making lane change inappropriate)", "C. Changing lanes is safer (there is enough space to change lanes on both sides)", "D. Slowing down is safer (there is a bus lane on the left and a merging area on the right, making it dangerous)"], "answer_index": 2}
{"token": "27b29232b5da3b738d8b6be87263514c", "waymo_split": "test", "type": "image", "frame_index": 32, "question": "What is the answer regarding parked vehicles on the shoulder, the presence of a center line, and whether Ego crosses the center line?", "category": "Normal Perception & Prediction", "options": ["A. No center line. No parked vehicles on the shoulder. My vehicle does not cross the center line.", "B. Center line exists. No parked vehicles on the shoulder. My vehicle slightly crosses the center line.", "C. Center line exists. No parked vehicles on the shoulder. My vehicle does not cross the center line.", "D. Center line exists. There are parked vehicles on the shoulder. My vehicle does not cross the center line."], "answer_index": 2}
{"token": "27b29232b5da3b738d8b6be87263514c", "waymo_split": "test", "type": "image", "frame_index": 32, "question": "Where is the area that hides danger in the current frame?", "category": "Uncertainty", "options": ["A. Right sidewalk corner", "B. No such area", "C. Front bus side", "D. Behind the left truck"], "answer_index": 1}
{"token": "27b29232b5da3b738d8b6be87263514c", "waymo_split": "test", "type": "image", "frame_index": 32, "question": "What is the safer choice just before entering a yellow signal: stop or pass?", "category": "Special Event", "options": ["A. Maintain speed and pass (risk of rear-end collision)", "B. Come to a complete stop before the stop line (protect pedestrians)", "C. No signal, cannot determine (it's a highway)", "D. Slowing down to pass is safer (approaching an intersection)"], "answer_index": 2}
{"token": "27b29232b5da3b738d8b6be87263514c", "waymo_split": "test", "type": "image", "frame_index": 32, "question": "What potential situations could arise in the current scenario?", "category": "Counterfactual", "options": ["A. It seems likely that we will enter the right rest area and stop for a moment.", "B. It seems likely that we will soon enter the tollgate area, causing deceleration and congestion.", "C. It seems likely that lane changes and sudden deceleration will occur repeatedly due to congestion ahead.", "D. It seems likely that we will continue to drive on the highway without any unusual situations."], "answer_index": 3}
{"token": "27b29232b5da3b738d8b6be87263514c", "waymo_split": "test", "type": "image", "frame_index": 79, "question": "Based on the current appearance of the person/vehicle (two-wheeled), how do they intend to move?", "category": "Normal Perception & Prediction", "options": ["A. Going straight", "B. Entering a left turn", "C. Attempting a U-turn", "D. Proceeding to the right turn"], "answer_index": 0}
{"token": "27b29232b5da3b738d8b6be87263514c", "waymo_split": "test", "type": "image", "frame_index": 79, "question": "Which of the following is correct as an Image Caption from the perspective of a Normal Frame?", "category": "Normal scene caption", "options": ["A. A car driving on the highway. There are few cars around it. The distance to the cars in front is sufficiently far. The vehicle in front of the car is a tour bus.", "B. A car driving on the highway. There are many cars, and it has entered a congested area. The distance to the vehicle in front has become dangerously narrow. Right in front of the car is a large cargo truck moving slowly.", "C. A car driving on the highway. There are many cars around it. The distance to the vehicles in front has become a bit closer (but the safe distance is maintained). The vehicle directly in front of the car is a small truck.", "D. A car driving on a regular road in the city. Only a few waiting vehicles are visible nearby. The distance to the vehicle in front is being maintained comfortably. Right in front of the car is a white sedan moving slowly."], "answer_index": 2}
{"token": "27b29232b5da3b738d8b6be87263514c", "waymo_split": "test", "type": "image", "frame_index": 79, "question": "What are the types of scenes?", "category": "Normal scene Understanding", "options": ["A. Highway", "B. Residential area", "C. City road", "D. Unpaved road"], "answer_index": 0}
{"token": "27b29232b5da3b738d8b6be87263514c", "waymo_split": "test", "type": "image", "frame_index": 79, "question": "What are the restrictions on behavior in school zones/congested areas?", "category": "Special Event", "options": ["A. Not applicable (since it is a highway)", "B. Priority for pedestrians, yield and slow down (during school hours)", "C. Lane change restrictions, refrain from honking (in congested areas)", "D. Maintain a speed of 30 km/h (in school zones)"], "answer_index": 0}
{"token": "27b29232b5da3b738d8b6be87263514c", "waymo_split": "test", "type": "image", "frame_index": 79, "question": "Which of the following is a correct description of traffic density?", "category": "Normal scene Understanding", "options": ["A. Fast. Few surrounding vehicles are visible", "B. Slow. A small number of surrounding vehicles exist", "C. Slow. Almost no surrounding vehicles", "D. Fast. Many surrounding vehicles exist"], "answer_index": 3}
{"token": "27b29232b5da3b738d8b6be87263514c", "waymo_split": "test", "type": "image", "frame_index": 32, "question": "What is the method to avoid blind spots when passing large vehicles?", "category": "Special Event", "options": ["A. When a large vehicle appears, since it is a highway, you should drive while maintaining the maximum safe distance, and you should not drive too close to the rear of the large vehicle (as visibility ahead is obstructed).", "B. When a large vehicle appears, to quickly get out of the blind spot, you should lower your speed in the adjacent lane and drive alongside for a while, looking for an opportunity to pass (matching speeds makes it easier to predict each other's movements).", "C. When a large vehicle appears, you should closely follow behind it and move along as it clears the way, and it is better to match the flow rather than maintain a safe distance (the brake lights allow for sufficient awareness of the situation ahead).", "D. When a large vehicle appears, you should drive as close as possible to the driver's side, and signaling your presence with lights makes it safer (as the driver can see right next to them)."], "answer_index": 0}
{"token": "27b29232b5da3b738d8b6be87263514c", "waymo_split": "test", "type": "image", "frame_index": 79, "question": "What is the plan for yielding when an ambulance/fire truck approaches?", "category": "Special Event", "options": ["A. Merge into the right lane while maintaining speed", "B. Stop in the center of the lane with hazard lights on", "C. Slowly reduce speed and yield space ahead", "D. Honk the horn, overtake the vehicle in front, and move to the left"], "answer_index": 2}
{"token": "27b29232b5da3b738d8b6be87263514c", "waymo_split": "test", "type": "image", "frame_index": 79, "question": "Which of the following descriptions about the environment is correct?", "category": "Normal scene Understanding", "options": ["A. Evening, cloudy", "B. Night, rain", "C. Day, clear", "D. Dawn, fog"], "answer_index": 2}
{"token": "27b29232b5da3b738d8b6be87263514c", "waymo_split": "test", "type": "image", "frame_index": 79, "question": "Which of the following is a correct description of traffic signals?", "category": "Traffic Signal", "options": ["A. None", "B. No left turn", "C. Stop", "D. Speed limit 50"], "answer_index": 0}
{"token": "27b29232b5da3b738d8b6be87263514c", "waymo_split": "test", "type": "image", "frame_index": 79, "question": "What is the description of non-safety-critical objects?", "category": "Normal Perception & Prediction", "options": ["A. A stopped passenger car on the right front shoulder and orange cones near the emergency parking area", "B. Construction vehicles slowly driving in the same direction beyond the left central guardrail in the auxiliary lane", "C. Tractors and greenhouses in the fields outside the highway", "D. Vehicles speeding in both directions and in each lane. Vehicles driving in the opposite lane next to the left central guardrail. Trees outside the highway"], "answer_index": 3}
{"token": "27b29232b5da3b738d8b6be87263514c", "waymo_split": "test", "type": "image", "frame_index": 79, "question": "Is there a blind spot?", "category": "Uncertainty", "options": ["A. No blind spot", "B. There is a blind spot", "C. There is a partial blind spot", "D. There is a right blind spot"], "answer_index": 0}
{"token": "27b29232b5da3b738d8b6be87263514c", "waymo_split": "test", "type": "image", "frame_index": 79, "question": "What is a safety-critical object?", "category": "Safety-critical Perception", "options": ["A. Safety-critical power cut relay", "B. Safety-critical emergency stop switch", "C. No safety-critical object", "D. Safety-critical brake controller"], "answer_index": 2}
{"token": "27b29232b5da3b738d8b6be87263514c", "waymo_split": "test", "type": "image", "frame_index": 79, "question": "What is the answer regarding the presence of parked vehicles on the shoulder, the existence of a center line, and whether Ego crosses the center line?", "category": "Normal Perception & Prediction", "options": ["A. There is a center line. No parked vehicles on the shoulder. My vehicle crosses the center line.", "B. There is a center line. There are parked vehicles on the shoulder. My vehicle does not cross the center line.", "C. There is a center line. No parked vehicles on the shoulder. My vehicle does not cross the center line.", "D. There is no center line. No parked vehicles on the shoulder. My vehicle does not cross the center line."], "answer_index": 2}
{"token": "27b29232b5da3b738d8b6be87263514c", "waymo_split": "test", "type": "image", "frame_index": 79, "question": "How do you think a safety-critical object will move?", "category": "Safety-critical Prediction", "options": ["A. Approaching a safety-critical object", "B. Safety-critical object detected", "C. No safety-critical object", "D. In proximity to a safety-critical object"], "answer_index": 2}
{"token": "27b29232b5da3b738d8b6be87263514c", "waymo_split": "test", "type": "image", "frame_index": 79, "question": "What is the safest choice just before entering a yellow signal: stop vs. proceed?", "category": "Special Event", "options": ["A. Change to the left lane and proceed (to secure visibility)", "B. Come to a complete stop before the stop line (before entering the intersection)", "C. Maintain speed and proceed (risk of rear-end collision)", "D. No signal, cannot determine (on the highway)"], "answer_index": 3}
{"token": "27b29232b5da3b738d8b6be87263514c", "waymo_split": "test", "type": "image", "frame_index": 79, "question": "Where is the area that hides danger in the current frame?", "category": "Uncertainty", "options": ["A. Right alley entrance", "B. Between the vehicles in front", "C. Behind the left truck", "D. No such area"], "answer_index": 3}
{"token": "27b29232b5da3b738d8b6be87263514c", "waymo_split": "test", "type": "image", "frame_index": 79, "question": "How should I drive to resolve the first risk while also addressing the second risk?", "category": "Safety-critical Planning", "options": ["A. No more safety-critical objects ahead", "B. Wait on the right shoulder after decelerating", "C. Stop immediately with a hard brake", "D. Avoid by changing to the left lane"], "answer_index": 0}
{"token": "27b29232b5da3b738d8b6be87263514c", "waymo_split": "test", "type": "image", "frame_index": 79, "question": "What potential situations could arise in the current circumstances?", "category": "Counterfactual", "options": ["A. It seems that we will enter a sudden traffic jam due to increased traffic volume.", "B. It seems that we will soon exit onto the national road at the junction to detour.", "C. It seems that lane control will continue due to construction in the front section.", "D. It seems that we will continue to drive on the highway without any unusual situations."], "answer_index": 3}
{"token": "27b29232b5da3b738d8b6be87263514c", "waymo_split": "test", "type": "image", "frame_index": 79, "question": "Are there any other safety-critical objects besides the first safety-critical object? If so, how will you move?", "category": "Safety-critical Prediction", "options": ["A. There is a next safety-critical object: front tool, move to the left safety zone", "B. There is no next safety-critical object", "C. There is a next safety-critical object: floor spill, move around to the rear", "D. There is a next safety-critical object: exposed wire, move along the right wall"], "answer_index": 1}
{"token": "27b29232b5da3b738d8b6be87263514c", "waymo_split": "test", "type": "image", "frame_index": 79, "question": "What is the method to avoid blind spots when passing large vehicles?", "category": "Special Event", "options": ["A. When a large vehicle appears, maintain the same speed alongside it for a long time to slowly pass through the blind spot, and avoid unnecessary lane changes for safety. (The smaller the speed difference, the more stable it is)", "B. When a large vehicle appears, since it is a highway, it is efficient to reduce the distance to the large vehicle as much as possible for windbreak effect and it is better to continue moving behind the large vehicle if possible. (The front vehicle reduces air resistance)", "C. When a large vehicle appears, it is better to signal your presence with headlights and slowly move away from the blind spot while observing the situation, and there is no need to quickly increase the distance. (If the driver is aware, the risk decreases)", "D. When a large vehicle appears, since it is a highway, you must secure as much safety distance as possible while driving, and you should not drive too close to the rear of the large vehicle. (Because visibility ahead is obstructed)"], "answer_index": 3}
{"token": "27b29232b5da3b738d8b6be87263514c", "waymo_split": "test", "type": "image", "frame_index": 116, "question": "Based on the current appearance of the person/vehicle (two-wheeled), how do you intend to move?", "category": "Normal Perception & Prediction", "options": ["A. Going straight", "B. Turning right", "C. Turning left", "D. Preparing to make a U-turn"], "answer_index": 0}
{"token": "27b29232b5da3b738d8b6be87263514c", "waymo_split": "test", "type": "image", "frame_index": 116, "question": "Which of the following is correct as an Image Caption from the perspective of a Normal Frame?", "category": "Normal scene caption", "options": ["A. A car driving on the highway. The traffic volume around is relatively sparse. The distance to the car in front is kept sufficiently far. The car directly ahead is a gray SUV. A motorcycle merges into the lane from the front right, not from the rear.", "B. A car driving on the highway. There are many vehicles around. The distance to the vehicles in front has become a bit closer (but the safe distance is maintained). The vehicle directly in front of the car is a small truck. A motorcycle is visible coming from the rear left lane.", "C. A car driving on a national road. There are not many vehicles around. The gap with the vehicles in front has become a bit wider. The vehicle directly in front of the car is a white sedan. A motorcycle is coming from the rear right lane and is in view.", "D. A car driving on an urban overpass. The flow of traffic is much more relaxed. The distance to the vehicles in front has actually increased. A large bus is maintaining speed in front of the car. A passenger car is quickly approaching from the rear left lane."], "answer_index": 1}
{"token": "27b29232b5da3b738d8b6be87263514c", "waymo_split": "test", "type": "image", "frame_index": 116, "question": "Which of the following is correct from the perspective of Safety-critical Frame regarding Image Caption?", "category": "Safety-critical scene caption", "options": ["A. A small scooter is temporarily stopped in the left lane behind the vehicle, waiting for the signal. It is standing correctly in the lane without any movement.", "B. A motorcycle is approaching from the right lane behind the vehicle, moving straight towards the shoulder lane. It is not weaving between cars and is only moving along the edge.", "C. A motorcycle approaching from the right lane in front of the vehicle catches the eye. This motorcycle is maintaining the center of the lane while keeping a distance from surrounding vehicles.", "D. A motorcycle is visible coming from the left lane behind the vehicle. This motorcycle is riding on the lane lines and navigating between the cars."], "answer_index": 3}
{"token": "27b29232b5da3b738d8b6be87263514c", "waymo_split": "test", "type": "image", "frame_index": 116, "question": "What are the restrictions on behavior in school zones/congested areas?", "category": "Special Event", "options": ["A. Drive at a speed of 30 km/h or less (pedestrian priority)", "B. Minimize lane changes and drive slowly in congested areas", "C. Not applicable (since it is a highway)", "D. No use of horns (in school zone areas)"], "answer_index": 2}
{"token": "27b29232b5da3b738d8b6be87263514c", "waymo_split": "test", "type": "image", "frame_index": 116, "question": "Which of the following is a correct description of traffic density?", "category": "Normal scene Understanding", "options": ["A. Fast. Many surrounding vehicles exist", "B. Slow. Few surrounding vehicles exist", "C. Slow. Almost no surrounding vehicles", "D. Fast. Surrounding vehicles are sparse"], "answer_index": 0}
{"token": "27b29232b5da3b738d8b6be87263514c", "waymo_split": "test", "type": "image", "frame_index": 116, "question": "Which of the following descriptions about the environment is correct?", "category": "Normal scene Understanding", "options": ["A. Dawn, fog", "B. Dusk, cloudy", "C. Daytime, clear", "D. Night, drizzle"], "answer_index": 2}
{"token": "27b29232b5da3b738d8b6be87263514c", "waymo_split": "test", "type": "image", "frame_index": 116, "question": "What are the classifications of scenes?", "category": "Normal scene Understanding", "options": ["A. City", "B. Highway", "C. Unpaved", "D. Residential area"], "answer_index": 1}
{"token": "27b29232b5da3b738d8b6be87263514c", "waymo_split": "test", "type": "image", "frame_index": 116, "question": "What is the plan for yielding when an ambulance/fire truck approaches?", "category": "Special Event", "options": ["A. Maintain the current lane, only check the rear, and proceed slowly", "B. Slowly reduce speed and yield space in front", "C. Move to the left lane and secure my progress first", "D. Maintain speed and indicate yielding with hazard lights"], "answer_index": 1}
{"token": "27b29232b5da3b738d8b6be87263514c", "waymo_split": "test", "type": "image", "frame_index": 116, "question": "Which of the following is a correct description of traffic signals?", "category": "Traffic Signal", "options": ["A. None", "B. Left turn signal", "C. No right turn", "D. Stop line marking"], "answer_index": 0}
{"token": "27b29232b5da3b738d8b6be87263514c", "waymo_split": "test", "type": "image", "frame_index": 116, "question": "What is the description of non-safety-critical objects?", "category": "Normal Perception & Prediction", "options": ["A. Vehicles traveling in the same direction next to the right central guardrail", "B. Vehicles traveling at high speed in front and behind, and in each lane. Vehicles traveling in the opposite lane next to the left central guardrail. Trees outside the highway", "C. Commercial buildings outside the highway", "D. Vehicles traveling slowly in front and behind, and on the shoulder"], "answer_index": 1}
{"token": "27b29232b5da3b738d8b6be87263514c", "waymo_split": "test", "type": "image", "frame_index": 116, "question": "How do you think a safety-critical object would move?", "category": "Safety-critical Prediction", "options": ["A. It is overtaking between cars on both sides along the lane.", "B. It is entering an intersection and moving into the left turn lane.", "C. It is stopped at the very back of the waiting line for the signal.", "D. It is slowly exiting along the shoulder."], "answer_index": 0}
{"token": "27b29232b5da3b738d8b6be87263514c", "waymo_split": "test", "type": "image", "frame_index": 116, "question": "Is there a blind spot?", "category": "Uncertainty", "options": ["A. No blind spot", "B. Right blind spot", "C. Rear blind spot", "D. There is a blind spot"], "answer_index": 0}
{"token": "27b29232b5da3b738d8b6be87263514c", "waymo_split": "test", "type": "image", "frame_index": 116, "question": "What is a safety-critical object?", "category": "Safety-critical Perception", "options": ["A. A delivery truck parked on the left shoulder in front of my vehicle", "B. A bicycle moving slowly in the right lane in front of my vehicle", "C. A passenger car moving away in the right lane behind my vehicle", "D. A motorcycle approaching in the left lane behind my vehicle"], "answer_index": 3}
{"token": "27b29232b5da3b738d8b6be87263514c", "waymo_split": "test", "type": "image", "frame_index": 116, "question": "What is the answer regarding the presence of parked vehicles on the shoulder, the existence of a central line, and whether Ego crosses the central line?", "category": "Normal Perception & Prediction", "options": ["A. There is a central line. No parked vehicles on the shoulder. My vehicle does not cross the central line (it is in the second lane from the right, which is far from the central line).", "B. There is a central line (dashed). Two parked vehicles on the shoulder in a row. My vehicle crosses the central line (when overtaking on the left).", "C. There is no central line. There is a parked vehicle on the shoulder (one on the right shoulder). My vehicle crosses the central line (driving skewed to the left).", "D. There is a central line. There is a parked vehicle on the shoulder (stopped in front of a bus stop). My vehicle slightly crosses the central line (during an evasive maneuver)."], "answer_index": 0}
{"token": "27b29232b5da3b738d8b6be87263514c", "waymo_split": "test", "type": "image", "frame_index": 116, "question": "What is the correlation in safety-critical situations?", "category": "Safety-critical scene Understanding", "options": ["A. Car - Bicycle", "B. Car - Motorcycle", "C. Person - Bicycle", "D. Car - Person"], "answer_index": 1}
{"token": "27b29232b5da3b738d8b6be87263514c", "waymo_split": "test", "type": "image", "frame_index": 116, "question": "How should I drive to address the first risk while also resolving the second risk?", "category": "Safety-critical Planning", "options": ["A. Next to the safety-critical object on the left front", "B. No safety-critical object ahead", "C. Change lanes to avoid the next safety-critical object", "D. Reduce speed in relation to the next safety-critical object"], "answer_index": 1}
{"token": "27b29232b5da3b738d8b6be87263514c", "waymo_split": "test", "type": "image", "frame_index": 116, "question": "Is lane changing possible? Which is safer between slowing down and changing lanes?", "category": "Safety-critical Planning", "options": ["A. Lane changing is possible (there is space to move to the right); changing lanes is safer than slowing down.", "B. Lane changing is not possible (there are vehicles driving on both sides). Slowing down is possible.", "C. Lane changing is possible (the left lane is empty); slowing down is unnecessary.", "D. Lane changing is possible (there seems to be enough space behind); changing lanes is recommended instead of slowing down."], "answer_index": 1}
{"token": "27b29232b5da3b738d8b6be87263514c", "waymo_split": "test", "type": "image", "frame_index": 116, "question": "Is there any other safety-critical object besides the first safety-critical object? If so, how will it be moved?", "category": "Safety-critical Prediction", "options": ["A. Next safety-critical object: 1 fire extinguisher, move to the end of the right corridor", "B. Next safety-critical object: 1 gas cylinder, move near the left ventilation duct", "C. Next safety-critical object: glass shards, move to the front collection bin", "D. No other safety-critical objects"], "answer_index": 3}
{"token": "27b29232b5da3b738d8b6be87263514c", "waymo_split": "test", "type": "image", "frame_index": 116, "question": "What is the safest choice when approaching a yellow signal: stop or proceed?", "category": "Special Event", "options": ["A. Maintain speed and proceed (green signal)", "B. Quickly pass through the yellow (right turn lane)", "C. Slow down and wait at the stop line (urban intersection)", "D. No signal, cannot determine (on the highway)"], "answer_index": 3}
{"token": "27b29232b5da3b738d8b6be87263514c", "waymo_split": "test", "type": "image", "frame_index": 116, "question": "Who is responsible in a safety-critical situation? What is the cause?", "category": "Safety-critical scene Understanding", "options": ["A. The road management is responsible. The lane markings have worn out, causing drivers to confuse the lanes.", "B. The motorcycle is at fault. It is overtaking at a relatively high speed between vehicles.", "C. The bus is at fault. It suddenly stopped at a non-stop point, pushing into the adjacent lane.", "D. The car in front is at fault. It made a sudden stop in the middle of the lane without signaling, making it difficult for following vehicles to respond."], "answer_index": 1}
{"token": "27b29232b5da3b738d8b6be87263514c", "waymo_split": "test", "type": "image", "frame_index": 116, "question": "Where is the area that hides danger in the current frame?", "category": "Uncertainty", "options": ["A. Behind the street tree on the sidewalk", "B. Bottom left shadow area", "C. Blind spot behind the bus", "D. No such area"], "answer_index": 3}
{"token": "27b29232b5da3b738d8b6be87263514c", "waymo_split": "test", "type": "image", "frame_index": 143, "question": "Based on the current appearance of the person/vehicle (two-wheeled), how do they intend to move?", "category": "Normal Perception & Prediction", "options": ["A. Going straight", "B. Preparing for a U-turn", "C. Entering a left turn", "D. Proceeding to the right turn"], "answer_index": 0}
{"token": "27b29232b5da3b738d8b6be87263514c", "waymo_split": "test", "type": "image", "frame_index": 143, "question": "Which of the following is correct from the perspective of Safety-critical Frame regarding Image Caption?", "category": "Safety-critical scene caption", "options": ["A. A motorcycle that was traveling in the right lane in front of my car slowed down and came alongside my car. This motorcycle is maintaining its lane and driving within the lane. It shows no signs of overtaking my car and is following at a similar speed.", "B. A motorcycle coming from the left lane behind my car has overtaken right behind my car. This motorcycle is driving between the cars while straddling the lane. It is maintaining a speed that suggests it will overtake my car.", "C. A passenger car in the center lane behind my car approached quickly and came right behind my car. This vehicle is maintaining the center of the lane and is following without overtaking. There is no motorcycle visible nearby, and the situation is just that the gap between vehicles is narrowing.", "D. An ambulance with its siren on squeezed between the cars in the left lane and moved ahead of my car. The area behind my car is clear, and there are no vehicles overtaking for the time being. My car is slowing down and yielding to the left."], "answer_index": 1}
{"token": "27b29232b5da3b738d8b6be87263514c", "waymo_split": "test", "type": "image", "frame_index": 143, "question": "What is the plan for yielding when an ambulance/fire truck approaches?", "category": "Special Event", "options": ["A. Accelerate while honking and move to the left lane", "B. Turn on hazard lights and stop briefly in the middle of the intersection", "C. Move to the left shoulder and stop the vehicle", "D. Slowly reduce speed and yield space ahead"], "answer_index": 3}
{"token": "27b29232b5da3b738d8b6be87263514c", "waymo_split": "test", "type": "image", "frame_index": 143, "question": "What are the restrictions on behavior in school zones/congested areas?", "category": "Special Event", "options": ["A. Obligation to drive slowly (school zone)", "B. Not applicable (because it's a highway)", "C. Prohibition of horn use (due to pedestrian density)", "D. Lane change restrictions (congested area)"], "answer_index": 1}
{"token": "27b29232b5da3b738d8b6be87263514c", "waymo_split": "test", "type": "image", "frame_index": 143, "question": "What are the classifications of scenes?", "category": "Normal scene Understanding", "options": ["A. Unpaved road", "B. Residential area", "C. City", "D. Highway"], "answer_index": 3}
{"token": "27b29232b5da3b738d8b6be87263514c", "waymo_split": "test", "type": "image", "frame_index": 143, "question": "Which of the following is a correct description of the environment?", "category": "Normal scene Understanding", "options": ["A. Night, rain", "B. Day, clear", "C. Morning, fog", "D. Evening, cloudy"], "answer_index": 1}
{"token": "27b29232b5da3b738d8b6be87263514c", "waymo_split": "test", "type": "image", "frame_index": 143, "question": "Which of the following is a correct description of traffic density?", "category": "Normal scene Understanding", "options": ["A. Fast, few surrounding vehicles exist", "B. Fast, many surrounding vehicles exist", "C. Slow, many surrounding vehicles exist", "D. Slow, few surrounding vehicles exist"], "answer_index": 1}
{"token": "27b29232b5da3b738d8b6be87263514c", "waymo_split": "test", "type": "image", "frame_index": 143, "question": "Which of the following is a correct description of traffic signals?", "category": "Traffic Signal", "options": ["A. None", "B. Green traffic light", "C. Stop line marking", "D. No left turn sign"], "answer_index": 0}
{"token": "27b29232b5da3b738d8b6be87263514c", "waymo_split": "test", "type": "image", "frame_index": 143, "question": "Is there a blind spot?", "category": "Uncertainty", "options": ["A. No blind spot", "B. There is a blind spot", "C. Partial blind spot occurs", "D. Right blind spot exists"], "answer_index": 0}
{"token": "27b29232b5da3b738d8b6be87263514c", "waymo_split": "test", "type": "image", "frame_index": 143, "question": "What is a safety-critical object?", "category": "Safety-critical Perception", "options": ["A. A motorcycle coming from the left lane behind your vehicle", "B. A bicycle coming from the left lane behind your vehicle", "C. A motorcycle coming from the left lane in front of your vehicle", "D. A passenger car coming from the right lane behind your vehicle"], "answer_index": 0}
{"token": "27b29232b5da3b738d8b6be87263514c", "waymo_split": "test", "type": "image", "frame_index": 143, "question": "How do you think a safety-critical object will move?", "category": "Safety-critical Prediction", "options": ["A. It seems like it would stay behind my car, reduce speed, and follow at a relatively low speed while maintaining a certain distance.", "B. It seems like it would approach right behind my car and, due to a relatively high speed, overtake by driving on the left lane.", "C. It seems like it would come in with a generous gap from my car and, since the traffic signal at the upcoming intersection is close, continue straight and stop according to the signal.", "D. It seems like it would approach slightly to the right of my car, and since the surrounding flow is blocked, it would change to the right lane and merge slowly."], "answer_index": 1}
{"token": "27b29232b5da3b738d8b6be87263514c", "waymo_split": "test", "type": "image", "frame_index": 143, "question": "What is the answer regarding the presence of a central line, parked vehicles on the shoulder, and whether Ego crosses the central line?", "category": "Normal Perception & Prediction", "options": ["A. There is a central line. No parked vehicles on the shoulder. My vehicle does not cross the central line (it is in the second lane from the right, so it is far from the central line).", "B. There is no central line. There is a parked vehicle on the shoulder (a passenger car is stopped on the right shoulder). My vehicle is driving close to the central line (it is in the left lane, so it is near the central line).", "C. There is a central line, but it is a dashed section. There is a parked vehicle on the shoulder (a small truck is loading and unloading). My vehicle slightly crosses the central line (it is overtaking and moving to the left).", "D. There is a central line. There is a parked vehicle on the shoulder (a taxi is temporarily stopped to pick up a passenger). My vehicle crosses the central line (it is encroaching on the central line while waiting to turn left)."], "answer_index": 0}
{"token": "27b29232b5da3b738d8b6be87263514c", "waymo_split": "test", "type": "image", "frame_index": 143, "question": "Are there any other safety-critical objects besides the first safety-critical object? If so, how will they move?", "category": "Safety-critical Prediction", "options": ["A. No other safety-critical objects", "B. One pedestrian, moving slowly from left to right", "C. Pedestrian with a stroller, crossing from right to left", "D. One bicycle, moving straight from back to front"], "answer_index": 0}
{"token": "27b29232b5da3b738d8b6be87263514c", "waymo_split": "test", "type": "image", "frame_index": 143, "question": "How should I drive to address the first risk while also resolving the second risk?", "category": "Safety-critical Planning", "options": ["A. There is a next safety-critical object.", "B. There is no next safety-critical object.", "C. Slow down in preparation for vehicles approaching from the right.", "D. Expect a safety-critical object in the left lane."], "answer_index": 1}
{"token": "27b29232b5da3b738d8b6be87263514c", "waymo_split": "test", "type": "image", "frame_index": 143, "question": "What is the correlation in safety-critical situations?", "category": "Safety-critical scene Understanding", "options": ["A. Bus - Bicycle", "B. Car - Person", "C. Taxi - Kickboard", "D. Car - Motorcycle"], "answer_index": 3}
{"token": "27b29232b5da3b738d8b6be87263514c", "waymo_split": "test", "type": "image", "frame_index": 143, "question": "What should I do to drive safely?", "category": "Safety-critical Planning", "options": ["A. In congested areas, it is safer to slightly cross the center line and return to the opposite lane to overtake while maintaining the flow, and it is better not to reduce speed at this time.", "B. If a motorcycle squeezes between lanes, it is safer to narrow the lane by moving your vehicle closer to prevent entry and to honk the horn loudly to alert others, so you should do that.", "C. Since the motorcycle is not driving behind vehicles within the lane but rather riding on the lines between vehicles, there is a possibility of a collision with other vehicles, so you need to be cautious.", "D. On rainy nights, since the headlights are dazzling, it is safer to turn them off and only use the hazard lights, as surrounding vehicles will avoid you automatically."], "answer_index": 2}
{"token": "27b29232b5da3b738d8b6be87263514c", "waymo_split": "test", "type": "image", "frame_index": 143, "question": "Is lane change possible? Which is safer, slowing down or changing lanes?", "category": "Safety-critical Planning", "options": ["A. Lane change possible (space available in the left lane); changing lanes is safer than slowing down.", "B. Lane change possible (the right lane is moving slowly, making entry easy); changing lanes is safer than slowing down.", "C. Lane change possible (the rear vehicle is close, raising the risk of a collision if slowing down); changing lanes is safer than slowing down.", "D. Lane change not possible (vehicles are driving on both sides); slowing down is possible."], "answer_index": 3}
{"token": "27b29232b5da3b738d8b6be87263514c", "waymo_split": "test", "type": "image", "frame_index": 143, "question": "What is the safest choice when approaching a yellow signal: stop or proceed?", "category": "Special Event", "options": ["A. No signal, unable to judge (highway)", "B. Proceed slowly with hazard lights on (construction zone)", "C. Slow down and proceed straight (signal confirmed)", "D. Stop immediately at the stop line (urban intersection)"], "answer_index": 0}
{"token": "27b29232b5da3b738d8b6be87263514c", "waymo_split": "test", "type": "image", "frame_index": 143, "question": "Where is the area that hides danger in the current frame?", "category": "Uncertainty", "options": ["A. Bottom left shadow", "B. Behind the right tree", "C. Behind the large vehicle in front", "D. No such area"], "answer_index": 3}
{"token": "27b29232b5da3b738d8b6be87263514c", "waymo_split": "test", "type": "image", "frame_index": 143, "question": "Who is responsible in a safety-critical situation? What is the cause?", "category": "Safety-critical scene Understanding", "options": ["A. The motorcycle is at fault. It is overtaking at a relatively high speed between vehicles.", "B. The bus is responsible. It created a danger by suddenly moving to the right while approaching the stop and narrowing the gap.", "C. The truck is at fault. It caused a collision by driving without checking the left blind spot.", "D. The car is at fault. It suddenly changed lanes without signaling, blocking the motorcycle's path."], "answer_index": 0}
{"token": "27e3d29574a6918b32f21ef891ce9112", "waymo_split": "test", "type": "video", "frame_index": null, "question": "Where is the safety-critical situation in the video?", "category": "Temporal Grounding", "options": ["A. 2/4", "B. 3/4", "C. 4/4", "D. 1/4"], "answer_index": 2}
{"token": "27e3d29574a6918b32f21ef891ce9112", "waymo_split": "test", "type": "video", "frame_index": null, "question": "Is there a special situation?", "category": "Special Event", "options": ["A. It is a paved coastal cliff road (curved section)", "B. It is a narrow paved road in the mountains (uphill)", "C. It is a narrow paved road in a residential area (downhill)", "D. It is a narrow unpaved road in the fields (muddy road)"], "answer_index": 1}
{"token": "27e3d29574a6918b32f21ef891ce9112", "waymo_split": "test", "type": "video", "frame_index": null, "question": "Which of the following is a correct description of road alignment?", "category": "Normal Perception & Prediction", "options": ["A. Right turn then straight", "B. Straight then right turn", "C. Straight then left turn", "D. Left turn then straight"], "answer_index": 2}
{"token": "27e3d29574a6918b32f21ef891ce9112", "waymo_split": "test", "type": "video", "frame_index": null, "question": "Which of the following is a correct description of traffic density?", "category": "Normal scene Understanding", "options": ["A. Slow speed, many vehicles, sustained flat sections", "B. Moderate speed, a few vehicles, intermittent downhill slopes", "C. Fast speed, few vehicles, mainly downhill slopes", "D. Moderate speed, no vehicles, sustained uphill slopes"], "answer_index": 3}
{"token": "27e3d29574a6918b32f21ef891ce9112", "waymo_split": "test", "type": "video", "frame_index": null, "question": "What is the classification of the scene?", "category": "Normal scene Understanding", "options": ["A. Unpaved single-lane downhill road in the mountains", "B. Paved two-lane uphill road in the mountains", "C. Paved two-lane flat straight road along the coast", "D. Four-lane curved road on the outskirts of the city"], "answer_index": 1}
{"token": "27e3d29574a6918b32f21ef891ce9112", "waymo_split": "test", "type": "video", "frame_index": null, "question": "Which of the following is correct regarding Video Summary from a safety-critical scene perspective?", "category": "Safety-critical scene caption", "options": ["A. Before entering the intersection, it is flat, and a pedestrian pulling a bicycle (not in the lane) is moving on the right sidewalk. There is no impact on the driving lane, so I continue as is. (Maintaining flow)", "B. While passing through the intersection, it is downhill, and a person riding a bicycle crosses the lane at the crosswalk ahead. I maintain my speed upon seeing this. (Compliance with signals)", "C. While passing through the intersection, it is uphill, and a person pulling a bicycle (not riding) is going through my driving lane. I notice this and slow down. (To prevent a collision)", "D. After passing the intersection, it is downhill, and a person riding an electric scooter is coming towards me in the wrong direction. I change to the left lane to avoid this. (Collision prevention)"], "answer_index": 2}
{"token": "27e3d29574a6918b32f21ef891ce9112", "waymo_split": "test", "type": "video", "frame_index": null, "question": "What is the description of a non-safety-critical object?", "category": "Normal Perception & Prediction", "options": ["A. There are few trees outside the road and almost no grass.", "B. The greenery and trees outside the road are dense.", "C. There are many shops and signs lined up outside the road.", "D. Only low fences and parked cars are found outside the road."], "answer_index": 1}
{"token": "27e3d29574a6918b32f21ef891ce9112", "waymo_split": "test", "type": "video", "frame_index": null, "question": "Which of the following is a correct description of the environment?", "category": "Normal scene Understanding", "options": ["A. Dawn, fog", "B. Day, clear", "C. Evening, rain", "D. Night, cloudy"], "answer_index": 1}
{"token": "27e3d29574a6918b32f21ef891ce9112", "waymo_split": "test", "type": "video", "frame_index": null, "question": "Which of the following is a correct description of traffic signals?", "category": "Traffic Signal", "options": ["A. No signal, stop sign on the left", "B. Green traffic light, yield sign on the left", "C. No signal, no right turn sign on the right", "D. No signal, yield sign on the right"], "answer_index": 3}
{"token": "27e3d29574a6918b32f21ef891ce9112", "waymo_split": "test", "type": "video", "frame_index": null, "question": "What is a safety-critical object?", "category": "Safety-critical Perception", "options": ["A. A person walking slowly on the sidewalk and a bicycle locked to a rack", "B. A person walking on the oncoming lane in front of a car and a bicycle being pulled by a person", "C. A person standing on the shoulder behind a car and a parked bicycle", "D. A person walking in the opposite direction in the lane next to a car and a bicycle being pulled by a pedestrian"], "answer_index": 1}
{"token": "27e3d29574a6918b32f21ef891ce9112", "waymo_split": "test", "type": "video", "frame_index": null, "question": "Is there a blind spot in your field of vision?", "category": "Uncertainty", "options": ["A. The right lane at the alley exit is a blind spot.", "B. The left road at the intersection is a blind spot.", "C. The right road at the crossroads is a blind spot.", "D. The right road at the intersection is a blind spot."], "answer_index": 3}
{"token": "27e3d29574a6918b32f21ef891ce9112", "waymo_split": "test", "type": "video", "frame_index": null, "question": "What is the answer regarding parked vehicles on the shoulder, the presence of a center line, and whether Ego crosses the center line?", "category": "Normal Perception & Prediction", "options": ["A. No parked vehicles on the shoulder. No center line. No crossing.", "B. No parked vehicles on the shoulder. Center line exists. No crossing.", "C. Parked vehicles on the shoulder. Center line exists. Crossing.", "D. Parked vehicles on the shoulder. No center line. Crossing."], "answer_index": 1}
{"token": "27e3d29574a6918b32f21ef891ce9112", "waymo_split": "test", "type": "video", "frame_index": null, "question": "Which of the following is correct regarding the Video Summary from the perspective of a Normal Scene?", "category": "Normal scene caption", "options": ["A. Driving on a two-lane downhill road in the mountains. (Driving on the right) There are no vehicles in front or behind, and a junction appears where a right turn is made. The following road is also downhill, and a person riding a bicycle is moving to the shoulder ahead. Confirming this, the vehicle continues to drive.", "B. Driving on a two-lane uphill road in the mountains. (Driving on the right) A vehicle is slowly moving ahead, and a junction appears where a left turn is made. The following road is also uphill, but there is a pedestrian moving on the sidewalk ahead. There is no significant danger, so the speed is maintained.", "C. Driving on a two-lane uphill road in the mountains. (Driving on the right). There are no vehicles in front or behind. A junction appears where a left turn is made. The road that follows is also uphill, but a person pulling a bicycle (not riding) is moving through the vehicle's lane ahead. Upon noticing this, the vehicle slows down.", "D. Driving on a two-lane uphill road in the mountains. (Driving on the right) There are no vehicles in front or behind, and a junction appears soon, but the vehicle continues straight. The following section is close to flat, and a person walking with a dog is visible ahead but is off the road. The vehicle slightly increases its speed while passing by."], "answer_index": 2}
{"token": "27e3d29574a6918b32f21ef891ce9112", "waymo_split": "test", "type": "video", "frame_index": null, "question": "What is the correlation in safety-critical situations?", "category": "Safety-critical scene Understanding", "options": ["A. car-car", "B. person-two-wheeled", "C. car-two-wheeled", "D. car-person"], "answer_index": 3}
{"token": "27e3d29574a6918b32f21ef891ce9112", "waymo_split": "test", "type": "video", "frame_index": null, "question": "How did the safety-critical object move and how did the ego vehicle behave?", "category": "Safety-critical scene Understanding", "options": ["A. Walking uphill in the same direction as the ego vehicle. The ego vehicle slows down after spotting it.", "B. Running downhill in the opposite direction of the ego vehicle. The ego vehicle stops briefly to check the surroundings.", "C. Walking from the right side of the road to the left. The ego vehicle maintains speed and passes by.", "D. A bicycle is riding on flat ground in the same direction as the ego vehicle. The ego vehicle slightly changes lanes to the left to overtake."], "answer_index": 0}
{"token": "27e3d29574a6918b32f21ef891ce9112", "waymo_split": "test", "type": "video", "frame_index": null, "question": "Summary of Ego (self-vehicle) behavior before safety-critical situations", "category": "Normal scene Understanding", "options": ["A. Going straight", "B. Stopping", "C. Turning right", "D. Turning left"], "answer_index": 0}
{"token": "27e3d29574a6918b32f21ef891ce9112", "waymo_split": "test", "type": "video", "frame_index": null, "question": "What situation would have occurred if the self-driving car had acted this way?", "category": "Counterfactual", "options": ["A. If the self-driving car had yielded and slowed down, nothing would have happened.", "B. If the self-driving car had maintained its lane and gone straight, there would have been a minor contact with the car in front.", "C. If the self-driving car had honked and turned left, it would have slightly brushed against a bicycle.", "D. If the self-driving car had ignored and accelerated, it would have hit a person."], "answer_index": 3}
{"token": "27e3d29574a6918b32f21ef891ce9112", "waymo_split": "test", "type": "video", "frame_index": null, "question": "Who is responsible in a safety-critical situation? What is the cause?", "category": "Safety-critical scene Understanding", "options": ["A. The responsibility lies with the vehicle, threatening pedestrians due to unverified surroundings while changing lanes.", "B. The responsibility lies with the person, obstructing the vehicle's movement while walking on the road.", "C. The responsibility lies with the road management, as the significant curb height causes pedestrians to step onto the roadway.", "D. The responsibility lies with other vehicles, encroaching on pedestrian pathways while making a right turn without stopping."], "answer_index": 1}
{"token": "27e3d29574a6918b32f21ef891ce9112", "waymo_split": "test", "type": "image", "frame_index": 9, "question": "Based on the current appearance of the person/vehicle (two-wheeled), how do you intend to move?", "category": "Normal Perception & Prediction", "options": ["A. Turn left to enter the intersection", "B. Go straight to enter the three-way intersection", "C. Turn right to enter the alley", "D. Come to a temporary stop in front of the stop line"], "answer_index": 1}
{"token": "27e3d29574a6918b32f21ef891ce9112", "waymo_split": "test", "type": "video", "frame_index": null, "question": "What situations may potentially arise depending on the type/condition of the road?", "category": "Normal Perception & Prediction", "options": ["A. On a gravel road, even if you brake hard, the vehicle stops quickly.", "B. On a downhill road, speed decreases even without applying the brakes.", "C. On an icy road, tire grip improves.", "D. On an uphill road, the leading person may slip."], "answer_index": 3}
{"token": "27e3d29574a6918b32f21ef891ce9112", "waymo_split": "test", "type": "image", "frame_index": 9, "question": "What is the plan for yielding when an ambulance/fire truck approaches?", "category": "Special Event", "options": ["A. Yield after passing through the intersection first", "B. Move to the left lane and continue", "C. Proceed slowly with hazard lights on", "D. Stop completely and yield the path"], "answer_index": 3}
{"token": "27e3d29574a6918b32f21ef891ce9112", "waymo_split": "test", "type": "image", "frame_index": 9, "question": "Which of the following is correct as an Image Caption from the perspective of a Normal Frame?", "category": "Normal scene caption", "options": ["A. A vehicle driving in the left lane on a three-lane road in a flat area. A straight road is visible ahead (with a construction sign on the left). A bus and a taxi are passing nearby.", "B. A vehicle driving in the left lane on a two-lane downhill road. An intersection is visible ahead (with a caution sign on the left). A couple of vehicles are nearby.", "C. A vehicle driving on the right side of a two-lane uphill road. An intersection appears ahead (with a caution sign on the right). There are no vehicles around.", "D. A gentle right turn section, driving in the left lane. A crosswalk and traffic light are visible ahead (no sign on the right). One vehicle is close in front."], "answer_index": 2}
{"token": "27e3d29574a6918b32f21ef891ce9112", "waymo_split": "test", "type": "image", "frame_index": 9, "question": "Which of the following is a correct description of traffic density?", "category": "Normal scene Understanding", "options": ["A. Fast speed. Many surrounding vehicles", "B. Slow speed. Few surrounding vehicles", "C. Slightly fast speed. A few surrounding vehicles", "D. Moderate speed. No surrounding vehicles"], "answer_index": 3}
{"token": "27e3d29574a6918b32f21ef891ce9112", "waymo_split": "test", "type": "image", "frame_index": 9, "question": "Which of the following is a correct description of the environment?", "category": "Normal scene Understanding", "options": ["A. Night cloudiness", "B. Daytime clarity", "C. Morning fog", "D. Evening rain"], "answer_index": 1}
{"token": "27e3d29574a6918b32f21ef891ce9112", "waymo_split": "test", "type": "image", "frame_index": 9, "question": "What is the classification of the scene?", "category": "Normal scene Understanding", "options": ["A. Residential alley", "B. Paved two-lane road", "C. Main highway", "D. Unpaved country road"], "answer_index": 1}
{"token": "27e3d29574a6918b32f21ef891ce9112", "waymo_split": "test", "type": "image", "frame_index": 9, "question": "What are the behavioral restrictions in school zones/congested areas?", "category": "Special Event", "options": ["A. Must accelerate to pass downhill", "B. Must drive slowly uphill", "C. Must honk while turning left", "D. Vehicles must take priority over pedestrians"], "answer_index": 1}
{"token": "27e3d29574a6918b32f21ef891ce9112", "waymo_split": "test", "type": "image", "frame_index": 9, "question": "Which of the following is a correct description of traffic signals?", "category": "Traffic Signal", "options": ["A. Pedestrian traffic light ahead", "B. Caution sign on the right", "C. Stop sign on the left", "D. Speed limit sign on the road"], "answer_index": 1}
{"token": "27e3d29574a6918b32f21ef891ce9112", "waymo_split": "test", "type": "image", "frame_index": 9, "question": "What is the description of a non-safety-critical object?", "category": "Normal Perception & Prediction", "options": ["A. Construction cones, banners, and temporary fences around the roadway. A children's protection zone sign on the left.", "B. Fences, utility poles, and commercial buildings around the roadway. A no parking sign on the left.", "C. Guardrails, trees, and green spaces around the roadway. A caution sign on the right.", "D. Flower beds, fences, and bicycle racks around the roadway. A bus stop information sign on the right."], "answer_index": 2}
{"token": "27e3d29574a6918b32f21ef891ce9112", "waymo_split": "test", "type": "image", "frame_index": 9, "question": "Is there a blind spot in your field of vision?", "category": "Uncertainty", "options": ["A. None", "B. Partially", "C. Yes", "D. On the right"], "answer_index": 0}
{"token": "27e3d29574a6918b32f21ef891ce9112", "waymo_split": "test", "type": "image", "frame_index": 9, "question": "What is a safety-critical object?", "category": "Safety-critical Perception", "options": ["A. None", "B. Brake", "C. Pacemaker", "D. Airbag"], "answer_index": 0}
{"token": "27e3d29574a6918b32f21ef891ce9112", "waymo_split": "test", "type": "image", "frame_index": 9, "question": "What is the answer regarding parked vehicles on the shoulder, the presence of a center line, and whether Ego crosses the center line?", "category": "Normal Perception & Prediction", "options": ["A. No parked vehicles on the shoulder. Center line exists. Crosses.", "B. Parked vehicles on the shoulder. Center line exists. Does not cross.", "C. No parked vehicles on the shoulder. No center line. Does not cross.", "D. No parked vehicles on the shoulder. Center line exists. Does not cross."], "answer_index": 3}
{"token": "27e3d29574a6918b32f21ef891ce9112", "waymo_split": "test", "type": "image", "frame_index": 9, "question": "How do you think a safety-critical object will be moved?", "category": "Safety-critical Prediction", "options": ["A. left", "B. forward", "C. none", "D. up"], "answer_index": 2}
{"token": "27e3d29574a6918b32f21ef891ce9112", "waymo_split": "test", "type": "image", "frame_index": 9, "question": "Is there any other safety-critical object besides the first safety-critical object? If so, how would you move it?", "category": "Safety-critical Prediction", "options": ["A. There is a fire extinguisher, move it by the handle", "B. There is an oxygen tank, secure it on a cart and move it", "C. There is an AED, carry it in its case", "D. None"], "answer_index": 3}
{"token": "27e3d29574a6918b32f21ef891ce9112", "waymo_split": "test", "type": "image", "frame_index": 9, "question": "How should I drive to address the first risk while also resolving the second risk?", "category": "Safety-critical Planning", "options": ["A. None", "B. Change to the left lane", "C. Proceed while slowing down", "D. Stop briefly and then proceed"], "answer_index": 0}
{"token": "27e3d29574a6918b32f21ef891ce9112", "waymo_split": "test", "type": "image", "frame_index": 9, "question": "What is the safer choice just before entering a yellow signal: stop vs proceed?", "category": "Special Event", "options": ["A. Proceeding through the intersection is safer", "B. Immediate stop is the priority for safety", "C. No signal makes it impossible to judge", "D. It is recommended to slow down and proceed"], "answer_index": 2}
{"token": "27e3d29574a6918b32f21ef891ce9112", "waymo_split": "test", "type": "image", "frame_index": 9, "question": "Is lane changing possible? Which is safer between slowing down and changing lanes?", "category": "Safety-critical Planning", "options": ["A. Lane changing is possible (there is room since it's a two-lane section). Changing lanes is safer.", "B. Lane changing is not possible (it's a two-lane road in both directions). Slowing down is safer.", "C. Lane changing is possible (the center line is dashed, so overtaking is allowed). Changing lanes is safer.", "D. Lane changing is possible (the right bus lane is empty, so movement is possible). Changing lanes is safer."], "answer_index": 1}
{"token": "27e3d29574a6918b32f21ef891ce9112", "waymo_split": "test", "type": "image", "frame_index": 9, "question": "Where is the area that hides danger in the current frame?", "category": "Uncertainty", "options": ["A. None", "B. Bottom left", "C. Behind the tree", "D. Behind the truck"], "answer_index": 0}
{"token": "27e3d29574a6918b32f21ef891ce9112", "waymo_split": "test", "type": "image", "frame_index": 24, "question": "Based on the current appearance of the person/vehicle (two-wheeled), how are they trying to move?", "category": "Normal Perception & Prediction", "options": ["A. Preparing to make a U-turn and moving towards the center line", "B. Making a right turn and trying to enter an alley", "C. Making a left turn and entering an intersection", "D. Going straight and entering an intersection"], "answer_index": 3}
{"token": "27e3d29574a6918b32f21ef891ce9112", "waymo_split": "test", "type": "image", "frame_index": 9, "question": "What is the method to avoid the blind spot next to a large vehicle?", "category": "Special Event", "options": ["A. Drive closely alongside the large vehicle", "B. Cannot judge as there is no large vehicle", "C. Increase speed and pass in the left lane", "D. Proceed straight through the blind spot without slowing down"], "answer_index": 1}
{"token": "27e3d29574a6918b32f21ef891ce9112", "waymo_split": "test", "type": "image", "frame_index": 9, "question": "What are the new exposure risk candidates in the following section?", "category": "Safety-critical Prediction", "options": ["A. Crosswind", "B. Falling rocks", "C. Icing", "D. None"], "answer_index": 3}
{"token": "27e3d29574a6918b32f21ef891ce9112", "waymo_split": "test", "type": "image", "frame_index": 24, "question": "What is the plan for yielding when an ambulance/fire truck approaches?", "category": "Special Event", "options": ["A. Stay to the right, turn on hazard lights, and follow behind", "B. Just reduce speed and continue in the same lane", "C. Stop completely and yield the path", "D. Pass through the intersection first and then yield"], "answer_index": 2}
{"token": "27e3d29574a6918b32f21ef891ce9112", "waymo_split": "test", "type": "image", "frame_index": 24, "question": "Which of the following is correct as an Image Caption from the perspective of a Normal Frame?", "category": "Normal scene caption", "options": ["A. A vehicle traveling on the right side of a two-lane uphill road. A three-way intersection is right in front.. There are no cars around.", "B. A vehicle traveling in the left lane of a two-lane downhill road. A four-way intersection is just ahead.. Cars are sparsely visible on both sides.", "C. A vehicle waiting to turn right on a one-lane uphill road. A dead-end sign is visible straight ahead.. A motorcycle passes by.", "D. A vehicle driving in the center lane of a three-lane flat road. A crosswalk with traffic lights is nearby.. The car in front is moving slowly."], "answer_index": 0}
{"token": "27e3d29574a6918b32f21ef891ce9112", "waymo_split": "test", "type": "image", "frame_index": 24, "question": "Which of the following is a correct description of the environment?", "category": "Normal scene Understanding", "options": ["A. Night rain", "B. Dawn fog", "C. Daytime clarity", "D. Evening cloudiness"], "answer_index": 2}
{"token": "27e3d29574a6918b32f21ef891ce9112", "waymo_split": "test", "type": "image", "frame_index": 24, "question": "What is the description of a non-safety-critical object?", "category": "Normal Perception & Prediction", "options": ["A. A clear view of a no parking sign on the left, with sidewalks, store signs, and utility poles around the roadway.", "B. A partial view of a caution sign on the right, with guardrails, trees, and green spaces around the roadway.", "C. A large construction information banner in front, with metal fences, a bus stop, and flower beds around the roadway.", "D. A clear view of a crosswalk signal on the right, with stone walls, streetlights, and benches around the roadway."], "answer_index": 1}
{"token": "27e3d29574a6918b32f21ef891ce9112", "waymo_split": "test", "type": "image", "frame_index": 24, "question": "What are the behavioral restrictions in school zones/congested areas?", "category": "Special Event", "options": ["A. You must honk and prioritize crossing intersections.", "B. You must drive slowly uphill.", "C. You must accelerate while driving downhill.", "D. You must change lanes and overtake quickly."], "answer_index": 1}
{"token": "27e3d29574a6918b32f21ef891ce9112", "waymo_split": "test", "type": "image", "frame_index": 24, "question": "What is the classification of the scene?", "category": "Normal scene Understanding", "options": ["A. Narrow alley in a residential area", "B. Three-lane section of a highway", "C. Paved two-lane road", "D. Unpaved mountain path"], "answer_index": 2}
{"token": "27e3d29574a6918b32f21ef891ce9112", "waymo_split": "test", "type": "image", "frame_index": 24, "question": "Which of the following is a correct description of traffic signals?", "category": "Traffic Signal", "options": ["A. A stop sign is clearly visible on the left.", "B. Only part of a caution sign is visible on the right.", "C. The traffic light ahead is showing green.", "D. The speed limit is clearly marked on the road."], "answer_index": 1}
{"token": "27e3d29574a6918b32f21ef891ce9112", "waymo_split": "test", "type": "image", "frame_index": 24, "question": "Which of the following is a correct description of traffic density?", "category": "Normal scene Understanding", "options": ["A. Fast speed. Few surrounding vehicles", "B. Moderate speed. No surrounding vehicles", "C. Slow speed. Average surrounding vehicles", "D. Slow speed. Many surrounding vehicles"], "answer_index": 1}
{"token": "27e3d29574a6918b32f21ef891ce9112", "waymo_split": "test", "type": "image", "frame_index": 24, "question": "What is a safety-critical object?", "category": "Safety-critical Perception", "options": ["A. Power switch", "B. Brake", "C. Safety valve", "D. None"], "answer_index": 3}
{"token": "27e3d29574a6918b32f21ef891ce9112", "waymo_split": "test", "type": "image", "frame_index": 24, "question": "How do you think safety-critical objects will move?", "category": "Safety-critical Prediction", "options": ["A. None", "B. Forward", "C. Rotate", "D. Ascend"], "answer_index": 0}
{"token": "27e3d29574a6918b32f21ef891ce9112", "waymo_split": "test", "type": "image", "frame_index": 24, "question": "What is the answer regarding the presence of parked vehicles on the shoulder, the existence of a center line, and whether Ego has crossed the center line?", "category": "Normal Perception & Prediction", "options": ["A. There is a parked vehicle on the shoulder. There is a center line. No crossing.", "B. There is no parked vehicle on the shoulder. There is a center line. Crossing.", "C. There is no parked vehicle on the shoulder. There is a center line. No crossing.", "D. There is no parked vehicle on the shoulder. There is no center line. No crossing."], "answer_index": 2}
{"token": "27e3d29574a6918b32f21ef891ce9112", "waymo_split": "test", "type": "image", "frame_index": 24, "question": "Is there a blind spot in your field of vision?", "category": "Uncertainty", "options": ["A. No visibility on the right shoulder", "B. No visibility on the left lane", "C. No visibility on the right lane", "D. Sufficient visibility on the right lane"], "answer_index": 2}
{"token": "27e3d29574a6918b32f21ef891ce9112", "waymo_split": "test", "type": "image", "frame_index": 24, "question": "Are there any other safety-critical objects besides the first safety-critical object? If so, how will they be moved?", "category": "Safety-critical Prediction", "options": ["A. Put the sharp scissors in the right drawer", "B. Move the fire extinguisher next to the exit", "C. Attach the electrical power strip to the wall", "D. None"], "answer_index": 3}
{"token": "27e3d29574a6918b32f21ef891ce9112", "waymo_split": "test", "type": "image", "frame_index": 24, "question": "Where is the area that hides danger in the current frame?", "category": "Uncertainty", "options": ["A. Right lane blind spot", "B. Left rear blind spot", "C. Front intersection blind spot", "D. Left lane blind spot"], "answer_index": 0}
{"token": "27e3d29574a6918b32f21ef891ce9112", "waymo_split": "test", "type": "image", "frame_index": 24, "question": "How should I drive to address the first risk while also resolving the second risk?", "category": "Safety-critical Planning", "options": ["A. Change to the right lane", "B. Stop before the intersection", "C. Proceed slowly straight", "D. None"], "answer_index": 3}
{"token": "27e3d29574a6918b32f21ef891ce9112", "waymo_split": "test", "type": "image", "frame_index": 24, "question": "What is the safest choice when approaching a yellow signal: stop vs proceed?", "category": "Special Event", "options": ["A. Passing through by decelerating is safe", "B. Cannot determine without a signal", "C. Priority to turn left and proceed", "D. Proceeding under rear pressure"], "answer_index": 1}
{"token": "27e3d29574a6918b32f21ef891ce9112", "waymo_split": "test", "type": "image", "frame_index": 24, "question": "What are the new exposure risk candidates in the following section?", "category": "Safety-critical Prediction", "options": ["A. A motorcycle may suddenly emerge from the blind spot of the left lane.", "B. A pedestrian may suddenly cross at the intersection ahead.", "C. A car may suddenly emerge from the blind spot of the right lane.", "D. A door may suddenly open from a vehicle parked on the shoulder."], "answer_index": 2}
{"token": "27e3d29574a6918b32f21ef891ce9112", "waymo_split": "test", "type": "image", "frame_index": 24, "question": "Is lane changing possible? Which is safer between slowing down and changing lanes?", "category": "Safety-critical Planning", "options": ["A. Lane changing not possible (since it is a two-lane road in both directions). Slowing down is safer.", "B. Lane changing possible (since the center line is dashed), changing lanes is safer.", "C. Lane changing possible (in a one-way two-lane section), changing lanes is safer than slowing down.", "D. Lane changing possible (to avoid the bus stop ahead), changing lanes is safer."], "answer_index": 0}
{"token": "27e3d29574a6918b32f21ef891ce9112", "waymo_split": "test", "type": "image", "frame_index": 24, "question": "What is the method to avoid the blind spot next to a large vehicle?", "category": "Special Event", "options": ["A. Cannot judge as there is no large vehicle", "B. Accelerate next to the bus to overtake", "C. Stay to the right for a quick pass", "D. Follow behind the truck to pass"], "answer_index": 0}
{"token": "27e3d29574a6918b32f21ef891ce9112", "waymo_split": "test", "type": "image", "frame_index": 59, "question": "Based on the current appearance of the person/vehicle (two-wheeled), how are they trying to move?", "category": "Normal Perception & Prediction", "options": ["A. Turning right at the intersection", "B. Waiting to go straight at the intersection", "C. Going straight at the crosswalk", "D. Turning left at the three-way intersection"], "answer_index": 3}
{"token": "27e3d29574a6918b32f21ef891ce9112", "waymo_split": "test", "type": "image", "frame_index": 59, "question": "What is the plan for yielding when an ambulance/fire truck approaches?", "category": "Special Event", "options": ["A. Stop after making a left turn to yield", "B. Stop in the center of the intersection to yield", "C. Only change to the right lane to yield", "D. Turn on hazard lights and proceed slowly to yield"], "answer_index": 0}
{"token": "27e3d29574a6918b32f21ef891ce9112", "waymo_split": "test", "type": "image", "frame_index": 59, "question": "What is the classification of the scene?", "category": "Normal scene Understanding", "options": ["A. Paved single-lane road", "B. Unpaved two-lane road", "C. Paved two-lane road", "D. Multi-lane road in the city center"], "answer_index": 2}
{"token": "27e3d29574a6918b32f21ef891ce9112", "waymo_split": "test", "type": "image", "frame_index": 59, "question": "What are the behavior restrictions in school zones/congested areas?", "category": "Special Event", "options": ["A. You must drive slowly with emergency lights on.", "B. You must drive slowly downhill.", "C. You must drive slowly uphill.", "D. You must drive slowly in the center lane."], "answer_index": 2}
{"token": "27e3d29574a6918b32f21ef891ce9112", "waymo_split": "test", "type": "image", "frame_index": 59, "question": "Which of the following is a correct description of traffic density?", "category": "Normal scene Understanding", "options": ["A. Slow speed. Many surrounding vehicles", "B. Fast speed. A few surrounding vehicles", "C. Moderate speed. No surrounding vehicles", "D. Slightly slow speed. One or two surrounding vehicles"], "answer_index": 2}
{"token": "27e3d29574a6918b32f21ef891ce9112", "waymo_split": "test", "type": "image", "frame_index": 59, "question": "What is the description of non-safety-critical objects?", "category": "Normal Perception & Prediction", "options": ["A. Stores and signs around the front of the road. A utility pole is visible on the left front.", "B. Trees and green spaces around the front of the road. A streetlight is visible on the right front.", "C. Construction fences and cones around the front of the road. A banner flag is visible on the left front.", "D. Flower beds and benches around the front of the road. A bus stop is visible on the right front."], "answer_index": 1}
{"token": "27e3d29574a6918b32f21ef891ce9112", "waymo_split": "test", "type": "image", "frame_index": 59, "question": "Which of the following is a correct description of the environment?", "category": "Normal scene Understanding", "options": ["A. Clear during the day", "B. Night shower", "C. Cloudy in the evening", "D. Morning fog"], "answer_index": 0}
{"token": "27e3d29574a6918b32f21ef891ce9112", "waymo_split": "test", "type": "image", "frame_index": 59, "question": "Which of the following is a correct description of traffic signals?", "category": "Traffic Signal", "options": ["A. None", "B. Stop sign", "C. Stop line marking", "D. Left turn signal illuminated"], "answer_index": 0}
{"token": "27e3d29574a6918b32f21ef891ce9112", "waymo_split": "test", "type": "image", "frame_index": 59, "question": "What is the answer regarding parked vehicles on the shoulder, the presence of a center line, and whether Ego crosses the center line?", "category": "Normal Perception & Prediction", "options": ["A. No parked vehicles on the shoulder. Center line exists. No crossing.", "B. No parked vehicles on the shoulder. Center line exists. Crossing.", "C. Parked vehicles on the shoulder. Center line exists. No crossing.", "D. No parked vehicles on the shoulder. No center line. No crossing."], "answer_index": 0}
{"token": "27e3d29574a6918b32f21ef891ce9112", "waymo_split": "test", "type": "image", "frame_index": 59, "question": "Do you have any blind spots in your field of vision?", "category": "Uncertainty", "options": ["A. Occasionally present", "B. Only on the left", "C. None", "D. Present"], "answer_index": 2}
{"token": "27e3d29574a6918b32f21ef891ce9112", "waymo_split": "test", "type": "image", "frame_index": 59, "question": "What is a safety-critical object?", "category": "Safety-critical Perception", "options": ["A. Emergency stop button", "B. Safety relay", "C. Brake module", "D. None"], "answer_index": 3}
{"token": "27e3d29574a6918b32f21ef891ce9112", "waymo_split": "test", "type": "image", "frame_index": 59, "question": "How do you think a safety-critical object will move?", "category": "Safety-critical Prediction", "options": ["A. Turn right", "B. None", "C. Ascend", "D. Go straight"], "answer_index": 1}
{"token": "27e3d29574a6918b32f21ef891ce9112", "waymo_split": "test", "type": "image", "frame_index": 59, "question": "How should I drive to solve the first risk while also addressing the second risk?", "category": "Safety-critical Planning", "options": ["A. None", "B. Accelerate and pass quickly", "C. Reduce speed and go straight", "D. Change to the left lane"], "answer_index": 0}
{"token": "27e3d29574a6918b32f21ef891ce9112", "waymo_split": "test", "type": "image", "frame_index": 59, "question": "Is lane changing possible? Which is safer between deceleration and lane changing?", "category": "Safety-critical Planning", "options": ["A. Lane changing not possible (since it is a two-lane road in both directions). Deceleration is safer.", "B. Lane changing possible (since the center line is dashed, overtaking is allowed). Acceleration is safer.", "C. Moving to the left lane is possible (exception when the front car is slow). Lane changing is safer than deceleration.", "D. Lane changing possible (considered a one-way two-lane section). Lane changing is safer."], "answer_index": 0}
{"token": "27e3d29574a6918b32f21ef891ce9112", "waymo_split": "test", "type": "image", "frame_index": 59, "question": "What is the safest choice just before entering a yellow signal: stop vs proceed?", "category": "Special Event", "options": ["A. Unable to judge due to no signal", "B. Slow down and stop", "C. Proceed straight", "D. If close, proceed"], "answer_index": 0}
{"token": "27e3d29574a6918b32f21ef891ce9112", "waymo_split": "test", "type": "image", "frame_index": 59, "question": "Are there any other safety-critical objects besides the first safety-critical object? If so, how would you move them?", "category": "Safety-critical Prediction", "options": ["A. AED, to the right end", "B. Fire extinguisher, carefully to the left", "C. Oxygen tank, slightly forward", "D. None"], "answer_index": 3}
{"token": "27e3d29574a6918b32f21ef891ce9112", "waymo_split": "test", "type": "image", "frame_index": 59, "question": "What are the new exposure risk candidates in the following interval?", "category": "Safety-critical Prediction", "options": ["A. Falling rocks", "B. None", "C. Electric shock", "D. Falling"], "answer_index": 1}
{"token": "27e3d29574a6918b32f21ef891ce9112", "waymo_split": "test", "type": "image", "frame_index": 59, "question": "Where is the area that hides danger in the current frame?", "category": "Uncertainty", "options": ["A. Front left", "B. Behind the tree", "C. None", "D. Bottom right"], "answer_index": 2}
{"token": "27e3d29574a6918b32f21ef891ce9112", "waymo_split": "test", "type": "image", "frame_index": 59, "question": "What is the method to avoid the blind spot next to a large vehicle?", "category": "Special Event", "options": ["A. Overtake while honking and move to the right lane", "B. Cannot judge as there is no large vehicle", "C. Proceed closely behind the large vehicle", "D. Pass quickly while staying close to the left side of the large vehicle"], "answer_index": 1}
{"token": "27e3d29574a6918b32f21ef891ce9112", "waymo_split": "test", "type": "image", "frame_index": 83, "question": "Which of the following is a correct description of traffic density?", "category": "Normal scene Understanding", "options": ["A. Slow speed. Dense surrounding vehicles", "B. Slow speed. Few surrounding vehicles", "C. Fast speed. Many surrounding vehicles", "D. Moderate speed. No surrounding vehicles"], "answer_index": 3}
{"token": "27e3d29574a6918b32f21ef891ce9112", "waymo_split": "test", "type": "image", "frame_index": 83, "question": "Which is correct as an Image Caption from the perspective of Safety-critical Frame?", "category": "Safety-critical scene caption", "options": ["A. A person is seen in the oncoming lane. (blurry)", "B. A bicycle is seen in the oncoming lane. (blurry)", "C. A person is seen on the right shoulder. (blurry)", "D. A person is seen in the left lane. (blurry)"], "answer_index": 0}
{"token": "27e3d29574a6918b32f21ef891ce9112", "waymo_split": "test", "type": "image", "frame_index": 83, "question": "What is the plan for yielding when an ambulance/fire truck approaches?", "category": "Special Event", "options": ["A. Proceed slowly", "B. Just reduce speed and pass", "C. Only turn on the emergency lights", "D. Stop and yield"], "answer_index": 3}
{"token": "27e3d29574a6918b32f21ef891ce9112", "waymo_split": "test", "type": "image", "frame_index": 83, "question": "Based on the current appearance of the person/vehicle (two-wheeled), how are they trying to move?", "category": "Normal Perception & Prediction", "options": ["A. Turning left while driving on the right", "B. Making a U-turn while driving on the right", "C. Going straight while driving on the right", "D. Going straight while driving on the left"], "answer_index": 2}
{"token": "27e3d29574a6918b32f21ef891ce9112", "waymo_split": "test", "type": "image", "frame_index": 83, "question": "What is the description of non-safety-critical objects?", "category": "Normal Perception & Prediction", "options": ["A. Parking areas and vehicles around the right side of the roadway", "B. Trees and green spaces around the front of the roadway", "C. Shops and signs around the front of the roadway", "D. Construction sites and barriers around the front of the roadway"], "answer_index": 1}
{"token": "27e3d29574a6918b32f21ef891ce9112", "waymo_split": "test", "type": "image", "frame_index": 83, "question": "What are the behavioral restrictions in school zones/congested areas?", "category": "Special Event", "options": ["A. Must drive slowly and go uphill", "B. Must drive with hazard lights on towards the center line", "C. Must slow down and go downhill", "D. Must drive close to the left edge"], "answer_index": 0}
{"token": "27e3d29574a6918b32f21ef891ce9112", "waymo_split": "test", "type": "image", "frame_index": 83, "question": "What are the distinctions of the scene?", "category": "Normal scene Understanding", "options": ["A. Unpaved country road", "B. Main highway", "C. Paved two-lane road", "D. Residential alley"], "answer_index": 2}
{"token": "27e3d29574a6918b32f21ef891ce9112", "waymo_split": "test", "type": "image", "frame_index": 83, "question": "Which of the following is a correct description of the environment?", "category": "Normal scene Understanding", "options": ["A. Morning shower", "B. Clear during the day", "C. Evening fog", "D. Cloudy at night"], "answer_index": 1}
{"token": "27e3d29574a6918b32f21ef891ce9112", "waymo_split": "test", "type": "image", "frame_index": 83, "question": "Which of the following is a correct description of traffic signals?", "category": "Traffic Signal", "options": ["A. Stop line marking", "B. None", "C. Stop sign", "D. Left turn signal"], "answer_index": 1}
{"token": "27e3d29574a6918b32f21ef891ce9112", "waymo_split": "test", "type": "image", "frame_index": 83, "question": "Is there a blind spot in your field of vision?", "category": "Uncertainty", "options": ["A. It is on the right", "B. Yes", "C. It is on the left", "D. No"], "answer_index": 3}
{"token": "27e3d29574a6918b32f21ef891ce9112", "waymo_split": "test", "type": "image", "frame_index": 83, "question": "How do you think a safety-critical object would move?", "category": "Safety-critical Prediction", "options": ["A. It seems like it would go straight up the driving lane (uphill).", "B. It seems like it would stop at the stop line and wait for the signal.", "C. It seems like it would change lanes to the right and exit to the auxiliary lane.", "D. It seems like it would turn left and go down the entrance (downhill)."], "answer_index": 0}
{"token": "27e3d29574a6918b32f21ef891ce9112", "waymo_split": "test", "type": "image", "frame_index": 83, "question": "What is the answer regarding parked vehicles on the shoulder, the presence of a center line, and whether Ego has crossed the center line?", "category": "Normal Perception & Prediction", "options": ["A. No parked vehicles on the shoulder. Center line exists. No crossing.", "B. No parked vehicles on the shoulder. Center line exists. Crossing.", "C. No parked vehicles on the shoulder. No center line. No crossing.", "D. Parked vehicles on the shoulder. Center line exists. No crossing."], "answer_index": 0}
{"token": "27e3d29574a6918b32f21ef891ce9112", "waymo_split": "test", "type": "image", "frame_index": 83, "question": "What is a safety-critical object?", "category": "Safety-critical Perception", "options": ["A. A person is present at the edge of the sidewalk", "B. A construction sign is present on the right shoulder", "C. A vehicle is present in the opposite lane", "D. A person is present in the oncoming lane"], "answer_index": 3}
{"token": "27e3d29574a6918b32f21ef891ce9112", "waymo_split": "test", "type": "image", "frame_index": 83, "question": "Is there any other safety-critical object besides the first safety-critical object? If so, how will it be moved?", "category": "Safety-critical Prediction", "options": ["A. Yes, move left after stopping", "B. No", "C. Yes, reduce speed and go straight", "D. Yes, evade to the right"], "answer_index": 1}
{"token": "27e3d29574a6918b32f21ef891ce9112", "waymo_split": "test", "type": "image", "frame_index": 83, "question": "How should I drive to address the first risk while also resolving the second risk?", "category": "Safety-critical Planning", "options": ["A. Decelerate and maintain the right side", "B. Change to the left lane", "C. Come to a complete stop before the stop line", "D. None"], "answer_index": 3}
{"token": "27e3d29574a6918b32f21ef891ce9112", "waymo_split": "test", "type": "image", "frame_index": 83, "question": "What is the correlation in safety-critical situations?", "category": "Safety-critical scene Understanding", "options": ["A. Car-Car", "B. Car-Person", "C. Car-Two-wheeler", "D. Person-Two-wheeler"], "answer_index": 1}
{"token": "27e3d29574a6918b32f21ef891ce9112", "waymo_split": "test", "type": "image", "frame_index": 83, "question": "What should you do to drive safely?", "category": "Safety-critical Planning", "options": ["A. You should slow down when getting close to that person.", "B. You should accelerate when getting close to that vehicle.", "C. You should honk the horn and pass when getting close to that pedestrian.", "D. You should maintain your speed when getting close to that person."], "answer_index": 0}
{"token": "27e3d29574a6918b32f21ef891ce9112", "waymo_split": "test", "type": "image", "frame_index": 83, "question": "What are the new exposure risk candidates in the following interval?", "category": "Safety-critical Prediction", "options": ["A. Falling rocks", "B. Falling", "C. None", "D. Flooding"], "answer_index": 2}
{"token": "27e3d29574a6918b32f21ef891ce9112", "waymo_split": "test", "type": "image", "frame_index": 83, "question": "What is the safer choice just before entering a yellow signal: stop vs pass?", "category": "Special Event", "options": ["A. Prioritize passing considering the vehicle behind", "B. Slowing down to pass is safer", "C. Stop immediately in front of the stop line", "D. Cannot judge without a signal"], "answer_index": 3}
{"token": "27e3d29574a6918b32f21ef891ce9112", "waymo_split": "test", "type": "image", "frame_index": 83, "question": "Where is the area that hides danger in the current frame?", "category": "Uncertainty", "options": ["A. None", "B. Behind the bus", "C. Left alley", "D. Next to the truck"], "answer_index": 0}
{"token": "27e3d29574a6918b32f21ef891ce9112", "waymo_split": "test", "type": "image", "frame_index": 83, "question": "Is lane changing possible? Which is safer between slowing down and changing lanes?", "category": "Safety-critical Planning", "options": ["A. Can change to the left (dashed line section of the center line) / changing lanes is safer", "B. Cannot change lanes (two lanes in both directions). Slowing down is safer", "C. Can move to the right lane (during bus lane release hours) / changing lanes is safer", "D. Can change lanes (appears to be a one-way two-lane section) / changing lanes is safer"], "answer_index": 1}
{"token": "27e3d29574a6918b32f21ef891ce9112", "waymo_split": "test", "type": "image", "frame_index": 83, "question": "Who is responsible for safety-critical situations? What is the cause?", "category": "Safety-critical scene Understanding", "options": ["A. The responsibility for the event lies with the road management authority. There was confusion in the driving path due to insufficient construction signs and lane guidance.", "B. The responsibility for the event lies with the vehicle in the opposite lane. An unreasonable lane change obstructed visibility and hindered the driving of my vehicle.", "C. The responsibility for the event lies with the person in the driving lane. Since it is a driving lane, it obstructs the driving path of my vehicle.", "D. The responsibility for the event lies with the driver of my vehicle. Although they could have anticipated the danger ahead and slowed down, their response was delayed."], "answer_index": 2}
{"token": "27e3d29574a6918b32f21ef891ce9112", "waymo_split": "test", "type": "image", "frame_index": 83, "question": "What is the method to safely pass through the blind spot of a large vehicle?", "category": "Special Event", "options": ["A. Slowly pass by staying behind the large vehicle", "B. Slowly overtake on the right side of the large vehicle", "C. Drive alongside while honking the horn", "D. Cannot determine as there is no large vehicle"], "answer_index": 3}
{"token": "27e3d29574a6918b32f21ef891ce9112", "waymo_split": "test", "type": "image", "frame_index": 83, "question": "What situation might occur if the self-driving car behaved like this?", "category": "Counterfactual", "options": ["A. If the self-driving car moves forward quickly, there is a possibility of colliding with a person far away.", "B. If the self-driving car continues to reverse, there is a possibility of colliding with a parked vehicle behind.", "C. If the self-driving car suddenly turns right, there is a possibility of contacting a scooter on the edge of the sidewalk.", "D. If the self-driving car accelerates suddenly and turns left, there is a possibility of colliding with the median barrier."], "answer_index": 0}
{"token": "27e3d29574a6918b32f21ef891ce9112", "waymo_split": "test", "type": "image", "frame_index": 147, "question": "Based on the current appearance of the person/vehicle (two-wheeled), how are they trying to move?", "category": "Normal Perception & Prediction", "options": ["A. Going straight on the left side", "B. Making a right turn on the right side", "C. Going straight on the right side", "D. Making a left turn while going against traffic"], "answer_index": 2}
{"token": "27e3d29574a6918b32f21ef891ce9112", "waymo_split": "test", "type": "image", "frame_index": 83, "question": "What are the driving guidelines for my vehicle based on the behavior of a safety-critical object?", "category": "Safety-critical Planning", "options": ["A. If the safety-critical object is coming down a hill in the opposite direction of the driving path, a collision may occur depending on my vehicle's driving state.", "B. If the safety-critical object is coming down a hill from the opposite lane, a collision cannot occur due to the presence of a central line.", "C. If the safety-critical object is going up a hill in the same direction on the driving path, a collision cannot occur as long as the speeds are matched.", "D. If the safety-critical object is coming down from the shoulder outside the driving path in the opposite direction, a collision cannot occur as the lanes are different and it is unrelated to my vehicle."], "answer_index": 0}
{"token": "27e3d29574a6918b32f21ef891ce9112", "waymo_split": "test", "type": "image", "frame_index": 147, "question": "Which of the following is correct from the perspective of Safety-critical Frame regarding Image Caption?", "category": "Safety-critical scene caption", "options": ["A. A person is seen about 12 meters away on the right sidewalk of the oncoming vehicle. This person is stepping onto the sidewalk and is slowly moving while pulling a bicycle. They are outside the lane and do not directly obstruct the vehicle's driving path.", "B. A person is present about 10 meters away in the oncoming lane. This person is moving onto the same driving path as the vehicle while pulling a bicycle. They are obstructing the vehicle's driving path.", "C. A pedestrian is seen 10 meters ahead in the driving lane before the oncoming intersection. This person is crossing the lane from left to right while pulling a bicycle. They are not proceeding on the same driving path as the vehicle due to the crossing.", "D. A person is seen about 10 meters away in the opposite lane. This person is riding a bicycle in the opposite direction. Since they are in the opposite lane, they do not immediately affect the vehicle's driving path."], "answer_index": 1}
{"token": "27e3d29574a6918b32f21ef891ce9112", "waymo_split": "test", "type": "image", "frame_index": 147, "question": "What is the plan for yielding when an ambulance/fire truck approaches?", "category": "Special Event", "options": ["A. Only turn on the emergency lights", "B. Stop and yield", "C. Yield at intersections", "D. Slow down and pass"], "answer_index": 1}
{"token": "27e3d29574a6918b32f21ef891ce9112", "waymo_split": "test", "type": "image", "frame_index": 147, "question": "Which of the following is a correct description of traffic density?", "category": "Normal scene Understanding", "options": ["A. Fast speed. Few surrounding vehicles", "B. Crawling. Average surrounding vehicles", "C. Slow speed. Many surrounding vehicles", "D. Moderate speed. No surrounding vehicles"], "answer_index": 3}
{"token": "27e3d29574a6918b32f21ef891ce9112", "waymo_split": "test", "type": "image", "frame_index": 147, "question": "What are the behavioral restrictions in school zones/congested areas?", "category": "Special Event", "options": ["A. Must honk and pass quickly", "B. Must turn right and pass swiftly", "C. Must drive slowly uphill", "D. Must accelerate downhill"], "answer_index": 2}
{"token": "27e3d29574a6918b32f21ef891ce9112", "waymo_split": "test", "type": "image", "frame_index": 147, "question": "What is the description of non-safety-critical objects?", "category": "Normal Perception & Prediction", "options": ["A. Construction fences and equipment around the front of the roadway", "B. Trees and green spaces around the front of the roadway", "C. Bus stops and people around the right side of the roadway", "D. Shops and signs around the front of the roadway"], "answer_index": 1}
{"token": "27e3d29574a6918b32f21ef891ce9112", "waymo_split": "test", "type": "image", "frame_index": 147, "question": "Which of the following is a correct description of the environment?", "category": "Normal scene Understanding", "options": ["A. Morning fog", "B. Afternoon overcast", "C. Evening rain", "D. Clear afternoon"], "answer_index": 3}
{"token": "27e3d29574a6918b32f21ef891ce9112", "waymo_split": "test", "type": "image", "frame_index": 147, "question": "What is the classification of the scene?", "category": "Normal scene Understanding", "options": ["A. Residential side road", "B. Paved two-lane road", "C. Unpaved single-lane road", "D. Urban two-way four-lane road"], "answer_index": 1}
{"token": "27e3d29574a6918b32f21ef891ce9112", "waymo_split": "test", "type": "image", "frame_index": 147, "question": "Which of the following is a correct description of traffic signals?", "category": "Traffic Signal", "options": ["A. None", "B. Red traffic light", "C. Right turn arrow", "D. Stop line marking"], "answer_index": 0}
{"token": "27e3d29574a6918b32f21ef891ce9112", "waymo_split": "test", "type": "image", "frame_index": 147, "question": "What is the answer regarding parked vehicles on the shoulder, the presence of a center line, and whether Ego has crossed the center line?", "category": "Normal Perception & Prediction", "options": ["A. No parked vehicles on the shoulder. No center line. No crossing.", "B. Parked vehicles on the shoulder. Center line exists. No crossing.", "C. Parked vehicles on the shoulder. Center line exists. Crossing.", "D. No parked vehicles on the shoulder. Center line exists. No crossing."], "answer_index": 3}
{"token": "27e3d29574a6918b32f21ef891ce9112", "waymo_split": "test", "type": "image", "frame_index": 147, "question": "What is a safety-critical object?", "category": "Safety-critical Perception", "options": ["A. A bicycle left alone in a parking lane", "B. A person pulling a bicycle in the oncoming traffic lane", "C. A person standing next to a bicycle on the opposite shoulder", "D. A person pulling a bicycle while moving on the side sidewalk"], "answer_index": 1}
{"token": "27e3d29574a6918b32f21ef891ce9112", "waymo_split": "test", "type": "image", "frame_index": 147, "question": "Is there a blind spot in your field of view?", "category": "Uncertainty", "options": ["A. None", "B. On the left", "C. When turning right", "D. Yes"], "answer_index": 0}
{"token": "27e3d29574a6918b32f21ef891ce9112", "waymo_split": "test", "type": "image", "frame_index": 147, "question": "How do you think a safety-critical object will move?", "category": "Safety-critical Prediction", "options": ["A. It seems like it will go straight up the driving lane (uphill) while pulling a bicycle. This person is moving in the middle of the right driving lane (very slowly going up).", "B. It seems like it will go up onto the sidewalk and take a detour (pushing the bicycle with both hands). This person is angled towards the sidewalk (slowing down for a moment).", "C. It seems like it will turn right and take a side road (riding the bicycle and pedaling). This person is passing close to the right edge (quickly avoiding pedestrians).", "D. It seems like it will turn left and enter the intersection (riding the bicycle). This person is moving close to the left edge of the lane (slightly increasing speed)."], "answer_index": 0}
{"token": "27e3d29574a6918b32f21ef891ce9112", "waymo_split": "test", "type": "image", "frame_index": 147, "question": "What is the correlation in safety-critical situations?", "category": "Safety-critical scene Understanding", "options": ["A. Two-wheeler - Person", "B. Car - Car", "C. Car - Two-wheeler", "D. Car - Person"], "answer_index": 3}
{"token": "27e3d29574a6918b32f21ef891ce9112", "waymo_split": "test", "type": "image", "frame_index": 147, "question": "How should I drive to address the first risk while also resolving the second risk?", "category": "Safety-critical Planning", "options": ["A. Maintain speed reduction", "B. Come to a stop", "C. None", "D. Change to the left lane"], "answer_index": 2}
{"token": "27e3d29574a6918b32f21ef891ce9112", "waymo_split": "test", "type": "image", "frame_index": 147, "question": "Is lane changing possible? Which is safer, slowing down or changing lanes?", "category": "Safety-critical Planning", "options": ["A. Lane changing is possible (sufficient visibility and distance ahead); changing lanes is safer than slowing down.", "B. Lane changing is possible (in a one-way two-lane section); moving to the left lane is safer.", "C. Lane changing is possible (because it's a dashed line section); changing lanes is safer.", "D. Lane changing is not possible (since it's a two-lane road with oncoming traffic). Slowing down is safer."], "answer_index": 3}
{"token": "27e3d29574a6918b32f21ef891ce9112", "waymo_split": "test", "type": "image", "frame_index": 147, "question": "Is there any other safety-critical object besides the first safety-critical object? If so, how will it move?", "category": "Safety-critical Prediction", "options": ["A. Yes, to the right", "B. Yes, to the left", "C. No", "D. Yes, forward"], "answer_index": 2}
{"token": "27e3d29574a6918b32f21ef891ce9112", "waymo_split": "test", "type": "image", "frame_index": 147, "question": "Where is the area that hides danger in the current frame?", "category": "Uncertainty", "options": ["A. Left", "B. Right", "C. None", "D. Bottom"], "answer_index": 2}
{"token": "27e3d29574a6918b32f21ef891ce9112", "waymo_split": "test", "type": "image", "frame_index": 147, "question": "What are the new exposure risk candidates in the following interval?", "category": "Safety-critical Prediction", "options": ["A. None", "B. Falling", "C. Rockfall", "D. Electric shock"], "answer_index": 0}
{"token": "27e3d29574a6918b32f21ef891ce9112", "waymo_split": "test", "type": "image", "frame_index": 147, "question": "What is the safer choice just before entering a yellow signal: stop vs. proceed?", "category": "Special Event", "options": ["A. Proceeding is safe if the intersection is clear", "B. Proceeding is safe if there is a vehicle close behind", "C. Cannot determine without a signal", "D. Stopping is safer"], "answer_index": 2}
{"token": "27e3d29574a6918b32f21ef891ce9112", "waymo_split": "test", "type": "image", "frame_index": 147, "question": "What is the method to avoid the blind spot next to a large vehicle?", "category": "Special Event", "options": ["A. Pass close to the right edge", "B. Pass by narrowing the gap next to the large vehicle", "C. Accelerate to pass in the left lane", "D. Cannot determine as there is no large vehicle"], "answer_index": 3}
{"token": "27e3d29574a6918b32f21ef891ce9112", "waymo_split": "test", "type": "image", "frame_index": 147, "question": "What situation might occur if the self-driving car behaved like this?", "category": "Counterfactual", "options": ["A. If the self-driving car moves forward quickly, there is a possibility of colliding with a person.", "B. If the self-driving car accelerates suddenly and changes lanes, the likelihood of contacting surrounding vehicles is low.", "C. If the self-driving car turns left slowly, the possibility of colliding with a pedestrian is low.", "D. If the self-driving car suddenly brakes hard, the likelihood of colliding with the car behind is low."], "answer_index": 0}
{"token": "27e3d29574a6918b32f21ef891ce9112", "waymo_split": "test", "type": "image", "frame_index": 147, "question": "What is the guideline for the vehicle's behavior in response to the behavior of a safety-critical object?", "category": "Safety-critical Planning", "options": ["A. If the safety-critical object is coming down a hill in the opposite direction of the driving path, there is a risk of collision with the vehicle. In this case, the vehicle should change its path to the left opposing lane to avoid it (there are currently no vehicles in the left opposing lane, so it is safe).", "B. If the safety-critical object is coming down a hill in the opposite direction of the driving path, there is a risk of collision with the vehicle. In this case, the vehicle should maintain its lane and stop immediately to observe the situation (it is safe to stop suddenly as there is no traffic behind).", "C. If the safety-critical object is coming down a hill in the opposite direction of the driving path, there is a risk of collision with the vehicle. In this case, the vehicle should steer to the right shoulder to avoid it (the right shoulder is currently empty, providing sufficient stopping space).", "D. If the safety-critical object is coming down a hill in the opposite direction of the driving path, there is a risk of collision with the vehicle. In this case, the vehicle should accelerate to take the lead and pass through the area (the relative object's speed is slow and there is enough distance, making it feasible)."], "answer_index": 0}
{"token": "27e8a15994bda8af97379ca203c03ee3", "waymo_split": "test", "type": "video", "frame_index": null, "question": "Where is the safety-critical situation in the video?", "category": "Temporal Grounding", "options": ["A. 4/4", "B. 3/4", "C. 1/4", "D. 2/4"], "answer_index": 0}
{"token": "27e8a15994bda8af97379ca203c03ee3", "waymo_split": "test", "type": "video", "frame_index": null, "question": "What is the classification of the scene?", "category": "Normal scene Understanding", "options": ["A. Residential road", "B. Unpaved road", "C. Highway section", "D. Urban road"], "answer_index": 0}
{"token": "27e8a15994bda8af97379ca203c03ee3", "waymo_split": "test", "type": "video", "frame_index": null, "question": "Is there a special situation?", "category": "Special Event", "options": ["A. School bus stop", "B. Dark situation", "C. Emergency vehicle passage", "D. Construction site cone"], "answer_index": 1}
{"token": "27e8a15994bda8af97379ca203c03ee3", "waymo_split": "test", "type": "video", "frame_index": null, "question": "Which of the following is a correct description of traffic density?", "category": "Normal scene Understanding", "options": ["A. Slow, one vehicle in the right lane, slight incline", "B. Fast, a few surrounding vehicles, slight downhill", "C. Fast, many surrounding vehicles, gentle uphill", "D. Slow, no surrounding vehicles, no incline"], "answer_index": 3}
{"token": "27e8a15994bda8af97379ca203c03ee3", "waymo_split": "test", "type": "video", "frame_index": null, "question": "Which of the following is correct regarding the Video Summary from the perspective of a Normal Scene?", "category": "Normal scene caption", "options": ["A. Driving through a dark residential alley. Approaching an intersection, the vehicle enters the straight road instead of the left road. There are many parked cars on the shoulder, and a large truck is seen stopped (or parked) in the opposite lane on the left. At this time, the stopped vehicle is located at the curved part of the road on the right, and the car passes by there, moving slowly and cautiously.", "B. Driving through a dark residential alley. Approaching an intersection, the vehicle enters the left alley instead of the straight road. There are few parked cars on the shoulder, and a small vehicle is briefly stopped with its turn signal on in the right lane. The road slightly curves to the left, and the car increases its speed a bit while passing that curved point.", "C. Driving on a side road in a residential area with streetlights on, the vehicle approaches an intersection. After checking both sides, it turns into the right road. There is almost no double parking along the roadside, and instead of a large truck, a motorcycle is briefly stopped in front. The car stops momentarily to yield and then resumes.", "D. On a night with light rain, the vehicle follows a residential alley. Ahead is an intersection, and since the straight path on the left is blocked, it enters a narrow road on the right. A large moving truck passes in the left lane, obstructing the view. The car waits briefly in the section where the curve bends to the left, then passes after the truck goes by."], "answer_index": 0}
{"token": "27e8a15994bda8af97379ca203c03ee3", "waymo_split": "test", "type": "video", "frame_index": null, "question": "Which of the following is a correct description of traffic signals?", "category": "Traffic Signal", "options": ["A. STOP sign on the right. STOP sign on the road at the front intersection.", "B. YIELD sign on the left.", "C. Red traffic light at the front intersection.", "D. Dedicated right turn arrow on the road."], "answer_index": 0}
{"token": "27e8a15994bda8af97379ca203c03ee3", "waymo_split": "test", "type": "video", "frame_index": null, "question": "Which of the following is a correct description of road alignment?", "category": "Normal Perception & Prediction", "options": ["A. Right turn after an intersection (gentle curve to the right)", "B. Left turn after a T-junction (road curving to the left)", "C. Unprotected left turn at an intersection without signals (gentle curve to the left)", "D. Going straight after a T-junction (road curving to the right)"], "answer_index": 3}
{"token": "27e8a15994bda8af97379ca203c03ee3", "waymo_split": "test", "type": "video", "frame_index": null, "question": "Which of the following is a correct description of the environment?", "category": "Normal scene Understanding", "options": ["A. Night, darkness", "B. Dusk, sunset light", "C. Rainy day, cloudy", "D. Day, brightness"], "answer_index": 0}
{"token": "27e8a15994bda8af97379ca203c03ee3", "waymo_split": "test", "type": "video", "frame_index": null, "question": "What is the answer regarding parked vehicles on the shoulder, the presence of a center line, and whether Ego crosses the center line?", "category": "Normal Perception & Prediction", "options": ["A. Several parked vehicles on the shoulder are lined up on the left. Continuous solid center line.", "B. Many parked vehicles on both sides. No center line.", "C. A few parked vehicles exist only on the right side. There is a center line.", "D. No parked vehicles on the shoulder. Yellow dashed center line."], "answer_index": 1}
{"token": "27e8a15994bda8af97379ca203c03ee3", "waymo_split": "test", "type": "video", "frame_index": null, "question": "What is the description of a non-safety-critical object?", "category": "Normal Perception & Prediction", "options": ["A. There is a crosswalk and a YIELD sign on the left side. There are almost no parked cars on the shoulder. On the right side, there are connected shops.", "B. There is a crosswalk and a STOP sign on the right side. There are many parked cars on both sides of the road. On the left side, there is a row of houses.", "C. There is a crosswalk and a no right turn sign on the left side. Only a few parked cars are visible on the right side of the road. There are a few houses with low fences next to the right sidewalk.", "D. There is a crosswalk and a speed limit sign directly in front. There is a lot of empty space on both sides of the shoulder. Across from the left sidewalk, there is a small park and a bench."], "answer_index": 1}
{"token": "27e8a15994bda8af97379ca203c03ee3", "waymo_split": "test", "type": "video", "frame_index": null, "question": "What is the correlation in safety-critical situations?", "category": "Safety-critical scene Understanding", "options": ["A. Person - Two-wheeler", "B. Vehicle - Two-wheeler", "C. Vehicle - Vehicle", "D. Vehicle - Person"], "answer_index": 2}
{"token": "27e8a15994bda8af97379ca203c03ee3", "waymo_split": "test", "type": "video", "frame_index": null, "question": "How did the safety-critical object move and how did the ego vehicle behave?", "category": "Safety-critical scene Understanding", "options": ["A. It was slowly reversing, and the ego vehicle went into the opposite lane to overtake.", "B. It was moving at a low speed, and the ego vehicle passed by while proceeding to the left of that vehicle.", "C. It was stationary, and the ego vehicle passed by while proceeding to the right of that vehicle.", "D. It was stationary, but the ego vehicle stopped temporarily behind that vehicle and waited."], "answer_index": 2}
{"token": "27e8a15994bda8af97379ca203c03ee3", "waymo_split": "test", "type": "video", "frame_index": null, "question": "What is a safety-critical object?", "category": "Safety-critical Perception", "options": ["A. A taxi parked diagonally in the right lane of the road after the intersection (driving lane)", "B. A passenger van stopped near the center line of the road after the intersection (driving lane)", "C. A bus stopped in the right lane of the road just before the intersection (driving lane)", "D. A truck parked in the left opposite lane of the road after the intersection (driving lane)"], "answer_index": 3}
{"token": "27e8a15994bda8af97379ca203c03ee3", "waymo_split": "test", "type": "video", "frame_index": null, "question": "Summary of Ego (own vehicle) behavior before a safety-critical situation", "category": "Normal scene Understanding", "options": ["A. Stopped in front of the intersection", "B. Going straight through the intersection", "C. Going straight past the intersection", "D. Making a right turn at the intersection"], "answer_index": 1}
{"token": "27e8a15994bda8af97379ca203c03ee3", "waymo_split": "test", "type": "image", "frame_index": 32, "question": "Based on the current appearance of the person/vehicle (two-wheeled), how are they trying to move?", "category": "Normal Perception & Prediction", "options": ["A. Turning left at the intersection", "B. Going straight at the intersection", "C. Going straight at the crossroads", "D. Turning right at the intersection"], "answer_index": 1}
{"token": "27e8a15994bda8af97379ca203c03ee3", "waymo_split": "test", "type": "video", "frame_index": null, "question": "Who is responsible in a safety-critical situation? What is the cause?", "category": "Safety-critical scene Understanding", "options": ["A. A large bus. It slightly crossed the center line from the opposite lane, pressuring the space for the oncoming vehicle.", "B. A truck. The truck is parked in the driving lane instead of on the shoulder of the narrow two-lane road, providing a narrow passage for the passing vehicle.", "C. The oncoming vehicle. The oncoming vehicle drove close to the center line on the narrow two-lane road, excessively reducing the left clearance and leaving almost no escape space for following vehicles.", "D. The road construction team. They poorly placed temporary signs and cones inside the lane, unnecessarily narrowing the actual passage width and creating a sudden bottleneck for passing vehicles."], "answer_index": 1}
{"token": "27e8a15994bda8af97379ca203c03ee3", "waymo_split": "test", "type": "image", "frame_index": 32, "question": "What are the behavior restrictions in school zones/congested areas?", "category": "Special Event", "options": ["A. Must use the horn", "B. Must accelerate", "C. Must maintain speed", "D. Must drive slowly"], "answer_index": 3}
{"token": "27e8a15994bda8af97379ca203c03ee3", "waymo_split": "test", "type": "video", "frame_index": null, "question": "What situation would occur if the self-driving car behaved like this?", "category": "Counterfactual", "options": ["A. If the self-driving car drives while encroaching on the left center, there is a risk of colliding with or brushing against the left truck.", "B. If the self-driving car accelerates and quickly overtakes the car in front, the interference with surrounding vehicles decreases, making it safer.", "C. If the self-driving car accurately maintains the center line, it passes without any issues while keeping distance from vehicles on both sides.", "D. If the self-driving car drives close to the right edge, the risk of collision with the motorcycle on the right is eliminated."], "answer_index": 0}
{"token": "27e8a15994bda8af97379ca203c03ee3", "waymo_split": "test", "type": "image", "frame_index": 32, "question": "What is the plan for yielding when an emergency vehicle/fire truck approaches?", "category": "Special Event", "options": ["A. Turn on hazard lights and slow down while merging into the center lane", "B. Stop in place to yield space and at intersections", "C. Increase speed to exit the intersection first and then yield", "D. Move to the left lane to maintain driving and pass through the intersection"], "answer_index": 1}
{"token": "27e8a15994bda8af97379ca203c03ee3", "waymo_split": "test", "type": "image", "frame_index": 32, "question": "What are the classifications of scenes?", "category": "Normal scene Understanding", "options": ["A. Wide city road", "B. Unpaved farm road section", "C. Highway entrance ramp", "D. Narrow road in a residential area"], "answer_index": 3}
{"token": "27e8a15994bda8af97379ca203c03ee3", "waymo_split": "test", "type": "image", "frame_index": 32, "question": "Which of the following is a correct description of traffic density?", "category": "Normal scene Understanding", "options": ["A. Slow, few vehicles driving around. Rarely, there are parked vehicles on the shoulder of some roads.", "B. Fast, many vehicles driving around. There are almost no parked vehicles on the shoulder of the road.", "C. Slow, no vehicles driving around. There are many parked vehicles on the shoulder of each road.", "D. Normal, there are occasionally vehicles driving around. A few vehicles are temporarily stopped in front of shops on the roadside."], "answer_index": 2}
{"token": "27e8a15994bda8af97379ca203c03ee3", "waymo_split": "test", "type": "image", "frame_index": 32, "question": "Which of the following descriptions about the environment is correct?", "category": "Normal scene Understanding", "options": ["A. At dusk, the dim lighting intersects with store neon signs and traffic lights.", "B. In the early morning, the faint fog lighting is from convenience store signs and gas station canopies.", "C. At night, darkness. The lighting comes from car headlights and streetlights.", "D. Inside a tunnel, uniform brightness lighting comes from ceiling lights and wall reflectors."], "answer_index": 2}
{"token": "27e8a15994bda8af97379ca203c03ee3", "waymo_split": "test", "type": "image", "frame_index": 32, "question": "What is the description of a non-safety-critical object?", "category": "Normal Perception & Prediction", "options": ["A. The shoulder has only construction cones and barricades. On the right, there is a low brick wall adjacent to the sidewalk. Bright shop sign lights are on at each corner. On the left road, a nearby taxi is slowly moving in the same direction.", "B. The shoulder is empty with no parked vehicles. On the right, a glass sound barrier is installed at the edge of the road. There is only a traffic light at the intersection corner, and no separate streetlights are visible. On the left road, a black SUV is following in the same lane.", "C. There is a parked vehicle on the shoulder. On the right, a thin metal fence exists across the sidewalk, with several lights attached to the fence. Streetlight illumination is occasionally present at each corner. In the distance on the left road, there are vehicles driving in the opposite direction.", "D. A delivery motorcycle is temporarily stopped with the engine running on the shoulder. On the right, a wooden fence extends towards the road with no lighting. CCTV cameras are sporadically installed at each corner. At the end of the left lane, a bus is slowly moving away in the same direction as my vehicle."], "answer_index": 2}
{"token": "27e8a15994bda8af97379ca203c03ee3", "waymo_split": "test", "type": "image", "frame_index": 32, "question": "Which of the following is a correct description of traffic signals?", "category": "Traffic Signal", "options": ["A. There is a yellow sign on the right that says SPEED HUMPS.", "B. There is a red sign in front that says STOP.", "C. There is a white road marking that says SLOW.", "D. There is a yellow sign on the left that says SPEED BUMPS."], "answer_index": 0}
{"token": "27e8a15994bda8af97379ca203c03ee3", "waymo_split": "test", "type": "image", "frame_index": 32, "question": "What is a safety-critical object?", "category": "Safety-critical Perception", "options": ["A. Safety relay", "B. Emergency stop switch", "C. None", "D. Brake module"], "answer_index": 2}
{"token": "27e8a15994bda8af97379ca203c03ee3", "waymo_split": "test", "type": "image", "frame_index": 32, "question": "Are there any blind spots in your field of vision?", "category": "Uncertainty", "options": ["A. Blind spot in front of the right side road exit", "B. Blind spot behind the left shoulder-parked vehicle", "C. Blind spot next to the right bus stop", "D. Blind spot in front of the right shoulder-parked vehicle"], "answer_index": 3}
{"token": "27e8a15994bda8af97379ca203c03ee3", "waymo_split": "test", "type": "image", "frame_index": 32, "question": "Are there any other safety-critical objects besides the first safety-critical object? If so, how would you move them?", "category": "Safety-critical Prediction", "options": ["A. None", "B. Medical oxygen tank, secure the valve and move to a safe area", "C. Gas cylinder, stand it up and transport it on a cart along the wall", "D. Fire extinguisher, carefully move it towards the entrance"], "answer_index": 0}
{"token": "27e8a15994bda8af97379ca203c03ee3", "waymo_split": "test", "type": "image", "frame_index": 32, "question": "Is lane changing possible? Which is safer between deceleration and lane changing?", "category": "Safety-critical Planning", "options": ["A. It is a one-way two-lane road, so lane changing is possible; accelerating is safer.", "B. It is a central divider section, so lane changing is possible; deceleration is unnecessary.", "C. It is a one-way street, so lane changing is possible; lane changing is safer.", "D. It is a two-lane road with two-way traffic, so lane changing is not possible; deceleration is possible."], "answer_index": 3}
{"token": "27e8a15994bda8af97379ca203c03ee3", "waymo_split": "test", "type": "image", "frame_index": 32, "question": "How do you think a safety-critical object will move?", "category": "Safety-critical Prediction", "options": ["A. Roll sideways", "B. Move straight forward", "C. None", "D. Slightly lift off"], "answer_index": 2}
{"token": "27e8a15994bda8af97379ca203c03ee3", "waymo_split": "test", "type": "image", "frame_index": 32, "question": "What is the answer regarding parked vehicles on the shoulder, the presence of a center line, and the presence of Ego crossing the center line?", "category": "Normal Perception & Prediction", "options": ["A. Parked vehicles on the shoulder are rarely present. The center line is marked with a dashed line.", "B. There are many parked vehicles on the shoulder. There is no center line.", "C. One or two parked vehicles on the shoulder are visible. The center line is marked with a solid line.", "D. There are hardly any parked vehicles on the shoulder. The center line is clearly present."], "answer_index": 1}
{"token": "27e8a15994bda8af97379ca203c03ee3", "waymo_split": "test", "type": "image", "frame_index": 32, "question": "What are the potential situations that could occur in the current scenario?", "category": "Counterfactual", "options": ["A. Entering the opponent's vehicle's range", "B. Entering the crosswalk by a pedestrian", "C. Making a left turn at the intersection with your own vehicle", "D. Entering the T-junction with your own vehicle"], "answer_index": 3}
{"token": "27e8a15994bda8af97379ca203c03ee3", "waymo_split": "test", "type": "image", "frame_index": 32, "question": "Where is the area that hides danger in the current frame?", "category": "Uncertainty", "options": ["A. The space in front of a large truck", "B. The space next to the bus in the right lane", "C. The space in front of parked vehicles on the right shoulder", "D. The space behind parked vehicles on the left shoulder"], "answer_index": 2}
{"token": "27e8a15994bda8af97379ca203c03ee3", "waymo_split": "test", "type": "image", "frame_index": 59, "question": "Based on the current appearance of the person/vehicle (two-wheeled), how do you intend to move?", "category": "Normal Perception & Prediction", "options": ["A. Turn left", "B. Go straight", "C. Turn right", "D. Make a U-turn"], "answer_index": 1}
{"token": "27e8a15994bda8af97379ca203c03ee3", "waymo_split": "test", "type": "image", "frame_index": 32, "question": "What are the new potential hazards in the following area?", "category": "Safety-critical Prediction", "options": ["A. There may be people or objects coming out from the space in front of the parked vehicle on the right shoulder.", "B. There may be passengers or bicycles coming out from the space in front of the bus stop ahead.", "C. There may be people or objects coming out from the space behind the parked vehicle on the left shoulder.", "D. There may be pedestrians or bicycles coming out from the space between the central divider."], "answer_index": 0}
{"token": "27e8a15994bda8af97379ca203c03ee3", "waymo_split": "test", "type": "image", "frame_index": 59, "question": "Which of the following is correct as an Image Caption from a Safety-critical Frame perspective?", "category": "Safety-critical scene caption", "options": ["A. There is a truck (white) stopped in the left opposite lane.", "B. There is a truck (white) moving slowly in the left opposite lane.", "C. There is a taxi (yellow) waiting at the signal in the left lane.", "D. There is a passenger car (gray) stopped on the shoulder in the right lane."], "answer_index": 0}
{"token": "27e8a15994bda8af97379ca203c03ee3", "waymo_split": "test", "type": "image", "frame_index": 32, "question": "What is the method to avoid the blind spot next to a large vehicle?", "category": "Special Event", "options": ["A. Honk the horn and pass immediately", "B. Pass in the left lane", "C. Cannot judge because there is no large vehicle", "D. Maintain speed and pass as is"], "answer_index": 2}
{"token": "27e8a15994bda8af97379ca203c03ee3", "waymo_split": "test", "type": "image", "frame_index": 59, "question": "What is the classification of the scene?", "category": "Normal scene Understanding", "options": ["A. Residential narrow road", "B. Rural unpaved road", "C. Urban wide avenue", "D. Main lane of the highway"], "answer_index": 0}
{"token": "27e8a15994bda8af97379ca203c03ee3", "waymo_split": "test", "type": "image", "frame_index": 59, "question": "Which of the following is correct as an Image Caption from the perspective of a Normal Frame?", "category": "Normal scene caption", "options": ["A. The current vehicle is moving slowly on a bright road with streetlights on a two-lane road. It is driving on the right side, and the shoulder is empty, making it relatively spacious. There is a slow-moving vehicle right in front. A passenger car is temporarily stopped with its hazard lights on in the right lane ahead.", "B. The current vehicle is going straight on a wide one-way two-lane road. It is driving on the right side, and the lane width is ample, making driving easy. Vehicles are passing on both sides. A motorcycle is temporarily stopped next to the center line near an intersection ahead.", "C. The current vehicle is going straight on a wet surface of a two-lane road. It is driving on the right side, and the shoulder is quiet with plenty of space. There is a vehicle overtaking in the left lane. A delivery van is parked on the right shoulder ahead.", "D. The current vehicle is going straight on a dark two-lane road. It is driving on the right side, and there are many parked vehicles on the shoulder, making the road narrow. There are no vehicles currently driving around. A truck is stopped in the opposite lane ahead."], "answer_index": 3}
{"token": "27e8a15994bda8af97379ca203c03ee3", "waymo_split": "test", "type": "image", "frame_index": 59, "question": "Which of the following is a correct description of traffic density?", "category": "Normal scene Understanding", "options": ["A. Fast, no vehicles driving nearby, no parked vehicles visible at the edge of the lane", "B. Fast, many vehicles driving nearby, dense flow of vehicles in both lanes", "C. Slow, a few vehicles driving nearby pass intermittently, almost no parked vehicles on the roadside", "D. Slow, no vehicles driving nearby. Many parked vehicles exist on the shoulders of each road"], "answer_index": 3}
{"token": "27e8a15994bda8af97379ca203c03ee3", "waymo_split": "test", "type": "image", "frame_index": 59, "question": "What are the behavior restrictions in school zones/congested areas?", "category": "Special Event", "options": ["A. Must accelerate", "B. Must drive slowly", "C. Must overtake", "D. Must honk"], "answer_index": 1}
{"token": "27e8a15994bda8af97379ca203c03ee3", "waymo_split": "test", "type": "image", "frame_index": 59, "question": "What is the plan for yielding when an ambulance/fire truck approaches?", "category": "Special Event", "options": ["A. Stop in place to yield space and entry to intersections.", "B. Follow the car in front and pass through the intersection first, then stop at the right edge.", "C. Move to the bus-only lane and maintain driving while yielding space.", "D. Change to the left lane and proceed slowly while securing the central passage."], "answer_index": 0}
{"token": "27e8a15994bda8af97379ca203c03ee3", "waymo_split": "test", "type": "image", "frame_index": 59, "question": "Which of the following descriptions about the environment is correct?", "category": "Normal scene Understanding", "options": ["A. At sunset, the dim lighting is from the right streetlight and the front traffic signal light.", "B. On a clear day, the bright lighting is from natural light and sunlight coming in from the right.", "C. In the early morning, the faint fog lighting is from the shop sign lights and the headlights of the car behind.", "D. At night, it is dark. The lighting is from the car's lights and the left streetlight."], "answer_index": 3}
{"token": "27e8a15994bda8af97379ca203c03ee3", "waymo_split": "test", "type": "image", "frame_index": 59, "question": "What is the answer regarding parked vehicles on the shoulder, the presence of a center line, and Ego's crossing of the center line?", "category": "Normal Perception & Prediction", "options": ["A. Parked vehicles on the shoulder are rarely present. The center line is clear.", "B. Many parked vehicles on the shoulder are present. There is no center line.", "C. Only one or two parked vehicles on the shoulder are visible. There is a center line.", "D. No parked vehicles on the shoulder. The center line is distinct."], "answer_index": 1}
{"token": "27e8a15994bda8af97379ca203c03ee3", "waymo_split": "test", "type": "image", "frame_index": 59, "question": "Are there any blind spots in your field of vision?", "category": "Uncertainty", "options": ["A. Corner of the right construction barrier", "B. Gap between parked vehicles on the right shoulder", "C. Behind the queue at the right bus stop", "D. Gap between parked vehicles on the left shoulder"], "answer_index": 1}
{"token": "27e8a15994bda8af97379ca203c03ee3", "waymo_split": "test", "type": "image", "frame_index": 59, "question": "Which of the following describes a non-safety-critical object?", "category": "Normal Perception & Prediction", "options": ["A. A streetlight on the right sidewalk that is turned off", "B. A parked vehicle on the shoulder. A streetlight on the left sidewalk that is emitting light", "C. A taxi that has temporarily stopped on the right shoulder", "D. A temporary sign placed next to the central divider"], "answer_index": 1}
{"token": "27e8a15994bda8af97379ca203c03ee3", "waymo_split": "test", "type": "image", "frame_index": 59, "question": "Which of the following is a correct description of traffic signals?", "category": "Traffic Signal", "options": ["A. A road sign with SLOW written on it in the left opposite lane ahead", "B. A road sign with STOP written on it in the left opposite lane ahead", "C. A road sign with STOP written on it in the right lane ahead", "D. A STOP sign in the left opposite lane ahead"], "answer_index": 1}
{"token": "27e8a15994bda8af97379ca203c03ee3", "waymo_split": "test", "type": "image", "frame_index": 59, "question": "What is the correlation in safety-critical situations?", "category": "Safety-critical scene Understanding", "options": ["A. Person - Two-wheeler", "B. Car - Person", "C. Car - Car", "D. Car - Two-wheeler"], "answer_index": 2}
{"token": "27e8a15994bda8af97379ca203c03ee3", "waymo_split": "test", "type": "image", "frame_index": 59, "question": "How do you think a safety-critical object will move?", "category": "Safety-critical Prediction", "options": ["A. Right turn departure", "B. Gradually advance", "C. Slowly reverse", "D. Maintain a stop. (Lights are off and there are no passengers)"], "answer_index": 3}
{"token": "27e8a15994bda8af97379ca203c03ee3", "waymo_split": "test", "type": "image", "frame_index": 59, "question": "Are there any other safety-critical objects besides the first safety-critical object? If so, how will they be moved?", "category": "Safety-critical Prediction", "options": ["A. There is a gas cylinder: transport upright with a protective cap and dedicated cart", "B. There is a fire extinguisher: carry securely with both hands to the designated rack", "C. None", "D. There is a lithium-ion battery pack: move in a fireproof container after wearing insulated gloves"], "answer_index": 2}
{"token": "27e8a15994bda8af97379ca203c03ee3", "waymo_split": "test", "type": "image", "frame_index": 59, "question": "Is lane changing possible? Which is safer between slowing down and changing lanes?", "category": "Safety-critical Planning", "options": ["A. The passing lane is available, allowing movement to the left; slowing down is actually dangerous.", "B. It's a two-lane road with traffic in both directions, so lane changing is not possible; slowing down is possible.", "C. Lane changing is allowed in the dashed line section of the center line; changing lanes is more advantageous.", "D. It's a one-way two-lane road, so lane changing is possible; changing lanes is safer than slowing down."], "answer_index": 1}
{"token": "27e8a15994bda8af97379ca203c03ee3", "waymo_split": "test", "type": "image", "frame_index": 59, "question": "What should I do to drive safely?", "category": "Safety-critical Planning", "options": ["A. I should slow down and pass when going by the vehicle.", "B. I should honk briefly and reduce the distance to pass first.", "C. I should quickly change to the right lane and pass while maintaining speed.", "D. I should accelerate quickly and overtake the vehicle swiftly."], "answer_index": 0}
{"token": "27e8a15994bda8af97379ca203c03ee3", "waymo_split": "test", "type": "image", "frame_index": 59, "question": "What is a safety-critical object?", "category": "Safety-critical Perception", "options": ["A. A black sedan waiting to turn left at an intersection", "B. A gray SUV stopped in the right lane", "C. A blue bus moving slowly in the lane ahead of my car", "D. A white truck stopped in the left opposing lane"], "answer_index": 3}
{"token": "27e8a15994bda8af97379ca203c03ee3", "waymo_split": "test", "type": "image", "frame_index": 59, "question": "Where is the area that hides danger in the current frame?", "category": "Uncertainty", "options": ["A. Space right behind the central divider sign", "B. Space between parked vehicles on the right shoulder", "C. Blind spots at both ends of the crosswalk ahead", "D. Gap behind parked vehicles on the left shoulder"], "answer_index": 1}
{"token": "27e8a15994bda8af97379ca203c03ee3", "waymo_split": "test", "type": "image", "frame_index": 59, "question": "Who is responsible in a safety-critical situation? What is the cause?", "category": "Safety-critical scene Understanding", "options": ["A. The malfunction of the traffic light caused the vehicle flow to become tangled.", "B. The illegally parked car on the shoulder obstructed the view.", "C. The truck that was stopped on the driving lane obstructed the path.", "D. The pedestrian jaywalking obstructed the progress."], "answer_index": 2}
{"token": "27e8a15994bda8af97379ca203c03ee3", "waymo_split": "test", "type": "image", "frame_index": 59, "question": "What are the newly exposed risk candidates in the following section?", "category": "Safety-critical Prediction", "options": ["A. A bicycle may enter the lane from the right sidewalk boundary.", "B. A person or object may come out from the space in front of a parked vehicle on the right shoulder.", "C. The vehicle in front may suddenly stop due to a signal change at the upcoming intersection.", "D. A person may come out from the gap behind a parked vehicle on the left shoulder."], "answer_index": 1}
{"token": "27e8a15994bda8af97379ca203c03ee3", "waymo_split": "test", "type": "image", "frame_index": 59, "question": "What is the safest choice just before entering a yellow signal: stop or proceed?", "category": "Special Event", "options": ["A. Currently unable to judge due to no signal. If there is a yellow signal at the intersection, it is safe to proceed since there are no vehicles.", "B. Confirmed the signal, so stop now. If there is a yellow signal at the intersection, it is safe to stop even if there are no surrounding vehicles.", "C. Maintaining speed is good, so proceed now. If there is a yellow signal on a two-lane road, it is correct to accelerate and pass to avoid being rear-ended.", "D. Visibility is clear, so proceed now. If a yellow signal turns on at the intersection, you must stop in front of the stop line even if there are no pedestrians."], "answer_index": 0}
{"token": "27e8a15994bda8af97379ca203c03ee3", "waymo_split": "test", "type": "image", "frame_index": 59, "question": "How to pass through the blind spot next to a large vehicle?", "category": "Special Event", "options": ["A. Turn left and overtake immediately", "B. Stay close to the right lane and pass quickly", "C. Cannot judge as there is no large vehicle", "D. Proceed while maintaining the blind spot"], "answer_index": 2}
{"token": "27e8a15994bda8af97379ca203c03ee3", "waymo_split": "test", "type": "image", "frame_index": 59, "question": "What potential situations could occur in the current scenario?", "category": "Counterfactual", "options": ["A. Waiting to turn left in your own vehicle", "B. Pedestrian crossing the road", "C. Oncoming vehicle entering the intersection", "D. Entering a T-junction in your own vehicle"], "answer_index": 3}
{"token": "27e8a15994bda8af97379ca203c03ee3", "waymo_split": "test", "type": "image", "frame_index": 59, "question": "What situation might occur if the vehicle behaves like this?", "category": "Counterfactual", "options": ["A. If the vehicle continues straight, it may collide with a vehicle in the left opposing lane (because the road curves to the right from the vehicle's perspective, and the truck is stopped in that curved area).", "B. If the vehicle continues straight, it may come into contact with a bus that is parked at the right bus stop (because the lane curves to the left, so going straight would pull it towards the stop).", "C. If the vehicle continues straight, it may come into contact with the guardrail on the right shoulder (because the road curves to the left from the vehicle's perspective, causing the body to lean towards the outside on the right when going straight).", "D. Even if the vehicle continues straight, it can stop behind the truck without any issues (because this section is close to being straight, and the truck is also parked straight in the center of the lane, not significantly overlapping with the path)."], "answer_index": 0}
{"token": "27e8a15994bda8af97379ca203c03ee3", "waymo_split": "test", "type": "image", "frame_index": 10, "question": "Based on the current appearance of the person/vehicle (two-wheeled), how are they trying to move?", "category": "Normal Perception & Prediction", "options": ["A. Entering an intersection", "B. Waiting in a stop lane", "C. Preparing to turn right", "D. Entering a three-way intersection"], "answer_index": 3}
{"token": "27e8a15994bda8af97379ca203c03ee3", "waymo_split": "test", "type": "image", "frame_index": 59, "question": "What is the guideline for the behavior of my vehicle in response to the actions of a safety-critical object?", "category": "Safety-critical Planning", "options": ["A. If the truck starts to move, my vehicle must immediately accelerate to overtake.", "B. If the truck starts to move, my vehicle must slow down immediately.", "C. If a nearby bus merges into the lane, my vehicle must maintain its speed.", "D. If the truck starts to reverse, my vehicle must quickly pass by."], "answer_index": 1}
{"token": "27e8a15994bda8af97379ca203c03ee3", "waymo_split": "test", "type": "image", "frame_index": 10, "question": "What is the plan for yielding when an ambulance/fire truck approaches?", "category": "Special Event", "options": ["A. Pull over to the shoulder after passing the car in front to clear the way from behind", "B. Slowly drive to the right edge to create a passage", "C. Stop in your current position to yield space and allow entry to the intersection", "D. Enter the center of the intersection to guide vehicles on the left and right to stop"], "answer_index": 2}
{"token": "27e8a15994bda8af97379ca203c03ee3", "waymo_split": "test", "type": "image", "frame_index": 10, "question": "What are the behavior restrictions in school zones/congested areas?", "category": "Special Event", "options": ["A. Must drive slowly", "B. Must overtake", "C. Must maintain speed", "D. Must honk the horn"], "answer_index": 0}
{"token": "27e8a15994bda8af97379ca203c03ee3", "waymo_split": "test", "type": "image", "frame_index": 10, "question": "What is the description of a non-safety-critical object?", "category": "Normal Perception & Prediction", "options": ["A. There are several motorcycles parked on the shoulder. A wire fence is adjacent to the road on the left, with small warning lights attached to each post. Streetlight poles are spaced at regular intervals along the straight section, not at a corner.", "B. Low flower pots are lined up next to the central divider. On the left, a wooden fence is attached to the inside of the bike path, with small reflectors mounted on top of the fence. Traffic light signals intermittently shine at each intersection.", "C. A vehicle parked on the shoulder. On the right, there is a thin metal fence across the sidewalk, with several lights attached to the fence. Streetlight illumination occasionally exists at each corner.", "D. A transparent glass bus shelter awning is installed at the edge of the sidewalk. In front, a brick wall recedes towards the building, with soft indirect lighting below. Advertising signs are sporadically illuminated at each corner of the intersection."], "answer_index": 2}
{"token": "27e8a15994bda8af97379ca203c03ee3", "waymo_split": "test", "type": "image", "frame_index": 10, "question": "What are the divisions of the scene?", "category": "Normal scene Understanding", "options": ["A. Highway merging section", "B. Unpaved rural farm road section", "C. Narrow road in residential area", "D. Wide road on the outskirts of the city"], "answer_index": 2}
{"token": "27e8a15994bda8af97379ca203c03ee3", "waymo_split": "test", "type": "image", "frame_index": 10, "question": "Which of the following descriptions about the environment is correct?", "category": "Normal scene Understanding", "options": ["A. Early morning, light fog lighting is faint sunlight and traffic lights", "B. Night, darkness. The lighting is from car headlights and streetlights", "C. Dusk, slightly cloudy lighting is from sunset and store sign lights", "D. Clear day, brightness. The lighting is from direct sunlight and glass reflections"], "answer_index": 1}
{"token": "27e8a15994bda8af97379ca203c03ee3", "waymo_split": "test", "type": "image", "frame_index": 10, "question": "Which of the following is a correct description of traffic signals?", "category": "Traffic Signal", "options": ["A. A yellow SCHOOL ZONE sign on the left, BUS ONLY in white letters on the front lane", "B. A green light on the traffic signal in front, a left turn arrow on the right pavement", "C. A yellow sign saying SPEED HUMPS on the right. A red STOP sign is visible on the right", "D. A white sign saying SPEED LIMIT 25 on the left, a yellow triangular YIELD sign on the right"], "answer_index": 2}
{"token": "27e8a15994bda8af97379ca203c03ee3", "waymo_split": "test", "type": "image", "frame_index": 10, "question": "What is a safety-critical object?", "category": "Safety-critical Perception", "options": ["A. Camera", "B. Brake", "C. Airbag", "D. None"], "answer_index": 3}
{"token": "27e8a15994bda8af97379ca203c03ee3", "waymo_split": "test", "type": "image", "frame_index": 10, "question": "Are there any blind spots in your field of vision?", "category": "Uncertainty", "options": ["A. Blind spot in front of the vehicle parked on the left shoulder", "B. Blind spot in front of the vehicle parked on the right shoulder", "C. Blind spot behind the vehicle parked on the right shoulder", "D. Blind spot next to the vehicle departing from the right bus stop"], "answer_index": 1}
{"token": "27e8a15994bda8af97379ca203c03ee3", "waymo_split": "test", "type": "image", "frame_index": 10, "question": "What is the answer regarding parked vehicles on the shoulder, the presence of a center line, and whether Ego crosses the center line?", "category": "Normal Perception & Prediction", "options": ["A. There are a few parked vehicles on the shoulder. There is a center line.", "B. There are many parked vehicles on the shoulder. There is no center line.", "C. There are 1-2 parked vehicles on the shoulder. The center line is clear.", "D. There are hardly any parked vehicles on the shoulder. The center line is distinct."], "answer_index": 1}
{"token": "27e8a15994bda8af97379ca203c03ee3", "waymo_split": "test", "type": "image", "frame_index": 10, "question": "How do you think safety-critical objects will move?", "category": "Safety-critical Prediction", "options": ["A. Ascend", "B. Advance", "C. Rotate", "D. None"], "answer_index": 3}
{"token": "27e8a15994bda8af97379ca203c03ee3", "waymo_split": "test", "type": "image", "frame_index": 10, "question": "Is lane changing possible? Which is safer between slowing down and changing lanes?", "category": "Safety-critical Planning", "options": ["A. It is a one-way two-lane road, so lane changing is possible; slowing down is not recommended.", "B. Even on a two-lane road with two-way traffic, changing to the passing lane is possible; accelerating is safer.", "C. On a two-lane road with two-way traffic, lane changing is not possible; slowing down is possible.", "D. There is no central line, so changing to the left is possible; slowing down is unnecessary."], "answer_index": 2}
{"token": "27e8a15994bda8af97379ca203c03ee3", "waymo_split": "test", "type": "image", "frame_index": 10, "question": "Where is the area that hides danger in the current frame?", "category": "Uncertainty", "options": ["A. The space next to the crosswalk on the left side of the intersection ahead", "B. The space behind the large bus in the left lane", "C. The space in front of the parked vehicle on the right shoulder", "D. The space behind the parked vehicle on the right shoulder"], "answer_index": 2}
{"token": "27e8a15994bda8af97379ca203c03ee3", "waymo_split": "test", "type": "image", "frame_index": 10, "question": "What are the potential new exposure risks in the following section?", "category": "Safety-critical Prediction", "options": ["A. A person or object may emerge from the gap next to the central divider.", "B. A person or object may emerge from the space in front of the parked vehicle on the right shoulder.", "C. A person or object may emerge from the space behind the parked vehicle on the right shoulder.", "D. A person or object may emerge from the space in front of the parked vehicle on the left shoulder."], "answer_index": 1}
{"token": "27e8a15994bda8af97379ca203c03ee3", "waymo_split": "test", "type": "image", "frame_index": 10, "question": "Are there any other safety-critical objects besides the first safety-critical object? If so, how would you move them?", "category": "Safety-critical Prediction", "options": ["A. None", "B. Move the fire extinguisher towards the wall", "C. Move the gas cylinder to the left to clear the aisle", "D. Move the extension cord back to avoid tripping"], "answer_index": 0}
{"token": "27e8a15994bda8af97379ca203c03ee3", "waymo_split": "test", "type": "image", "frame_index": 10, "question": "What is the safest choice just before entering a yellow signal: stop or proceed?", "category": "Special Event", "options": ["A. It's impossible to judge without a signal. If there is a yellow signal at the intersection, it is safe to proceed since there are currently no vehicles.", "B. If the pedestrian signal is red and the intersection is clear, it is safe to slowly enter and proceed.", "C. When entering a yellow signal at an intersection, regardless of the distance, the safest choice is to stop right in front of the stop line.", "D. If only right-turning vehicles are visible, and it does not affect going straight, it is currently safe to maintain speed and proceed even just before the yellow."], "answer_index": 0}
{"token": "27e8a15994bda8af97379ca203c03ee3", "waymo_split": "test", "type": "image", "frame_index": 10, "question": "What potential situations could arise in the current scenario?", "category": "Counterfactual", "options": ["A. Entering an intersection with my vehicle", "B. Attempting a U-turn with my vehicle", "C. A pedestrian starting to cross", "D. Another vehicle entering an intersection"], "answer_index": 0}
{"token": "27e8a15994bda8af97379ca203c03ee3", "waymo_split": "test", "type": "image", "frame_index": 10, "question": "What is the method to avoid the blind spot next to a large vehicle?", "category": "Special Event", "options": ["A. Unable to judge due to the absence of a large vehicle", "B. Pass while matching speed with the large vehicle", "C. Wait in the blind spot behind the large vehicle", "D. Drive parallel to the large vehicle"], "answer_index": 0}
{"token": "27e8a15994bda8af97379ca203c03ee3", "waymo_split": "test", "type": "image", "frame_index": 97, "question": "Based on the current appearance of the person/vehicle (two-wheeled), how do you intend to move?", "category": "Normal Perception & Prediction", "options": ["A. Going straight (slow speed)", "B. Stopping (waiting)", "C. Turning left (slow speed)", "D. Turning right (slow speed)"], "answer_index": 0}
{"token": "27e8a15994bda8af97379ca203c03ee3", "waymo_split": "test", "type": "image", "frame_index": 97, "question": "Which of the following is correct as an Image Caption from the perspective of a Normal Frame?", "category": "Normal scene caption", "options": ["A. A vehicle traveling on a narrow two-lane road in the left lane (accelerating) is seen with a small truck temporarily stopped on the right shoulder.", "B. A vehicle traveling on a narrow two-lane road in the right lane (moving slowly). A large truck is stopped in the left opposing lane.", "C. A vehicle is stopped on a two-lane road while a large truck is passing slowly in the left opposing lane.", "D. A vehicle is traveling on a narrow two-lane road (waiting to turn right) with a large truck stopped in the right lane obstructing progress."], "answer_index": 1}
{"token": "27e8a15994bda8af97379ca203c03ee3", "waymo_split": "test", "type": "image", "frame_index": 97, "question": "What is the classification of the scene?", "category": "Normal scene Understanding", "options": ["A. Unpaved country road", "B. Highway entrance", "C. Narrow road in a residential area", "D. Wide street in the city center"], "answer_index": 2}
{"token": "27e8a15994bda8af97379ca203c03ee3", "waymo_split": "test", "type": "image", "frame_index": 97, "question": "Which is correct from the perspective of Safety-critical Frame regarding Image Caption?", "category": "Safety-critical scene caption", "options": ["A. The vehicle slightly moves to the right to avoid a small cargo truck parked on the left shoulder, but there is no oncoming traffic, so the risk is low.", "B. The vehicle is slowly overtaking a stationary truck in the same lane on the right, but the lane is wide enough to pass comfortably.", "C. The vehicle seems to be passing a stationary truck in the opposite lane on the left. However, caution is needed as the width of the road the vehicle is traveling on is narrow.", "D. The vehicle is making a right turn at an intersection ahead while maintaining a sufficient distance from a truck in front, but the road is wide, so there are no significant constraints."], "answer_index": 2}
{"token": "27e8a15994bda8af97379ca203c03ee3", "waymo_split": "test", "type": "image", "frame_index": 97, "question": "Which of the following is a correct description of traffic density?", "category": "Normal scene Understanding", "options": ["A. Fast, few vehicles driving around. A few parked cars on the shoulder on one side of the road.", "B. Slow, a few vehicles driving around intermittently. Parked cars on the shoulder are rarely seen.", "C. Slow, no vehicles driving around. Many parked cars on the shoulder on each side of the road.", "D. Fast, many vehicles driving around. Almost no parked cars on the shoulder."], "answer_index": 2}
{"token": "27e8a15994bda8af97379ca203c03ee3", "waymo_split": "test", "type": "image", "frame_index": 97, "question": "What are the behavior restrictions in school zones/congested areas?", "category": "Special Event", "options": ["A. Must honk", "B. Must overtake", "C. Must drive slowly", "D. Must stop"], "answer_index": 2}
{"token": "27e8a15994bda8af97379ca203c03ee3", "waymo_split": "test", "type": "image", "frame_index": 97, "question": "What is the plan for yielding when an emergency vehicle/fire truck approaches?", "category": "Special Event", "options": ["A. Move to the left lane to create space", "B. Stop in place to yield space and allow entry to the intersection", "C. Enter the intersection first and yield the passage by proceeding slowly", "D. Stay behind the emergency vehicle and pass through the signal together"], "answer_index": 1}
{"token": "27e8a15994bda8af97379ca203c03ee3", "waymo_split": "test", "type": "image", "frame_index": 97, "question": "What is the description of non-safety-critical objects?", "category": "Normal Perception & Prediction", "options": ["A. A city bus that briefly stopped at a bus stop and small commercial buildings along the sidewalk.", "B. Vehicles parked on the shoulder and residential buildings lined up along the sidewalk and crosswalk.", "C. A bicycle slowly passing on a bike lane and cafes and convenience stores lined up by the roadside.", "D. Shadows of street trees in a park next to an intersection and school buildings with low fences on the opposite side."], "answer_index": 1}
{"token": "27e8a15994bda8af97379ca203c03ee3", "waymo_split": "test", "type": "image", "frame_index": 97, "question": "Which of the following is a correct description of traffic signals?", "category": "Traffic Signal", "options": ["A. Stop line marking", "B. None", "C. No left turn sign", "D. Red traffic light"], "answer_index": 1}
{"token": "27e8a15994bda8af97379ca203c03ee3", "waymo_split": "test", "type": "image", "frame_index": 97, "question": "How do you think a safety-critical object will move?", "category": "Safety-critical Prediction", "options": ["A. Accelerate forward", "B. Maintain a stop", "C. Start reversing", "D. Enter a right turn"], "answer_index": 1}
{"token": "27e8a15994bda8af97379ca203c03ee3", "waymo_split": "test", "type": "image", "frame_index": 97, "question": "What is a safety-critical object?", "category": "Safety-critical Perception", "options": ["A. A blue bus parked on the right shoulder", "B. A black sedan waiting to make a U-turn in the front lane", "C. A gray passenger car traveling in the same lane on the right", "D. A white truck parked in the left opposite lane"], "answer_index": 3}
{"token": "27e8a15994bda8af97379ca203c03ee3", "waymo_split": "test", "type": "image", "frame_index": 97, "question": "Which of the following descriptions about the environment is correct?", "category": "Normal scene Understanding", "options": ["A. Clear midday, bright lighting is strong sunlight and reflections from windows", "B. Dusk, red sunset lighting is the sunset and orange streetlights", "C. Night, darkness. Lighting is from car headlights and lights coming from buildings", "D. Early morning, light fog lighting is the residual glow from streetlights and sign lights"], "answer_index": 2}
{"token": "27e8a15994bda8af97379ca203c03ee3", "waymo_split": "test", "type": "image", "frame_index": 97, "question": "What is the answer regarding parked vehicles on the shoulder, the presence of a center line, and the encroachment of Ego on the center line?", "category": "Normal Perception & Prediction", "options": ["A. 1-2 parked vehicles on the shoulder are visible. The center line is clear.", "B. A few parked vehicles on the shoulder exist. The center line is a double solid line.", "C. Many parked vehicles on the shoulder exist. There is no center line.", "D. Almost no parked vehicles on the shoulder. There is a center line."], "answer_index": 2}
{"token": "27e8a15994bda8af97379ca203c03ee3", "waymo_split": "test", "type": "image", "frame_index": 97, "question": "What should I do to drive safely?", "category": "Safety-critical Planning", "options": ["A. When passing the truck, I should drive as far to the right as possible to avoid colliding with it while keeping a distance from the left center.", "B. When passing the truck, I should be aware of oncoming vehicles and quickly pass by staying close to the left and reducing the gap.", "C. To quickly get out of the blind spot before overtaking the truck, I should maintain the center of the lane and increase my speed to pass closely.", "D. In narrow lane sections, it is safer to stay closer to the center line and drive straight through without any additional spacing."], "answer_index": 0}
{"token": "27e8a15994bda8af97379ca203c03ee3", "waymo_split": "test", "type": "image", "frame_index": 97, "question": "Are there any blind spots in your field of vision?", "category": "Uncertainty", "options": ["A. Blind spot beyond the fence in the right construction area", "B. Blind spot between parked cars on the left shoulder", "C. Blind spot between parked cars on the right shoulder", "D. Blind spot behind the queue at the right bus stop"], "answer_index": 2}
{"token": "27e8a15994bda8af97379ca203c03ee3", "waymo_split": "test", "type": "image", "frame_index": 97, "question": "Is there any other safety-critical object besides the first safety-critical object? If so, how will it be moved?", "category": "Safety-critical Prediction", "options": ["A. There is a fire extinguisher: detach it from the bracket and carry it to the collection point at the end of the hallway.", "B. There is a high-pressure gas cylinder: cover the valve cap and secure it on a cart to move it to a shaded storage area.", "C. None", "D. There is a lithium battery pack: wear insulated gloves and place it in a dedicated case to transport it towards the service room."], "answer_index": 2}
{"token": "27e8a15994bda8af97379ca203c03ee3", "waymo_split": "test", "type": "image", "frame_index": 97, "question": "How should I drive to resolve the first risk while also addressing the second risk?", "category": "Safety-critical Planning", "options": ["A. Stop and proceed", "B. Change to the right lane", "C. Accelerate through", "D. None"], "answer_index": 3}
{"token": "27e8a15994bda8af97379ca203c03ee3", "waymo_split": "test", "type": "image", "frame_index": 97, "question": "What is the correlation in safety-critical situations?", "category": "Safety-critical scene Understanding", "options": ["A. Car-Person", "B. Person-Two-wheeler", "C. Car-Two-wheeler", "D. Car-Car"], "answer_index": 3}
{"token": "27e8a15994bda8af97379ca203c03ee3", "waymo_split": "test", "type": "image", "frame_index": 97, "question": "Is lane changing possible? Which is safer between slowing down and changing lanes?", "category": "Safety-critical Planning", "options": ["A. It is a two-lane road with traffic in both directions, so lane changing is not possible. Slowing down is possible.", "B. It is a one-way two-lane road, so lane changing is possible, and changing lanes is safer.", "C. It is a section with a bus-only lane, so lane changing is possible, and lane changing takes priority.", "D. It is a three-lane road with traffic in both directions, so lane changing is possible, and slowing down is unnecessary."], "answer_index": 0}
{"token": "27e8a15994bda8af97379ca203c03ee3", "waymo_split": "test", "type": "image", "frame_index": 97, "question": "Where is the area that hides danger by being obscured in the current frame?", "category": "Uncertainty", "options": ["A. Space between parked vehicles on the right shoulder", "B. Space between parked vehicles on the left shoulder", "C. Space next to the starting point of the central divider ahead", "D. Space behind the stopped bus at the right bus stop"], "answer_index": 0}
{"token": "27e8a15994bda8af97379ca203c03ee3", "waymo_split": "test", "type": "image", "frame_index": 97, "question": "What situation might occur if the vehicle acted this way?", "category": "Counterfactual", "options": ["A. The vehicle turns on the left blinker and attempts a U-turn at the intersection, risking a collision with the following bus.", "B. The vehicle moves to the right and retreats towards the shoulder, risking contact with the motorcycle on the right.", "C. The vehicle accelerates near the center line and attempts to overtake the car in front, risking a collision with an oncoming car.", "D. The vehicle moves to the left and encroaches on the center line, risking a collision with the truck on the left."], "answer_index": 3}
{"token": "27e8a15994bda8af97379ca203c03ee3", "waymo_split": "test", "type": "image", "frame_index": 97, "question": "What potential situations could occur in the current scenario?", "category": "Counterfactual", "options": ["A. Attempting a U-turn with the vehicle", "B. A pedestrian starting to cross", "C. The other vehicle entering the intersection", "D. The vehicle entering the T-junction"], "answer_index": 3}
{"token": "27e8a15994bda8af97379ca203c03ee3", "waymo_split": "test", "type": "image", "frame_index": 97, "question": "Who is responsible in a safety-critical situation? What is the cause?", "category": "Safety-critical scene Understanding", "options": ["A. The truck that is stopped in the driving lane is responsible. The road is already narrow, and having a parked vehicle in the two-lane shoulder causes inconvenience.", "B. The driver of the vehicle coming from behind is responsible. The lack of a safe distance leads to a delayed reaction to the situation ahead, causing sudden braking and contact.", "C. The illegally parked passenger car on the right shoulder is responsible. Blocking the shoulder eliminates visibility and escape space, forcing following vehicles to change lanes abruptly.", "D. The road management is responsible. Insufficient construction guidance and temporary lane direction lead to congestion and increased danger."], "answer_index": 0}
{"token": "27e8a15994bda8af97379ca203c03ee3", "waymo_split": "test", "type": "image", "frame_index": 97, "question": "What is the method to avoid the blind spot next to a large vehicle?", "category": "Special Event", "options": ["A. Change to the right lane of the large vehicle and pass quickly", "B. Maintain a safe distance on the left side of the large vehicle and pass", "C. Turn on the turn signal and pass quickly next to the large vehicle", "D. Cannot determine as there is no large vehicle"], "answer_index": 3}
{"token": "27e8a15994bda8af97379ca203c03ee3", "waymo_split": "test", "type": "image", "frame_index": 135, "question": "Based on the current appearance of the person/vehicle (two-wheeled), how do you intend to move?", "category": "Normal Perception & Prediction", "options": ["A. Right turn (decelerate)", "B. Straight (accelerate)", "C. Left turn (slow down)", "D. Straight (slow down)"], "answer_index": 3}
{"token": "27e8a15994bda8af97379ca203c03ee3", "waymo_split": "test", "type": "image", "frame_index": 135, "question": "Which of the following is correct from the perspective of Safety-critical Frame regarding Image Caption?", "category": "Safety-critical scene caption", "options": ["A. The vehicle briefly stops in front of the center line while facing a bicycle, but the lane is wide.", "B. The vehicle passes a truck parked on the right shoulder, but the lane width is sufficient to maintain speed.", "C. The vehicle accelerates while overtaking a bus in the same lane on the left, but there is plenty of space ahead.", "D. The vehicle passes a truck stopped in the opposite lane without colliding, but the width of the road the vehicle is traveling on is narrow, so it proceeds slowly."], "answer_index": 3}
{"token": "27e8a15994bda8af97379ca203c03ee3", "waymo_split": "test", "type": "image", "frame_index": 135, "question": "What are the behavior restrictions in school zones/congested areas?", "category": "Special Event", "options": ["A. Must pass quickly", "B. Must maintain a constant speed", "C. Must drive slowly", "D. Must honk frequently"], "answer_index": 2}
{"token": "27e8a15994bda8af97379ca203c03ee3", "waymo_split": "test", "type": "image", "frame_index": 135, "question": "What are the distinctions of the scene?", "category": "Normal scene Understanding", "options": ["A. Unpaved rural road", "B. Narrow alley in the city", "C. Narrow road in a residential area", "D. Main section of the highway"], "answer_index": 2}
{"token": "27e8a15994bda8af97379ca203c03ee3", "waymo_split": "test", "type": "image", "frame_index": 135, "question": "What is the description of a non-safety-critical object?", "category": "Normal Perception & Prediction", "options": ["A. There is a rental station for electric scooters on the roadside. Tall street trees are lined up between the sidewalk and the road. A bus stop sign is visible at the left end.", "B. There are construction barricades and cones set up on the shoulder. The surrounding buildings mainly consist of low-rise shops and cafes. A traffic light and crosswalk markings are right in front on the sidewalk.", "C. A low flower bed runs next to the median strip in the lane. Small shops are densely packed along the sidewalk. Benches and trash cans are visible close to the left sidewalk.", "D. Vehicles parked on the shoulder. And residential buildings lined up along the sidewalk and the road. Streetlights are far away on the right sidewalk."], "answer_index": 3}
{"token": "27e8a15994bda8af97379ca203c03ee3", "waymo_split": "test", "type": "image", "frame_index": 135, "question": "What is the plan for yielding when an ambulance/fire truck approaches?", "category": "Special Event", "options": ["A. First, exit the lane occupied by the truck and yield.", "B. First, enter the lane with the bus and yield.", "C. First, stay close to the center line and maintain speed.", "D. First, stop briefly in the center of the intersection to yield."], "answer_index": 0}
{"token": "27e8a15994bda8af97379ca203c03ee3", "waymo_split": "test", "type": "image", "frame_index": 135, "question": "Which of the following is a correct description of traffic density?", "category": "Normal scene Understanding", "options": ["A. Slow, no vehicles driving nearby. Many parked cars on the shoulder of the road.", "B. Fast, many vehicles driving nearby. Almost no parked cars on the shoulder.", "C. Slow, many vehicles driving nearby. Occasionally, vehicles merging from alleys are seen.", "D. Slow, a few vehicles waiting at the intersection. Rarely any parked cars on the side of the road."], "answer_index": 0}
{"token": "27e8a15994bda8af97379ca203c03ee3", "waymo_split": "test", "type": "image", "frame_index": 135, "question": "Which of the following is a correct description of traffic signals?", "category": "Traffic Signal", "options": ["A. None", "B. Traffic light", "C. Sign", "D. Road marking"], "answer_index": 0}
{"token": "27e8a15994bda8af97379ca203c03ee3", "waymo_split": "test", "type": "image", "frame_index": 135, "question": "Which of the following descriptions about the environment is correct?", "category": "Normal scene Understanding", "options": ["A. Early morning, light fog. The lighting is from the faint dawn and store signs. It exists to the left of the streetlight.", "B. Clear midday, brightness. The lighting is from direct sunlight and reflections from windows. It exists behind the streetlight.", "C. Rainy evening, wet pavement. The lighting is from the headlights of a car behind and traffic lights at the intersection. It exists to the front left of the streetlight.", "D. Night, darkness. The lighting is from the headlights of a car and lights coming from buildings. It exists to the right of the streetlight."], "answer_index": 3}
{"token": "27e8a15994bda8af97379ca203c03ee3", "waymo_split": "test", "type": "image", "frame_index": 135, "question": "What is the answer regarding parked vehicles on the shoulder, the presence of a center line, and whether Ego crosses the center line?", "category": "Normal Perception & Prediction", "options": ["A. Several temporarily parked vehicles on the shoulder. Solid center line in both directions.", "B. Many parked vehicles on the shoulder. No center line.", "C. No parked vehicles on the shoulder. There is a center line.", "D. A few parked vehicles on the shoulder. Dashed center line."], "answer_index": 1}
{"token": "27e8a15994bda8af97379ca203c03ee3", "waymo_split": "test", "type": "image", "frame_index": 135, "question": "How do you think a safety-critical object should be moved?", "category": "Safety-critical Prediction", "options": ["A. Maintain a stop", "B. Move to the right", "C. Slowly reverse", "D. Slowly advance"], "answer_index": 0}
{"token": "27e8a15994bda8af97379ca203c03ee3", "waymo_split": "test", "type": "image", "frame_index": 135, "question": "What is a safety-critical object?", "category": "Safety-critical Perception", "options": ["A. White van parked on the left shoulder", "B. Gray truck traveling in the left opposite lane", "C. White truck traveling in the right same lane", "D. White truck parked in the left opposite lane"], "answer_index": 3}
{"token": "27e8a15994bda8af97379ca203c03ee3", "waymo_split": "test", "type": "image", "frame_index": 135, "question": "Are there any blind spots in your field of vision?", "category": "Uncertainty", "options": ["A. Blind spot behind the right bus stop shelter", "B. Blind spot between parked cars on the left shoulder", "C. Blind spot obscured by the guardrail of the central divider", "D. Blind spot between parked cars on the right shoulder"], "answer_index": 3}
{"token": "27e8a15994bda8af97379ca203c03ee3", "waymo_split": "test", "type": "image", "frame_index": 135, "question": "Are there any other safety-critical objects besides the first safety-critical object? If so, how would they be moved?", "category": "Safety-critical Prediction", "options": ["A. A pile of boxes at the back of the truck", "B. A loose tarp on the side of the truck", "C. A shaking ladder at the front of the trailer", "D. A fallen tow hook in the center of the lane"], "answer_index": 0}
{"token": "27e8a15994bda8af97379ca203c03ee3", "waymo_split": "test", "type": "image", "frame_index": 135, "question": "What is the correlation in safety-critical situations?", "category": "Safety-critical scene Understanding", "options": ["A. Two-wheeled vehicle", "B. Person - two-wheeled vehicle", "C. Vehicle - vehicle", "D. Vehicle - person"], "answer_index": 2}
{"token": "27e8a15994bda8af97379ca203c03ee3", "waymo_split": "test", "type": "image", "frame_index": 135, "question": "Is lane changing possible? Which is safer between slowing down and changing lanes?", "category": "Safety-critical Planning", "options": ["A. It is possible to change lanes in the dashed central line area, so slowing down is not necessary.", "B. It is a two-way two-lane road, so lane changing is not possible, but slowing down is.", "C. It is a one-way two-lane road, so lane changing is possible, and changing lanes is safer than slowing down.", "D. It is a passing zone, so lane changing is possible, and changing lanes is better than slowing down."], "answer_index": 1}
{"token": "27e8a15994bda8af97379ca203c03ee3", "waymo_split": "test", "type": "image", "frame_index": 135, "question": "How should I drive to solve the first risk while also addressing the second risk?", "category": "Safety-critical Planning", "options": ["A. I should not drive too close to the left until I pass the stack of boxes. Also, since there could be people or objects behind the stack, I must drive at the lowest speed (especially since visibility is poor in the dark).", "B. I should quickly pass closely to the left until I get past the stack of boxes. No matter what is behind, stopping would be more dangerous, so I need to speed up and pass through quickly.", "C. I should drive while using the center of the lane widely and just brush past the stack of boxes. Assuming there are no people behind the stack, there is no need to reduce my speed to the lowest.", "D. I should drive close to the right edge in front of the stack of boxes to widen my field of view. Even in the dark, if I have signaled with high beams and my horn, I can pass at a normal speed."], "answer_index": 0}
{"token": "27e8a15994bda8af97379ca203c03ee3", "waymo_split": "test", "type": "image", "frame_index": 135, "question": "Where is the area that hides danger in the current frame?", "category": "Uncertainty", "options": ["A. The rectangular space behind the large bus in front", "B. The space between parked vehicles on the right shoulder", "C. The shaded section next to the central divider lane", "D. The space between parked vehicles on the left shoulder"], "answer_index": 1}
{"token": "27e8a15994bda8af97379ca203c03ee3", "waymo_split": "test", "type": "image", "frame_index": 135, "question": "What is the safest choice when approaching a yellow signal: stop or proceed?", "category": "Special Event", "options": ["A. Both yellow lights and flashing lights mean to maintain speed; if it's raining, stopping may lead to skidding, so proceeding is the safer choice.", "B. There is no signal, so it's currently impossible to judge. If there is a yellow signal at an intersection, and there are no vehicles currently, proceeding is the safer choice.", "C. If the signal turns yellow and the pedestrian light is red, it's fine to just go. If it's an intersection, proceeding straight without checking left or right is the safest.", "D. If the light is yellow, do not stop even if you are at the stop line; proceeding immediately is the correct choice. If the yellow signal is on at a four-way intersection, accelerating is safer since there may be a vehicle behind you."], "answer_index": 1}
{"token": "27e8a15994bda8af97379ca203c03ee3", "waymo_split": "test", "type": "image", "frame_index": 135, "question": "Who is responsible in a safety-critical situation? What is the cause?", "category": "Safety-critical scene Understanding", "options": ["A. The truck that is stopped in the driving lane is responsible. It causes inconvenience as it occupies a lane on a road where there is already a parked vehicle in the narrow shoulder.", "B. The road management authority is responsible. The lack of construction area guidance and road markings creates an environment where one can only recognize stopped objects late in a narrow visibility area.", "C. The SUV that suddenly cut in from the left lane is responsible. It disrupts the flow by cutting in to avoid the signal queue, leaving surrounding vehicles with no room to evade.", "D. The speeding passenger car from behind is responsible. Due to failure to maintain a safe distance and negligence in looking ahead, it sees the stopped vehicle late and has to brake suddenly, increasing the risk."], "answer_index": 0}
{"token": "27e8a15994bda8af97379ca203c03ee3", "waymo_split": "test", "type": "image", "frame_index": 135, "question": "What situation might occur if the vehicle acted like this?", "category": "Counterfactual", "options": ["A. If the vehicle moves to the right and encroaches on the shoulder, there is a risk of contact with the motorcycle on the right.", "B. If the vehicle moves to the left and encroaches on the center, there is a risk of collision with the truck on the left.", "C. If the vehicle tries to avoid the center line and is pushed into the right lane, there is a risk of contact with the guardrail on the right.", "D. If the vehicle moves to the right and drives off the lane, there is a risk of collision with the bus on the right."], "answer_index": 1}
{"token": "27e8a15994bda8af97379ca203c03ee3", "waymo_split": "test", "type": "image", "frame_index": 135, "question": "What is the method to avoid the blind spot next to a large vehicle?", "category": "Special Event", "options": ["A. Pass right next to the truck in the adjacent lane", "B. Maintain speed in the trailer's blind spot", "C. Quickly overtake by staying close to the bus", "D. Unable to judge because there is no large vehicle"], "answer_index": 3}
{"token": "27e8a15994bda8af97379ca203c03ee3", "waymo_split": "test", "type": "image", "frame_index": 135, "question": "What are the potential situations that could occur in the current scenario?", "category": "Counterfactual", "options": ["A. Entering an intersection with my vehicle", "B. Entering an intersection with the other vehicle", "C. Entering an alley with my vehicle", "D. Exiting an intersection with my vehicle"], "answer_index": 0}
{"token": "2841af69c18f753cee5c258b87dc46c8", "waymo_split": "test", "type": "video", "frame_index": null, "question": "Where is the safety-critical situation in the video?", "category": "Temporal Grounding", "options": ["A. 2/4", "B. 3/4", "C. 4/4", "D. 1/4"], "answer_index": 2}
{"token": "2841af69c18f753cee5c258b87dc46c8", "waymo_split": "test", "type": "video", "frame_index": null, "question": "Which of the following is a correct description of traffic density?", "category": "Normal scene Understanding", "options": ["A. Usually, surrounding vehicles are average, there are few parked cars on the shoulder, and the slope is a gentle uphill.", "B. Slow, there are many surrounding vehicles, almost no parked cars on the shoulder, and the slope is uphill.", "C. Fast, there are many surrounding vehicles, parked cars on the shoulder are rare, and the slope is flat.", "D. Fast, there are few surrounding vehicles, but many parked cars on the shoulder. The slope is downhill."], "answer_index": 3}
{"token": "2841af69c18f753cee5c258b87dc46c8", "waymo_split": "test", "type": "video", "frame_index": null, "question": "Which of the following is a correct description of road alignment?", "category": "Normal Perception & Prediction", "options": ["A. Right turn", "B. Left turn", "C. Overtaking", "D. Straight ahead"], "answer_index": 3}
{"token": "2841af69c18f753cee5c258b87dc46c8", "waymo_split": "test", "type": "video", "frame_index": null, "question": "What is the classification of the scene?", "category": "Normal scene Understanding", "options": ["A. Outer ring expressway", "B. One-way 4-lane road on the outskirts of the city", "C. Two-way 6-lane road in the city center", "D. Two-way 2-lane road in residential areas"], "answer_index": 2}
{"token": "2841af69c18f753cee5c258b87dc46c8", "waymo_split": "test", "type": "video", "frame_index": null, "question": "What is correct regarding Video Summary from the perspective of Safety-critical Scene?", "category": "Safety-critical scene caption", "options": ["A. The leading vehicle makes a left turn at the intersection, quickly clearing the path for the following vehicle. The following vehicle proceeds slowly through the intersection as the front is clear.", "B. The leading vehicle attempts a U-turn at the intersection and exits into the opposite lane without stopping. The following vehicle only slows down and passes through the intersection as there are no obstacles.", "C. A vehicle turning right from the opposite direction briefly encroaches on the following vehicle's lane but soon realigns and clears the way. The following vehicle does not stop and reduces speed to enter the intersection.", "D. The leading vehicle in the following vehicle's lane makes a right turn at the intersection, blocking the following vehicle's lane and stopping. At this point, the following vehicle slows down and stops before entering the intersection because the vehicle is blocking the road."], "answer_index": 3}
{"token": "2841af69c18f753cee5c258b87dc46c8", "waymo_split": "test", "type": "video", "frame_index": null, "question": "Is there a special situation?", "category": "Special Event", "options": ["A. The school bus in front of the school is stopped for boarding and alighting, causing a brief delay.", "B. A sudden downpour is causing rain to blur the view on the window.", "C. An ambulance with its siren on is coming up from behind, so I need to clear the way.", "D. It's a dark night, but the lights from the surrounding buildings are strong, so it's not extremely dark."], "answer_index": 3}
{"token": "2841af69c18f753cee5c258b87dc46c8", "waymo_split": "test", "type": "video", "frame_index": null, "question": "What is the description of a non-safety-critical object?", "category": "Normal Perception & Prediction", "options": ["A. The left shopping street has lights shining, and in the distance on the left, a large building has lights in each window. In front, there is an intersection with a green traffic light. There are many parked cars on the shoulders of the left and right lanes.", "B. In the left alley shopping street, the sign lights are sparse, and the low building in the distance has almost all its windows closed. In front, there is a roundabout, and the traffic sign is in a yellow flashing state. On the right shoulder, only a few motorcycles are parked.", "C. Most of the sign lights in the right shopping street are off, and the windows of the high-rise building visible in the distance are dark. In front, there is a T-intersection, and the traffic light is showing red. There are many empty spots on the left and right shoulders, so parked cars are rare.", "D. The shops on the right street are closed, making it dark, and the distant building on the left has its exterior lights off. In front, only a crosswalk is visible, and the traffic light is not visible. There are many moving vehicles in the left and right lanes, so there are almost no stopped vehicles."], "answer_index": 0}
{"token": "2841af69c18f753cee5c258b87dc46c8", "waymo_split": "test", "type": "video", "frame_index": null, "question": "Which of the following descriptions about the environment is correct?", "category": "Normal scene Understanding", "options": ["A. Early morning, light fog and dim natural light, streetlights are off", "B. Dusk, the sunset colors the streets, and most shop signs are off", "C. Clear midday, strong direct sunlight and short shadows, no need for vehicle lights", "D. Night, streetlights and the lights of each shop, presence of car lights"], "answer_index": 3}
{"token": "2841af69c18f753cee5c258b87dc46c8", "waymo_split": "test", "type": "video", "frame_index": null, "question": "Which of the following is a correct description of traffic signals?", "category": "Traffic Signal", "options": ["A. Roundabout, yield sign, pedestrian-only markings on the road", "B. Intersection, traffic lights, bicycle lane markings on the road", "C. T-junction, flashing signal, bus lane markings on the road", "D. One-way two-lane road, left turn only signal, no parking signs on the road"], "answer_index": 1}
{"token": "2841af69c18f753cee5c258b87dc46c8", "waymo_split": "test", "type": "video", "frame_index": null, "question": "What is the answer regarding parked vehicles on the shoulder, the presence of a center line, and whether Ego crosses the center line?", "category": "Normal Perception & Prediction", "options": ["A. No parked vehicles on the shoulder. No center line. No crossing.", "B. Multiple parked vehicles on the shoulder side. There is a center line. No crossing.", "C. One parked vehicle only on the left side. No center line. Crossing.", "D. A few parked vehicles on the right side. There is a center line. Crossing."], "answer_index": 1}
{"token": "2841af69c18f753cee5c258b87dc46c8", "waymo_split": "test", "type": "video", "frame_index": null, "question": "Which of the following is a correct description of Spatial Relationship?", "category": "Spatial Relationship", "options": ["A. Vehicles stopped in front of the stop line at a red traffic light in the same lane facing forward at the intersection center.", "B. Vehicles that come to a temporary stop and proceed slowly at a flashing yellow traffic light in the same lane on the left side at the intersection entrance.", "C. Vehicles waiting to turn right while slowing down as the traffic light turns yellow before entering the intersection in the auxiliary lane on the right.", "D. Vehicles driving through the intersection in accordance with a green traffic light in the opposite lane on the left side near the intersection."], "answer_index": 3}
{"token": "2841af69c18f753cee5c258b87dc46c8", "waymo_split": "test", "type": "video", "frame_index": null, "question": "Are there any blind spots?", "category": "Uncertainty", "options": ["A. Blind spot next to the central divider lane (especially when vehicle traffic is low)", "B. No blind spot in front of the right bus stop (especially during the day)", "C. Blind spot between parked vehicles on the right shoulder (especially more so when it's dark)", "D. Blind spot between parked vehicles on the left shoulder (less so when it's bright)"], "answer_index": 2}
{"token": "2841af69c18f753cee5c258b87dc46c8", "waymo_split": "test", "type": "video", "frame_index": null, "question": "How did the safety-critical object move and how did the ego vehicle behave?", "category": "Safety-critical scene Understanding", "options": ["A. Accelerated straight and exited (no interference with the ego vehicle's lane) the ego vehicle maintained speed and continued straight", "B. Turned left to pass (moving into the opposite lane) the ego vehicle slowed down according to the signal and entered the intersection", "C. Made a U-turn while proceeding (passing through the center of the intersection) the ego vehicle only decelerated and did not stop", "D. Turned right and stopped (blocking the ego vehicle's lane). The ego vehicle also slowed down and stopped before entering the intersection"], "answer_index": 3}
{"token": "2841af69c18f753cee5c258b87dc46c8", "waymo_split": "test", "type": "video", "frame_index": null, "question": "What is the correlation in safety-critical situations?", "category": "Safety-critical scene Understanding", "options": ["A. Car-Car", "B. Person-Two-wheeler", "C. Car-Person", "D. Car-Two-wheeler"], "answer_index": 0}
{"token": "2841af69c18f753cee5c258b87dc46c8", "waymo_split": "test", "type": "video", "frame_index": null, "question": "Summary of Ego (self-vehicle) behavior before a safety-critical situation", "category": "Normal scene Understanding", "options": ["A. Lane change", "B. Decelerating", "C. Full stop", "D. Driving straight"], "answer_index": 3}
{"token": "2841af69c18f753cee5c258b87dc46c8", "waymo_split": "test", "type": "video", "frame_index": null, "question": "Who is responsible in a safety-critical situation? What is the cause?", "category": "Safety-critical scene Understanding", "options": ["A. The vehicle itself, blocking the progress of other vehicles by entering the right turn lane while going straight through the intersection.", "B. The pedestrian, causing vehicles to brake suddenly by entering the lane while ignoring the crosswalk signal.", "C. The vehicle in question, stopping while making a right turn at the intersection and preventing its own entry into the intersection.", "D. The vehicle making a left turn from the opposite side, stopping in the middle of the intersection and blocking the passage of straight-moving vehicles."], "answer_index": 2}
{"token": "2841af69c18f753cee5c258b87dc46c8", "waymo_split": "test", "type": "video", "frame_index": null, "question": "What situation would have occurred if the self-driving car had acted this way?", "category": "Counterfactual", "options": ["A. If the self-driving car had ignored it and continued straight, it would have collided with the other vehicle.", "B. If the self-driving car had slightly turned left, it could have safely exited onto the empty road.", "C. If the self-driving car had slowed down and yielded, the distance to the car behind would have actually increased.", "D. If the self-driving car had continued straight, the other vehicle would have stopped and there would have been no collision."], "answer_index": 0}
{"token": "2841af69c18f753cee5c258b87dc46c8", "waymo_split": "test", "type": "image", "frame_index": 9, "question": "Based on the current appearance of the person/vehicle (two-wheeled), how do you intend to move?", "category": "Normal Perception & Prediction", "options": ["A. Turn right", "B. Stop", "C. Turn left", "D. Go straight"], "answer_index": 3}
{"token": "2841af69c18f753cee5c258b87dc46c8", "waymo_split": "test", "type": "video", "frame_index": null, "question": "What is a safety-critical object?", "category": "Safety-critical Perception", "options": ["A. A vehicle in the left lane making a left turn and proceeding normally at an intersection.", "B. A vehicle coming from the opposite direction making a left turn and moving slowly at an intersection.", "C. A vehicle in front making a right turn and suddenly stopping at an intersection.", "D. A vehicle in front going straight and slowing down at an intersection."], "answer_index": 2}
{"token": "2841af69c18f753cee5c258b87dc46c8", "waymo_split": "test", "type": "video", "frame_index": null, "question": "What potential situations can arise depending on the type/condition of the road?", "category": "Normal Perception & Prediction", "options": ["A. The downhill slope means the braking distance is a bit longer.", "B. The gravel road makes the vehicle a bit more stable.", "C. The icy road means the traction is a bit better.", "D. The wet road means the braking distance is a bit shorter."], "answer_index": 0}
{"token": "2841af69c18f753cee5c258b87dc46c8", "waymo_split": "test", "type": "image", "frame_index": 9, "question": "What are the classifications of scenes?", "category": "Normal scene Understanding", "options": ["A. Highway", "B. Residential area", "C. City", "D. Unpaved"], "answer_index": 2}
{"token": "2841af69c18f753cee5c258b87dc46c8", "waymo_split": "test", "type": "image", "frame_index": 9, "question": "Which of the following is a correct description of traffic density?", "category": "Normal scene Understanding", "options": ["A. Fast, there are many parked vehicles on the roadside.", "B. Slow, there are few parked vehicles on the roadside.", "C. Fast, there are many vehicles driving around.", "D. Slow, there are almost no parked vehicles on the roadside."], "answer_index": 0}
{"token": "2841af69c18f753cee5c258b87dc46c8", "waymo_split": "test", "type": "image", "frame_index": 9, "question": "Which of the following is correct as an Image Caption from the perspective of a Normal Frame?", "category": "Normal scene caption", "options": ["A. In the early morning of the city center, a bus is slowly moving directly in front of my car, which is driving in the first lane of a six-lane road with right-hand traffic, while a truck intermittently passes in the opposite lane and one or two cars follow behind. The right shoulder only has construction signs, and parked vehicles are rare.", "B. In the twilight of the city center, my car is driving in the outer lane of a four-lane uphill road with left-hand traffic, and the distance to the leading vehicle in front is close, while cars are continuously lined up in the opposite lane and behind my car. Only a few taxis are seen briefly stopped on the right shoulder.", "C. In the bright daytime of a busy area, my car is driving in the second lane of an eight-lane road with right-hand traffic, and vehicles are backed up at a traffic signal ahead, while the opposite lane also has dense vehicle flow, and several cars are following behind my car. The right third lane shoulder is almost empty.", "D. In the dark night of the city center, my car is driving in the middle lane of a six-lane downhill road with right-hand traffic. The distance to the leading vehicle in front is very far, and there are no vehicles in the opposite lane or behind my car. The right third lane shoulder has a lot of parked vehicles."], "answer_index": 3}
{"token": "2841af69c18f753cee5c258b87dc46c8", "waymo_split": "test", "type": "image", "frame_index": 9, "question": "What are the behavioral restrictions in school zones/congested areas?", "category": "Special Event", "options": ["A. Must turn on high beams", "B. Must honk the horn", "C. Must drive slowly", "D. Must maintain speed"], "answer_index": 2}
{"token": "2841af69c18f753cee5c258b87dc46c8", "waymo_split": "test", "type": "image", "frame_index": 9, "question": "Which of the following descriptions about the environment is correct?", "category": "Normal scene Understanding", "options": ["A. Streetlights, building lights, and vehicle headlights illuminate at night, in darkness.", "B. Sunlight and scattered light between clouds illuminate during the day, when it's clear.", "C. Reflected light from wet roads and neon signs illuminate during a rainy early evening, when it's cloudy.", "D. The glow of sunset and the lights of shop signs illuminate in the evening, with a red hue."], "answer_index": 0}
{"token": "2841af69c18f753cee5c258b87dc46c8", "waymo_split": "test", "type": "image", "frame_index": 9, "question": "Which of the following is a correct description of traffic signals?", "category": "Traffic Signal", "options": ["A. Dedicated left turn road marking on the road surface ahead", "B. Traffic light (green) at the intersection far ahead", "C. Traffic light (red) at the intersection nearby", "D. Traffic light (yellow) at the intersection to the right ahead"], "answer_index": 1}
{"token": "2841af69c18f753cee5c258b87dc46c8", "waymo_split": "test", "type": "image", "frame_index": 9, "question": "Are there any other safety-critical objects besides the first safety-critical object? If so, how will they move?", "category": "Safety-critical Prediction", "options": ["A. An ambulance moving from the second lane to the right lane", "B. A pedestrian with a stroller slowly entering the crosswalk from the left sidewalk", "C. A fire truck turning left at the intersection", "D. None"], "answer_index": 3}
{"token": "2841af69c18f753cee5c258b87dc46c8", "waymo_split": "test", "type": "image", "frame_index": 9, "question": "Is there a blind spot?", "category": "Uncertainty", "options": ["A. The area in front of the right bus stop has visibility and is not a blind spot.", "B. The gap between parked vehicles on the left shoulder is a blind spot.", "C. The lane next to the left median is a blind spot.", "D. The gap between parked vehicles on the right shoulder is a blind spot."], "answer_index": 3}
{"token": "2841af69c18f753cee5c258b87dc46c8", "waymo_split": "test", "type": "image", "frame_index": 9, "question": "What is a safety-critical object?", "category": "Safety-critical Perception", "options": ["A. None", "B. Pressure sensor", "C. Brake", "D. Power supply"], "answer_index": 0}
{"token": "2841af69c18f753cee5c258b87dc46c8", "waymo_split": "test", "type": "image", "frame_index": 9, "question": "What is the description of a non-safety-critical object?", "category": "Normal Perception & Prediction", "options": ["A. There are shops (residential areas) on both sides of the road with lights shining out. There are many parked cars on the shoulders on both sides. In the distance on the left, there is a large building with lights coming from each window. There is a streetlight on the left.", "B. On the left, there are only lined trees, and streetlights are not visible.", "C. The road sides on both left and right are mostly dark with the sign lights turned off.", "D. The shoulders on both sides are empty with almost no parked cars."], "answer_index": 0}
{"token": "2841af69c18f753cee5c258b87dc46c8", "waymo_split": "test", "type": "image", "frame_index": 9, "question": "What is the answer regarding parked vehicles on the shoulder, the presence of a center line, and whether Ego crosses the center line?", "category": "Normal Perception & Prediction", "options": ["A. There are almost no parked vehicles on the shoulder. There is a center line. It crosses.", "B. There are many parked vehicles on the shoulder. There is a center line. It does not cross.", "C. There are a few parked vehicles on the shoulder. There is a center line. It crosses.", "D. There are a few parked vehicles on the shoulder. There is no center line. It does not cross."], "answer_index": 1}
{"token": "2841af69c18f753cee5c258b87dc46c8", "waymo_split": "test", "type": "image", "frame_index": 9, "question": "How should I drive to solve the first risk while also addressing the second risk?", "category": "Safety-critical Planning", "options": ["A. Reduce speed and go straight", "B. Enter the left lane", "C. No further issues", "D. Change to the right lane"], "answer_index": 2}
{"token": "2841af69c18f753cee5c258b87dc46c8", "waymo_split": "test", "type": "image", "frame_index": 9, "question": "Where is the area that hides danger in the current frame?", "category": "Uncertainty", "options": ["A. Behind the left central divider in the shade", "B. Between the parked vehicles on the right shoulder", "C. In the gap at the left bus stop platform", "D. In the rear blind spot of the large truck ahead"], "answer_index": 1}
{"token": "2841af69c18f753cee5c258b87dc46c8", "waymo_split": "test", "type": "image", "frame_index": 9, "question": "Is lane change possible? Which is safer between slowing down and changing lanes?", "category": "Safety-critical Planning", "options": ["A. Left lane change possible. No need to slow down", "B. Lane change not possible. Slowing down is possible", "C. Lane change possible. Changing lanes is safer", "D. Right lane change possible. Cannot slow down"], "answer_index": 1}
{"token": "2841af69c18f753cee5c258b87dc46c8", "waymo_split": "test", "type": "image", "frame_index": 9, "question": "What are the new exposure risk candidates in the following section?", "category": "Safety-critical Prediction", "options": ["A. A person or object may suddenly emerge from between parked cars on the right shoulder.", "B. A motorcycle may suddenly cut in between waiting cars for a left turn at the intersection ahead.", "C. A vehicle may back out onto the road from the exit of the right alley.", "D. A pedestrian may step onto the road from behind a stopped bus at the left bus stop."], "answer_index": 0}
{"token": "2841af69c18f753cee5c258b87dc46c8", "waymo_split": "test", "type": "image", "frame_index": 9, "question": "What is the safer choice when approaching a yellow signal: stop or proceed?", "category": "Special Event", "options": ["A. It is safer to proceed than to stop suddenly since it is right in front of the intersection.", "B. The left lane signal is green, so I will proceed.", "C. I cannot make a judgment as I am far from the traffic light at the intersection.", "D. The pedestrian signal is red, so the vehicle should maintain its speed."], "answer_index": 2}
{"token": "2841af69c18f753cee5c258b87dc46c8", "waymo_split": "test", "type": "image", "frame_index": 9, "question": "What is the method to avoid blind spots when passing large vehicles?", "category": "Special Event", "options": ["A. No large vehicle. If there is one, increase or decrease your speed to maintain a safe distance.", "B. Immediately enter the lane in front of the large vehicle, and if there is one, just check the mirror and maintain your speed.", "C. Drive closely behind the large vehicle, and if there is one, proceed while benefiting from the windbreak effect for fuel efficiency.", "D. Maintain a parallel position next to the large vehicle, and if there is one, reduce the gap to pass quickly while keeping the flow."], "answer_index": 0}
{"token": "2841af69c18f753cee5c258b87dc46c8", "waymo_split": "test", "type": "image", "frame_index": 39, "question": "Based on the current appearance of the person/vehicle (two-wheeled), how do you intend to move?", "category": "Normal Perception & Prediction", "options": ["A. Go straight", "B. Make a U-turn", "C. Turn left", "D. Turn right"], "answer_index": 0}
{"token": "2841af69c18f753cee5c258b87dc46c8", "waymo_split": "test", "type": "image", "frame_index": 39, "question": "Which of the following is a correct description of traffic density?", "category": "Normal scene Understanding", "options": ["A. Slow, there are few parked cars on the side of the road", "B. Fast, there are many parked cars on the side of the road", "C. Slow, there are many passing cars around", "D. Fast, there are few moving vehicles around"], "answer_index": 1}
{"token": "2841af69c18f753cee5c258b87dc46c8", "waymo_split": "test", "type": "image", "frame_index": 39, "question": "What are the classifications of scenes?", "category": "Normal scene Understanding", "options": ["A. Unpaved", "B. Urban", "C. Highway", "D. Residential area"], "answer_index": 1}
{"token": "2841af69c18f753cee5c258b87dc46c8", "waymo_split": "test", "type": "image", "frame_index": 39, "question": "Which of the following descriptions about the environment is correct?", "category": "Normal scene Understanding", "options": ["A. Moonlight and starlight as the main light source, streetlights are off. Dawn, light fog.", "B. Streetlights, building lights, and vehicle headlights as lighting. Night, darkness.", "C. Natural light spreading under a cloudy sky, reflected light from building glass as lighting. Midday, cloudy.", "D. Sunset glow and reflected light from the sunset as lighting. Dusk, red sky."], "answer_index": 1}
{"token": "2841af69c18f753cee5c258b87dc46c8", "waymo_split": "test", "type": "image", "frame_index": 39, "question": "Which of the following is a correct description of traffic signals?", "category": "Traffic Signal", "options": ["A. Traffic light at the intersection ahead on the right (yellow). Children's safety zone marked on the road.", "B. Crosswalk signal close ahead (red). Bus-only lane marked on the road.", "C. Traffic light at the intersection far ahead (green). Bicycle lane sign marked on the road.", "D. Traffic light under the overpass far ahead (flashing). Left turn only lane marked on the road."], "answer_index": 2}
{"token": "2841af69c18f753cee5c258b87dc46c8", "waymo_split": "test", "type": "image", "frame_index": 39, "question": "What is the answer regarding parked vehicles on the shoulder, the presence of a center line, and whether Ego has crossed the center line?", "category": "Normal Perception & Prediction", "options": ["A. Many parked vehicles on the shoulder. Center line exists. No crossing.", "B. A few parked vehicles on the shoulder. No center line. No crossing.", "C. No parked vehicles on the shoulder. No center line. Crossing.", "D. One or two parked vehicles on the shoulder. Center line exists. Crossing."], "answer_index": 0}
{"token": "2841af69c18f753cee5c258b87dc46c8", "waymo_split": "test", "type": "image", "frame_index": 39, "question": "Are there any other safety-critical objects besides the first safety-critical object? If so, how would you move?", "category": "Safety-critical Prediction", "options": ["A. Driving forward in front of the bicycle", "B. None", "C. Joining the right lane of the ambulance", "D. Crossing to the left of the pedestrian"], "answer_index": 1}
{"token": "2841af69c18f753cee5c258b87dc46c8", "waymo_split": "test", "type": "image", "frame_index": 39, "question": "How should I drive to resolve the first risk while also addressing the second risk?", "category": "Safety-critical Planning", "options": ["A. Avoid the next risk", "B. Slow down and stop", "C. No further issues", "D. Change to the left lane"], "answer_index": 2}
{"token": "2841af69c18f753cee5c258b87dc46c8", "waymo_split": "test", "type": "image", "frame_index": 39, "question": "What is a safety-critical object?", "category": "Safety-critical Perception", "options": ["A. Ambulance with siren on", "B. Red traffic light", "C. Pedestrian crossing", "D. None"], "answer_index": 3}
{"token": "2841af69c18f753cee5c258b87dc46c8", "waymo_split": "test", "type": "image", "frame_index": 39, "question": "Is lane changing possible? Which is safer, slowing down or changing lanes?", "category": "Safety-critical Planning", "options": ["A. Lane changing not possible. Slowing down is possible", "B. Can change to the right lane. Changing lanes is safer", "C. Conditional lane change allowed. Slowing down is not recommended", "D. Can enter the left lane. Moving lanes is safer than slowing down"], "answer_index": 0}
{"token": "2841af69c18f753cee5c258b87dc46c8", "waymo_split": "test", "type": "image", "frame_index": 39, "question": "What is the safer choice when approaching a yellow light: stop or proceed?", "category": "Special Event", "options": ["A. Proceeding is safer due to the proximity of the vehicle behind.", "B. Unable to judge as the traffic light at the intersection is far away.", "C. Proceeding is safer due to the risk of sudden braking on a wet road.", "D. Proceeding is safer as the pedestrian signal is waiting."], "answer_index": 1}
{"token": "2841af69c18f753cee5c258b87dc46c8", "waymo_split": "test", "type": "image", "frame_index": 39, "question": "What are the new exposure risk candidates in the following section?", "category": "Safety-critical Prediction", "options": ["A. Passengers may suddenly come out onto the road from the bus stop ahead.", "B. A person or object may jump out onto the road from between parked vehicles on the right shoulder.", "C. A construction vehicle may merge into the lane from the right construction area without signaling.", "D. A bicycle may cross into the lane from the gap in the left median."], "answer_index": 1}
{"token": "2841af69c18f753cee5c258b87dc46c8", "waymo_split": "test", "type": "image", "frame_index": 39, "question": "What is the method to avoid blind spots when passing large vehicles?", "category": "Special Event", "options": ["A. No large vehicle. If there is one, increase or decrease your speed to maintain a safe distance.", "B. When the large vehicle signals, increase your speed to quickly pass through the blind spot.", "C. Maintain your lane next to the large vehicle and match your speed to pass safely alongside.", "D. Stay close behind the large vehicle, and when the gap in front increases, accelerate to overtake."], "answer_index": 0}
{"token": "2841af69c18f753cee5c258b87dc46c8", "waymo_split": "test", "type": "image", "frame_index": 39, "question": "Where is the area that hides danger in the current frame?", "category": "Uncertainty", "options": ["A. Between parked cars on the left shoulder", "B. Between parked cars on the right shoulder", "C. Between the bus stopped in front", "D. Between the entrance of the left alley at the intersection"], "answer_index": 1}
{"token": "2841af69c18f753cee5c258b87dc46c8", "waymo_split": "test", "type": "image", "frame_index": 66, "question": "Based on the current appearance of the person/vehicle (two-wheeled), how do you intend to move?", "category": "Normal Perception & Prediction", "options": ["A. Reversing", "B. U-turn", "C. Going straight", "D. Stopping"], "answer_index": 2}
{"token": "2841af69c18f753cee5c258b87dc46c8", "waymo_split": "test", "type": "image", "frame_index": 66, "question": "What is the plan for yielding when an ambulance/fire truck approaches?", "category": "Special Event", "options": ["A. Slow down and yield", "B. Signal with the horn", "C. Maintain the left lane", "D. Proceed at a constant speed"], "answer_index": 0}
{"token": "2841af69c18f753cee5c258b87dc46c8", "waymo_split": "test", "type": "image", "frame_index": 66, "question": "Which of the following is correct as an Image Caption from the perspective of a Normal Frame?", "category": "Normal scene caption", "options": ["A. In the bright daytime of the city center, on a flat 8-lane road, the vehicle is slowly driving in the leftmost lane, with a normal distance to the vehicle ahead and traffic flow in the opposite lane and behind. The right shoulder only has a construction sign, which does not hinder driving, and straight ahead, there is a section without intersections and only guide signs are visible.", "B. In the early morning on the outskirts of the city, on a gentle downhill 6-lane road, the vehicle is changing lanes to the rightmost lane. Ahead, there is a long line of vehicles waiting to turn left, and headlights are closely following behind the vehicle. The right shoulder is wide open with shop signs, and the traffic signal ahead is yellow flashing.", "C. In the cloudy evening of the city center, the vehicle is driving in the second lane of a 4-lane uphill road with left-hand traffic. The distance to the vehicle ahead is very close, and vehicles are continuously passing in the opposite lane and behind the vehicle. The right shoulder next to the third lane is empty, allowing for entry and exit, and straight ahead, a T-intersection and a traffic light (red) are visible.", "D. In the dark night of the city center, the vehicle is driving in the middle lane of a downhill 6-lane road with right-hand traffic. The distance to the vehicle ahead is very far, and there are no vehicles in the opposite lane or behind the vehicle. Right next to the third lane, there is a structure in the form of a temporary building that completely blocks vehicle traffic. Ahead, there is an intersection and a traffic light (green)."], "answer_index": 3}
{"token": "2841af69c18f753cee5c258b87dc46c8", "waymo_split": "test", "type": "image", "frame_index": 66, "question": "Which of the following is a correct description of traffic density?", "category": "Normal scene Understanding", "options": ["A. Fast, there are many parked vehicles on the shoulder", "B. Fast, there are hardly any parked vehicles on the shoulder", "C. Slow, there are few parked vehicles on the shoulder", "D. Slow, there are many vehicles on the road"], "answer_index": 0}
{"token": "2841af69c18f753cee5c258b87dc46c8", "waymo_split": "test", "type": "image", "frame_index": 66, "question": "What are the classifications of scenes?", "category": "Normal scene Understanding", "options": ["A. City", "B. Unpaved", "C. Residential area", "D. Suburb"], "answer_index": 0}
{"token": "2841af69c18f753cee5c258b87dc46c8", "waymo_split": "test", "type": "image", "frame_index": 66, "question": "What are the restrictions on behavior in school zones/congested areas?", "category": "Special Event", "options": ["A. Must overtake", "B. Must accelerate", "C. Must drive slowly", "D. Must stop"], "answer_index": 2}
{"token": "2841af69c18f753cee5c258b87dc46c8", "waymo_split": "test", "type": "image", "frame_index": 66, "question": "Which of the following is a correct description of traffic signals?", "category": "Traffic Signal", "options": ["A. Traffic light at the intersection close to the left front", "B. Traffic light at the intersection far ahead", "C. Stop line road marking close ahead", "D. No right turn sign far to the right"], "answer_index": 1}
{"token": "2841af69c18f753cee5c258b87dc46c8", "waymo_split": "test", "type": "image", "frame_index": 66, "question": "What is the description of a non-safety-critical object?", "category": "Normal Perception & Prediction", "options": ["A. A school playground and metal fence beyond the left wall. Street trees and low flowerbed lights on the right sidewalk. Both sides of the shoulder are empty with no parked vehicles. The buildings ahead mostly have their signs turned off and appear dark.", "B. A low flowerbed and railing continue along the road median. A bus stop shelter and advertising lights on the left sidewalk. A bus-only lane marking restricts entry of regular vehicles from the right second lane. Traffic lights at the intersection ahead and a pedestrian crossing sign above.", "C. Light is seeping out from shops (residential areas) on both sides of the road. Many parked vehicles on both sides of the shoulder. In the distance on the left, a large building with light coming from each window. Streetlights on the right and a temporary structure in the right third lane partially restrict vehicle movement.", "D. An elevated railway bridge passes overhead, casting a shadow. Street vendor tents and mobile carts on the left sidewalk. The right side has an open entrance to a public parking lot, widening the lane. In the distance, the interior of a low-rise commercial building with a glass facade is brightly visible."], "answer_index": 2}
{"token": "2841af69c18f753cee5c258b87dc46c8", "waymo_split": "test", "type": "image", "frame_index": 66, "question": "What is the answer regarding parked vehicles on the shoulder, the presence of a center line, and whether Ego has crossed the center line?", "category": "Normal Perception & Prediction", "options": ["A. Many parked vehicles on the shoulder. Center line exists. Crossed.", "B. No parked vehicles on the shoulder. Center line exists. Did not cross.", "C. Some parked vehicles on the shoulder. No center line. Did not cross.", "D. Many parked vehicles on the shoulder. Center line exists. Did not cross."], "answer_index": 3}
{"token": "2841af69c18f753cee5c258b87dc46c8", "waymo_split": "test", "type": "image", "frame_index": 66, "question": "How do you think safety-critical objects will be moved?", "category": "Safety-critical Prediction", "options": ["A. Safety-critical pedestrian access", "B. There is a safety-critical object", "C. There is no safety-critical object", "D. Safety-critical bicycle entering from the left"], "answer_index": 2}
{"token": "2841af69c18f753cee5c258b87dc46c8", "waymo_split": "test", "type": "image", "frame_index": 66, "question": "Which of the following descriptions about the environment is correct?", "category": "Normal scene Understanding", "options": ["A. Neon signs, shop sign lights, and billboard lights illuminate the evening and rain.", "B. Streetlights, building lights, and vehicle lights illuminate the night and darkness.", "C. Cloudy sky, diffused light, and bright clouds illuminate the day and overcast.", "D. Sunlight, reflections from windows, and ground reflections illuminate the day and clear weather."], "answer_index": 1}
{"token": "2841af69c18f753cee5c258b87dc46c8", "waymo_split": "test", "type": "image", "frame_index": 66, "question": "What is a safety-critical object?", "category": "Safety-critical Perception", "options": ["A. Brake control unit", "B. No safety-critical object", "C. Safety relay board", "D. Emergency stop button module"], "answer_index": 1}
{"token": "2841af69c18f753cee5c258b87dc46c8", "waymo_split": "test", "type": "image", "frame_index": 66, "question": "Is there a blind spot?", "category": "Uncertainty", "options": ["A. The gap between parked vehicles on the right shoulder is a blind spot", "B. The center of the right lane has visibility and is not a blind spot", "C. The gap between parked vehicles on the left shoulder is a blind spot", "D. The right bus-only lane is straight, so there is no blind spot"], "answer_index": 0}
{"token": "2841af69c18f753cee5c258b87dc46c8", "waymo_split": "test", "type": "image", "frame_index": 66, "question": "Are there any other safety-critical objects besides the first safety-critical object? If so, how would you move past them?", "category": "Safety-critical Prediction", "options": ["A. Proceed slowly past the next safety-critical object, a construction sign.", "B. Avoid the next safety-critical object on the right side of pedestrians.", "C. Change lanes to the left to avoid the next safety-critical object, falling debris.", "D. There are no other safety-critical objects."], "answer_index": 3}
{"token": "2841af69c18f753cee5c258b87dc46c8", "waymo_split": "test", "type": "image", "frame_index": 66, "question": "Is lane change possible? Which is safer between slowing down and changing lanes?", "category": "Safety-critical Planning", "options": ["A. Lane change not possible. Slowing down possible", "B. Lane change possible. Changing lanes is safer", "C. Left lane change possible. Slowing down not possible", "D. Right lane change possible. Lane change is safer than slowing down"], "answer_index": 0}
{"token": "2841af69c18f753cee5c258b87dc46c8", "waymo_split": "test", "type": "image", "frame_index": 66, "question": "How should I drive to address the first risk while also resolving the second risk?", "category": "Safety-critical Planning", "options": ["A. Change lanes to the left", "B. Avoid the next safety-critical object to the right", "C. Slow down and pass the next object", "D. There is no next safety-critical object"], "answer_index": 3}
{"token": "2841af69c18f753cee5c258b87dc46c8", "waymo_split": "test", "type": "image", "frame_index": 66, "question": "What is the safest choice just before entering a yellow signal: stop vs. pass?", "category": "Special Event", "options": ["A. Currently, stopping at the yellow signal is safe (too far to pass).", "B. Right after the yellow transition, accelerating to pass is safe (no waiting vehicles, so there's room).", "C. Currently, passing at the yellow signal is safe (risk of rear-end collision if decelerating).", "D. Now, maintaining speed to pass is safe (too close to the intersection to stop)."], "answer_index": 0}
{"token": "2841af69c18f753cee5c258b87dc46c8", "waymo_split": "test", "type": "image", "frame_index": 66, "question": "Where is the area that hides danger in the current frame?", "category": "Uncertainty", "options": ["A. Between parked vehicles on the left shoulder", "B. In the blind spot behind the bus stop ahead", "C. Between parked vehicles on the right shoulder", "D. In the gaps between landscaping trees on the median"], "answer_index": 2}
{"token": "2841af69c18f753cee5c258b87dc46c8", "waymo_split": "test", "type": "image", "frame_index": 66, "question": "What is the method to avoid blind spots when passing by a large vehicle?", "category": "Special Event", "options": ["A. Maintain the center of the lane next to the large vehicle. If possible, drive at a matching speed until the driver is aware of your presence.", "B. Pass as close as possible to the large vehicle. If possible, stay close to reduce wind pressure and pass at a low speed.", "C. No large vehicle present. If there is one, adjust your speed to increase or decrease the distance for safety.", "D. Wait directly behind the large vehicle. If possible, alert the driver with a horn or high beams, then slowly follow from behind."], "answer_index": 2}
{"token": "2841af69c18f753cee5c258b87dc46c8", "waymo_split": "test", "type": "image", "frame_index": 102, "question": "Based on the current appearance of the person/vehicle (two-wheeled), how do you intend to move?", "category": "Normal Perception & Prediction", "options": ["A. Proceed straight to enter the intersection", "B. Turn left to enter the intersection", "C. Turn right to enter the alley", "D. Make a U-turn to proceed in the opposite direction"], "answer_index": 0}
{"token": "2841af69c18f753cee5c258b87dc46c8", "waymo_split": "test", "type": "image", "frame_index": 102, "question": "Which of the following is correct as an Image Caption from the perspective of a Normal Frame?", "category": "Normal scene caption", "options": ["A. On a dark night in the city, a vehicle is driving in the middle lane of a six-lane road going downhill, with an intersection visible ahead. A leading vehicle is entering the intersection, attempting to make a right turn, and there are several vehicles in the opposite lane heading towards the intersection. An intersection and a traffic light (green) are visible ahead.", "B. On a dark night in the city, while driving in the middle lane of a six-lane road with a gentle curve, a crosswalk and a T-shaped intersection are visible ahead. The leading vehicle is changing lanes to the right, and there are almost no vehicles in the opposite lane. A traffic light (red) is on, just before stopping.", "C. On a dark night in the city, a vehicle is driving in the left lane of a six-lane road going uphill, with an intersection visible ahead. The leading vehicle is entering the intersection and attempting to make a left turn, and there are several slow-moving vehicles in the right lane going in the same direction. An intersection and a traffic light (red) are visible ahead.", "D. On a dark night in the city, a vehicle is driving in the right lane of a four-lane road on flat ground, with a small roundabout visible ahead. The leading vehicle is passing through the roundabout straight, and the opposite lane is quiet. Only a sign and a traffic light (yellow flashing) are visible ahead."], "answer_index": 0}
{"token": "2841af69c18f753cee5c258b87dc46c8", "waymo_split": "test", "type": "image", "frame_index": 102, "question": "What is the plan for yielding when an ambulance/fire truck approaches?", "category": "Special Event", "options": ["A. Slow down and yield", "B. Proceed while honking", "C. Stop at the left edge", "D. Accelerate and pass"], "answer_index": 0}
{"token": "2841af69c18f753cee5c258b87dc46c8", "waymo_split": "test", "type": "image", "frame_index": 102, "question": "What are the divisions of the scene?", "category": "Normal scene Understanding", "options": ["A. City", "B. Highway", "C. Residential area", "D. Unpaved"], "answer_index": 0}
{"token": "2841af69c18f753cee5c258b87dc46c8", "waymo_split": "test", "type": "image", "frame_index": 102, "question": "What are the behavioral restrictions in school zones/congested areas?", "category": "Special Event", "options": ["A. Must accelerate", "B. Must overtake", "C. Must stop", "D. Must drive slowly"], "answer_index": 3}
{"token": "2841af69c18f753cee5c258b87dc46c8", "waymo_split": "test", "type": "image", "frame_index": 102, "question": "Which of the following is a correct description of traffic density?", "category": "Normal scene Understanding", "options": ["A. Fast, few surrounding vehicles", "B. Slow, many surrounding vehicles", "C. Fast, many parked vehicles on the shoulder", "D. Slow, few parked vehicles on the shoulder"], "answer_index": 2}
{"token": "2841af69c18f753cee5c258b87dc46c8", "waymo_split": "test", "type": "image", "frame_index": 102, "question": "Which of the following is a correct description of traffic signals?", "category": "Traffic Signal", "options": ["A. Traffic light (green for driving) at a distance ahead in the intersection", "B. Lane marking arrow ahead (left turn only)", "C. T-junction sign on the right at a distance (caution to slow down)", "D. Crosswalk signal ahead on the left (red, wait)"], "answer_index": 0}
{"token": "2841af69c18f753cee5c258b87dc46c8", "waymo_split": "test", "type": "image", "frame_index": 102, "question": "What is the answer regarding parked vehicles on the shoulder, the presence of a center line, and whether Ego has crossed the center line?", "category": "Normal Perception & Prediction", "options": ["A. Many parked vehicles on the shoulder. Center line exists. Crossed.", "B. Few parked vehicles on the shoulder. No center line. Did not cross.", "C. Many parked vehicles on the shoulder. Center line exists. Did not cross.", "D. No parked vehicles on the shoulder. Center line exists. Did not cross."], "answer_index": 2}
{"token": "2841af69c18f753cee5c258b87dc46c8", "waymo_split": "test", "type": "image", "frame_index": 102, "question": "Which of the following descriptions about the environment is correct?", "category": "Normal scene Understanding", "options": ["A. Streetlights, building lights, and vehicle headlights are illuminating. In particular, the right building only emits blue light. Night, darkness.", "B. Neon signs and interior lights of shops are the main sources of light, especially the left building only emits red light. Early evening, residual light.", "C. Daytime, clear weather, direct sunlight serves as street lighting, vehicle headlights are off, and the right building has almost no lighting.", "D. Rain, wet roads reflect light and the brightness of signs is significant. The right building only shows green light. Cloudy evening."], "answer_index": 0}
{"token": "2841af69c18f753cee5c258b87dc46c8", "waymo_split": "test", "type": "image", "frame_index": 102, "question": "Is there a blind spot in your field of vision?", "category": "Uncertainty", "options": ["A. The area in front of the stop line just before the right crosswalk is a blind spot", "B. The middle of the right bus-only lane is a blind spot", "C. The gap between parked cars on the left shoulder is a blind spot", "D. The gap between parked cars on the right shoulder is a blind spot"], "answer_index": 3}
{"token": "2841af69c18f753cee5c258b87dc46c8", "waymo_split": "test", "type": "image", "frame_index": 102, "question": "What is a safety-critical object?", "category": "Safety-critical Perception", "options": ["A. Emergency stop button", "B. Brake actuator", "C. No safety-critical object", "D. High-pressure cutoff switch"], "answer_index": 2}
{"token": "2841af69c18f753cee5c258b87dc46c8", "waymo_split": "test", "type": "image", "frame_index": 102, "question": "How should I drive to address the first risk while also resolving the second risk?", "category": "Safety-critical Planning", "options": ["A. I am to the left of the next safety-critical object", "B. Deceleration is needed for the next safety-critical object", "C. I am in front of the next safety-critical object", "D. There is no next safety-critical object"], "answer_index": 3}
{"token": "2841af69c18f753cee5c258b87dc46c8", "waymo_split": "test", "type": "image", "frame_index": 102, "question": "Is there any other safety-critical object besides the first safety-critical object? If so, how will it move?", "category": "Safety-critical Prediction", "options": ["A. There is a next safety-critical object moving to the left", "B. There is one next safety-critical object moving forward", "C. There is no next safety-critical object", "D. There is a next safety-critical object avoiding to the right"], "answer_index": 2}
{"token": "2841af69c18f753cee5c258b87dc46c8", "waymo_split": "test", "type": "image", "frame_index": 102, "question": "Where is the area that hides danger by being obscured in the current frame?", "category": "Uncertainty", "options": ["A. Right behind the bus stopped at the front bus stop", "B. Between parked vehicles on the right shoulder", "C. Inside the corner of the right alley entrance", "D. Between parked vehicles on the left shoulder"], "answer_index": 1}
{"token": "2841af69c18f753cee5c258b87dc46c8", "waymo_split": "test", "type": "image", "frame_index": 102, "question": "What is the safer choice just before entering a yellow signal: stop or proceed?", "category": "Special Event", "options": ["A. It is safe to proceed as I am almost at the intersection (accelerate to pass before the signal changes)", "B. It is safe to proceed at the current yellow signal (stopping would block the intersection)", "C. It is safe to proceed as the gap with the car behind is short (risk of rear-end collision if I stop suddenly)", "D. It is safe to stop at the current yellow signal (the distance is ambiguous for proceeding)"], "answer_index": 3}
{"token": "2841af69c18f753cee5c258b87dc46c8", "waymo_split": "test", "type": "image", "frame_index": 102, "question": "Is lane changing possible? Which is safer, slowing down or changing lanes?", "category": "Safety-critical Planning", "options": ["A. Lane change to the right is possible (space created as parked vehicles just left the shoulder, visibility is also secured). Changing lanes is safer than slowing down.", "B. Lane change is possible both left and right (can enter the left temporary release area, the right side has a vacant stopping area). Lane change is prioritized.", "C. Lane change is not possible (the left road is tram-only, so driving is not allowed, and there is no space on the right due to parked vehicles on the shoulder). Only slowing down is possible.", "D. Lane change to the left is possible (currently, trams are not operating, so general vehicles are allowed, and the right side is also clear with space). Changing lanes is safer."], "answer_index": 2}
{"token": "2841af69c18f753cee5c258b87dc46c8", "waymo_split": "test", "type": "image", "frame_index": 102, "question": "How do you think safety-critical objects will be moved?", "category": "Safety-critical Prediction", "options": ["A. Proceeding forward at low speed", "B. There is a safety-critical object", "C. There is no safety-critical object", "D. Lane change to the right lane"], "answer_index": 2}
{"token": "2841af69c18f753cee5c258b87dc46c8", "waymo_split": "test", "type": "image", "frame_index": 102, "question": "What are the new exposure risk candidates in the following section?", "category": "Safety-critical Prediction", "options": ["A. A delivery motorcycle may suddenly merge into the lane from the left alley exit.", "B. A person or object may jump out into the lane from between parked cars on the right shoulder.", "C. A pedestrian may squeeze out into the lane from behind a stopped bus at the bus stop ahead.", "D. A jaywalker may cross the center line from the opposite lane into our lane."], "answer_index": 1}
{"token": "2841af69c18f753cee5c258b87dc46c8", "waymo_split": "test", "type": "image", "frame_index": 138, "question": "Which is correct as an Image Caption from the perspective of Safety-critical Frame?", "category": "Safety-critical scene caption", "options": ["A. Due to a construction vehicle stopping straight ahead, the lane is blocked, making it difficult to change lanes, so the vehicle is proceeding slowly and waiting.", "B. While entering a U-turn, the vehicle is delayed due to a queue at the traffic signal, restricting entry into the intersection, so it is proceeding slowly.", "C. While making a right turn, the vehicle is hindered by a stopped leading vehicle, making it impossible to proceed straight. Therefore, it is slowing down while moving cautiously.", "D. While making a left turn, the vehicle needs to yield to pedestrians at the crosswalk, delaying the left turn, so it is approaching slowly."], "answer_index": 2}
{"token": "2841af69c18f753cee5c258b87dc46c8", "waymo_split": "test", "type": "image", "frame_index": 102, "question": "What is the method to avoid blind spots when passing large vehicles?", "category": "Special Event", "options": ["A. Pass slowly. If possible, avoid sudden acceleration or deceleration and maintain a steady low speed while passing slowly beside.", "B. Drive close to the large vehicle. If possible, reduce the distance to ensure visibility in the side mirror and follow at a low speed.", "C. Maintain the same lane as the large vehicle. If possible, match the speed and pass side by side at a constant speed for a certain period.", "D. No large vehicle present. If there is one, increase or decrease your relative speed to maintain a safe distance."], "answer_index": 3}
{"token": "2841af69c18f753cee5c258b87dc46c8", "waymo_split": "test", "type": "image", "frame_index": 138, "question": "What is the plan for yielding when an ambulance/fire truck approaches?", "category": "Special Event", "options": ["A. Maintain lane driving", "B. Accelerate to pass", "C. Turn on hazard lights and follow", "D. Slow down to yield"], "answer_index": 3}
{"token": "2841af69c18f753cee5c258b87dc46c8", "waymo_split": "test", "type": "image", "frame_index": 138, "question": "What are the behavior restrictions in school zones/congested areas?", "category": "Special Event", "options": ["A. Must yield", "B. Must stop", "C. Must drive slowly", "D. Must use the horn"], "answer_index": 2}
{"token": "2841af69c18f753cee5c258b87dc46c8", "waymo_split": "test", "type": "image", "frame_index": 138, "question": "Based on the current appearance of the person/vehicle (two-wheeled), how do they intend to move?", "category": "Normal Perception & Prediction", "options": ["A. Entering the intersection and making a U-turn", "B. Entering the intersection and going straight", "C. Entering the intersection and turning left", "D. Entering the intersection and turning right"], "answer_index": 1}
{"token": "2841af69c18f753cee5c258b87dc46c8", "waymo_split": "test", "type": "image", "frame_index": 138, "question": "What are the divisions of the scene?", "category": "Normal scene Understanding", "options": ["A. City", "B. Residential area", "C. Highway", "D. Unpaved"], "answer_index": 0}
{"token": "2841af69c18f753cee5c258b87dc46c8", "waymo_split": "test", "type": "image", "frame_index": 138, "question": "Which of the following is a correct description of traffic density?", "category": "Normal scene Understanding", "options": ["A. Slow, there are few surrounding moving vehicles", "B. Slow, there are almost no parked vehicles on the shoulder", "C. Fast, there are many parked vehicles on the shoulder", "D. Fast, there are relatively few passing vehicles nearby"], "answer_index": 2}
{"token": "2841af69c18f753cee5c258b87dc46c8", "waymo_split": "test", "type": "image", "frame_index": 138, "question": "Which of the following descriptions about the environment is correct?", "category": "Normal scene Understanding", "options": ["A. Streetlights, building lights, and vehicle headlights illuminate. Night, darkness", "B. Neon signs and store windows provide the main lighting. Early evening, light rain", "C. Diffused light spread through the clouds softly brightens the surroundings. Afternoon, cloudy", "D. Strong sunlight shines and casts long shadows from the buildings. Noon, clear"], "answer_index": 0}
{"token": "2841af69c18f753cee5c258b87dc46c8", "waymo_split": "test", "type": "image", "frame_index": 138, "question": "What is the description of a non-safety-critical object?", "category": "Normal Perception & Prediction", "options": ["A. There is a small circular traffic island and a fountain in the center of the intersection, and a dedicated lane for buses is marked in the left lane. The streetlights along the roadside are off, making each corner dark.", "B. It is a T-shaped intersection, and the left lane is marked as a bicycle-only lane. The right sidewalk is lined with dark, closed shops, and there are almost no streetlights at the corners.", "C. In the distance to the right, only low single-story houses are visible, with few lights in the windows. There is almost no vehicle traffic in the left and right lanes, and very few people are seen crossing the crosswalk.", "D. There is light spilling out from shops (residential areas) on both sides of the road. It is an intersection, and there is a tram-only road in the left lane. In the distance to the left, there are large buildings with lights coming from each window. There are many vehicles waiting and turning on both sides of the road. Many people are crossing the crosswalk on the right. There are numerous streetlights at each corner of the intersection."], "answer_index": 3}
{"token": "2841af69c18f753cee5c258b87dc46c8", "waymo_split": "test", "type": "image", "frame_index": 138, "question": "Which of the following is a correct description of traffic signals?", "category": "Traffic Signal", "options": ["A. Traffic light at a T-intersection. No U-turn sign on the left signal.", "B. Traffic light at a four-way intersection. Left turn only signal on the right signal.", "C. Flashing yellow signal at an intersection. No right turn sign on the right signal.", "D. Traffic light at an intersection. No left turn sign on the right signal."], "answer_index": 3}
{"token": "2841af69c18f753cee5c258b87dc46c8", "waymo_split": "test", "type": "image", "frame_index": 138, "question": "What should I do to drive safely?", "category": "Safety-critical Planning", "options": ["A. I should stop and wait until the vehicle does not obstruct my lane.", "B. I should signal with the horn and high beams, stay close to the right edge, and proceed slowly.", "C. To avoid the vehicle, I should change to the left lane, overtake, and continue driving.", "D. I should speed up and pass quickly by taking advantage of any gaps, even if the vehicle in front does not completely move aside."], "answer_index": 0}
{"token": "2841af69c18f753cee5c258b87dc46c8", "waymo_split": "test", "type": "image", "frame_index": 138, "question": "What is a safety-critical object?", "category": "Safety-critical Perception", "options": ["A. A stopped vehicle in front while making a right turn (slightly blocking the straight path of my vehicle)", "B. A vehicle in front that is exiting while making a right turn (already out of my vehicle's path)", "C. A vehicle waiting to turn left from the opposite side (waiting at a signal, my vehicle's lane is clear)", "D. A delivery truck parked on the right shoulder (not directly overlapping with my vehicle's path)"], "answer_index": 0}
{"token": "2841af69c18f753cee5c258b87dc46c8", "waymo_split": "test", "type": "image", "frame_index": 138, "question": "How do you think a safety-critical object will move?", "category": "Safety-critical Prediction", "options": ["A. First, attempt to change to the right lane (if there is space on the sidewalk, it seems likely to move one lane and merge slowly).", "B. Gradually adjust the left turn angle (once pedestrian flow decreases, it seems likely to exit into the left turn lane).", "C. Maintain a brief stop and then resume going straight (if the signal ahead soon changes to green for going straight, it seems likely to pass through).", "D. First, maintain the current stopped state (if the pedestrian signal later changes to red, it seems likely that the vehicle will successfully make a right turn)."], "answer_index": 3}
{"token": "2841af69c18f753cee5c258b87dc46c8", "waymo_split": "test", "type": "image", "frame_index": 138, "question": "What is the answer regarding parked vehicles on the shoulder, the presence of a center line, and whether Ego crosses the center line?", "category": "Normal Perception & Prediction", "options": ["A. There are many parked vehicles on the shoulder behind. There is a center line. No crossing.", "B. There are many parked vehicles on the shoulder behind. There is a center line. Crossing.", "C. There are many parked vehicles on the shoulder in front. There is a center line. No crossing.", "D. There are many parked vehicles on the shoulder behind. There is no center line. No crossing."], "answer_index": 0}
{"token": "2841af69c18f753cee5c258b87dc46c8", "waymo_split": "test", "type": "image", "frame_index": 138, "question": "Is there a blind spot in your field of vision?", "category": "Uncertainty", "options": ["A. There is a blind spot on the right", "B. There is no blind spot", "C. There is a blind spot", "D. There is a blind spot in the rear"], "answer_index": 1}
{"token": "2841af69c18f753cee5c258b87dc46c8", "waymo_split": "test", "type": "image", "frame_index": 138, "question": "Is there any other safety-critical object besides the first safety-critical object? If so, how will it move?", "category": "Safety-critical Prediction", "options": ["A. A man crossing using the crosswalk towards the vehicle.", "B. A man riding an electric scooter moving to the edge of the road.", "C. A woman crossing the crosswalk in the opposite direction of the vehicle.", "D. A man jaywalking diagonally in front of the vehicle."], "answer_index": 0}
{"token": "2841af69c18f753cee5c258b87dc46c8", "waymo_split": "test", "type": "image", "frame_index": 138, "question": "How should I drive to resolve the first risk while also addressing the second risk?", "category": "Safety-critical Planning", "options": ["A. I must maintain a stopped state before entering the intersection until a person either gets in the vehicle or crosses the right crosswalk.", "B. If it seems that there is no one in the vehicle, I can enter the intersection at a slow speed while only watching the right pedestrians.", "C. If the vehicle exits first, I can immediately follow in and the pedestrians will cross according to the signals, so I just need to reduce my speed.", "D. I should let the pedestrians at the left crosswalk go first, then stop briefly in the center of the intersection before proceeding."], "answer_index": 0}
{"token": "2841af69c18f753cee5c258b87dc46c8", "waymo_split": "test", "type": "image", "frame_index": 138, "question": "What is the correlation in safety-critical situations?", "category": "Safety-critical scene Understanding", "options": ["A. car-person", "B. car-car", "C. person-two-wheeled", "D. car-two-wheeled"], "answer_index": 1}
{"token": "2841af69c18f753cee5c258b87dc46c8", "waymo_split": "test", "type": "image", "frame_index": 138, "question": "Is lane changing possible? Which is safer between slowing down and changing lanes?", "category": "Safety-critical Planning", "options": ["A. Lane changing is possible (the right shoulder parking is cleared, creating space, and there is ample space between large vehicles). Right lane change is recommended.", "B. Lane changing is possible (the left side is allowed during non-tram hours, and there is also enough space on the right). Changing lanes is safer.", "C. Lane changing is not possible (the left road is tram-only, so driving is not allowed, and there is no space on the right due to parked vehicles on the shoulder). Only slowing down is possible.", "D. Changing lanes is more advantageous than maintaining the lane (the left construction area has ended and the lane is restored, with a risk of sudden stops from the vehicle in front). Left lane change is safer."], "answer_index": 2}
{"token": "2841af69c18f753cee5c258b87dc46c8", "waymo_split": "test", "type": "image", "frame_index": 138, "question": "What is the safest choice just before entering a yellow signal: stop or proceed?", "category": "Special Event", "options": ["A. Currently, proceeding is safe (confirmed that vehicles from the left and right are stopped, no pedestrians detected)", "B. Currently, proceeding is safe (concern of secondary accident if sudden braking due to close vehicle behind)", "C. Currently, proceeding is safe (intersection is clear and there is enough remaining time for the yellow signal)", "D. Currently, stopping is safe (cannot proceed due to obstruction of the path by a safety-critical object from the leading vehicle)"], "answer_index": 3}
{"token": "2841af69c18f753cee5c258b87dc46c8", "waymo_split": "test", "type": "image", "frame_index": 138, "question": "What are the newly exposed risk candidates in the following section?", "category": "Safety-critical Prediction", "options": ["A. A person or object may suddenly emerge from between parked vehicles on the right shoulder.", "B. A vehicle may turn around from the opening in the left median and merge into our lane.", "C. A vehicle exiting the alley ahead may suddenly merge from the left without a signal.", "D. A pedestrian may come out into the lane from behind a bus stopped at the left bus stop."], "answer_index": 0}
{"token": "2841af69c18f753cee5c258b87dc46c8", "waymo_split": "test", "type": "image", "frame_index": 138, "question": "Where is the area that hides danger in the current frame?", "category": "Uncertainty", "options": ["A. Behind the left central divider", "B. Between the right sidewalk and the crosswalk", "C. Behind the crowd at the front bus stop", "D. Between the parked vehicles on the right shoulder"], "answer_index": 3}
{"token": "2841af69c18f753cee5c258b87dc46c8", "waymo_split": "test", "type": "image", "frame_index": 138, "question": "What is the method to avoid the blind spot next to a large vehicle?", "category": "Special Event", "options": ["A. Overtaking the large vehicle", "B. To the right of the large vehicle", "C. Getting close to the large vehicle", "D. No large vehicle"], "answer_index": 3}
{"token": "2841af69c18f753cee5c258b87dc46c8", "waymo_split": "test", "type": "image", "frame_index": 138, "question": "What situation would have occurred if the vehicle had acted this way?", "category": "Counterfactual", "options": ["A. If the vehicle had braked suddenly, the following vehicle would have collided with the rear of the vehicle, causing an accident.", "B. If the vehicle had turned right, it would have brushed past the side of the safety-critical object.", "C. If the vehicle had continued straight, it would have crashed into the rear of the safety-critical object.", "D. If the vehicle had continued straight, the safety-critical object would have passed first without any damage."], "answer_index": 2}
{"token": "2841af69c18f753cee5c258b87dc46c8", "waymo_split": "test", "type": "image", "frame_index": 138, "question": "Who is responsible in a safety-critical situation? What is the cause?", "category": "Safety-critical scene Understanding", "options": ["A. The pedestrian. They were crossing according to the pedestrian signal when the vehicle approached, crossing the stop line and posing a threat (the pedestrian signal was green).", "B. The ego vehicle's side. The ego vehicle violated the speed limit and abruptly entered the intersection, obstructing the left-turning vehicle's progress (the left turn signal was green).", "C. The signal infrastructure. A malfunction in the signal caused both the left turn and straight signals to be green simultaneously, leading to confusion (no flashing warning).", "D. A safety-critical object. The vehicle obstructed the ego vehicle's straight path (the straight signal was green)."], "answer_index": 3}
{"token": "28567e17bd2293ee923c447ec5b26c99", "waymo_split": "test", "type": "video", "frame_index": null, "question": "What is the classification of the scene?", "category": "Normal scene Understanding", "options": ["A. Residential back road (around gentle hills)", "B. Paved road (surrounded by mountainous terrain)", "C. Urban arterial road (surrounded by commercial areas)", "D. Unpaved forest road (surrounded by forested areas)"], "answer_index": 1}
{"token": "28567e17bd2293ee923c447ec5b26c99", "waymo_split": "test", "type": "video", "frame_index": null, "question": "Which of the following is a correct description of road alignment?", "category": "Normal Perception & Prediction", "options": ["A. Right turn", "B. Left turn", "C. Straight", "D. Overtaking"], "answer_index": 2}
{"token": "28567e17bd2293ee923c447ec5b26c99", "waymo_split": "test", "type": "video", "frame_index": null, "question": "Is there a special situation?", "category": "Special Event", "options": ["A. Ambulance entering the left lane", "B. Cliff outside the right lane", "C. School bus stopping for student drop-off", "D. Lane reduction due to construction cones ahead"], "answer_index": 1}
{"token": "28567e17bd2293ee923c447ec5b26c99", "waymo_split": "test", "type": "video", "frame_index": null, "question": "Where is the safety-critical situation in the video?", "category": "Temporal Grounding", "options": ["A. 1/4", "B. 2/4", "C. 4/4", "D. 3/4"], "answer_index": 2}
{"token": "28567e17bd2293ee923c447ec5b26c99", "waymo_split": "test", "type": "video", "frame_index": null, "question": "Which of the following is a correct description of traffic density?", "category": "Normal scene Understanding", "options": ["A. Slow, with several surrounding vehicles close together, slight downhill", "B. Fast, with one or two surrounding vehicles visible, gentle uphill", "C. Fast, with three or four surrounding vehicles, good flow, slight incline", "D. Slow, with about three surrounding vehicles in motion, no incline"], "answer_index": 3}
{"token": "28567e17bd2293ee923c447ec5b26c99", "waymo_split": "test", "type": "video", "frame_index": null, "question": "Which of the following is a correct description of the environment?", "category": "Normal scene Understanding", "options": ["A. Cloudy at sunset", "B. Night rain", "C. Dawn fog", "D. Clear during the day"], "answer_index": 3}
{"token": "28567e17bd2293ee923c447ec5b26c99", "waymo_split": "test", "type": "video", "frame_index": null, "question": "Which of the following describes a non-safety-critical object?", "category": "Normal Perception & Prediction", "options": ["A. A vehicle driving in the opposite lane on the left. A mountainous hill outside the left road. A cliff outside the right road, with a parking lot below the cliff. The sea is visible in the distance ahead. A vehicle is following behind my car.", "B. A construction sign and cones on the left shoulder. A low scrub forest outside the left road. A small lake and a reed field outside the right road. In front, there are high-rise apartment complexes in the distance. A bicycle occasionally passes behind my car.", "C. The opposite lane on the left is quiet with no vehicles. Flat farmland outside the left road. A flat rocky area and a low fence outside the right road. In front, there are grasslands and a few wind turbines in the distance. A small truck is moving away behind my car.", "D. A bus moving slowly in the right lane. A flat grassy field outside the left road. A guardrail and a small drainage ditch at the edge of the right road. In front, a high mountain ridge is visible in the distance. The area behind my car is empty for a while."], "answer_index": 0}
{"token": "28567e17bd2293ee923c447ec5b26c99", "waymo_split": "test", "type": "video", "frame_index": null, "question": "What is the answer regarding parked vehicles on the shoulder, the presence of a center line, and whether Ego crosses the center line?", "category": "Normal Perception & Prediction", "options": ["A. No parked vehicles on the shoulder. There is a center line. Crosses.", "B. No parked vehicles on the shoulder. No center line. Does not cross.", "C. No parked vehicles on the shoulder. There is a center line. Does not cross.", "D. There are parked vehicles on the shoulder. There is a center line. Does not cross."], "answer_index": 2}
{"token": "28567e17bd2293ee923c447ec5b26c99", "waymo_split": "test", "type": "video", "frame_index": null, "question": "Which of the following is a correct description of traffic signals?", "category": "Traffic Signal", "options": ["A. Traffic light", "B. Stop line", "C. Left turn", "D. None"], "answer_index": 3}
{"token": "28567e17bd2293ee923c447ec5b26c99", "waymo_split": "test", "type": "video", "frame_index": null, "question": "Is there a blind spot?", "category": "Uncertainty", "options": ["A. In the early stage, it's blocked by the right bushes, so there is a blind spot.", "B. In the middle stage, it's blocked by the left truck, so there is a blind spot.", "C. From the beginning, the right side is visible, so there is no blind spot.", "D. In the later stage, the central divider allows visibility to the right end, so there is no blind spot."], "answer_index": 0}
{"token": "28567e17bd2293ee923c447ec5b26c99", "waymo_split": "test", "type": "video", "frame_index": null, "question": "Who is responsible in safety-critical situations? What is the cause?", "category": "Safety-critical scene Understanding", "options": ["A. It is the road manager's responsibility because poor lane markings and construction signs caused confusion, blocking the vehicle's progress.", "B. It is the autonomous driving system's responsibility because the sensors misinterpreted the lanes, leading to incorrect vehicle navigation.", "C. It is due to the weather, as rain and fog drastically reduced visibility, causing a delay in vehicle control.", "D. It is the person's responsibility because the person driving in the lane interfered with the vehicle's operation."], "answer_index": 3}
{"token": "28567e17bd2293ee923c447ec5b26c99", "waymo_split": "test", "type": "video", "frame_index": null, "question": "What is the correlation in safety-critical situations?", "category": "Safety-critical scene Understanding", "options": ["A. Car - Two-wheeler", "B. Car - Car", "C. Person - Two-wheeler", "D. Car - Person"], "answer_index": 3}
{"token": "28567e17bd2293ee923c447ec5b26c99", "waymo_split": "test", "type": "video", "frame_index": null, "question": "What is a safety-critical object?", "category": "Safety-critical Perception", "options": ["A. A man running ahead on the same lane as the vehicle", "B. A man walking slowly on the right side of the same lane as the vehicle", "C. An electric scooter running ahead on the same lane as the vehicle", "D. A woman running ahead on the same lane as the vehicle"], "answer_index": 0}
{"token": "28567e17bd2293ee923c447ec5b26c99", "waymo_split": "test", "type": "video", "frame_index": null, "question": "Summary of Ego (self-vehicle) behavior before safety-critical situations", "category": "Normal scene Understanding", "options": ["A. Driving straight", "B. Waiting at a stop", "C. Turning right", "D. Turning left"], "answer_index": 0}
{"token": "28567e17bd2293ee923c447ec5b26c99", "waymo_split": "test", "type": "video", "frame_index": null, "question": "If the self-driving car acted like this, what situation might have occurred?", "category": "Counterfactual", "options": ["A. If the self-driving car ignored and drove on, it would have collided with a person.", "B. If the self-driving car had stopped, it would have let the bicycle go first and then proceeded.", "C. If the self-driving car had slowed down and stopped, it would have yielded to the pedestrian.", "D. If the self-driving car had swerved to the right, it would have safely moved into the adjacent lane."], "answer_index": 0}
{"token": "28567e17bd2293ee923c447ec5b26c99", "waymo_split": "test", "type": "video", "frame_index": null, "question": "How did the safety-critical object move and how did the ego vehicle behave?", "category": "Safety-critical scene Understanding", "options": ["A. Entered diagonally from the right shoulder into the lane / The ego vehicle changed to the left lane to avoid.", "B. Moved towards the center line of the ego vehicle's lane while walking / The ego vehicle maintained speed.", "C. Ran slowly along the left white line / The ego vehicle actually accelerated slightly.", "D. Ran close to the right white line of the ego vehicle's lane. The ego vehicle slowed down as it got closer."], "answer_index": 3}
{"token": "28567e17bd2293ee923c447ec5b26c99", "waymo_split": "test", "type": "image", "frame_index": 9, "question": "Based on the current appearance of the person/vehicle (two-wheeled), how do you intend to move?", "category": "Normal Perception & Prediction", "options": ["A. Going straight", "B. Turning right", "C. Turning left", "D. Preparing to make a U-turn"], "answer_index": 0}
{"token": "28567e17bd2293ee923c447ec5b26c99", "waymo_split": "test", "type": "video", "frame_index": null, "question": "What potential situations may arise depending on the type/condition of the road?", "category": "Normal Perception & Prediction", "options": ["A. Rocks may fall from mountainous terrain on the left.", "B. Livestock may come onto the road near the farm on the right.", "C. Vehicles may be shaken by strong winds in the bridge section ahead.", "D. Waves may come over on the coastal road on the right."], "answer_index": 0}
{"token": "28567e17bd2293ee923c447ec5b26c99", "waymo_split": "test", "type": "image", "frame_index": 9, "question": "Which of the following is a correct description of traffic density?", "category": "Normal scene Understanding", "options": ["A. Fast, surrounding vehicles are numerous", "B. Slow, one surrounding vehicle", "C. Fast, two surrounding vehicles", "D. Slow, no surrounding vehicles"], "answer_index": 1}
{"token": "28567e17bd2293ee923c447ec5b26c99", "waymo_split": "test", "type": "image", "frame_index": 9, "question": "Which of the following is correct as an Image Caption from a safety-critical Frame perspective?", "category": "Safety-critical scene caption", "options": ["A. A man running in front of the self-driving car on the self-driving road (distance is stopped)", "B. A man running behind the self-driving car on the self-driving road (distance is stopped)", "C. A man walking in the adjacent lane of the self-driving car on the self-driving road (distance is ongoing)", "D. A woman standing in front of the self-driving car on the self-driving road (distance is stopped)"], "answer_index": 0}
{"token": "28567e17bd2293ee923c447ec5b26c99", "waymo_split": "test", "type": "image", "frame_index": 9, "question": "What is the classification of the scene?", "category": "Normal scene Understanding", "options": ["A. Paved road (beachside)", "B. Urban arterial road (commercial area)", "C. Highway (suburban section)", "D. Unpaved road (rural road)"], "answer_index": 0}
{"token": "28567e17bd2293ee923c447ec5b26c99", "waymo_split": "test", "type": "image", "frame_index": 9, "question": "What is the plan for yielding when an ambulance/fire truck approaches?", "category": "Special Event", "options": ["A. Stop with the turn signal on to yield", "B. Turn on the hazard lights and slow down to yield", "C. Honk the horn and pass to yield", "D. Stay to the left and proceed to yield"], "answer_index": 0}
{"token": "28567e17bd2293ee923c447ec5b26c99", "waymo_split": "test", "type": "image", "frame_index": 9, "question": "Which of the following is a correct description of the environment?", "category": "Normal scene Understanding", "options": ["A. Dawn, fog,", "B. Night, rain,", "C. Day, clear,", "D. Dusk, cloudy,"], "answer_index": 2}
{"token": "28567e17bd2293ee923c447ec5b26c99", "waymo_split": "test", "type": "image", "frame_index": 9, "question": "What is the description of a non-safety-critical object?", "category": "Normal Perception & Prediction", "options": ["A. Mountainous terrain on the left, bushes outside the road on the right", "B. Rocky cliff on the left, gravel mound outside the road on the right", "C. Residential area on the left, stream outside the road on the right", "D. Paddy field area on the left, low fence outside the road on the right"], "answer_index": 0}
{"token": "28567e17bd2293ee923c447ec5b26c99", "waymo_split": "test", "type": "image", "frame_index": 9, "question": "What are the restrictions on behavior in school zones/congested areas?", "category": "Special Event", "options": ["A. No use of horns", "B. Mandatory stop", "C. Not applicable to this area", "D. Obligation to drive slowly"], "answer_index": 2}
{"token": "28567e17bd2293ee923c447ec5b26c99", "waymo_split": "test", "type": "image", "frame_index": 9, "question": "What is the answer regarding parked vehicles on the shoulder, the presence of a center line, and whether Ego crosses the center line?", "category": "Normal Perception & Prediction", "options": ["A. No parked vehicles on the shoulder, no center line, does not cross the center line", "B. No parked vehicles on the shoulder, there is a center line, crosses the center line", "C. There are parked vehicles on the shoulder, there is a center line, does not cross the center line", "D. No parked vehicles on the shoulder, there is a center line, does not cross the center line"], "answer_index": 3}
{"token": "28567e17bd2293ee923c447ec5b26c99", "waymo_split": "test", "type": "image", "frame_index": 9, "question": "Which of the following is a correct description of traffic signals?", "category": "Traffic Signal", "options": ["A. Left turn", "B. No U-turn", "C. None", "D. Stop"], "answer_index": 2}
{"token": "28567e17bd2293ee923c447ec5b26c99", "waymo_split": "test", "type": "image", "frame_index": 9, "question": "Is there a blind spot in your field of vision?", "category": "Uncertainty", "options": ["A. The front corner is a blind spot", "B. The right wall is a blind spot", "C. The left bushes are a blind spot", "D. The right bushes are a blind spot"], "answer_index": 3}
{"token": "28567e17bd2293ee923c447ec5b26c99", "waymo_split": "test", "type": "image", "frame_index": 9, "question": "What should I do to drive safely?", "category": "Safety-critical Planning", "options": ["A. I need to overtake the person while reducing the distance.", "B. I should accelerate when moving away from the person.", "C. I need to decelerate when getting closer to the person.", "D. I should signal with high beams when getting closer to the person."], "answer_index": 2}
{"token": "28567e17bd2293ee923c447ec5b26c99", "waymo_split": "test", "type": "image", "frame_index": 9, "question": "How do you think a safety-critical object would move?", "category": "Safety-critical Prediction", "options": ["A. Slide and move perpendicularly to the direction of the vehicle", "B. Run in the same direction as the vehicle", "C. Jump and cross perpendicularly to the direction of the vehicle", "D. Walk in the opposite direction to the vehicle"], "answer_index": 1}
{"token": "28567e17bd2293ee923c447ec5b26c99", "waymo_split": "test", "type": "image", "frame_index": 9, "question": "What is a safety-critical object?", "category": "Safety-critical Perception", "options": ["A. A bicycle crossing the self-driving road from a distance in front.", "B. A man running on the pedestrian road from a distance to the left front.", "C. A man running on the self-driving road from a distance in front.", "D. A woman walking on the self-driving road from a close distance in front."], "answer_index": 2}
{"token": "28567e17bd2293ee923c447ec5b26c99", "waymo_split": "test", "type": "image", "frame_index": 9, "question": "What is the correlation in safety-critical situations?", "category": "Safety-critical scene Understanding", "options": ["A. Person - Two-wheeler", "B. Two-wheeler - Vehicle", "C. Vehicle - Two-wheeler", "D. Vehicle - Person"], "answer_index": 3}
{"token": "28567e17bd2293ee923c447ec5b26c99", "waymo_split": "test", "type": "image", "frame_index": 9, "question": "Is lane changing possible? Which is safer between deceleration and lane changing?", "category": "Safety-critical Planning", "options": ["A. Lane changing not possible (solid line section), stopping is safer", "B. Lane changing possible (one-way two lanes, enough space), accelerating is safer", "C. Lane changing not possible (narrow two-way road), deceleration is possible", "D. Lane changing possible (dashed line at the center, good visibility), lane changing is safer"], "answer_index": 2}
{"token": "28567e17bd2293ee923c447ec5b26c99", "waymo_split": "test", "type": "image", "frame_index": 9, "question": "Are there any safety-critical objects other than the first safety-critical object? If so, how will they be moved?", "category": "Safety-critical Prediction", "options": ["A. None", "B. The battery pack is slowly moved to the central station on an insulated mat.", "C. The fire extinguisher is moved to the left end along the wall.", "D. The high-pressure gas cylinder is secured on a dedicated cart and moved down the right aisle."], "answer_index": 0}
{"token": "28567e17bd2293ee923c447ec5b26c99", "waymo_split": "test", "type": "image", "frame_index": 9, "question": "Where is the area that is hidden and conceals danger in the current frame?", "category": "Uncertainty", "options": ["A. Blind spot hidden by the construction fence on the left front", "B. Blind spot caused by the bus body in front", "C. Blind spot caused by the bushes on the right", "D. Blind spot behind the parked vehicle on the left"], "answer_index": 2}
{"token": "28567e17bd2293ee923c447ec5b26c99", "waymo_split": "test", "type": "image", "frame_index": 9, "question": "What are the new exposure risk candidates in the following section?", "category": "Safety-critical Prediction", "options": ["A. Entanglement", "B. Falling rocks", "C. None", "D. Slipping"], "answer_index": 2}
{"token": "28567e17bd2293ee923c447ec5b26c99", "waymo_split": "test", "type": "image", "frame_index": 9, "question": "What is the safest choice just before entering a yellow signal: stop vs pass?", "category": "Special Event", "options": ["A. Decelerate and pass. Safer.", "B. Close proximity of the car behind. Prioritize passing.", "C. No signal. Unable to judge.", "D. Stop at the stop line. The safest."], "answer_index": 2}
{"token": "28567e17bd2293ee923c447ec5b26c99", "waymo_split": "test", "type": "image", "frame_index": 9, "question": "Who is responsible in a safety-critical situation? What is the cause?", "category": "Safety-critical scene Understanding", "options": ["A. The falling object on the road obstructed visibility, causing a delay in avoiding the vehicle, so this is the cause.", "B. A person driving in the lane ahead interfered with the vehicle's path, so this is the cause.", "C. The driver neglected to pay attention to the front and could not slow down in time, so this is the cause.", "D. The vehicle ahead suddenly cut into the left lane, obstructing the progress of the vehicle, so this is the cause."], "answer_index": 1}
{"token": "28567e17bd2293ee923c447ec5b26c99", "waymo_split": "test", "type": "image", "frame_index": 9, "question": "What is the method to avoid the blind spot next to a large vehicle?", "category": "Special Event", "options": ["A. Pass on the right", "B. No large vehicle", "C. No passenger car", "D. Overtake the large vehicle"], "answer_index": 1}
{"token": "28567e17bd2293ee923c447ec5b26c99", "waymo_split": "test", "type": "image", "frame_index": 39, "question": "Based on the current appearance of the person/vehicle (two-wheeled), how do you intend to move?", "category": "Normal Perception & Prediction", "options": ["A. Attempting a U-turn", "B. Entering a right turn", "C. Driving straight", "D. Driving left"], "answer_index": 2}
{"token": "28567e17bd2293ee923c447ec5b26c99", "waymo_split": "test", "type": "image", "frame_index": 39, "question": "Which of the following is correct as an Image Caption from a safety-critical frame perspective?", "category": "Safety-critical scene caption", "options": ["A. A man running in front of the vehicle on the driving road (distance is stop)", "B. A man standing on the sidewalk to the right of the vehicle on the driving road (distance is irrelevant)", "C. A man riding a bicycle in front of the vehicle on the driving road (distance is deceleration)", "D. A woman walking in front of the vehicle on the driving road (distance is ample)"], "answer_index": 0}
{"token": "28567e17bd2293ee923c447ec5b26c99", "waymo_split": "test", "type": "image", "frame_index": 39, "question": "Which of the following is correct as an Image Caption from the perspective of a Normal Frame?", "category": "Normal scene caption", "options": ["A. A two-lane coastal road, with a car driving in the left lane. A man jogging along the opposite lane passes by in the distance. Several motorcycles are following closely behind. On the right, there is a dense reed forest and parked vehicles, and no buildings are visible.", "B. A car driving on a two-lane road with right-hand traffic. A man is seen ahead, driving in the lane in front of the car from a distance. A vehicle is following the car from behind. There are no bushes on the right, and the view shows the sea, utility poles, and buildings.", "C. A two-lane straight section with two-way traffic, the car is moving slowly towards the shoulder. A construction worker is seen organizing cones in the front lane. A city bus changes lanes and overtakes from behind. On the right, there is a high soundproof wall and commercial signs, and no utility poles.", "D. A car driving on a two-lane road with left-hand traffic. A boy on a bicycle crosses the car's lane from a short distance ahead. No vehicles are visible behind. On the right, there is only dense foliage and the foot of a mountain, and the sea is not visible."], "answer_index": 1}
{"token": "28567e17bd2293ee923c447ec5b26c99", "waymo_split": "test", "type": "image", "frame_index": 39, "question": "What is the plan for yielding when an ambulance/fire truck approaches?", "category": "Special Event", "options": ["A. Continue driving close to the center line", "B. Turn on the turn signal and stop to yield", "C. Only turn on the hazard lights and proceed slowly", "D. Honk the horn and increase speed to go straight"], "answer_index": 1}
{"token": "28567e17bd2293ee923c447ec5b26c99", "waymo_split": "test", "type": "image", "frame_index": 39, "question": "What are the classifications of scenes?", "category": "Normal scene Understanding", "options": ["A. Unpaved road (sand dune area)", "B. Highway (suburban area)", "C. Residential area (alley)", "D. Paved road (beachfront)"], "answer_index": 3}
{"token": "28567e17bd2293ee923c447ec5b26c99", "waymo_split": "test", "type": "image", "frame_index": 39, "question": "Which of the following is a correct description of traffic density?", "category": "Normal scene Understanding", "options": ["A. Slow, surrounding vehicles are several", "B. Slow, surrounding vehicles are one", "C. Fast, surrounding vehicles are two", "D. Fast, surrounding vehicles are one"], "answer_index": 1}
{"token": "28567e17bd2293ee923c447ec5b26c99", "waymo_split": "test", "type": "image", "frame_index": 39, "question": "Which of the following is a correct description of the environment?", "category": "Normal scene Understanding", "options": ["A. dawn, rain,", "B. night, cloudy,", "C. twilight, fog,", "D. day, clear,"], "answer_index": 3}
{"token": "28567e17bd2293ee923c447ec5b26c99", "waymo_split": "test", "type": "image", "frame_index": 39, "question": "What are the restrictions on behavior in school zones/congested areas?", "category": "Special Event", "options": ["A. Maintain a speed of 50", "B. Free parking", "C. Not in the relevant area", "D. Use of horn allowed"], "answer_index": 2}
{"token": "28567e17bd2293ee923c447ec5b26c99", "waymo_split": "test", "type": "image", "frame_index": 39, "question": "Which of the following is a correct description of traffic signals?", "category": "Traffic Signal", "options": ["A. No right turn", "B. Pedestrian signal", "C. None", "D. Left turn signal"], "answer_index": 2}
{"token": "28567e17bd2293ee923c447ec5b26c99", "waymo_split": "test", "type": "image", "frame_index": 39, "question": "What is the answer regarding parked vehicles on the shoulder, the presence of a center line, and whether Ego crosses the center line?", "category": "Normal Perception & Prediction", "options": ["A. No parked vehicles on the shoulder, there is a center line, no crossing the center line", "B. No parked vehicles on the shoulder, no center line, no crossing the center line", "C. No parked vehicles on the shoulder, there is a center line, crossing the center line", "D. There are parked vehicles on the shoulder, there is a center line, no crossing the center line"], "answer_index": 0}
{"token": "28567e17bd2293ee923c447ec5b26c99", "waymo_split": "test", "type": "image", "frame_index": 39, "question": "What is the description of a non-safety-critical object?", "category": "Normal Perception & Prediction", "options": ["A. The left side shows a riverside walking path, and on the right side, there is a field and a low hill.", "B. The left side shows flat land and rice paddies, and on the right side, there are scattered low houses and vacant lots.", "C. The left side shows mountainous terrain, and on the right side, there are bushes, with the sea and cliffs slightly visible in non-bushy areas.", "D. The left side shows a forested area, and on the right side, there is a view of a gravel beach and a breakwater."], "answer_index": 2}
{"token": "28567e17bd2293ee923c447ec5b26c99", "waymo_split": "test", "type": "image", "frame_index": 39, "question": "Is there a blind spot in your field of vision?", "category": "Uncertainty", "options": ["A. The right side of the road is a blind spot", "B. The left side by the fence is a blind spot", "C. The front crosswalk area is a blind spot", "D. The right side by the bushes is a blind spot"], "answer_index": 3}
{"token": "28567e17bd2293ee923c447ec5b26c99", "waymo_split": "test", "type": "image", "frame_index": 39, "question": "What is a safety-critical object?", "category": "Safety-critical Perception", "options": ["A. A woman walking on the sidewalk close to the left", "B. A man driving on an autonomous driving road from a distance in front", "C. A bicycle riding on a bike lane from a distance in front", "D. A scooter stopped at the edge of the road at a medium distance behind"], "answer_index": 1}
{"token": "28567e17bd2293ee923c447ec5b26c99", "waymo_split": "test", "type": "image", "frame_index": 39, "question": "How do you think a safety-critical object would move?", "category": "Safety-critical Prediction", "options": ["A. Running while crossing at a right angle to the driving direction", "B. Slightly jumping while side moving towards the shoulder outside the lane", "C. Running in the same direction as the driving direction", "D. Walking in the opposite direction to the driving direction"], "answer_index": 2}
{"token": "28567e17bd2293ee923c447ec5b26c99", "waymo_split": "test", "type": "image", "frame_index": 39, "question": "Are there any safety-critical objects other than the first safety-critical object? If so, how will they be moved?", "category": "Safety-critical Prediction", "options": ["A. None", "B. Yes — secured in an insulated container and moved to the inspection area via a slow lift", "C. Yes: placed in a shockproof case and manually moved from the workshop to the test room", "D. Yes, after sealing in a lockbox, accompanied by a safety officer, transported by cart from the storage to the lab"], "answer_index": 0}
{"token": "28567e17bd2293ee923c447ec5b26c99", "waymo_split": "test", "type": "image", "frame_index": 39, "question": "What is the correlation in safety-critical situations?", "category": "Safety-critical scene Understanding", "options": ["A. Car - Two-wheeler", "B. Car - Person", "C. Car - Car", "D. Two-wheeler - Person"], "answer_index": 1}
{"token": "28567e17bd2293ee923c447ec5b26c99", "waymo_split": "test", "type": "image", "frame_index": 39, "question": "What should you do to drive safely?", "category": "Safety-critical Planning", "options": ["A. You should slow down when getting close to that person.", "B. You should maintain speed when getting close to that person.", "C. You should accelerate when getting away from that person.", "D. You should honk before passing by that person."], "answer_index": 0}
{"token": "28567e17bd2293ee923c447ec5b26c99", "waymo_split": "test", "type": "image", "frame_index": 39, "question": "Is lane changing possible? Which is safer between slowing down and changing lanes?", "category": "Safety-critical Planning", "options": ["A. Lane changing not possible (narrow two-way road), slowing down possible", "B. Lane changing possible (wide straight road), changing lanes is safe", "C. Lane changing possible (three-lane one-way road with space), changing lanes is safer", "D. Lane changing possible (dashed line section), prioritize changing lanes"], "answer_index": 0}
{"token": "28567e17bd2293ee923c447ec5b26c99", "waymo_split": "test", "type": "image", "frame_index": 39, "question": "What are the new exposure risk candidates in the following interval?", "category": "Safety-critical Prediction", "options": ["A. Crosswind", "B. Falling rocks", "C. Icing", "D. None"], "answer_index": 3}
{"token": "28567e17bd2293ee923c447ec5b26c99", "waymo_split": "test", "type": "image", "frame_index": 39, "question": "Where is the area that hides danger due to obstruction in the current frame?", "category": "Uncertainty", "options": ["A. Blind spot caused by the rear A-pillar", "B. Blind spot obscured by the left roadside tree", "C. Blind spot caused by the right bushes", "D. Blind spot behind a large truck in front"], "answer_index": 2}
{"token": "28567e17bd2293ee923c447ec5b26c99", "waymo_split": "test", "type": "image", "frame_index": 39, "question": "What is the safest choice just before entering a yellow signal: stop vs proceed?", "category": "Special Event", "options": ["A. Stop immediately", "B. No signal. Unable to judge", "C. Proceed slowly", "D. Make a left turn"], "answer_index": 1}
{"token": "28567e17bd2293ee923c447ec5b26c99", "waymo_split": "test", "type": "image", "frame_index": 39, "question": "What is the method to avoid the blind spot next to a large vehicle?", "category": "Special Event", "options": ["A. To the right of the large vehicle", "B. No large vehicle", "C. Passing next to the bus", "D. Close to the trailer"], "answer_index": 1}
{"token": "28567e17bd2293ee923c447ec5b26c99", "waymo_split": "test", "type": "image", "frame_index": 39, "question": "What situation might occur if the vehicle acted like this?", "category": "Counterfactual", "options": ["A. If the vehicle suddenly brakes while going straight, there is a risk of collision with the vehicle behind.", "B. If the vehicle suddenly turns left, there is a risk of collision with the median barrier.", "C. If the vehicle suddenly turns right, there is a risk of collision with the bushes.", "D. If the vehicle suddenly changes lanes to the right, there is a risk of contact with the guardrail."], "answer_index": 2}
{"token": "28567e17bd2293ee923c447ec5b26c99", "waymo_split": "test", "type": "image", "frame_index": 39, "question": "Who is responsible in a safety-critical situation? What is the cause?", "category": "Safety-critical scene Understanding", "options": ["A. The bicycle suddenly entered the road from the right edge, obstructing my vehicle's path, so this is the cause.", "B. The safety cones in the construction area narrowed the lane, encroaching on my vehicle's path, so this is the cause.", "C. A person running in the front lane obstructed my vehicle's path, so this is the cause.", "D. The car in front suddenly braked, blocking my vehicle's path, so this is the cause."], "answer_index": 2}
{"token": "28567e17bd2293ee923c447ec5b26c99", "waymo_split": "test", "type": "image", "frame_index": 70, "question": "Based on the current appearance of the person/vehicle (two-wheeled), how do they intend to move?", "category": "Normal Perception & Prediction", "options": ["A. Going straight", "B. Preparing to turn right", "C. Entering a left turn", "D. Attempting a U-turn"], "answer_index": 0}
{"token": "28567e17bd2293ee923c447ec5b26c99", "waymo_split": "test", "type": "image", "frame_index": 70, "question": "Which of the following is a correct description of traffic density?", "category": "Normal scene Understanding", "options": ["A. Slow, two surrounding vehicles", "B. Slow, one surrounding vehicle", "C. Fast, multiple surrounding vehicles", "D. Fast, one surrounding vehicle"], "answer_index": 1}
{"token": "28567e17bd2293ee923c447ec5b26c99", "waymo_split": "test", "type": "image", "frame_index": 70, "question": "What is the plan for yielding when an ambulance/fire truck approaches?", "category": "Special Event", "options": ["A. Turn on emergency lights, slow down, and yield", "B. Honk the horn and move to the center", "C. Turn on the turn signal and stop to yield", "D. Increase speed to pass first and then yield"], "answer_index": 2}
{"token": "28567e17bd2293ee923c447ec5b26c99", "waymo_split": "test", "type": "image", "frame_index": 70, "question": "What are the restrictions on behavior in school zones/congested areas?", "category": "Special Event", "options": ["A. Not applicable to this area", "B. Must come to a complete stop", "C. Use of horn is prohibited", "D. Obligation to drive slowly"], "answer_index": 0}
{"token": "28567e17bd2293ee923c447ec5b26c99", "waymo_split": "test", "type": "image", "frame_index": 70, "question": "What are the divisions of the scene?", "category": "Normal scene Understanding", "options": ["A. Residential area (beach village)", "B. Paved road (beachfront)", "C. Unpaved road (coastal road)", "D. Highway (by the sea)"], "answer_index": 1}
{"token": "28567e17bd2293ee923c447ec5b26c99", "waymo_split": "test", "type": "image", "frame_index": 70, "question": "Which of the following descriptions about the environment is correct?", "category": "Normal scene Understanding", "options": ["A. night, shower,", "B. evening, cloudy,", "C. day, clear,", "D. dawn, fog,"], "answer_index": 2}
{"token": "28567e17bd2293ee923c447ec5b26c99", "waymo_split": "test", "type": "image", "frame_index": 70, "question": "What is the description of a non-safety-critical object?", "category": "Normal Perception & Prediction", "options": ["A. On the left is a rocky area, and on the right outside the road is a flat open space, with sports facilities and a playground visible on one side of the open space.", "B. On the left is a mountainous terrain, and on the right outside the road is a cliff, with a parking lot and parked vehicles visible below the cliff.", "C. On the left is a gentle forested area, and on the right outside the road is a low slope, with a stream and a small bridge visible below the slope.", "D. On the left is a walking path and shrub area, and on the right outside the road is a gravel field, with a bus stop and a sign visible next to the gravel field."], "answer_index": 1}
{"token": "28567e17bd2293ee923c447ec5b26c99", "waymo_split": "test", "type": "image", "frame_index": 70, "question": "Which of the following is a correct description of traffic signals?", "category": "Traffic Signal", "options": ["A. None", "B. Yellow traffic light", "C. No left turn", "D. Stop sign"], "answer_index": 0}
{"token": "28567e17bd2293ee923c447ec5b26c99", "waymo_split": "test", "type": "image", "frame_index": 70, "question": "Is there a blind spot in your field of vision?", "category": "Uncertainty", "options": ["A. There is a slight blind spot", "B. There is no blind spot", "C. There is a blind spot", "D. There is only a blind spot on the left"], "answer_index": 1}
{"token": "28567e17bd2293ee923c447ec5b26c99", "waymo_split": "test", "type": "image", "frame_index": 70, "question": "What is a safety-critical object?", "category": "Safety-critical Perception", "options": ["A. A man running in the same direction as a car on the pedestrian road in front.", "B. A man running in the same direction as a car on the car driving road in front.", "C. A man riding a bicycle in the opposite direction to a car on the car driving road in front.", "D. A man coming from the opposite direction on the car driving road in front."], "answer_index": 1}
{"token": "28567e17bd2293ee923c447ec5b26c99", "waymo_split": "test", "type": "image", "frame_index": 70, "question": "How do you think a safety-critical object would move?", "category": "Safety-critical Prediction", "options": ["A. Moving while jogging towards the outside edge of the road", "B. Running and crossing to the opposite side of the lane", "C. Running in the same direction as the vehicle's driving direction", "D. Walking in the opposite direction of the vehicle's driving direction"], "answer_index": 2}
{"token": "28567e17bd2293ee923c447ec5b26c99", "waymo_split": "test", "type": "image", "frame_index": 70, "question": "What is the answer regarding parked vehicles on the shoulder, the presence of a center line, and whether Ego crosses the center line?", "category": "Normal Perception & Prediction", "options": ["A. No parked vehicles on the shoulder, center line present, crosses the center line.", "B. Parked vehicles on the shoulder, center line present, does not cross the center line.", "C. No parked vehicles on the shoulder, no center line, does not cross the center line.", "D. No parked vehicles on the shoulder, center line present, does not cross the center line."], "answer_index": 3}
{"token": "28567e17bd2293ee923c447ec5b26c99", "waymo_split": "test", "type": "image", "frame_index": 70, "question": "Are there any other safety-critical objects besides the first safety-critical object? If so, how will they be moved?", "category": "Safety-critical Prediction", "options": ["A. The fire extinguisher will be moved to the right aisle.", "B. None.", "C. The oxygen cylinder will be transferred to the back cart.", "D. The emergency stop switch will be moved to the left wall."], "answer_index": 1}
{"token": "28567e17bd2293ee923c447ec5b26c99", "waymo_split": "test", "type": "image", "frame_index": 70, "question": "What should I do to drive safely?", "category": "Safety-critical Planning", "options": ["A. If you see the person, turn on your high beams and honk to make them move aside.", "B. The further you are from the person, the faster you should accelerate to pass quickly.", "C. When you encounter the person, you should change lanes and overtake quickly.", "D. As you get closer to the person, you should slow down and drive cautiously."], "answer_index": 3}
{"token": "28567e17bd2293ee923c447ec5b26c99", "waymo_split": "test", "type": "image", "frame_index": 70, "question": "What is the correlation in safety-critical situations?", "category": "Safety-critical scene Understanding", "options": ["A. Car-Car", "B. Car-Two-wheeler", "C. Car-Person", "D. Two-wheeler-Person"], "answer_index": 2}
{"token": "28567e17bd2293ee923c447ec5b26c99", "waymo_split": "test", "type": "image", "frame_index": 70, "question": "Is lane changing possible? Which is safer between slowing down and changing lanes?", "category": "Safety-critical Planning", "options": ["A. Lane changing is possible (wide one-way two-lane road), changing lanes is safer", "B. Lane changing is possible (straight four-lane road), changing lanes is better than slowing down", "C. Lane changing is not possible (narrow two-lane road), slowing down is possible", "D. Lane changing is possible (ample section of a three-lane one-way road), prioritize changing lanes"], "answer_index": 2}
{"token": "28567e17bd2293ee923c447ec5b26c99", "waymo_split": "test", "type": "image", "frame_index": 70, "question": "Who is responsible in a safety-critical situation? What is the cause?", "category": "Safety-critical scene Understanding", "options": ["A. A bicycle suddenly entered the lane from the right and blocked the way, and this is the cause.", "B. A person was running in the front lane, obstructing the path of my vehicle, and this is the cause.", "C. A construction cone fell into the lane, and my vehicle could not avoid it, and this is the cause.", "D. The vehicle in front made a sudden stop, causing my vehicle's braking to be delayed, and this is the cause."], "answer_index": 1}
{"token": "28567e17bd2293ee923c447ec5b26c99", "waymo_split": "test", "type": "image", "frame_index": 70, "question": "Where is the area that hides danger in the current frame?", "category": "Uncertainty", "options": ["A. None", "B. Behind the guardrail", "C. Behind the bus", "D. Left shoulder"], "answer_index": 0}
{"token": "28567e17bd2293ee923c447ec5b26c99", "waymo_split": "test", "type": "image", "frame_index": 70, "question": "What are the new exposure risk candidates in the following section?", "category": "Safety-critical Prediction", "options": ["A. Right construction vehicle", "B. None", "C. Left pedestrian", "D. Falling rocks ahead"], "answer_index": 1}
{"token": "28567e17bd2293ee923c447ec5b26c99", "waymo_split": "test", "type": "image", "frame_index": 70, "question": "What is the method to avoid the blind spot next to a large vehicle?", "category": "Special Event", "options": ["A. Passing on the right side of the large vehicle", "B. No large vehicle", "C. Passing slowly next to the bus", "D. Matching the speed of the large vehicle"], "answer_index": 1}
{"token": "28567e17bd2293ee923c447ec5b26c99", "waymo_split": "test", "type": "image", "frame_index": 70, "question": "If the vehicle acted like this, what situation might have occurred?", "category": "Counterfactual", "options": ["A. If the vehicle suddenly brakes, there is a risk of collision with the vehicle behind.", "B. If the vehicle accelerates quickly, there is a risk of collision with a person in front.", "C. If the vehicle suddenly changes lanes to the left, there is a risk of contact with a motorcycle in the adjacent lane.", "D. If the vehicle suddenly reverses, there is a risk of collision with a pole behind."], "answer_index": 1}
{"token": "28567e17bd2293ee923c447ec5b26c99", "waymo_split": "test", "type": "image", "frame_index": 110, "question": "Based on the current appearance of the person/vehicle (two-wheeled), how do they intend to move?", "category": "Normal Perception & Prediction", "options": ["A. Turning right (accelerating)", "B. Going straight (decelerating)", "C. Preparing to stop (decelerating)", "D. Entering a left turn (decelerating)"], "answer_index": 1}
{"token": "28567e17bd2293ee923c447ec5b26c99", "waymo_split": "test", "type": "image", "frame_index": 110, "question": "Which of the following is correct as an Image Caption from the perspective of a Normal Frame?", "category": "Normal scene caption", "options": ["A. A car traveling on a two-lane road with right-hand traffic. In front, there is a straight road that curves to the left. A man is seen riding a bike in the lane ahead of the car. There is one vehicle following the car from behind. A vehicle traveling in the opposite lane passes just to the left. The right side of the road is a cliff.", "B. The car is driving at a constant speed on a two-lane, two-way straight road, which continues straight without any curves ahead. On the right shoulder in the direction of the car, there are construction cones and a sign. A motorcycle passes by in the left lane behind. No oncoming vehicles are visible. The left side of the road has a riverbank railing.", "C. A car traveling on a two-lane road with left-hand traffic. In front, there is a straight road that gently curves to the right. A person on a bicycle is slowly riding in the lane ahead of the car. There are no vehicles following from behind. A vehicle in the opposite lane is slowly approaching from a distance. The right side of the road has low grass and a guardrail.", "D. On a mountain road with two lanes, the car is going down towards the entrance of a tunnel. The road ahead makes a sharp turn to the right, revealing the tunnel. There are no pedestrians or bicycles in front of the car. Only a bus is visible, stopped at a bus stop behind. A truck is slowly approaching from a distance in the opposite lane. The right side of the road is a wooded slope."], "answer_index": 0}
{"token": "28567e17bd2293ee923c447ec5b26c99", "waymo_split": "test", "type": "image", "frame_index": 110, "question": "What is the plan for yielding when an ambulance/fire truck approaches?", "category": "Special Event", "options": ["A. Turn on emergency lights and slow down to yield", "B. Turn on the turn signal and stop to yield", "C. Honk the horn and yield to the center line", "D. Pass through the intersection first and then yield"], "answer_index": 1}
{"token": "28567e17bd2293ee923c447ec5b26c99", "waymo_split": "test", "type": "image", "frame_index": 110, "question": "What are the classifications of scenes?", "category": "Normal scene Understanding", "options": ["A. Highway (coastal area)", "B. Unpaved road (near sand dunes)", "C. Residential area (beach village road)", "D. Paved road (by the beach)"], "answer_index": 3}
{"token": "28567e17bd2293ee923c447ec5b26c99", "waymo_split": "test", "type": "image", "frame_index": 110, "question": "Which of the following is a correct description of traffic density?", "category": "Normal scene Understanding", "options": ["A. Fast, one surrounding vehicle", "B. Slow, two surrounding vehicles", "C. Slow, one surrounding vehicle", "D. Fast, no surrounding vehicles"], "answer_index": 2}
{"token": "28567e17bd2293ee923c447ec5b26c99", "waymo_split": "test", "type": "image", "frame_index": 110, "question": "What are the restrictions on behavior in school zones/congested areas?", "category": "Special Event", "options": ["A. No use of horns", "B. Pedestrian priority area", "C. Obligation to drive slowly", "D. Not applicable to this area"], "answer_index": 3}
{"token": "28567e17bd2293ee923c447ec5b26c99", "waymo_split": "test", "type": "image", "frame_index": 110, "question": "Which of the following is a correct description of the environment?", "category": "Normal scene Understanding", "options": ["A. Day, clear,", "B. Dusk, cloudy,", "C. Morning, fog,", "D. Night, light rain,"], "answer_index": 0}
{"token": "28567e17bd2293ee923c447ec5b26c99", "waymo_split": "test", "type": "image", "frame_index": 110, "question": "What is the answer regarding parked vehicles on the shoulder, the presence of a center line, and whether Ego crosses the center line?", "category": "Normal Perception & Prediction", "options": ["A. No parked vehicles on the shoulder, no center line, does not cross the center line", "B. No parked vehicles on the shoulder, there is a center line, crosses the center line", "C. No parked vehicles on the shoulder, there is a center line, does not cross the center line", "D. There are parked vehicles on the shoulder, there is a center line, does not cross the center line"], "answer_index": 2}
{"token": "28567e17bd2293ee923c447ec5b26c99", "waymo_split": "test", "type": "image", "frame_index": 110, "question": "Which of the following is a correct description of traffic signals?", "category": "Traffic Signal", "options": ["A. Stop", "B. Stop line", "C. Red light", "D. None"], "answer_index": 3}
{"token": "28567e17bd2293ee923c447ec5b26c99", "waymo_split": "test", "type": "image", "frame_index": 110, "question": "Is there a blind spot in your field of vision?", "category": "Uncertainty", "options": ["A. None", "B. Partially on the right", "C. Present when turning right", "D. Yes"], "answer_index": 0}
{"token": "28567e17bd2293ee923c447ec5b26c99", "waymo_split": "test", "type": "image", "frame_index": 110, "question": "How do you think a safety-critical object will move?", "category": "Safety-critical Prediction", "options": ["A. Running in the same direction and opposite direction of the vehicle", "B. Running diagonally to the left based on the direction of the vehicle", "C. Crossing the path of the vehicle", "D. Running in the same direction as the vehicle"], "answer_index": 3}
{"token": "28567e17bd2293ee923c447ec5b26c99", "waymo_split": "test", "type": "image", "frame_index": 110, "question": "What is a safety-critical object?", "category": "Safety-critical Perception", "options": ["A. A man running in the same direction as the vehicle on the road ahead.", "B. A man riding a bicycle in the same direction as the vehicle in the left lane.", "C. A man walking in the same direction as the vehicle on the sidewalk ahead.", "D. A man running in the opposite direction to the vehicle on the road ahead."], "answer_index": 0}
{"token": "28567e17bd2293ee923c447ec5b26c99", "waymo_split": "test", "type": "image", "frame_index": 110, "question": "Are there any safety-critical objects other than the first safety-critical object? If so, how will they be moved?", "category": "Safety-critical Prediction", "options": ["A. None", "B. Oxygen tank present — secured to a cart and transported down the right corridor", "C. AED present — moved closer to the entrance", "D. Fire extinguisher present — relocated to the wall next to the stairs"], "answer_index": 0}
{"token": "28567e17bd2293ee923c447ec5b26c99", "waymo_split": "test", "type": "image", "frame_index": 110, "question": "What is the correlation in safety-critical situations?", "category": "Safety-critical scene Understanding", "options": ["A. Person - Two-wheeler", "B. Vehicle - Two-wheeler", "C. Vehicle - Vehicle", "D. Vehicle - Person"], "answer_index": 3}
{"token": "28567e17bd2293ee923c447ec5b26c99", "waymo_split": "test", "type": "image", "frame_index": 110, "question": "Is lane changing possible? Which is safer between slowing down and changing lanes?", "category": "Safety-critical Planning", "options": ["A. Lane changing not possible (narrow two-way road). Slowing down is possible.", "B. Lane changing possible (wide one-way three-lane road). Lane changing is recommended over slowing down.", "C. Lane changing possible (passing lane available). Lane change takes priority.", "D. Lane changing possible (ample space on a two-lane one-way road). Lane changing is safer."], "answer_index": 0}
{"token": "28567e17bd2293ee923c447ec5b26c99", "waymo_split": "test", "type": "image", "frame_index": 110, "question": "What should I do to drive safely?", "category": "Safety-critical Planning", "options": ["A. You should slow down as you get closer to the person.", "B. You should maintain your speed as you get closer to the vehicle.", "C. You should flash your headlights as you get closer to the pedestrian.", "D. You should accelerate as you get closer to the person."], "answer_index": 0}
{"token": "28567e17bd2293ee923c447ec5b26c99", "waymo_split": "test", "type": "image", "frame_index": 110, "question": "Where is the area that hides danger in the current frame?", "category": "Uncertainty", "options": ["A. None", "B. Behind the vehicle", "C. Behind the pillar", "D. Bottom left corner"], "answer_index": 0}
{"token": "28567e17bd2293ee923c447ec5b26c99", "waymo_split": "test", "type": "image", "frame_index": 110, "question": "What are the new risk candidates that will be exposed in the following section?", "category": "Safety-critical Prediction", "options": ["A. Sudden stop vehicle", "B. Right merge", "C. Crossing pedestrian", "D. None"], "answer_index": 3}
{"token": "28567e17bd2293ee923c447ec5b26c99", "waymo_split": "test", "type": "image", "frame_index": 110, "question": "What situation might occur if the self-driving car behaved like this?", "category": "Counterfactual", "options": ["A. If the self-driving car accelerates quickly, there is a risk of colliding with the vehicle behind.", "B. If the self-driving car accelerates quickly, there is a risk of colliding with a person in front.", "C. If the self-driving car changes lanes to the left, there is a risk of colliding with a person in front.", "D. If the self-driving car decelerates gradually, there is a risk of colliding with a person in front."], "answer_index": 1}
{"token": "28567e17bd2293ee923c447ec5b26c99", "waymo_split": "test", "type": "image", "frame_index": 110, "question": "What is the guideline for the vehicle's behavior in response to the behavior of a safety-critical object?", "category": "Safety-critical Planning", "options": ["A. If the safety-critical object approaches the vehicle quickly, the vehicle should evade to the right lane and continue driving.", "B. If the safety-critical object suddenly turns around and runs towards the vehicle, the vehicle should brake hard to avoid a collision.", "C. If the safety-critical object suddenly hesitates and then changes direction, the vehicle should accelerate as much as possible to escape the situation.", "D. If the safety-critical object suddenly turns around and runs towards the vehicle, the vehicle should honk the horn and gradually decelerate."], "answer_index": 1}
{"token": "28567e17bd2293ee923c447ec5b26c99", "waymo_split": "test", "type": "image", "frame_index": 142, "question": "Which of the following is correct as an Image Caption from the perspective of a Normal Frame?", "category": "Normal scene caption", "options": ["A. A two-lane road with a vehicle driving on the right side, approaching a section where the straight road curves to the right. A man is running in the opposite direction of the vehicle in the lane ahead. The left side of the road is a cliff.", "B. A two-lane road with a vehicle driving on the right side, entering an uphill section that leads to a straight path. A boy on a bicycle is riding in the same direction as the vehicle in the lane ahead. The right side of the road is a forest behind a guardrail.", "C. A two-lane road with a vehicle driving on the right side, entering a section that splits into a left turn lane after passing an intersection. A woman is walking slowly in the same direction as the vehicle in the lane ahead. The right side of the road is a sidewalk and a building.", "D. A two-lane road with a vehicle driving on the right side, entering a section where the straight road curves to the left. A man is running in the same direction as the vehicle in the lane ahead. The right side of the road is a cliff."], "answer_index": 3}
{"token": "28567e17bd2293ee923c447ec5b26c99", "waymo_split": "test", "type": "image", "frame_index": 142, "question": "Which of the following is correct from the perspective of Safety-critical Frame regarding Image Caption?", "category": "Safety-critical scene caption", "options": ["A. A man is walking towards the car from the opposite direction along the corner area to the right, while he is moving slightly towards the center of the lane.", "B. A woman is crossing from the left to the right across the lane in front of the car. At this time, she is passing through the middle of the lane, not the shoulder.", "C. A man is riding a bicycle in the same direction as the car on a straight section in front of the car. At this time, he is moving close to the left shoulder of the road.", "D. A man is running in the same direction as the car along a corner area to the left in front of the car. At this time, he is running towards the right shoulder of the road."], "answer_index": 3}
{"token": "28567e17bd2293ee923c447ec5b26c99", "waymo_split": "test", "type": "image", "frame_index": 142, "question": "Based on the current appearance of the person/vehicle (two-wheeled), how are they trying to move?", "category": "Normal Perception & Prediction", "options": ["A. Moving to the left lane while adjusting the U-turn angle", "B. Accelerating straight while entering a right-curved corner", "C. Moving straight at a slow speed while entering a left-curved corner", "D. Turning on the right turn signal and entering the intersection at a slow speed"], "answer_index": 2}
{"token": "28567e17bd2293ee923c447ec5b26c99", "waymo_split": "test", "type": "image", "frame_index": 142, "question": "Which of the following descriptions about the environment is correct?", "category": "Normal scene Understanding", "options": ["A. Evening, cloudy,", "B. Day, clear,", "C. Dawn, fog,", "D. Night, shower,"], "answer_index": 1}
{"token": "28567e17bd2293ee923c447ec5b26c99", "waymo_split": "test", "type": "image", "frame_index": 142, "question": "Which of the following is a correct description of traffic density?", "category": "Normal scene Understanding", "options": ["A. Fast, one surrounding vehicle", "B. Slow, one surrounding vehicle", "C. Fast, two surrounding vehicles", "D. Slow, no surrounding vehicles"], "answer_index": 1}
{"token": "28567e17bd2293ee923c447ec5b26c99", "waymo_split": "test", "type": "image", "frame_index": 142, "question": "What are the classifications of scenes?", "category": "Normal scene Understanding", "options": ["A. Residential area (alley)", "B. Unpaved road (country road)", "C. Highway (bridge section)", "D. Paved road (beachside)"], "answer_index": 3}
{"token": "28567e17bd2293ee923c447ec5b26c99", "waymo_split": "test", "type": "image", "frame_index": 142, "question": "What is the plan for yielding when an ambulance/fire truck approaches?", "category": "Special Event", "options": ["A. Stop with the turn signal on to yield", "B. Honk the horn and continue driving", "C. Turn on the hazard lights and drive slowly", "D. Drive close to the center line and yield"], "answer_index": 0}
{"token": "28567e17bd2293ee923c447ec5b26c99", "waymo_split": "test", "type": "image", "frame_index": 142, "question": "What are the restrictions on behavior in school zones/congested areas?", "category": "Special Event", "options": ["A. Only right turns allowed", "B. Restrictions only at night", "C. Not a restricted area", "D. No obligation to slow down"], "answer_index": 2}
{"token": "28567e17bd2293ee923c447ec5b26c99", "waymo_split": "test", "type": "image", "frame_index": 142, "question": "Which of the following is a correct description of traffic signals?", "category": "Traffic Signal", "options": ["A. Left turn signal", "B. No right turn", "C. Stop", "D. None"], "answer_index": 3}
{"token": "28567e17bd2293ee923c447ec5b26c99", "waymo_split": "test", "type": "image", "frame_index": 142, "question": "What is the answer regarding parked vehicles on the shoulder, the presence of a center line, and whether Ego crosses the center line?", "category": "Normal Perception & Prediction", "options": ["A. No parked vehicles on the shoulder, center line present, slightly crosses the center line", "B. Parked vehicles on the shoulder, center line present, crosses the center line", "C. No parked vehicles on the shoulder, center line present, does not cross the center line", "D. No parked vehicles on the shoulder, no center line, does not cross the center line"], "answer_index": 2}
{"token": "28567e17bd2293ee923c447ec5b26c99", "waymo_split": "test", "type": "image", "frame_index": 142, "question": "Is there a blind spot in your field of vision?", "category": "Uncertainty", "options": ["A. There is a slight blind spot", "B. There is one on the right", "C. There is a blind spot", "D. There is no blind spot"], "answer_index": 3}
{"token": "28567e17bd2293ee923c447ec5b26c99", "waymo_split": "test", "type": "image", "frame_index": 142, "question": "What is a safety-critical object?", "category": "Safety-critical Perception", "options": ["A. A child running quickly across the crosswalk from left to right in front of me. This child is moving towards the sidewalk according to the signal.", "B. A male pedestrian walking towards me on a self-driving road in the opposite direction of the vehicle. This man is walking slowly, close to the center line of the road.", "C. A man running in the same direction as the vehicle on a self-driving road in front of me. This man is running slightly towards the right shoulder of the road.", "D. A young man riding a bicycle parallel to the direction of the vehicle on the sidewalk in front of me. This young man is riding on the left edge of the sidewalk, away from the road."], "answer_index": 2}
{"token": "28567e17bd2293ee923c447ec5b26c99", "waymo_split": "test", "type": "image", "frame_index": 142, "question": "Are there any safety-critical objects other than the first safety-critical object? If so, how would you move them?", "category": "Safety-critical Prediction", "options": ["A. Stroller, slowly entering from the front", "B. None", "C. Pedestrian, crossing from left to right", "D. Bicycle, merging into the lane from the right"], "answer_index": 1}
{"token": "28567e17bd2293ee923c447ec5b26c99", "waymo_split": "test", "type": "image", "frame_index": 142, "question": "How do you think a safety-critical object will move?", "category": "Safety-critical Prediction", "options": ["A. Running in the same direction as the vehicle's driving direction (running through a left-curving corner)", "B. Crossing slowly across the lane (on a straight section just before an intersection, moving with the signal)", "C. Walking in the opposite direction of the vehicle's driving direction (encountering on a right-curving corner)", "D. Overtaking the vehicle while riding a bicycle (accelerating along the right shoulder)"], "answer_index": 0}
{"token": "28567e17bd2293ee923c447ec5b26c99", "waymo_split": "test", "type": "image", "frame_index": 142, "question": "Is lane change possible? Which is safer between slowing down and changing lanes?", "category": "Safety-critical Planning", "options": ["A. Lane change possible (3 lanes in one direction, ample space) changing lanes is safer", "B. Lane change possible (two-way with narrow lanes but ample shoulder) changing lanes is safer", "C. Lane change possible (good visibility before intersection) changing lanes is safer", "D. Lane change not possible (narrow two-way road). Slowing down is possible"], "answer_index": 3}
{"token": "28567e17bd2293ee923c447ec5b26c99", "waymo_split": "test", "type": "image", "frame_index": 142, "question": "What is the correlation in safety-critical situations?", "category": "Safety-critical scene Understanding", "options": ["A. car-person", "B. person-two-wheeler", "C. car-two-wheeler", "D. car-car"], "answer_index": 0}
{"token": "28567e17bd2293ee923c447ec5b26c99", "waymo_split": "test", "type": "image", "frame_index": 142, "question": "What should I do to drive safely?", "category": "Safety-critical Planning", "options": ["A. Since I am close to the person, I will briefly honk the horn and gesture to request yielding. When I get very close, I will quickly attempt to overtake on the left regardless of the oncoming traffic situation.", "B. Since I am close to the person, I must slow down. When I get very close, I will attempt to overtake on the left if there are no vehicles in the opposite lane.", "C. Since I am at a distance from the person, I will maintain my speed. When I get very close, I will attempt to overtake on the right if the right lane is clear.", "D. Since I have a clear view of the person, I will accelerate to the speed limit. When I get very close, I will quickly attempt to overtake in the same lane to match the flow of the vehicle behind."], "answer_index": 1}
{"token": "28567e17bd2293ee923c447ec5b26c99", "waymo_split": "test", "type": "image", "frame_index": 142, "question": "Who is responsible in a safety-critical situation? What is the cause?", "category": "Safety-critical scene Understanding", "options": ["A. The cause is that the vehicle changed lanes abruptly, interfering with the vehicle ahead.", "B. The cause is that the road became slippery due to rain, increasing the risk of collision due to delayed braking.", "C. The cause is that debris from cargo on the road blocked the lane, leading to an incident during an evasive maneuver.", "D. The cause is that a person running in the lane ahead interfered with the path of the vehicle."], "answer_index": 3}
{"token": "28567e17bd2293ee923c447ec5b26c99", "waymo_split": "test", "type": "image", "frame_index": 142, "question": "Where is the area that hides danger by obstructing the view in the current frame?", "category": "Uncertainty", "options": ["A. The right rock is blocking the view at the right corner.", "B. The billboard is blocking the view at the front intersection.", "C. A pile of boxes is blocking the view in the central aisle.", "D. The left hill is blocking the view at the left corner."], "answer_index": 3}
{"token": "28567e17bd2293ee923c447ec5b26c99", "waymo_split": "test", "type": "image", "frame_index": 142, "question": "What is the method to avoid the blind spot next to a large vehicle?", "category": "Special Event", "options": ["A. Pass on the right side of the large vehicle", "B. No large vehicle", "C. Pass behind the truck", "D. Enter the blind spot of the large vehicle"], "answer_index": 1}
{"token": "28567e17bd2293ee923c447ec5b26c99", "waymo_split": "test", "type": "image", "frame_index": 142, "question": "What is the safest choice when approaching a yellow signal: stop vs proceed?", "category": "Special Event", "options": ["A. No signal. Unable to judge", "B. Proceed while decelerating", "C. Stop immediately", "D. Proceed with a right turn"], "answer_index": 0}
{"token": "28567e17bd2293ee923c447ec5b26c99", "waymo_split": "test", "type": "image", "frame_index": 142, "question": "What are the newly exposed risk candidates in the following section?", "category": "Safety-critical Prediction", "options": ["A. The vehicle in front may suddenly brake just before the curve in the section that obstructs this view.", "B. A pedestrian may suddenly appear from the right shoulder in the section that obstructs this view.", "C. A construction vehicle may merge from the shoulder in the section that obstructs this view.", "D. A vehicle may approach through the opposite lane in the section that obstructs this view."], "answer_index": 3}
{"token": "28567e17bd2293ee923c447ec5b26c99", "waymo_split": "test", "type": "image", "frame_index": 142, "question": "What is the guideline for the vehicle's behavior in response to the behavior of a safety-critical object?", "category": "Safety-critical Planning", "options": ["A. If the safety-critical object approaches swerving from the side, the vehicle should only honk the horn and maintain speed.", "B. If the safety-critical object suddenly turns around and runs towards the vehicle, the vehicle should brake hard to avoid a collision.", "C. If the safety-critical object suddenly appears in front, the vehicle should urgently change lanes to evade it.", "D. If the safety-critical object starts moving in the opposite direction to the vehicle, the vehicle should accelerate quickly to pass by when there is an opportunity."], "answer_index": 1}
{"token": "28567e17bd2293ee923c447ec5b26c99", "waymo_split": "test", "type": "image", "frame_index": 142, "question": "What situation might occur if the self-driving car behaved like this?", "category": "Counterfactual", "options": ["A. If the self-driving car accelerates quickly, there is a risk of colliding with a person in front.", "B. If the self-driving car suddenly brakes, there is a risk of colliding with a vehicle behind.", "C. If the self-driving car makes a sudden right turn, there is a risk of contacting a vehicle in the adjacent lane.", "D. If the self-driving car suddenly turns left, there is a risk of colliding with an oncoming vehicle."], "answer_index": 0}
{"token": "28ba58bcef428b9d62896bed8e57287d", "waymo_split": "test", "type": "video", "frame_index": null, "question": "Where is the safety-critical situation in the video?", "category": "Temporal Grounding", "options": ["A. 3/4", "B. 1/4", "C. 4/4", "D. 2/4"], "answer_index": 1}
{"token": "28ba58bcef428b9d62896bed8e57287d", "waymo_split": "test", "type": "video", "frame_index": null, "question": "What are the divisions of the scene?", "category": "Normal scene Understanding", "options": ["A. Unpaved farm road", "B. Residential alley", "C. Lane in the city", "D. Main highway"], "answer_index": 2}
{"token": "28ba58bcef428b9d62896bed8e57287d", "waymo_split": "test", "type": "video", "frame_index": null, "question": "Which of the following is a correct description of traffic density?", "category": "Normal scene Understanding", "options": ["A. Fast, many surrounding vehicles, many parked vehicles on the shoulder", "B. Normal, few surrounding vehicles, few parked vehicles on the shoulder", "C. Fast, few surrounding vehicles, no parked vehicles on the shoulder", "D. Slow, many surrounding vehicles, gentle uphill road"], "answer_index": 0}
{"token": "28ba58bcef428b9d62896bed8e57287d", "waymo_split": "test", "type": "video", "frame_index": null, "question": "Which of the following is a correct description of road alignment?", "category": "Normal Perception & Prediction", "options": ["A. Straight", "B. Left turn", "C. Right turn", "D. Overtaking"], "answer_index": 0}
{"token": "28ba58bcef428b9d62896bed8e57287d", "waymo_split": "test", "type": "video", "frame_index": null, "question": "Are there any special circumstances?", "category": "Special Event", "options": ["A. There are construction cones installed on the left lane, narrowing the passage (temporary lane guidance is present)", "B. The front signs are hard to see due to rain and fog (wipers at maximum operation)", "C. There are no vehicles in the right bus-only lane (excluding kickboards - safety critical object)", "D. A stopped school bus is picking up and dropping off passengers ahead, so everyone is waiting (flashing lights are on)"], "answer_index": 2}
{"token": "28ba58bcef428b9d62896bed8e57287d", "waymo_split": "test", "type": "video", "frame_index": null, "question": "Which of the following is a correct description of the environment?", "category": "Normal scene Understanding", "options": ["A. Evening, fog", "B. Morning, drizzle", "C. Afternoon, clear", "D. Afternoon, cloudy"], "answer_index": 2}
{"token": "28ba58bcef428b9d62896bed8e57287d", "waymo_split": "test", "type": "video", "frame_index": null, "question": "Which of the following is a correct description of traffic signals?", "category": "Traffic Signal", "options": ["A. Bicycle lane road markings on the right lane", "B. Bus lane road markings on the left lane", "C. Traffic lights at a T-intersection", "D. Traffic lights at an intersection. Bus lane road markings on the right lane"], "answer_index": 3}
{"token": "28ba58bcef428b9d62896bed8e57287d", "waymo_split": "test", "type": "video", "frame_index": null, "question": "What is the description of a non-safety-critical object?", "category": "Normal Perception & Prediction", "options": ["A. Numerous electric scooters parked on the left and right roadside. The right lane is a loading area for trucks. Overhead signs and U-turn signs at the intersection. A zelkova tree lined on the left sidewalk after the intersection.", "B. A few parasols of a street cafe on the left sidewalk. The right lane is a taxi stop area. An electronic display board and a bus stop in front of the intersection. Low shrub beds on the sidewalk after the intersection.", "C. Numerous shared bicycles parked on the left and right road shoulders. The right lane is a bicycle-only lane. Flashing signals and construction signs at the intersection. Cherry trees lined on the central divider after the intersection.", "D. Numerous parked vehicles on the road shoulders on the left and right. The right lane is a bus-only lane. Traffic lights and crosswalks at the intersection. Tall palm trees extending along the sidewalk after the intersection."], "answer_index": 3}
{"token": "28ba58bcef428b9d62896bed8e57287d", "waymo_split": "test", "type": "video", "frame_index": null, "question": "Which of the following is a correct description of Spatial Relationship?", "category": "Spatial Relationship", "options": ["A. People standing at the crosswalk on the left road of the intersection, stopped at the signal (red).", "B. A man pulling a bicycle and moving in the opposite direction towards the median strip of the intersection.", "C. People jaywalking across the lanes of the road directly in front of the intersection between vehicles.", "D. People crossing the crosswalk on the right road of the intersection in accordance with the signal (green)."], "answer_index": 3}
{"token": "28ba58bcef428b9d62896bed8e57287d", "waymo_split": "test", "type": "video", "frame_index": null, "question": "What is the answer regarding parked vehicles on the shoulder, the presence of a central line, and whether Ego has crossed the central line?", "category": "Normal Perception & Prediction", "options": ["A. There are a few parked vehicles on the right shoulder only. No central line. It has crossed.", "B. One or two parked vehicles are stopped on the left shoulder. There is a central line. It has crossed.", "C. Many parked vehicles are present on both shoulders. There is a central line. It has not crossed.", "D. There are no parked vehicles on the shoulder. No central line. It has not crossed."], "answer_index": 2}
{"token": "28ba58bcef428b9d62896bed8e57287d", "waymo_split": "test", "type": "video", "frame_index": null, "question": "What is a safety-critical object?", "category": "Safety-critical Perception", "options": ["A. A kickboard driving in the left bus-only lane", "B. A kickboard stopped in the right bus-only lane", "C. A kickboard driving in the right bus-only lane", "D. An electric bicycle driving in the right general lane"], "answer_index": 2}
{"token": "28ba58bcef428b9d62896bed8e57287d", "waymo_split": "test", "type": "video", "frame_index": null, "question": "What is the correlation in safety-critical situations?", "category": "Safety-critical scene Understanding", "options": ["A. Car - Kickboard", "B. Car - Bicycle", "C. Car - Pedestrian", "D. Car - Motorcycle"], "answer_index": 0}
{"token": "28ba58bcef428b9d62896bed8e57287d", "waymo_split": "test", "type": "video", "frame_index": null, "question": "Summary of Ego (self-vehicle) behavior before a safety-critical situation", "category": "Normal scene Understanding", "options": ["A. Change to the left lane of the self-vehicle", "B. Attempt to overtake the vehicle in front of the self-vehicle", "C. Enter a right turn with the self-vehicle", "D. Proceed straight in the lane of the self-vehicle"], "answer_index": 3}
{"token": "28ba58bcef428b9d62896bed8e57287d", "waymo_split": "test", "type": "video", "frame_index": null, "question": "How did the safety-critical object move and how did the ego vehicle behave?", "category": "Safety-critical scene Understanding", "options": ["A. The ego vehicle appeared from behind and went straight in the bus-only lane. The ego vehicle continued straight in its lane (the left side of the bus-only lane).", "B. The ego vehicle appeared in front and changed from the bus-only lane to the general lane. The ego vehicle slowed down and moved to the left lane.", "C. The ego vehicle merged from the right and entered the bus-only lane diagonally. The ego vehicle changed to the right lane to avoid this and continued.", "D. The ego vehicle overtook from the left rear and went straight in the general lane. The ego vehicle stopped briefly before the intersection and then started again."], "answer_index": 0}
{"token": "28ba58bcef428b9d62896bed8e57287d", "waymo_split": "test", "type": "video", "frame_index": null, "question": "Is there a blind spot in your field of vision?", "category": "Uncertainty", "options": ["A. None", "B. On the right", "C. Depends on the situation", "D. Yes"], "answer_index": 0}
{"token": "28ba58bcef428b9d62896bed8e57287d", "waymo_split": "test", "type": "video", "frame_index": null, "question": "What situation would occur if the vehicle acted this way?", "category": "Counterfactual", "options": ["A. If the vehicle changes lanes to the right bus-only lane, it collides with a scooter.", "B. If the vehicle stops in the right bus-only lane, it makes contact with a bus.", "C. If the vehicle changes lanes to the left general lane, it collides with a motorcycle.", "D. If the vehicle maintains a straight path, the scooter passes first, resulting in no collision."], "answer_index": 0}
{"token": "28ba58bcef428b9d62896bed8e57287d", "waymo_split": "test", "type": "video", "frame_index": null, "question": "Who is responsible in a safety-critical situation? What is the cause?", "category": "Safety-critical scene Understanding", "options": ["A. The kickboard is responsible. It is illegal for the kickboard to travel in the right bus-only lane.", "B. The passenger car is responsible. It blocked the lane while waiting to turn right at the end of the right lane, hindering the kickboard's progress.", "C. The road management authority is responsible. The signs for the bus-only lane and personal mobility device passage were unclear, leading to confusion.", "D. The bus is responsible. It failed to maintain proper attention and reduce speed even in the bus-only lane."], "answer_index": 0}
{"token": "28ba58bcef428b9d62896bed8e57287d", "waymo_split": "test", "type": "image", "frame_index": 31, "question": "Based on the current appearance of the person/vehicle (two-wheeled), how do you intend to move?", "category": "Normal Perception & Prediction", "options": ["A. Waiting at a stop", "B. Driving straight", "C. Turning right", "D. Turning left"], "answer_index": 1}
{"token": "28ba58bcef428b9d62896bed8e57287d", "waymo_split": "test", "type": "image", "frame_index": 31, "question": "What is the plan for yielding when an ambulance/fire truck approaches?", "category": "Special Event", "options": ["A. Accelerate to guide from behind", "B. Enter the intersection and yield to the left", "C. Stop and wait in the center of the lane", "D. Proceed slowly and yield space ahead"], "answer_index": 3}
{"token": "28ba58bcef428b9d62896bed8e57287d", "waymo_split": "test", "type": "image", "frame_index": 31, "question": "What are the classifications of scenes?", "category": "Normal scene Understanding", "options": ["A. Highway", "B. Unpaved", "C. Residential area", "D. City"], "answer_index": 3}
{"token": "28ba58bcef428b9d62896bed8e57287d", "waymo_split": "test", "type": "image", "frame_index": 31, "question": "Which of the following is a correct description of traffic density?", "category": "Normal scene Understanding", "options": ["A. Slow, almost no parked vehicles on the shoulder, one vehicle driving ahead and two vehicles driving behind.", "B. Fast, few parked vehicles on the shoulder, no vehicles driving ahead and one bus behind.", "C. Fast, many parked vehicles on the shoulder, two vehicles driving ahead and one vehicle driving behind.", "D. Slow, few parked vehicles on the shoulder, three vehicles driving ahead and no vehicles driving behind."], "answer_index": 2}
{"token": "28ba58bcef428b9d62896bed8e57287d", "waymo_split": "test", "type": "image", "frame_index": 31, "question": "Which of the following is a correct description of the environment?", "category": "Normal scene Understanding", "options": ["A. Night, cloudy", "B. Day, clear", "C. Evening, drizzle", "D. Dawn, fog"], "answer_index": 1}
{"token": "28ba58bcef428b9d62896bed8e57287d", "waymo_split": "test", "type": "image", "frame_index": 31, "question": "What are the behavioral restrictions in school zones/congested areas?", "category": "Special Event", "options": ["A. Must drive slowly", "B. Must turn on hazard lights", "C. Must turn on high beams", "D. Must use the horn"], "answer_index": 0}
{"token": "28ba58bcef428b9d62896bed8e57287d", "waymo_split": "test", "type": "image", "frame_index": 31, "question": "What is the description of a non-safety-critical object?", "category": "Normal Perception & Prediction", "options": ["A. Many parked vehicles on the shoulder on both sides of the road. Buildings are lined up on both sides. The right lane is painted red (seems to be a special lane).", "B. A bus-only sign is visible in the left lane. Parks and flower beds are connected on both sides. The right lane is gray asphalt, a regular lane.", "C. Stalls and kiosks are lined up on the left sidewalk. On both sides, there are mixed open spaces and vacant lots with buildings scattered. The right lane is marked in green (like a bike lane).", "D. There are almost no parked vehicles on the shoulder by the road. On the right, there are sparse low-fenced houses. The central lane is painted red (seems to be a special lane)."], "answer_index": 0}
{"token": "28ba58bcef428b9d62896bed8e57287d", "waymo_split": "test", "type": "image", "frame_index": 31, "question": "Which of the following is a correct description of traffic signals?", "category": "Traffic Signal", "options": ["A. None", "B. Slow down", "C. Stop", "D. U-turn"], "answer_index": 0}
{"token": "28ba58bcef428b9d62896bed8e57287d", "waymo_split": "test", "type": "image", "frame_index": 31, "question": "What is the answer regarding parked vehicles on the shoulder, the presence of a center line, and whether Ego crosses the center line?", "category": "Normal Perception & Prediction", "options": ["A. No parked vehicles on the shoulder. Center line exists. My vehicle slightly touches the center line while driving.", "B. Multiple parked vehicles on the shoulder. No center line. My vehicle does not cross.", "C. One parked vehicle on the shoulder. Center line exists. My vehicle crosses the center line while overtaking.", "D. Multiple parked vehicles on the shoulder. Center line exists. My vehicle does not cross."], "answer_index": 3}
{"token": "28ba58bcef428b9d62896bed8e57287d", "waymo_split": "test", "type": "image", "frame_index": 31, "question": "How do you think a safety-critical object will move?", "category": "Safety-critical Prediction", "options": ["A. Ascend", "B. Advance", "C. Rotate", "D. None"], "answer_index": 3}
{"token": "28ba58bcef428b9d62896bed8e57287d", "waymo_split": "test", "type": "image", "frame_index": 31, "question": "Is there a blind spot in your field of vision?", "category": "Uncertainty", "options": ["A. Yes", "B. On the right", "C. On the left", "D. No"], "answer_index": 3}
{"token": "28ba58bcef428b9d62896bed8e57287d", "waymo_split": "test", "type": "image", "frame_index": 31, "question": "What is a safety-critical object?", "category": "Safety-critical Perception", "options": ["A. Brake controller", "B. None", "C. Emergency stop button", "D. Oxygen supply valve"], "answer_index": 1}
{"token": "28ba58bcef428b9d62896bed8e57287d", "waymo_split": "test", "type": "image", "frame_index": 31, "question": "Are there any other safety-critical objects besides the first safety-critical object? If so, how would you move them?", "category": "Safety-critical Prediction", "options": ["A. None", "B. Hot kettle: Wear gloves and hold the handle to move it inside the table.", "C. Broken glass: Sweep it up with a broom and clear it to the opposite side of the entrance.", "D. Knife: Put it in its sheath and hold the handle to move it towards the sink."], "answer_index": 0}
{"token": "28ba58bcef428b9d62896bed8e57287d", "waymo_split": "test", "type": "image", "frame_index": 31, "question": "Where is the area that hides danger in the current frame?", "category": "Uncertainty", "options": ["A. None", "B. Behind the parked car on the left", "C. Behind the street tree", "D. Behind the bus on the right"], "answer_index": 0}
{"token": "28ba58bcef428b9d62896bed8e57287d", "waymo_split": "test", "type": "image", "frame_index": 31, "question": "What is the method to avoid the blind spot next to a large vehicle?", "category": "Special Event", "options": ["A. Merge immediately by only looking at the side mirror", "B. Slowly pass by staying close to the left of the large vehicle", "C. Drive while maintaining a blind spot behind the large vehicle", "D. Unable to judge because there is no large vehicle"], "answer_index": 3}
{"token": "28ba58bcef428b9d62896bed8e57287d", "waymo_split": "test", "type": "image", "frame_index": 31, "question": "What is the safest choice when approaching a yellow signal: stop vs proceed?", "category": "Special Event", "options": ["A. Unable to judge due to no signal", "B. Proceed if the intersection is clear", "C. Stop if at the stop line", "D. Proceed if the car behind is close"], "answer_index": 0}
{"token": "28ba58bcef428b9d62896bed8e57287d", "waymo_split": "test", "type": "image", "frame_index": 43, "question": "Based on the current appearance of the person/vehicle (two-wheeled), how do you intend to move?", "category": "Normal Perception & Prediction", "options": ["A. Going straight", "B. Attempting a U-turn", "C. Entering a left turn", "D. Going right"], "answer_index": 0}
{"token": "28ba58bcef428b9d62896bed8e57287d", "waymo_split": "test", "type": "image", "frame_index": 31, "question": "Is lane changing possible? Which is safer between deceleration and lane changing?", "category": "Safety-critical Planning", "options": ["A. Moving to the left lane after accelerating is safer (currently, the dedicated lane is released)", "B. Deceleration is safer. Lane changing is not possible (the right side is a red special lane)", "C. Lane changing is safer (the right side is a general lane, so entry is possible)", "D. It is recommended to change to the right lane while maintaining speed (the red marking indicates a guiding section)"], "answer_index": 1}
{"token": "28ba58bcef428b9d62896bed8e57287d", "waymo_split": "test", "type": "image", "frame_index": 31, "question": "What are the new exposure risk candidates in the following section?", "category": "Safety-critical Prediction", "options": ["A. Overhead falling objects", "B. None", "C. Access road slip", "D. Opening fall"], "answer_index": 1}
{"token": "28ba58bcef428b9d62896bed8e57287d", "waymo_split": "test", "type": "image", "frame_index": 43, "question": "What are the classifications of scenes?", "category": "Normal scene Understanding", "options": ["A. Unpaved", "B. Residential area", "C. Highway", "D. City"], "answer_index": 3}
{"token": "28ba58bcef428b9d62896bed8e57287d", "waymo_split": "test", "type": "image", "frame_index": 43, "question": "Which of the following is correct from the perspective of Safety-critical Frame regarding Image Caption?", "category": "Safety-critical scene caption", "options": ["A. A motorcycle that was overtaking from behind the vehicle enters the first lane from the bus-only lane, moving left faster than the vehicle.", "B. A bicycle that was ahead in the left lane of the vehicle moves to the right, entering at an angle to the vehicle.", "C. A kickboard that appears from behind in the right bus-only lane of the vehicle is moving straight, parallel to the vehicle.", "D. An electric kickboard that was stopped in the right bus-only lane of the vehicle turns left, crossing the direction of the vehicle."], "answer_index": 2}
{"token": "28ba58bcef428b9d62896bed8e57287d", "waymo_split": "test", "type": "image", "frame_index": 43, "question": "What are the behavior restrictions in school zones/congested areas?", "category": "Special Event", "options": ["A. Must honk", "B. Must stop", "C. Must drive slowly", "D. Must turn right"], "answer_index": 2}
{"token": "28ba58bcef428b9d62896bed8e57287d", "waymo_split": "test", "type": "image", "frame_index": 43, "question": "Which of the following is a correct description of the environment?", "category": "Normal scene Understanding", "options": ["A. Day, clear", "B. Night, light rain", "C. Morning, fog", "D. Evening, cloudy"], "answer_index": 0}
{"token": "28ba58bcef428b9d62896bed8e57287d", "waymo_split": "test", "type": "image", "frame_index": 43, "question": "What is the plan for yielding when an ambulance/fire truck approaches?", "category": "Special Event", "options": ["A. Slow down and yield space ahead", "B. Accelerate to quickly pass through the intersection", "C. Reverse to yield space behind", "D. Stop and wait in the center of the lane"], "answer_index": 0}
{"token": "28ba58bcef428b9d62896bed8e57287d", "waymo_split": "test", "type": "image", "frame_index": 43, "question": "Which of the following is a correct description of traffic density?", "category": "Normal scene Understanding", "options": ["A. Fast, with one construction vehicle parked on the shoulder, no vehicles ahead, and three vehicles behind.", "B. Fast, with many parked vehicles on the shoulder, two vehicles ahead, and one vehicle behind.", "C. Slow, with almost no parked vehicles on the shoulder, one vehicle ahead, and two vehicles behind.", "D. Slow, with intermittent merging vehicles in the right lane, one bus moving slowly ahead, and one motorcycle close behind."], "answer_index": 1}
{"token": "28ba58bcef428b9d62896bed8e57287d", "waymo_split": "test", "type": "image", "frame_index": 43, "question": "What is a safety-critical object?", "category": "Safety-critical Perception", "options": ["A. A kickboard that suddenly appeared from the right", "B. A motorcycle that approached slowly from behind", "C. A bicycle that passed by slowly from the left", "D. A taxi that was stopped directly in front"], "answer_index": 0}
{"token": "28ba58bcef428b9d62896bed8e57287d", "waymo_split": "test", "type": "image", "frame_index": 43, "question": "Which of the following is a correct description of traffic signals?", "category": "Traffic Signal", "options": ["A. Stop line marking", "B. Pedestrian signal", "C. None", "D. Left turn signal"], "answer_index": 2}
{"token": "28ba58bcef428b9d62896bed8e57287d", "waymo_split": "test", "type": "image", "frame_index": 43, "question": "What is the answer regarding parked vehicles on the shoulder, the presence of a center line, and whether Ego crosses the center line?", "category": "Normal Perception & Prediction", "options": ["A. Many parked vehicles on the shoulder. Center line exists. My vehicle does not cross.", "B. Many parked vehicles on the shoulder. Center line exists. My vehicle crosses.", "C. Few parked vehicles on the shoulder. No center line. My vehicle does not cross.", "D. No parked vehicles on the shoulder. Center line exists. My vehicle does not cross."], "answer_index": 0}
{"token": "28ba58bcef428b9d62896bed8e57287d", "waymo_split": "test", "type": "image", "frame_index": 43, "question": "Is there a blind spot in your field of vision?", "category": "Uncertainty", "options": ["A. It is present at night", "B. There is a large vehicle", "C. None", "D. It is on the right"], "answer_index": 2}
{"token": "28ba58bcef428b9d62896bed8e57287d", "waymo_split": "test", "type": "image", "frame_index": 43, "question": "How do you think a safety-critical object will be moved?", "category": "Safety-critical Prediction", "options": ["A. Proceed straight in the right bus-only lane", "B. Turn right from the right bus-only lane", "C. Proceed straight in the left general lane", "D. Turn left in the central lane"], "answer_index": 0}
{"token": "28ba58bcef428b9d62896bed8e57287d", "waymo_split": "test", "type": "image", "frame_index": 43, "question": "What is the correlation in safety-critical situations?", "category": "Safety-critical scene Understanding", "options": ["A. Person - Kickboard", "B. Car - Kickboard", "C. Car - Pedestrian", "D. Car - Bicycle"], "answer_index": 1}
{"token": "28ba58bcef428b9d62896bed8e57287d", "waymo_split": "test", "type": "image", "frame_index": 43, "question": "Are there any other safety-critical objects besides the first safety-critical object? If so, how will they move?", "category": "Safety-critical Prediction", "options": ["A. Left avoidance", "B. None", "C. Forward movement", "D. Yes"], "answer_index": 1}
{"token": "28ba58bcef428b9d62896bed8e57287d", "waymo_split": "test", "type": "image", "frame_index": 43, "question": "Is lane changing possible? Which is safer between slowing down and changing lanes?", "category": "Safety-critical Planning", "options": ["A. Changing lanes is safer; lane change is possible (the left side has a dashed line so it can be crossed, and the right side is a regular lane with no obstacles)", "B. Changing lanes is safer; lane change is possible (the right side is during the bus lane release time, so changes are allowed, and there are no scooters around)", "C. Changing lanes is safer; lane change is possible (the left side variable lane is open, and the right side is a merging lane, so there is room)", "D. Slowing down is safer. Lane change is not possible (the left side has a center line, the right side is a bus-only lane, and there are scooters in that lane)"], "answer_index": 3}
{"token": "28ba58bcef428b9d62896bed8e57287d", "waymo_split": "test", "type": "image", "frame_index": 43, "question": "What should I do to drive safely?", "category": "Safety-critical Planning", "options": ["A. I need to change lanes to the right and maintain speed while overtaking the scooter.", "B. I should only check the flow of vehicles on the left and proceed into the empty right lane.", "C. I should not change lanes to the right and continue straight while being mindful of the scooter's driving status on the right.", "D. I need to pay attention only to the bicycle ahead and move into the right lane to pass quickly."], "answer_index": 2}
{"token": "28ba58bcef428b9d62896bed8e57287d", "waymo_split": "test", "type": "image", "frame_index": 43, "question": "Who is responsible in a safety-critical situation? What is the cause?", "category": "Safety-critical scene Understanding", "options": ["A. A car that invaded the right bus-only lane is the cause", "B. A taxi that suddenly entered the right bus-only lane is the cause", "C. A bus that made a sudden stop in the right bus-only lane is the cause", "D. A kickboard that is running in the right bus-only lane is the cause"], "answer_index": 3}
{"token": "28ba58bcef428b9d62896bed8e57287d", "waymo_split": "test", "type": "image", "frame_index": 43, "question": "What are the new exposure risk candidates in the following section?", "category": "Safety-critical Prediction", "options": ["A. Falling", "B. Rockfall", "C. Slipping", "D. None"], "answer_index": 3}
{"token": "28ba58bcef428b9d62896bed8e57287d", "waymo_split": "test", "type": "image", "frame_index": 43, "question": "What is the safer choice just before entering a yellow signal: stop or pass?", "category": "Special Event", "options": ["A. Stopping is definitely safer", "B. Passing is safe if the lane is clear", "C. Passing is safe when turning right", "D. Cannot judge due to no signal"], "answer_index": 3}
{"token": "28ba58bcef428b9d62896bed8e57287d", "waymo_split": "test", "type": "image", "frame_index": 43, "question": "What situation might have occurred if the vehicle acted this way?", "category": "Counterfactual", "options": ["A. If the vehicle turned right at the intersection, it would have contacted a bicycle", "B. If the vehicle made a sudden stop, it would have collided with the car behind", "C. If the vehicle changed to the left lane, it would have collided with a motorcycle", "D. If the vehicle changed to the right lane, it would have collided with a scooter"], "answer_index": 3}
{"token": "28ba58bcef428b9d62896bed8e57287d", "waymo_split": "test", "type": "image", "frame_index": 43, "question": "Where is the area that hides danger in the current frame?", "category": "Uncertainty", "options": ["A. Behind the stopped bus", "B. Behind the street tree", "C. Behind the left A-pillar", "D. None"], "answer_index": 3}
{"token": "28ba58bcef428b9d62896bed8e57287d", "waymo_split": "test", "type": "image", "frame_index": 43, "question": "What is the method to avoid blind spots when passing large vehicles?", "category": "Special Event", "options": ["A. Drive at the same speed next to the large vehicle", "B. Quickly pass by staying close to the right side of the large vehicle", "C. Accelerate in front of the large vehicle to enter first", "D. Unable to judge because there is no large vehicle"], "answer_index": 3}
{"token": "28ba58bcef428b9d62896bed8e57287d", "waymo_split": "test", "type": "image", "frame_index": 80, "question": "Based on the current appearance of the person/vehicle (two-wheeled), how do they intend to move?", "category": "Normal Perception & Prediction", "options": ["A. Entering left turn", "B. Driving straight", "C. Proceeding right turn", "D. Preparing for a U-turn"], "answer_index": 1}
{"token": "28ba58bcef428b9d62896bed8e57287d", "waymo_split": "test", "type": "image", "frame_index": 43, "question": "What are the behavior guidelines for the vehicle based on the actions of safety-critical objects?", "category": "Safety-critical Planning", "options": ["A. If a bicycle on the left overtakes and merges into the right lane, the vehicle should maintain speed and refrain from using the horn.", "B. If a scooter on the right overtakes and merges into the left lane, the vehicle should decelerate sharply and honk to signal caution.", "C. If a motorcycle on the right overtakes and attempts to change lanes sharply to the left, the vehicle should accelerate to get out first.", "D. If a scooter ahead moves closer to the inside of the lane, the vehicle should change lanes sharply to the right to avoid it."], "answer_index": 1}
{"token": "28ba58bcef428b9d62896bed8e57287d", "waymo_split": "test", "type": "image", "frame_index": 80, "question": "What is the plan for yielding when an ambulance/fire truck approaches?", "category": "Special Event", "options": ["A. Accelerate to pass through the intersection first", "B. Slow down to yield space ahead", "C. Stop in the center of the lane and wait", "D. Keep driving with only the hazard lights on"], "answer_index": 1}
{"token": "28ba58bcef428b9d62896bed8e57287d", "waymo_split": "test", "type": "image", "frame_index": 80, "question": "Which of the following is correct as an Image Caption from the perspective of a Normal Frame?", "category": "Normal scene caption", "options": ["A. A vehicle driving on an urban road. It is in the left lane based on the center line. The red marking indicating the start of the left central bus lane begins.", "B. A vehicle driving on a suburban road. It is waiting to turn left in the lane immediately to the right of the center line. The right lane has a green marking for the bicycle lane.", "C. A vehicle driving on an urban road. It is in the lane immediately to the right of the center line. The red lane marking indicating the right bus lane is coming to an end.", "D. A vehicle driving on a commercial district road. It is in the lane two lanes to the right of the center line. The red section of the right bus lane is just beginning."], "answer_index": 2}
{"token": "28ba58bcef428b9d62896bed8e57287d", "waymo_split": "test", "type": "image", "frame_index": 80, "question": "What are the classifications of scenes?", "category": "Normal scene Understanding", "options": ["A. Residential area", "B. City", "C. Unpaved", "D. Highway"], "answer_index": 1}
{"token": "28ba58bcef428b9d62896bed8e57287d", "waymo_split": "test", "type": "image", "frame_index": 80, "question": "Which of the following is correct from the perspective of Safety-critical Frame regarding Image Caption?", "category": "Safety-critical scene caption", "options": ["A. A bicycle merging in front of the vehicle from the left general lane, moving in the same direction but slower than the vehicle and gradually falling behind.", "B. A kickboard temporarily stopped in the right bus-only lane, while the vehicle is moving straight and passing by it.", "C. An electric kickboard approaching from the opposite direction in the right bus-only lane of the vehicle, passing by in the opposite direction of the vehicle's travel.", "D. A kickboard appearing from behind in the right bus-only lane of the vehicle, moving straight and parallel to the vehicle, traveling faster and ahead of the vehicle."], "answer_index": 3}
{"token": "28ba58bcef428b9d62896bed8e57287d", "waymo_split": "test", "type": "image", "frame_index": 80, "question": "Which of the following is a correct description of traffic density?", "category": "Normal scene Understanding", "options": ["A. Fast, few parked cars on the shoulder, no vehicles ahead, two vehicles behind", "B. Slow, occasionally parked cars on the shoulder, three vehicles ahead, no vehicles behind", "C. Slow, almost no parked cars on the shoulder, one vehicle ahead, two vehicles behind", "D. Fast, many parked cars on the shoulder, two vehicles ahead, one vehicle behind"], "answer_index": 3}
{"token": "28ba58bcef428b9d62896bed8e57287d", "waymo_split": "test", "type": "image", "frame_index": 80, "question": "Which of the following descriptions about the environment is correct?", "category": "Normal scene Understanding", "options": ["A. Evening, cloudy", "B. Night, drizzle", "C. Day, clear", "D. Morning, fog"], "answer_index": 2}
{"token": "28ba58bcef428b9d62896bed8e57287d", "waymo_split": "test", "type": "image", "frame_index": 80, "question": "What is the description of a non-safety-critical object?", "category": "Normal Perception & Prediction", "options": ["A. Both sides have empty shoulders and a no-parking sign is visible. There is a bus stop shelter on the right side of the road. Only a few scattered shops are on the left side. The left lane has just started a bus-only lane painted in yellow. Above, tree branches hang over the road.", "B. There are many parked vehicles on the shoulders of both sides of the road. There are streetlights on the left side of the road. Buildings are lined up on both sides. The right lane is painted red, and that section is coming to an end (bus-only lane). Wires are connected above.", "C. There are several bicycles parked on the right side of the road. There are streetlights on the right side of the road. On the left, there is a low fence and a small park. The left lane continues as a blue-painted bike lane. Above, only a clear sky is visible without any wires.", "D. There are almost no parked vehicles on the left side of the road, and the right side is empty. There are trees and benches lined up on the left sidewalk. Only a few buildings are scattered on the left, while the right side is an open lot. The right lane continues as a regular lane without any painted sections. The utility pole leads into a side alley, and wires are not visible."], "answer_index": 1}
{"token": "28ba58bcef428b9d62896bed8e57287d", "waymo_split": "test", "type": "image", "frame_index": 80, "question": "What is the answer regarding parked vehicles on the shoulder, the presence of a center line, and whether Ego crosses the center line?", "category": "Normal Perception & Prediction", "options": ["A. Few parked vehicles on the shoulder. No center line. Ego does not cross.", "B. No parked vehicles on the shoulder. Center line exists. Ego slightly crosses the center line.", "C. Many parked vehicles on the shoulder. Center line exists. Ego does not cross.", "D. Many parked vehicles on the shoulder. Center line exists. Ego briefly enters the opposite lane."], "answer_index": 2}
{"token": "28ba58bcef428b9d62896bed8e57287d", "waymo_split": "test", "type": "image", "frame_index": 80, "question": "Is there a blind spot in your field of vision?", "category": "Uncertainty", "options": ["A. None", "B. Yes", "C. Temporarily yes", "D. Partially yes"], "answer_index": 0}
{"token": "28ba58bcef428b9d62896bed8e57287d", "waymo_split": "test", "type": "image", "frame_index": 80, "question": "Which of the following is a correct description of traffic signals?", "category": "Traffic Signal", "options": ["A. A road sign indicating that the right red lane is a bus-only lane.", "B. A road sign indicating that the left red lane is a bus-priority lane.", "C. A road sign indicating that the right red lane is a taxi-only lane.", "D. A road sign indicating that the right white lane is a right-turn-only lane."], "answer_index": 0}
{"token": "28ba58bcef428b9d62896bed8e57287d", "waymo_split": "test", "type": "image", "frame_index": 80, "question": "What is a safety-critical object?", "category": "Safety-critical Perception", "options": ["A. A kickboard stopped in the right lane", "B. A kickboard driving in the left lane", "C. A kickboard driving in the right lane", "D. A bicycle driving in the right lane"], "answer_index": 2}
{"token": "28ba58bcef428b9d62896bed8e57287d", "waymo_split": "test", "type": "image", "frame_index": 80, "question": "How do you think a safety-critical object will move?", "category": "Safety-critical Prediction", "options": ["A. Driving straight in the right bus-only lane (ahead of my vehicle)", "B. Turning right from the right bus-only lane (parallel to my vehicle)", "C. Driving straight in the left general lane (behind my vehicle)", "D. Changing lanes to the center lane and then driving straight (behind my vehicle)"], "answer_index": 0}
{"token": "28ba58bcef428b9d62896bed8e57287d", "waymo_split": "test", "type": "image", "frame_index": 80, "question": "What is the correlation in safety-critical situations?", "category": "Safety-critical scene Understanding", "options": ["A. Taxi - Motorcycle", "B. Car - Kickboard", "C. Car - Pedestrian", "D. Car - Bicycle"], "answer_index": 1}
{"token": "28ba58bcef428b9d62896bed8e57287d", "waymo_split": "test", "type": "image", "frame_index": 80, "question": "What should I do to drive safely?", "category": "Safety-critical Planning", "options": ["A. Do not change lanes to the right and continue straight while being aware of the riding status of the right-side scooter.", "B. Change lanes to the right, overtake the scooter first, and then return to the original lane.", "C. Slightly increase speed to pass through the intersection quickly and ignore the right-side scooter.", "D. Move to the left lane in advance, check only the left rear, and proceed as is."], "answer_index": 0}
{"token": "28ba58bcef428b9d62896bed8e57287d", "waymo_split": "test", "type": "image", "frame_index": 80, "question": "Is lane changing possible? Which is safer between slowing down and changing lanes?", "category": "Safety-critical Planning", "options": ["A. Changing lanes is safer, can change to the left (the left is a variable lane and is empty, while the right is a merging lane with some space)", "B. Changing lanes is safer, recommended to move left (the left is a passing lane with plenty of space, while the right is a taxi stop area and congested)", "C. Changing lanes is safer, can change to the right (it's during the time when the bus-only lane is lifted, so regular vehicles can enter, and scooters are outside the lane)", "D. Slowing down is safer. Lane changing is not possible (the left has a center line, the right is a bus-only lane, and there are scooters in that lane)"], "answer_index": 3}
{"token": "28ba58bcef428b9d62896bed8e57287d", "waymo_split": "test", "type": "image", "frame_index": 80, "question": "Who is responsible in a safety-critical situation? What is the cause?", "category": "Safety-critical scene Understanding", "options": ["A. An electric bicycle that was driving in the opposite direction in the left bus-only lane is the cause.", "B. A kickboard that is traveling in the right bus-only lane is the cause.", "C. A bus that ignored the signal when entering the stop is the cause.", "D. A delivery motorcycle that crossed the center line to overtake is the cause."], "answer_index": 1}
{"token": "28ba58bcef428b9d62896bed8e57287d", "waymo_split": "test", "type": "image", "frame_index": 80, "question": "Is there any other safety-critical object besides the first safety-critical object? If so, how will it be moved?", "category": "Safety-critical Prediction", "options": ["A. None", "B. Next to the door", "C. Yes", "D. On the table"], "answer_index": 0}
{"token": "28ba58bcef428b9d62896bed8e57287d", "waymo_split": "test", "type": "image", "frame_index": 80, "question": "What are the new exposure risk candidates in the following section?", "category": "Safety-critical Prediction", "options": ["A. None", "B. Falling rocks", "C. Slipping", "D. Flooding"], "answer_index": 0}
{"token": "28ba58bcef428b9d62896bed8e57287d", "waymo_split": "test", "type": "image", "frame_index": 80, "question": "Where is the area that hides danger behind the current frame?", "category": "Uncertainty", "options": ["A. Behind the central divider", "B. None", "C. Blind spot behind the bus", "D. Shadow in the lower left corner"], "answer_index": 1}
{"token": "28ba58bcef428b9d62896bed8e57287d", "waymo_split": "test", "type": "image", "frame_index": 80, "question": "What is the safer choice just before entering a yellow signal: stop or pass?", "category": "Special Event", "options": ["A. Unable to judge due to no signal", "B. Beneficial to pass due to short deceleration distance", "C. Recommended to pass as the intersection is clear", "D. Unfavorable to stop as the car behind is close"], "answer_index": 0}
{"token": "28ba58bcef428b9d62896bed8e57287d", "waymo_split": "test", "type": "image", "frame_index": 80, "question": "What situation might occur if the vehicle acted this way?", "category": "Counterfactual", "options": ["A. If the vehicle enters the right turn lane and slows down, there is a risk of side contact with a bicycle.", "B. If the vehicle changes to the left lane and slows down, there is a risk of contact with a bus.", "C. If the vehicle changes to the right lane and accelerates, there is a risk of colliding with a scooter.", "D. If the vehicle maintains a straight path and accelerates suddenly, there is a risk of colliding with the vehicle in front if it brakes suddenly."], "answer_index": 2}
{"token": "28ba58bcef428b9d62896bed8e57287d", "waymo_split": "test", "type": "image", "frame_index": 80, "question": "What is the method to safely pass through the blind spot next to a large vehicle?", "category": "Special Event", "options": ["A. Quickly pass in the left lane", "B. Honk the horn and drive closely", "C. Unable to judge due to no large vehicle", "D. Pass slowly while staying close to the right"], "answer_index": 2}
{"token": "28ba58bcef428b9d62896bed8e57287d", "waymo_split": "test", "type": "image", "frame_index": 113, "question": "Based on the current appearance of the person/vehicle (two-wheeled), how do they intend to move?", "category": "Normal Perception & Prediction", "options": ["A. Preparing for a U-turn", "B. Making a right turn", "C. Entering a left turn", "D. Going straight"], "answer_index": 3}
{"token": "28ba58bcef428b9d62896bed8e57287d", "waymo_split": "test", "type": "image", "frame_index": 113, "question": "What are the behavior restrictions in school zones/congested areas?", "category": "Special Event", "options": ["A. Must accelerate", "B. Must honk", "C. Must drive slowly", "D. Overtaking is possible"], "answer_index": 2}
{"token": "28ba58bcef428b9d62896bed8e57287d", "waymo_split": "test", "type": "image", "frame_index": 113, "question": "Which of the following is correct from the perspective of Safety-critical Frame regarding Image Caption?", "category": "Safety-critical scene caption", "options": ["A. A kickboard making a right turn by leaving the lane to the right in front of the vehicle. The angle with the vehicle's path is widening, slowing down, and about to take a corner (not going straight at the intersection).", "B. A kickboard going straight in the right lane of the vehicle. It is moving straight parallel to the vehicle, faster than the vehicle, and is ahead (likely to enter the intersection first).", "C. A kickboard going straight in the left lane of the vehicle. It is alongside the vehicle but slightly behind, moving slower than the vehicle from behind (likely to enter the intersection late).", "D. A kickboard moving diagonally to the left across the lane from the right edge of the vehicle. It crosses the vehicle's direction with unstable speed and is likely to stop shortly (not entering first)."], "answer_index": 1}
{"token": "28ba58bcef428b9d62896bed8e57287d", "waymo_split": "test", "type": "image", "frame_index": 113, "question": "Which of the following is a correct description of traffic density?", "category": "Normal scene Understanding", "options": ["A. Fast, many parked vehicles on the shoulder, two vehicles ahead, one vehicle behind.", "B. Slow, many parked vehicles on the shoulder, no vehicles ahead, two vehicles behind.", "C. Fast, few parked vehicles on the shoulder, one vehicle ahead, no vehicles behind.", "D. Slow, few parked vehicles on the shoulder, one vehicle ahead, two vehicles behind."], "answer_index": 0}
{"token": "28ba58bcef428b9d62896bed8e57287d", "waymo_split": "test", "type": "image", "frame_index": 113, "question": "What is the plan for yielding when an ambulance/fire truck approaches?", "category": "Special Event", "options": ["A. Pull over to the left lane and stop", "B. Slow down and yield space ahead", "C. Maintain speed and continue straight", "D. Accelerate and pass through the intersection"], "answer_index": 1}
{"token": "28ba58bcef428b9d62896bed8e57287d", "waymo_split": "test", "type": "image", "frame_index": 113, "question": "What is the classification of the scene?", "category": "Normal scene Understanding", "options": ["A. Residential area", "B. Highway", "C. Unpaved", "D. City"], "answer_index": 3}
{"token": "28ba58bcef428b9d62896bed8e57287d", "waymo_split": "test", "type": "image", "frame_index": 113, "question": "Which of the following is a correct description of the environment?", "category": "Normal scene Understanding", "options": ["A. Morning, fog", "B. Afternoon, clear", "C. Evening, rain", "D. Night, cloudy"], "answer_index": 1}
{"token": "28ba58bcef428b9d62896bed8e57287d", "waymo_split": "test", "type": "image", "frame_index": 113, "question": "Is there a blind spot in your field of vision?", "category": "Uncertainty", "options": ["A. There is a slight blind spot", "B. There is a blind spot", "C. There is one on the right", "D. There is no blind spot"], "answer_index": 3}
{"token": "28ba58bcef428b9d62896bed8e57287d", "waymo_split": "test", "type": "image", "frame_index": 113, "question": "What is a safety-critical object?", "category": "Safety-critical Perception", "options": ["A. A kickboard parked on the right shoulder", "B. A kickboard driving in the left lane", "C. A bicycle driving in the right lane", "D. A kickboard driving in the right lane"], "answer_index": 3}
{"token": "28ba58bcef428b9d62896bed8e57287d", "waymo_split": "test", "type": "image", "frame_index": 113, "question": "Which of the following is a correct description of traffic signals?", "category": "Traffic Signal", "options": ["A. Traffic light at the intersection ahead (green)", "B. Pedestrian signal at the crosswalk ahead (red)", "C. Traffic light at the intersection to the right ahead (green)", "D. Traffic light at the intersection ahead (red)"], "answer_index": 0}
{"token": "28ba58bcef428b9d62896bed8e57287d", "waymo_split": "test", "type": "image", "frame_index": 113, "question": "How do you think a safety-critical object will move?", "category": "Safety-critical Prediction", "options": ["A. Changing lanes to the center lane (behind your vehicle)", "B. Driving slowly in the right lane (behind your vehicle)", "C. Driving straight in the left lane (parallel to your vehicle)", "D. Driving straight in the right lane (in front of your vehicle)"], "answer_index": 3}
{"token": "28ba58bcef428b9d62896bed8e57287d", "waymo_split": "test", "type": "image", "frame_index": 113, "question": "What should I do to drive safely?", "category": "Safety-critical Planning", "options": ["A. Do not slow down and make a right turn while guiding the kickboard to avoid it.", "B. Do not change lanes to the right and continue straight while being aware of the right kickboard's driving status.", "C. Change lanes to the right and move towards the bus stop while overtaking the kickboard.", "D. Change lanes to the left and accelerate to overtake the right kickboard first."], "answer_index": 1}
{"token": "28ba58bcef428b9d62896bed8e57287d", "waymo_split": "test", "type": "image", "frame_index": 113, "question": "Are there any other safety-critical objects besides the first safety-critical object? If so, how would you move them?", "category": "Safety-critical Prediction", "options": ["A. None", "B. There is a lithium battery pack, move it slowly in a safety case", "C. There is an oxygen tank, close the valve and move it with a cart", "D. There is a fire extinguisher, secure the handle and move it down the right aisle"], "answer_index": 0}
{"token": "28ba58bcef428b9d62896bed8e57287d", "waymo_split": "test", "type": "image", "frame_index": 113, "question": "What is the correlation in safety-critical situations?", "category": "Safety-critical scene Understanding", "options": ["A. Car - Pedestrian", "B. Car - Kickboard", "C. Person - Kickboard", "D. Car - Bicycle"], "answer_index": 1}
{"token": "28ba58bcef428b9d62896bed8e57287d", "waymo_split": "test", "type": "image", "frame_index": 113, "question": "Who is responsible in a safety-critical situation? What is the cause?", "category": "Safety-critical scene Understanding", "options": ["A. A motorcycle that suddenly cut in from the left lane is the cause.", "B. A pedestrian who suddenly jumped in from outside the crosswalk is the cause.", "C. A scooter that suddenly appeared from the right lane while running is the cause.", "D. A bicycle that approached while going the wrong way from the front is the cause."], "answer_index": 2}
{"token": "28ba58bcef428b9d62896bed8e57287d", "waymo_split": "test", "type": "image", "frame_index": 113, "question": "What are the new exposure risk candidates in the following section?", "category": "Safety-critical Prediction", "options": ["A. Surface slipping", "B. None", "C. Right slope collapse", "D. Upper falling rocks"], "answer_index": 1}
{"token": "28ba58bcef428b9d62896bed8e57287d", "waymo_split": "test", "type": "image", "frame_index": 113, "question": "What is the safer choice just before entering a yellow signal: stopping or passing through?", "category": "Special Event", "options": ["A. Passing through is safe. Currently, it is just before the yellow light, and since I am right in front of the intersection, maintaining speed is reasonable.", "B. Passing through is safe. Currently, I am close to the stop line, and there is a concern of being rear-ended if I brake suddenly.", "C. Stopping is safe. Currently, the light is green, but there is still a significant distance to the intersection.", "D. Passing through is safe. Currently, the car in front is continuously entering, so it is safer not to disrupt the flow."], "answer_index": 2}
{"token": "28ba58bcef428b9d62896bed8e57287d", "waymo_split": "test", "type": "image", "frame_index": 113, "question": "Where is the area that hides danger in the current frame?", "category": "Uncertainty", "options": ["A. Behind the right bus", "B. None", "C. Behind the central divider", "D. Bottom left corner of the screen"], "answer_index": 1}
{"token": "28ba58bcef428b9d62896bed8e57287d", "waymo_split": "test", "type": "image", "frame_index": 113, "question": "What is the method to avoid the blind spot next to a large vehicle?", "category": "Special Event", "options": ["A. Quickly pass by sticking to the left side of the large vehicle", "B. Pass through the gap between the large vehicle and the lane", "C. Enter the right blind spot of the large vehicle to overtake", "D. Unable to judge as there is no large vehicle"], "answer_index": 3}
{"token": "28ba58bcef428b9d62896bed8e57287d", "waymo_split": "test", "type": "image", "frame_index": 113, "question": "What is the guideline for the vehicle's behavior based on the actions of a safety-critical object?", "category": "Safety-critical Planning", "options": ["A. If a right-side kickboard makes a sudden lane change into the vehicle's lane, the vehicle must maintain its lane.", "B. If a bicycle in front enters the vehicle's lane, the vehicle must honk and proceed as is.", "C. If a left-side kickboard changes lanes into the right-side vehicle's lane, the vehicle must accelerate.", "D. If a right-side kickboard changes lanes into the left-side vehicle's lane, the vehicle must decelerate."], "answer_index": 3}
{"token": "28ba58bcef428b9d62896bed8e57287d", "waymo_split": "test", "type": "image", "frame_index": 113, "question": "What situation might occur if the vehicle acted this way?", "category": "Counterfactual", "options": ["A. If the vehicle changes to the right lane and accelerates, there is a risk of colliding with a scooter.", "B. If the vehicle stops on the right to make a right turn, there is a risk of being hit by a following truck.", "C. If the vehicle maintains its lane and drives at a constant speed, there is a risk of colliding with a pedestrian.", "D. If the vehicle changes to the left lane and slows down, there is a risk of side contact with a bus."], "answer_index": 0}
{"token": "28ba58bcef428b9d62896bed8e57287d", "waymo_split": "test", "type": "image", "frame_index": 146, "question": "Which of the following is correct as an Image Caption from the perspective of a Normal Frame?", "category": "Normal scene caption", "options": ["A. The vehicle approaching the intersection seems to stop in front of the crosswalk. It is driving slowly (moving to the far right lane), while the scooter in the right lane crosses the crosswalk.", "B. The vehicle entering the intersection seems to turn right following the guiding line. It is driving at a normal speed (maintaining the lane immediately to the right of the center line), while the scooter in the right lane comes to a stop.", "C. The vehicle entering the intersection seems to turn left after observing the signal. It is gradually slowing down (maintaining the left lane based on the center line), while the scooter in the right lane continues straight.", "D. The vehicle entering the intersection seems to go straight after passing the crosswalk. It is driving at a high speed (driving in the lane immediately to the right of the center line), while the scooter in the right lane turns right."], "answer_index": 3}
{"token": "28ba58bcef428b9d62896bed8e57287d", "waymo_split": "test", "type": "image", "frame_index": 146, "question": "Based on the current appearance of the person/vehicle (two-wheeled), how are they likely to move?", "category": "Normal Perception & Prediction", "options": ["A. It seems they will turn left and exit at the intersection.", "B. It seems they will stop in front of the crosswalk and wait for the signal.", "C. It seems they will turn right and enter the side alley.", "D. It seems they will go straight and pass through the intersection."], "answer_index": 3}
{"token": "28ba58bcef428b9d62896bed8e57287d", "waymo_split": "test", "type": "image", "frame_index": 113, "question": "What are the potential situations that could occur in the current scenario?", "category": "Counterfactual", "options": ["A. Wait for a signal", "B. Make a left turn", "C. Enter the intersection", "D. Make a U-turn"], "answer_index": 2}
{"token": "28ba58bcef428b9d62896bed8e57287d", "waymo_split": "test", "type": "image", "frame_index": 146, "question": "What is the plan for yielding when an ambulance/fire truck approaches?", "category": "Special Event", "options": ["A. Slow down and yield space ahead", "B. Accelerate and pass through the intersection first", "C. Maintain speed and check the situation behind", "D. Turn on hazard lights and continue driving"], "answer_index": 0}
{"token": "28ba58bcef428b9d62896bed8e57287d", "waymo_split": "test", "type": "image", "frame_index": 146, "question": "What are the classifications of scenes?", "category": "Normal scene Understanding", "options": ["A. Unpaved, country road", "B. Highway, interchange", "C. City, intersection", "D. Residential area, alley"], "answer_index": 2}
{"token": "28ba58bcef428b9d62896bed8e57287d", "waymo_split": "test", "type": "image", "frame_index": 146, "question": "Which of the following descriptions about the environment is correct?", "category": "Normal scene Understanding", "options": ["A. Dawn, fog", "B. Day, clear", "C. Night, cloudy", "D. Evening, rain"], "answer_index": 1}
{"token": "28ba58bcef428b9d62896bed8e57287d", "waymo_split": "test", "type": "image", "frame_index": 146, "question": "Which of the following is a correct description of traffic density?", "category": "Normal scene Understanding", "options": ["A. Slow, a few parked vehicles on the shoulder behind, almost no vehicles driving in front or behind", "B. Slow, almost no parked vehicles on the left or right shoulders, a few vehicles driving in front and behind", "C. Fast, many parked vehicles on the shoulder directly behind, many vehicles driving in front and behind", "D. Fast, a few parked vehicles on the shoulder directly in front, vehicles driving in front and behind are rare"], "answer_index": 2}
{"token": "28ba58bcef428b9d62896bed8e57287d", "waymo_split": "test", "type": "image", "frame_index": 146, "question": "Which of the following is a correct description of traffic signals?", "category": "Traffic Signal", "options": ["A. Traffic light at the intersection ahead (green)", "B. Traffic light at the intersection ahead (red)", "C. Traffic light at the intersection ahead (green)", "D. Traffic light at the intersection to the left ahead (green)"], "answer_index": 2}
{"token": "28ba58bcef428b9d62896bed8e57287d", "waymo_split": "test", "type": "image", "frame_index": 146, "question": "What is the answer regarding parked vehicles on the shoulder, the presence of a center line, and whether Ego crosses the center line?", "category": "Normal Perception & Prediction", "options": ["A. Multiple parked vehicles on the shoulder. Center line present. My vehicle does not cross.", "B. A few parked vehicles on the shoulder. No center line. My vehicle does not cross.", "C. One or two parked vehicles on the shoulder. Center line present. My vehicle partially crosses to overtake.", "D. No parked vehicles on the shoulder. Center line present. My vehicle crosses the center line."], "answer_index": 0}
{"token": "28ba58bcef428b9d62896bed8e57287d", "waymo_split": "test", "type": "image", "frame_index": 146, "question": "Is there a blind spot in your field of vision?", "category": "Uncertainty", "options": ["A. There is some on the right", "B. None", "C. Only in corner sections", "D. Yes"], "answer_index": 1}
{"token": "28ba58bcef428b9d62896bed8e57287d", "waymo_split": "test", "type": "image", "frame_index": 146, "question": "What is a safety-critical object?", "category": "Safety-critical Perception", "options": ["A. Airbag", "B. Brake", "C. None", "D. Emergency stop button"], "answer_index": 2}
{"token": "28ba58bcef428b9d62896bed8e57287d", "waymo_split": "test", "type": "image", "frame_index": 146, "question": "Where is the area that hides danger in the current frame?", "category": "Uncertainty", "options": ["A. Left turn lane (hidden by a building)", "B. Right turn lane (hidden by a large truck)", "C. Opposite straight lane (hidden by a bus stop structure)", "D. Sidewalk entrance (hidden by a street tree)"], "answer_index": 0}
{"token": "28ba58bcef428b9d62896bed8e57287d", "waymo_split": "test", "type": "image", "frame_index": 146, "question": "What should you do to drive safely?", "category": "Safety-critical Planning", "options": ["A. \\", "B. Keep the high beams on throughout the night to widen your field of vision.", "C. Change lanes frequently to lead the flow.", "D. Stay close to the car in front to block any gaps for merging."], "answer_index": 0}
{"token": "28ba58bcef428b9d62896bed8e57287d", "waymo_split": "test", "type": "image", "frame_index": 146, "question": "What is the safer choice just before entering a yellow signal: stop or proceed?", "category": "Special Event", "options": ["A. It is safe to stop now as there is enough distance from the vehicle in front.", "B. Stopping is more appropriate since the signal just changed to yellow.", "C. Proceeding is safe now as I am already entering the intersection at a high speed.", "D. It is safer to stop as there is congestion visible at the intersection ahead."], "answer_index": 2}
{"token": "28ba58bcef428b9d62896bed8e57287d", "waymo_split": "test", "type": "image", "frame_index": 146, "question": "Are there any other safety-critical objects besides the first safety-critical object? If so, how would you move them?", "category": "Safety-critical Prediction", "options": ["A. Glass containers are moved with cushioning", "B. None", "C. Fire extinguishers are moved upright", "D. Gas cylinders are transported with a cart"], "answer_index": 1}
{"token": "28ba58bcef428b9d62896bed8e57287d", "waymo_split": "test", "type": "image", "frame_index": 146, "question": "Is lane changing possible? Which is safer between slowing down and changing lanes?", "category": "Safety-critical Planning", "options": ["A. Entering the left turn lane. Only slowing down is possible, lane changing is difficult.", "B. There is space in the right lane. Changing lanes is safer, slowing down is unnecessary.", "C. Approaching an intersection. Slowing down is safer, lane changing is not recommended.", "D. Currently going straight and entering an intersection. Both slowing down and changing lanes are possible."], "answer_index": 3}
{"token": "28ba58bcef428b9d62896bed8e57287d", "waymo_split": "test", "type": "image", "frame_index": 146, "question": "What is the method to avoid the blind spot next to a large vehicle?", "category": "Special Event", "options": ["A. Proceed straight through the left blind spot of the large vehicle", "B. Pass close to the right side of the large vehicle", "C. Move closely behind the large vehicle", "D. Unable to judge due to the absence of a large vehicle"], "answer_index": 3}
{"token": "28ba58bcef428b9d62896bed8e57287d", "waymo_split": "test", "type": "image", "frame_index": 146, "question": "What are the new potential hazards that may be exposed in the following section?", "category": "Safety-critical Prediction", "options": ["A. Vehicles that may appear from the right turn lane", "B. Pedestrians that may enter from the edge of the sidewalk", "C. Bicycles that may appear next to the bus stop", "D. Vehicles that may appear from the left turn lane"], "answer_index": 3}
{"token": "295da6ec055ae8df320d3baf3db03ff1", "waymo_split": "test", "type": "video", "frame_index": null, "question": "Where is the safety-critical situation in the video?", "category": "Temporal Grounding", "options": ["A. 2/4", "B. 4/4", "C. 3/4", "D. 1/4"], "answer_index": 2}
{"token": "295da6ec055ae8df320d3baf3db03ff1", "waymo_split": "test", "type": "video", "frame_index": null, "question": "What are the distinctions of the scene?", "category": "Normal scene Understanding", "options": ["A. Unpaved, rural field road", "B. Paved, resort-like road", "C. City center, commercial district road", "D. Highway, near rest area section"], "answer_index": 1}
{"token": "295da6ec055ae8df320d3baf3db03ff1", "waymo_split": "test", "type": "video", "frame_index": null, "question": "Which of the following is a correct description of road alignment?", "category": "Normal Perception & Prediction", "options": ["A. Left turn", "B. Overtaking", "C. Straight", "D. Right turn"], "answer_index": 2}
{"token": "295da6ec055ae8df320d3baf3db03ff1", "waymo_split": "test", "type": "video", "frame_index": null, "question": "Is there a special situation?", "category": "Special Event", "options": ["A. Emergency vehicle passing", "B. Obscured by rainwater", "C. School bus stopping", "D. None"], "answer_index": 3}
{"token": "295da6ec055ae8df320d3baf3db03ff1", "waymo_split": "test", "type": "video", "frame_index": null, "question": "Which of the following is a correct description of traffic density?", "category": "Normal scene Understanding", "options": ["A. Surrounding vehicles are fast. They are moving quickly on a long, straight road. There is no incline.", "B. Surrounding vehicles are slow. They are moving slowly over a short distance. There is a gentle uphill.", "C. There are many surrounding vehicles. They are moving slowly in front of an intersection. There is a slight downhill.", "D. Surrounding vehicles are sparse. They slow down on a winding road. There is a slight incline."], "answer_index": 0}
{"token": "295da6ec055ae8df320d3baf3db03ff1", "waymo_split": "test", "type": "video", "frame_index": null, "question": "What is correct regarding the Video Summary from a Safety-critical Scene perspective?", "category": "Safety-critical scene caption", "options": ["A. The vehicle attempting to change lanes to the left. A motorcycle is rapidly approaching from behind, causing the lane change to be delayed.", "B. The vehicle trying to maintain a straight path. As the signal changes, the vehicles in front suddenly brake, significantly reducing speed.", "C. The vehicle attempting to make a right turn. A bus is urgently merging from the right lane, causing hesitation in making the right turn.", "D. The vehicle attempting to make a U-turn. There are occasionally fast-moving cars in the opposite lane, causing hesitation in making the U-turn or left turn."], "answer_index": 3}
{"token": "295da6ec055ae8df320d3baf3db03ff1", "waymo_split": "test", "type": "video", "frame_index": null, "question": "Which of the following descriptions about the environment is correct?", "category": "Normal scene Understanding", "options": ["A. Evening, cloudy", "B. Day, clear", "C. Morning, fog", "D. Night, rain"], "answer_index": 1}
{"token": "295da6ec055ae8df320d3baf3db03ff1", "waymo_split": "test", "type": "video", "frame_index": null, "question": "Which of the following is correct regarding the Video Summary from the perspective of a Normal Scene?", "category": "Normal scene caption", "options": ["A. The vehicle, which is traveling in the right lane just to the right of the center line on a road without buildings around (5 lanes in both directions), attempts a U-turn or left turn. It tries slowly, but there are many vehicles rapidly driving in the opposite direction (2 lanes exist). Therefore, the vehicle attempts very slowly. There are no vehicles following behind it. There is a road on the left where it can turn left.", "B. A road lined with shops and bus stops on both sides. The vehicle is traveling in the rightmost lane and prepares to make a right turn. The opposite lane has slow-moving traffic and is spacious. A bus is closely following behind the vehicle. There is no road to the left, and an alley entrance is visible just ahead on the right.", "C. Near a quiet intersection with traffic lights. The vehicle receives a green light while going straight in the right second lane, away from the center line. There are almost no vehicles in the opposite lane. The speed is steady without any movement to change direction. There are no U-turn signs visible on the left.", "D. A 6-lane road with a central divider. The vehicle stops in the right lane just before the stop line, waiting to go straight. Vehicles in the opposite direction are stopped at a red light, making the road quiet. An SUV is stopped behind the vehicle. There is no separate left turn lane on the left."], "answer_index": 0}
{"token": "295da6ec055ae8df320d3baf3db03ff1", "waymo_split": "test", "type": "video", "frame_index": null, "question": "Which of the following is a correct description of traffic signals?", "category": "Traffic Signal", "options": ["A. No right turn", "B. Stop line", "C. None", "D. Traffic light"], "answer_index": 2}
{"token": "295da6ec055ae8df320d3baf3db03ff1", "waymo_split": "test", "type": "video", "frame_index": null, "question": "What is the answer regarding parked vehicles on the shoulder, the presence of a center line, and whether Ego is crossing the center line?", "category": "Normal Perception & Prediction", "options": ["A. No parked vehicles on the shoulder. Center line exists. My vehicle is currently crossing and attempting a left turn or U-turn.", "B. Parked vehicles on the shoulder. Center line exists. My vehicle is maintaining its lane and going straight.", "C. No parked vehicles on the shoulder. No center line. My vehicle is moving to the right edge.", "D. There are stopped vehicles on the shoulder. Center line exists. My vehicle is waiting to turn left just before the center line."], "answer_index": 0}
{"token": "295da6ec055ae8df320d3baf3db03ff1", "waymo_split": "test", "type": "video", "frame_index": null, "question": "What is the correlation in safety-critical situations?", "category": "Safety-critical scene Understanding", "options": ["A. Car - Two-wheeled vehicle", "B. Person - Two-wheeled vehicle", "C. Car - Person", "D. Car - Car"], "answer_index": 3}
{"token": "295da6ec055ae8df320d3baf3db03ff1", "waymo_split": "test", "type": "video", "frame_index": null, "question": "What is a safety-critical object?", "category": "Safety-critical Perception", "options": ["A. A pedestrian standing on the right sidewalk", "B. A vehicle driving in the right lane", "C. A vehicle parked in the left opposite lane", "D. A vehicle driving in the left opposite lane"], "answer_index": 3}
{"token": "295da6ec055ae8df320d3baf3db03ff1", "waymo_split": "test", "type": "video", "frame_index": null, "question": "How did the safety-critical object move and how did the ego vehicle behave?", "category": "Safety-critical scene Understanding", "options": ["A. Approached by merging into the right lane, the ego vehicle yielded to the other vehicle and attempted to turn right while waiting.", "B. Entered a U-turn from the center of the intersection, the ego vehicle stopped inside the center line and waited to go straight.", "C. Drove in the opposite lane, the ego vehicle attempted to turn left while encroaching on the center line until the other vehicle passed, then waited.", "D. Drove straight in its own lane, the ego vehicle waited at the stop line for a left turn signal."], "answer_index": 2}
{"token": "295da6ec055ae8df320d3baf3db03ff1", "waymo_split": "test", "type": "video", "frame_index": null, "question": "Is there a blind spot in your field of vision?", "category": "Uncertainty", "options": ["A. There is a rear blind spot", "B. There is a right blind spot", "C. There is no blind spot", "D. There is no left blind spot"], "answer_index": 2}
{"token": "295da6ec055ae8df320d3baf3db03ff1", "waymo_split": "test", "type": "video", "frame_index": null, "question": "Who is responsible in a safety-critical situation? What is the cause?", "category": "Safety-critical scene Understanding", "options": ["A. The responsibility lies with the vehicle itself. The vehicle attempted to make a left turn or U-turn by crossing the center line, so it had to avoid the vehicles that were originally driving.", "B. The responsibility lies with the oncoming vehicle. Even though the vehicle was proceeding slowly to make a U-turn, the oncoming vehicle continued to push through without slowing down or avoiding it.", "C. The responsibility lies with the road management authority. The U-turn sign and the center line markings were faint, making it difficult to determine the right of way and causing confusion.", "D. The responsibility lies with the vehicle behind. The vehicle was stopped near the center line while waiting to turn left, but the vehicle behind did not line up and recklessly overtook, creating a danger."], "answer_index": 0}
{"token": "295da6ec055ae8df320d3baf3db03ff1", "waymo_split": "test", "type": "video", "frame_index": null, "question": "Summary of Ego (own vehicle) behavior before a safety-critical situation", "category": "Normal scene Understanding", "options": ["A. Going straight and attempting a left turn or U-turn", "B. Slowing down and attempting a right turn or merging to the right", "C. Going straight and attempting a right turn or changing lanes", "D. Creeping and attempting a right turn or changing to the right lane"], "answer_index": 0}
{"token": "295da6ec055ae8df320d3baf3db03ff1", "waymo_split": "test", "type": "image", "frame_index": 9, "question": "Based on the current appearance of the person/vehicle (two-wheeled), how do they intend to move?", "category": "Normal Perception & Prediction", "options": ["A. Accelerate straight ahead without stopping, in the same lane", "B. Waiting by moving towards the center line to make a left turn", "C. Going straight, then stopping or changing lanes in the current lane", "D. Slowing down while moving to the right lane to make a right turn"], "answer_index": 2}
{"token": "295da6ec055ae8df320d3baf3db03ff1", "waymo_split": "test", "type": "video", "frame_index": null, "question": "What situation might have occurred if the vehicle had behaved like this?", "category": "Counterfactual", "options": ["A. If the vehicle had slightly moved towards the center line and maintained a straight path, the oncoming vehicles would have naturally slowed down and proceeded comfortably.", "B. If the vehicle had waited a little longer at the signal and made a slow right turn, it would have passed without any significant risk, in sync with the surrounding flow.", "C. If the vehicle had turned on its hazard lights and only adjusted its angle for a U-turn while moving slowly, pedestrians and other cars would have recognized it and passed without major issues.", "D. If the vehicle had ignored the situation and quickly attempted a left turn or U-turn, there would have been a risk of a high-speed collision with vehicles traveling in the opposite lane."], "answer_index": 3}
{"token": "295da6ec055ae8df320d3baf3db03ff1", "waymo_split": "test", "type": "image", "frame_index": 9, "question": "What is the classification of the scene?", "category": "Normal scene Understanding", "options": ["A. Residential side road", "B. Highway merge lane", "C. Wide two-way error lane road", "D. Urban one-way three-lane road"], "answer_index": 2}
{"token": "295da6ec055ae8df320d3baf3db03ff1", "waymo_split": "test", "type": "image", "frame_index": 9, "question": "What are the behavioral restrictions in school zones/congested areas?", "category": "Special Event", "options": ["A. Vehicles must take priority over pedestrians", "B. Must drive slowly", "C. Must accelerate", "D. Must honk frequently"], "answer_index": 1}
{"token": "295da6ec055ae8df320d3baf3db03ff1", "waymo_split": "test", "type": "image", "frame_index": 9, "question": "Which of the following is correct as an Image Caption from the perspective of a Normal Frame?", "category": "Normal scene caption", "options": ["A. The vehicle is using the left lane just to the left of the center line while making a sudden stop. This road is close to a six-lane bidirectional road, and the third lane in the middle seems to be a continuous lane for trucks.", "B. The vehicle is using the right lane just to the right of the center line on a road with right-hand traffic while decelerating. This road has five lanes in both directions, and the third lane in the middle seems to be a variable lane with no one driving in it.", "C. The vehicle is gradually accelerating along the leftmost lane of a road with left-hand traffic. This road is a one-way road with three lanes, and the middle lane seems to be for buses only.", "D. The vehicle is driving in the inner lane, one lane further from the center line, while accelerating to overtake. This road has four lanes in both directions, and the center has a fixed barrier, so it does not seem to be a variable lane."], "answer_index": 1}
{"token": "295da6ec055ae8df320d3baf3db03ff1", "waymo_split": "test", "type": "image", "frame_index": 9, "question": "What is the description of non-safety-critical objects?", "category": "Normal Perception & Prediction", "options": ["A. Most of the cherry blossom trees are along the sidewalk.", "B. Vehicles are moving slowly and there is heavy congestion.", "C. It only looks like a U-turn lane, and left and right turns are not possible.", "D. There are many palm trees on the sidewalk outside the road. Vehicles are quickly driving on the roadway. There are lanes for left and right turns visible on both sides."], "answer_index": 3}
{"token": "295da6ec055ae8df320d3baf3db03ff1", "waymo_split": "test", "type": "image", "frame_index": 9, "question": "What is the plan for yielding when an ambulance/fire truck approaches?", "category": "Special Event", "options": ["A. Increase speed and pass first", "B. Pull over to the left edge and stop", "C. Slow down and yield space", "D. Just turn on the hazard lights and maintain the lane"], "answer_index": 2}
{"token": "295da6ec055ae8df320d3baf3db03ff1", "waymo_split": "test", "type": "image", "frame_index": 9, "question": "Which of the following is a correct description of traffic density?", "category": "Normal scene Understanding", "options": ["A. Surrounding vehicles are fast. My car is slowing down and is slow.", "B. Surrounding vehicles are slow. My car is moving slowly.", "C. Surrounding vehicles are slow. My car is accelerating and is fast.", "D. Surrounding vehicles are fast. My car is changing lanes and is fast."], "answer_index": 0}
{"token": "295da6ec055ae8df320d3baf3db03ff1", "waymo_split": "test", "type": "image", "frame_index": 9, "question": "Which of the following is a correct description of traffic signals?", "category": "Traffic Signal", "options": ["A. Stop", "B. Pedestrian crossing", "C. None", "D. No left turn"], "answer_index": 2}
{"token": "295da6ec055ae8df320d3baf3db03ff1", "waymo_split": "test", "type": "image", "frame_index": 9, "question": "Which of the following is a correct description of the environment?", "category": "Normal scene Understanding", "options": ["A. Night, rain", "B. Day, cloudy", "C. Evening, clear", "D. Day, clear"], "answer_index": 3}
{"token": "295da6ec055ae8df320d3baf3db03ff1", "waymo_split": "test", "type": "image", "frame_index": 9, "question": "What is the answer regarding parked vehicles on the shoulder, the presence of a center line, and whether Ego has crossed the center line?", "category": "Normal Perception & Prediction", "options": ["A. No parked vehicles on the shoulder. No center line. Did not cross the center line.", "B. No parked vehicles on the shoulder. Center line exists. Crossed the center line.", "C. Parked vehicles on the shoulder. Center line exists. Did not cross the center line.", "D. No parked vehicles on the shoulder. Center line exists. Did not cross the center line."], "answer_index": 3}
{"token": "295da6ec055ae8df320d3baf3db03ff1", "waymo_split": "test", "type": "image", "frame_index": 9, "question": "Is there a blind spot in your field of vision?", "category": "Uncertainty", "options": ["A. There is a blind spot on the right rear", "B. There is a blind spot on the left", "C. There is no blind spot", "D. There is a blind spot on the right"], "answer_index": 2}
{"token": "295da6ec055ae8df320d3baf3db03ff1", "waymo_split": "test", "type": "image", "frame_index": 9, "question": "How should I drive to address the first risk while also resolving the second risk?", "category": "Safety-critical Planning", "options": ["A. Maintain a safe distance from the next safety-critical object", "B. There are no safety-critical objects ahead", "C. The next safety-critical object is on the left", "D. The next safety-critical object is approaching, so maintain speed reduction"], "answer_index": 1}
{"token": "295da6ec055ae8df320d3baf3db03ff1", "waymo_split": "test", "type": "image", "frame_index": 9, "question": "How do you think safety-critical objects should be moved?", "category": "Safety-critical Prediction", "options": ["A. None", "B. Straight", "C. Slowly", "D. Rotate"], "answer_index": 0}
{"token": "295da6ec055ae8df320d3baf3db03ff1", "waymo_split": "test", "type": "image", "frame_index": 9, "question": "Are there any other safety-critical objects besides the first safety-critical object? If so, how will they be moved?", "category": "Safety-critical Prediction", "options": ["A. No.", "B. Yes. I will slowly move the fire extinguisher on a cart along the safety corridor.", "C. Yes. I will place the sharp cutter in a protective case and move it to the designated collection box.", "D. Yes, there is. I will move the high-pressure battery to the right storage box while wearing insulated gloves."], "answer_index": 0}
{"token": "295da6ec055ae8df320d3baf3db03ff1", "waymo_split": "test", "type": "image", "frame_index": 9, "question": "What is the correlation in safety-critical situations?", "category": "Safety-critical scene Understanding", "options": ["A. Person - Two-wheeler", "B. Vehicle - Two-wheeler", "C. Vehicle - Person", "D. Vehicle - Vehicle"], "answer_index": 3}
{"token": "295da6ec055ae8df320d3baf3db03ff1", "waymo_split": "test", "type": "image", "frame_index": 9, "question": "What is a safety-critical object?", "category": "Safety-critical Perception", "options": ["A. Sensor", "B. Pump", "C. Motor", "D. None"], "answer_index": 3}
{"token": "295da6ec055ae8df320d3baf3db03ff1", "waymo_split": "test", "type": "image", "frame_index": 9, "question": "Is lane changing possible? Which is safer, slowing down or changing lanes?", "category": "Safety-critical Planning", "options": ["A. Changing to the left lane is fine (the left blind spot is clear), so changing lanes is better than slowing down.", "B. Changing to the right lane is possible (the vehicle behind on the right is moving slowly, so there is room), so slowing down is safer than changing lanes.", "C. Changing to the right lane is dangerous (there is a fast-moving vehicle behind in the right lane). Slowing down is safer.", "D. There is plenty of space in the right lane (the distance to the vehicle behind is far), so changing lanes is safer than slowing down."], "answer_index": 2}
{"token": "295da6ec055ae8df320d3baf3db03ff1", "waymo_split": "test", "type": "image", "frame_index": 9, "question": "What are the new exposure risk candidates in the following section?", "category": "Safety-critical Prediction", "options": ["A. exposure wiring", "B. none", "C. slipping", "D. falling objects"], "answer_index": 1}
{"token": "295da6ec055ae8df320d3baf3db03ff1", "waymo_split": "test", "type": "image", "frame_index": 9, "question": "Where is the area that hides danger by being obscured in the current frame?", "category": "Uncertainty", "options": ["A. Shadow on the right edge of the sidewalk", "B. None", "C. Blind spot of the left A-pillar", "D. Under the rear bumper of the car in front"], "answer_index": 1}
{"token": "295da6ec055ae8df320d3baf3db03ff1", "waymo_split": "test", "type": "image", "frame_index": 9, "question": "What is the safest choice just before entering a yellow signal: stop vs. pass?", "category": "Special Event", "options": ["A. Immediate stop, safe", "B. Slow down and pass, safe", "C. Possible right turn, pass slowly", "D. No signal, cannot judge"], "answer_index": 3}
{"token": "295da6ec055ae8df320d3baf3db03ff1", "waymo_split": "test", "type": "image", "frame_index": 43, "question": "Based on the current appearance of the person/vehicle (two-wheeled), how are they trying to move?", "category": "Normal Perception & Prediction", "options": ["A. Slowing down while proceeding", "B. Maintaining speed while moving to the left lane", "C. Accelerating rapidly while going straight", "D. Accelerating to enter a right turn"], "answer_index": 0}
{"token": "295da6ec055ae8df320d3baf3db03ff1", "waymo_split": "test", "type": "image", "frame_index": 9, "question": "What is the method to avoid the blind spot next to a large vehicle?", "category": "Special Event", "options": ["A. Pass closely behind the trailer", "B. Cannot determine if there is a large vehicle", "C. Accelerate to the left and overtake immediately", "D. Pass by narrowing the gap next to the bus"], "answer_index": 1}
{"token": "295da6ec055ae8df320d3baf3db03ff1", "waymo_split": "test", "type": "image", "frame_index": 43, "question": "What are the behavior restrictions in school zones/congested areas?", "category": "Special Event", "options": ["A. Must overtake", "B. Must drive slowly", "C. Must honk the horn", "D. Must accelerate"], "answer_index": 1}
{"token": "295da6ec055ae8df320d3baf3db03ff1", "waymo_split": "test", "type": "image", "frame_index": 43, "question": "What is the plan for yielding when an ambulance/fire truck approaches?", "category": "Special Event", "options": ["A. Turn on emergency lights and go straight", "B. Accelerate to pass first", "C. Slow down to give space", "D. Honk to secure the road"], "answer_index": 2}
{"token": "295da6ec055ae8df320d3baf3db03ff1", "waymo_split": "test", "type": "image", "frame_index": 43, "question": "Which of the following is a correct description of traffic density?", "category": "Normal scene Understanding", "options": ["A. There are many surrounding vehicles, but they are slow. My vehicle is slow.", "B. There are few surrounding vehicles and they are slow. My vehicle is fast.", "C. Surrounding vehicles are slow. My vehicle accelerates and is fast.", "D. Surrounding vehicles are fast. My vehicle decelerates and is slow."], "answer_index": 3}
{"token": "295da6ec055ae8df320d3baf3db03ff1", "waymo_split": "test", "type": "image", "frame_index": 43, "question": "What is the classification of the scene?", "category": "Normal scene Understanding", "options": ["A. narrow one-way alley", "B. highway interchange section", "C. wide two-way road with a shoulder", "D. unpaved gravel road"], "answer_index": 2}
{"token": "295da6ec055ae8df320d3baf3db03ff1", "waymo_split": "test", "type": "image", "frame_index": 43, "question": "Which of the following is a correct description of the environment?", "category": "Normal scene Understanding", "options": ["A. Day, clear", "B. Evening, rain", "C. Dawn, fog", "D. Night, cloudy"], "answer_index": 0}
{"token": "295da6ec055ae8df320d3baf3db03ff1", "waymo_split": "test", "type": "image", "frame_index": 43, "question": "Which of the following is a correct description of traffic signals?", "category": "Traffic Signal", "options": ["A. Stop", "B. None", "C. No left turn", "D. Red traffic light"], "answer_index": 1}
{"token": "295da6ec055ae8df320d3baf3db03ff1", "waymo_split": "test", "type": "image", "frame_index": 43, "question": "What is the answer regarding the parked vehicle on the shoulder, the presence of a center line, and whether Ego has crossed the center line?", "category": "Normal Perception & Prediction", "options": ["A. There is one parked vehicle on the shoulder. There is a center line. No crossing of the center line.", "B. There are no parked vehicles on the shoulder. There is no center line. No crossing of the center line.", "C. There are no parked vehicles on the shoulder. There is a center line. Crossing the center line.", "D. There are no parked vehicles on the shoulder. There is a center line. No crossing of the center line."], "answer_index": 3}
{"token": "295da6ec055ae8df320d3baf3db03ff1", "waymo_split": "test", "type": "image", "frame_index": 43, "question": "What is the description of a non-safety-critical object?", "category": "Normal Perception & Prediction", "options": ["A. Only low shrubs are sparsely visible along the roadside. Nearby commercial buildings are visible to the right front. There is an auxiliary lane that branches off to the left in the back. The roadway is almost congested due to a traffic signal. A dedicated right turn lane is visible in the same direction.", "B. Only tall streetlights are lined up next to the central divider. High-rise buildings are visible far to the right rather than straight ahead. The back has a straight road without diverging lanes. A few bicycles are slowly riding. Only a U-turn lane marking is confirmed at the intersection.", "C. Only a few pine trees are visible at the edge of the sidewalk, and the shade is short. A low residential area extends to the right front rather than the left. In the back, a ramp merges to the upper left. There are almost no vehicles in the lane, making it quiet. A no left turn sign is standing on the opposite side.", "D. There are many palm trees on the sidewalk outside the road. Buildings are far to the left front. In the back, there is a lane to the right. Vehicles are quickly driving on the roadway. A left turn lane that can be entered is visible across from the opposite lane."], "answer_index": 3}
{"token": "295da6ec055ae8df320d3baf3db03ff1", "waymo_split": "test", "type": "image", "frame_index": 43, "question": "Is there a blind spot in your field of view?", "category": "Uncertainty", "options": ["A. No blind spot", "B. Temporary blind spot", "C. There is a blind spot", "D. Right blind spot"], "answer_index": 0}
{"token": "295da6ec055ae8df320d3baf3db03ff1", "waymo_split": "test", "type": "image", "frame_index": 43, "question": "What is a safety-critical object?", "category": "Safety-critical Perception", "options": ["A. None", "B. Emergency power supply", "C. Pressure sensor", "D. Brake"], "answer_index": 0}
{"token": "295da6ec055ae8df320d3baf3db03ff1", "waymo_split": "test", "type": "image", "frame_index": 43, "question": "How do you think safety-critical objects will move?", "category": "Safety-critical Prediction", "options": ["A. None", "B. Rotation", "C. Swimming", "D. Forward"], "answer_index": 0}
{"token": "295da6ec055ae8df320d3baf3db03ff1", "waymo_split": "test", "type": "image", "frame_index": 43, "question": "How should I drive to address the first risk while also resolving the second risk?", "category": "Safety-critical Planning", "options": ["A. There are no more safety-critical objects ahead", "B. I am approaching a safety-critical object ahead", "C. There is a safety-critical object ahead", "D. There is a safety-critical object to the right front"], "answer_index": 0}
{"token": "295da6ec055ae8df320d3baf3db03ff1", "waymo_split": "test", "type": "image", "frame_index": 43, "question": "What is the correlation in safety-critical situations?", "category": "Safety-critical scene Understanding", "options": ["A. car-person", "B. person-two-wheeler", "C. car-two-wheeler", "D. car-car"], "answer_index": 3}
{"token": "295da6ec055ae8df320d3baf3db03ff1", "waymo_split": "test", "type": "image", "frame_index": 43, "question": "Are there any other safety-critical objects besides the first safety-critical object? If so, how will they be moved?", "category": "Safety-critical Prediction", "options": ["A. Yes, they will be moved by cart.", "B. Yes, they will be moved by hand.", "C. Yes, they will be sent to the left.", "D. No, there are none."], "answer_index": 3}
{"token": "295da6ec055ae8df320d3baf3db03ff1", "waymo_split": "test", "type": "image", "frame_index": 43, "question": "Is lane changing possible? Which is safer between deceleration and lane changing?", "category": "Safety-critical Planning", "options": ["A. Moving immediately to the left lane is safer than deceleration (there is less speed difference in the left rear).", "B. Changing to the right lane is dangerous (there are fast-moving vehicles in the right lane behind). Deceleration is safer.", "C. Changing to the right lane is safer (there is enough distance from the rear vehicles, and there are no merging vehicles).", "D. Changing to the center lane while maintaining speed is safer (unnecessary deceleration increases the risk of rear-end collisions)."], "answer_index": 1}
{"token": "295da6ec055ae8df320d3baf3db03ff1", "waymo_split": "test", "type": "image", "frame_index": 43, "question": "What are the new exposure risk candidates in the following section?", "category": "Safety-critical Prediction", "options": ["A. Black ice", "B. None", "C. Construction in the right lane", "D. Rockfall risk"], "answer_index": 1}
{"token": "295da6ec055ae8df320d3baf3db03ff1", "waymo_split": "test", "type": "image", "frame_index": 43, "question": "Where is the area that hides danger in the current frame?", "category": "Uncertainty", "options": ["A. Left bottom shadow", "B. None", "C. Behind the right guardrail", "D. Right in front of the hood"], "answer_index": 1}
{"token": "295da6ec055ae8df320d3baf3db03ff1", "waymo_split": "test", "type": "image", "frame_index": 43, "question": "What is the safest choice when approaching a yellow signal: stop vs. proceed?", "category": "Special Event", "options": ["A. No signal, unable to judge", "B. Quickly proceed, minimize risk", "C. Come to a complete stop, check left and right", "D. Maintain speed, proceed recommended"], "answer_index": 0}
{"token": "295da6ec055ae8df320d3baf3db03ff1", "waymo_split": "test", "type": "image", "frame_index": 43, "question": "What is the method to avoid blind spots when passing by a large vehicle?", "category": "Special Event", "options": ["A. Enter by only looking at the side mirror", "B. Cannot determine if there is no large vehicle", "C. Accelerate immediately upon approaching a large vehicle", "D. Pass immediately after checking only the rear"], "answer_index": 1}
{"token": "295da6ec055ae8df320d3baf3db03ff1", "waymo_split": "test", "type": "image", "frame_index": 63, "question": "Based on the current appearance of the person/vehicle (two-wheeled), how do you intend to move?", "category": "Normal Perception & Prediction", "options": ["A. Stick to the right edge and turn right", "B. Cross the left center line to turn left or make a U-turn", "C. Change to the right lane and go straight", "D. Wait for the signal and go straight through"], "answer_index": 1}
{"token": "295da6ec055ae8df320d3baf3db03ff1", "waymo_split": "test", "type": "image", "frame_index": 63, "question": "What is the plan for yielding when an ambulance/fire truck approaches?", "category": "Special Event", "options": ["A. Stop in the center of the intersection to secure a passage and yield. Currently need to stop.", "B. Can yield after completing a U-turn or left turn. Currently cannot yield.", "C. Can yield by immediately moving to the right edge. Currently need to move aside right away.", "D. Can yield by reversing to clear the lane. Currently need to retreat immediately."], "answer_index": 1}
{"token": "295da6ec055ae8df320d3baf3db03ff1", "waymo_split": "test", "type": "image", "frame_index": 63, "question": "Which of the following is correct as an Image Caption from a Safety-critical Frame perspective?", "category": "Safety-critical scene caption", "options": ["A. Vehicles are slowly approaching from the right lane, and there is plenty of space between them. There is almost no chance of a collision even if my vehicle maintains a right turn.", "B. In the left opposite lane, there are vehicles driving quickly in the opposite direction, one in each lane, visible from a distance. There is a risk of collision if my vehicle continues to turn left slowly.", "C. Only one vehicle is approaching slowly in the same lane directly ahead. My vehicle can pass through without any issues if it accelerates straight.", "D. In the left opposite lane, there are vehicles waiting at a signal, creating a wide open space. There is a low risk of collision even if my vehicle continues to turn left."], "answer_index": 1}
{"token": "295da6ec055ae8df320d3baf3db03ff1", "waymo_split": "test", "type": "image", "frame_index": 63, "question": "Which of the following is a correct description of traffic density?", "category": "Normal scene Understanding", "options": ["A. Surrounding vehicles are fast. My vehicle is slowing down and is slow.", "B. Surrounding vehicles are slow. My vehicle is fast.", "C. Surrounding vehicles are slow. My vehicle is overtaking and is fast.", "D. Surrounding vehicles are slow. My vehicle is accelerating and is fast."], "answer_index": 0}
{"token": "295da6ec055ae8df320d3baf3db03ff1", "waymo_split": "test", "type": "image", "frame_index": 63, "question": "What are the classifications of scenes?", "category": "Normal scene Understanding", "options": ["A. Residential side road", "B. Wide two-way road with a shoulder", "C. Unpaved rural dirt road", "D. Narrow two-way road"], "answer_index": 1}
{"token": "295da6ec055ae8df320d3baf3db03ff1", "waymo_split": "test", "type": "image", "frame_index": 63, "question": "What are the behavior restrictions in school zones/congested areas?", "category": "Special Event", "options": ["A. Must drive slowly", "B. Can overtake", "C. Drive at a constant speed", "D. Vehicles have priority"], "answer_index": 0}
{"token": "295da6ec055ae8df320d3baf3db03ff1", "waymo_split": "test", "type": "image", "frame_index": 63, "question": "Which of the following is a correct description of the environment?", "category": "Normal scene Understanding", "options": ["A. Night, rain", "B. Dawn, fog", "C. Evening, cloudy", "D. Day, clear"], "answer_index": 3}
{"token": "295da6ec055ae8df320d3baf3db03ff1", "waymo_split": "test", "type": "image", "frame_index": 63, "question": "What is the description of a non-safety-critical object?", "category": "Normal Perception & Prediction", "options": ["A. Low shrubs are lined up in the central median flower bed. A distant hill ridge is faintly visible in the right front. There is a dead-end alley in the back. The road is quiet with rare vehicle traffic. A no-entry sign for the bus-only lane is set up on the left.", "B. There are many palm trees on the sidewalk outside the road. Buildings are visible far in the left front. There is a lane to the right in the back. Vehicles are quickly driving on the roadway. A left turn lane that can be entered is visible across from the opposite lane on the left.", "C. There are a few maple trees sparsely on the sidewalk by the road. Low-rise commercial buildings are connected close to the right front. A merging lane turning left is visible in the back. Vehicles are lined up waiting at the traffic signal on the roadway. A U-turn only lane sign is noticeable directly across.", "D. Only streetlights and benches are visible on the sidewalk, with almost no trees. A small overpass is spanning a short distance in the front. The back continues with a one-way lane going straight. Bicycles and electric scooters are seen slowly driving on the lane. Only a straight-only lane is marked on the right side."], "answer_index": 1}
{"token": "295da6ec055ae8df320d3baf3db03ff1", "waymo_split": "test", "type": "image", "frame_index": 63, "question": "Is there a blind spot in your field of view?", "category": "Uncertainty", "options": ["A. There is a right blind spot", "B. There is a rear blind spot", "C. There is a partial blind spot", "D. There is no blind spot"], "answer_index": 3}
{"token": "295da6ec055ae8df320d3baf3db03ff1", "waymo_split": "test", "type": "image", "frame_index": 63, "question": "Which of the following is a correct description of traffic signals?", "category": "Traffic Signal", "options": ["A. None", "B. Stop", "C. Pedestrian signal", "D. No left turn"], "answer_index": 0}
{"token": "295da6ec055ae8df320d3baf3db03ff1", "waymo_split": "test", "type": "image", "frame_index": 63, "question": "What is the answer regarding parked vehicles on the shoulder, the presence of a center line, and whether Ego is crossing the center line?", "category": "Normal Perception & Prediction", "options": ["A. No parked vehicles on the shoulder. Center line exists. Currently crossing the center line (turning left).", "B. No parked vehicles on the shoulder. No center line (one-way two lanes). Maintaining lane (only left turn signal on).", "C. There is a parked vehicle on the shoulder (one on the right). Center line exists. Not crossing the center line (going straight).", "D. There is a parked vehicle on the shoulder (one on the left). Center line exists. Not crossing the center line (turning right)."], "answer_index": 0}
{"token": "295da6ec055ae8df320d3baf3db03ff1", "waymo_split": "test", "type": "image", "frame_index": 63, "question": "How do you think a safety-critical object will move?", "category": "Safety-critical Prediction", "options": ["A. Changing to the right lane, if my vehicle makes a right turn, it will get closer to this.", "B. Stopped waiting for a signal, if my vehicle goes straight, it will get farther from this.", "C. Driving normally in the same direction, if my vehicle makes a left turn, it will get farther from this.", "D. Driving in the opposite direction. If my vehicle makes a left turn, it will get closer to this."], "answer_index": 3}
{"token": "295da6ec055ae8df320d3baf3db03ff1", "waymo_split": "test", "type": "image", "frame_index": 63, "question": "What is the correlation in safety-critical situations?", "category": "Safety-critical scene Understanding", "options": ["A. Car-Car", "B. Car-Two-wheeler", "C. Two-wheeler-Person", "D. Car-Person"], "answer_index": 0}
{"token": "295da6ec055ae8df320d3baf3db03ff1", "waymo_split": "test", "type": "image", "frame_index": 63, "question": "Is lane changing possible? Which is safer between deceleration and lane changing?", "category": "Safety-critical Planning", "options": ["A. Lane change to the right is possible (there seems to be enough space between the vehicles in the right lane); lane changing is safer.", "B. Lane change to the left is safe (there is good visibility to the left rear and enough space); lane changing is safer.", "C. Lane change to the right is dangerous (there are fast-moving vehicles behind in the right lane); deceleration is safer.", "D. Both lanes have enough space (there is ample distance between vehicles behind); lane changing is safer."], "answer_index": 2}
{"token": "295da6ec055ae8df320d3baf3db03ff1", "waymo_split": "test", "type": "image", "frame_index": 63, "question": "What is a safety-critical object?", "category": "Safety-critical Perception", "options": ["A. A vehicle stopped on the right shoulder with its hazard lights on (shoulder separated from the driving lane)", "B. A bicycle moving slowly from a distance in the left opposite lane (in the outer lane beyond the central divider)", "C. A truck gradually approaching from the same lane behind (long distance, almost no relative speed difference)", "D. A vehicle moving at high speed from a distance in the left opposite lane (in the lane closest to your vehicle among the two lanes of the opposite lane)"], "answer_index": 3}
{"token": "295da6ec055ae8df320d3baf3db03ff1", "waymo_split": "test", "type": "image", "frame_index": 63, "question": "How should I drive to resolve the first risk while also addressing the second risk?", "category": "Safety-critical Planning", "options": ["A. Stop in the middle of the intersection with the hazard lights on, and when the oncoming traffic briefly stops, make a left turn to resolve both risks at once.", "B. If I make a left turn, the risk of colliding with the second vehicle increases, so I should not attempt to turn left for now and wait until both vehicles pass.", "C. Accelerate and quickly complete the left turn to avoid the first risk, and I can exit the intersection before the second vehicle arrives, so I should proceed as planned.", "D. By sticking to the right lane and making a right turn, I can avoid the first risk and reduce the possibility of a collision with the second vehicle, making this method safer."], "answer_index": 1}
{"token": "295da6ec055ae8df320d3baf3db03ff1", "waymo_split": "test", "type": "image", "frame_index": 63, "question": "Where is the area that hides danger in the current frame?", "category": "Uncertainty", "options": ["A. Behind the street tree", "B. Behind the parked car on the right", "C. None", "D. Shade on the lower left"], "answer_index": 2}
{"token": "295da6ec055ae8df320d3baf3db03ff1", "waymo_split": "test", "type": "image", "frame_index": 63, "question": "What is the safest choice just before entering a yellow signal: stop vs. pass?", "category": "Special Event", "options": ["A. Slow down and stop, ensuring safety", "B. Check left and right, proceed slowly", "C. No signal, unable to judge", "D. Maintain speed and pass through"], "answer_index": 2}
{"token": "295da6ec055ae8df320d3baf3db03ff1", "waymo_split": "test", "type": "image", "frame_index": 63, "question": "What are the new exposure risk candidates in the following interval?", "category": "Safety-critical Prediction", "options": ["A. Entanglement", "B. Falling", "C. Electric shock", "D. None"], "answer_index": 3}
{"token": "295da6ec055ae8df320d3baf3db03ff1", "waymo_split": "test", "type": "image", "frame_index": 63, "question": "Who is responsible in a safety-critical situation? What is the cause?", "category": "Safety-critical scene Understanding", "options": ["A. The other vehicle is at fault. The vehicle going straight approaches faster than the speed limit and fails to slow down (speeding straight).", "B. The vehicle is at fault. When attempting a left turn or U-turn, the vehicle must not interfere with the traffic of vehicles that are originally driving (unprotected left turn or U-turn).", "C. The right-turning vehicle is at fault. It enters the intersection without stopping and obstructs the progress of the turning vehicle (failure to stop for right turn).", "D. The other vehicle is at fault. The oncoming vehicle changes lanes abruptly without signaling and invades the path (lane change violation)."], "answer_index": 1}
{"token": "295da6ec055ae8df320d3baf3db03ff1", "waymo_split": "test", "type": "image", "frame_index": 63, "question": "What is the method to avoid blind spots when passing large vehicles?", "category": "Special Event", "options": ["A. Overtake closely on the right side of the bus", "B. Decide only by looking at the side mirror", "C. Honk the horn and accelerate to enter", "D. Cannot determine if there are no large vehicles"], "answer_index": 3}
{"token": "295da6ec055ae8df320d3baf3db03ff1", "waymo_split": "test", "type": "image", "frame_index": 63, "question": "What situation might occur if the vehicle acted this way?", "category": "Counterfactual", "options": ["A. If the vehicle accelerates and turns right, there is a risk of contact with an electric scooter entering the right sidewalk. Vehicles in the right lane are moving slowly.", "B. If the vehicle accelerates and turns left, there is a risk of collision with vehicles driving in the opposite lane. Vehicles in the opposite lane are driving at high speed.", "C. If the vehicle slows down and turns left, the risk of collision is low due to maintaining distance from pedestrians waiting at the crosswalk. Other vehicles in the intersection are waiting at the stop line.", "D. If the vehicle maintains its lane while going straight, it can drive safely with sufficient distance from the vehicle in front. The traffic flow on the opposite side is light."], "answer_index": 1}
{"token": "295da6ec055ae8df320d3baf3db03ff1", "waymo_split": "test", "type": "image", "frame_index": 63, "question": "What are the driving guidelines for my vehicle based on the behavior of safety-critical objects?", "category": "Safety-critical Planning", "options": ["A. If safety-critical objects decelerate and yield space in front of my vehicle, I should stop without crossing the stop line, check again, and then slowly enter at the next opportunity.", "B. If safety-critical objects yield the right of way, I should proceed straight through the intersection first and then change direction in a safe area.", "C. If safety-critical objects decelerate and yield a left turn or U-turn to my vehicle, I should quickly make the left turn or U-turn and complete the maneuver within the time that those vehicles are decelerating.", "D. If safety-critical objects create space by moving to the right, I should escape with a right turn and proceed along the detour."], "answer_index": 2}
{"token": "295da6ec055ae8df320d3baf3db03ff1", "waymo_split": "test", "type": "image", "frame_index": 95, "question": "Based on the current appearance of the person/vehicle (two-wheeled), how do you intend to move?", "category": "Normal Perception & Prediction", "options": ["A. Pull over to the right shoulder and stop temporarily", "B. Cross the left center line to make a left turn or U-turn", "C. Change to the right lane to make a right turn", "D. Accelerate and attempt to go straight through"], "answer_index": 1}
{"token": "295da6ec055ae8df320d3baf3db03ff1", "waymo_split": "test", "type": "image", "frame_index": 95, "question": "Which of the following is correct from the perspective of Safety-critical Frame regarding Image Caption?", "category": "Safety-critical scene caption", "options": ["A. In the lane closest to my vehicle among the two lanes of oncoming traffic on the left, there is a red vehicle rapidly approaching from a short distance. There is a risk of collision if my vehicle accelerates to make a left turn.", "B. In the lane closest to my vehicle among the two lanes of oncoming traffic on the left, there is a white vehicle slowly approaching from a long distance. There is enough time even if my vehicle accelerates to make a left turn.", "C. In the lane closest to my vehicle among the two lanes going in the same direction on the right, there is a blue vehicle rapidly approaching from a short distance. It is not dangerous for my vehicle to make a left turn as the paths do not overlap.", "D. In the lane farthest from my vehicle among the two lanes of oncoming traffic on the left, there is a silver vehicle approaching slowly from a medium distance. My vehicle can pass through without collision even if it accelerates to make a left turn."], "answer_index": 0}
{"token": "295da6ec055ae8df320d3baf3db03ff1", "waymo_split": "test", "type": "image", "frame_index": 95, "question": "What is the yielding plan when an ambulance/fire truck approaches?", "category": "Special Event", "options": ["A. Yield after going straight. Currently slowing down.", "B. Yield possible after completing a U-turn or left turn. Currently not yielding.", "C. Yield after completing a right turn. Left turn and U-turn on hold.", "D. Immediately pull over to the right shoulder and yield. Currently yielding."], "answer_index": 1}
{"token": "295da6ec055ae8df320d3baf3db03ff1", "waymo_split": "test", "type": "image", "frame_index": 95, "question": "What are the behavior restrictions in school zones/congested areas?", "category": "Special Event", "options": ["A. Must drive slowly", "B. Must honk the horn", "C. Parking is allowed", "D. Must accelerate"], "answer_index": 0}
{"token": "295da6ec055ae8df320d3baf3db03ff1", "waymo_split": "test", "type": "image", "frame_index": 95, "question": "Which of the following is a correct description of traffic density?", "category": "Normal scene Understanding", "options": ["A. Surrounding vehicles are at medium speed. My car is driving fast. There is only one vehicle driving closely.", "B. Surrounding vehicles are fast. My car is at a similar speed. There are no cars closely following.", "C. Surrounding vehicles are fast. My car is in a very slow state. There are only two vehicles driving closely.", "D. Surrounding vehicles are slow. My car is at a normal speed. There are about five vehicles nearby."], "answer_index": 2}
{"token": "295da6ec055ae8df320d3baf3db03ff1", "waymo_split": "test", "type": "image", "frame_index": 95, "question": "Which of the following is a correct description of the environment?", "category": "Normal scene Understanding", "options": ["A. Dawn, light fog", "B. Day, clear", "C. Night, light rain", "D. Evening, cloudy"], "answer_index": 1}
{"token": "295da6ec055ae8df320d3baf3db03ff1", "waymo_split": "test", "type": "image", "frame_index": 95, "question": "What is the description of a non-safety-critical object?", "category": "Normal Perception & Prediction", "options": ["A. Seasonal flowers are planted along the central divider. There is a small park a little ahead in front, and benches are visible. There is a bus stop on the right sidewalk with a few people standing. A few bicycles are slowly moving along the side of the road. There is a no left turn sign at the intersection.", "B. There are sparse pine trees and shrubs in the roadside flower bed. Low-rise commercial buildings are lined up close to the right front. There is a narrow lane merging from the left in the back. Cars are waiting at the signal, either moving slowly or stopped. A dedicated right turn lane is clearly visible on the right.", "C. There are many palm trees on the sidewalk outside the road. Buildings are far away to the left front. There is a lane to the right in the back. Vehicles are driving quickly on the road. A left turn lane that can be entered is visible across the opposite lane (to the left side of the vehicle).", "D. A walking path along the riverside and willows are visible. In the distance to the right front, a high-rise apartment complex is towering. In the back, there is an entrance to a parking lot located on the left. A construction barrier fence is installed along the edge of the road. A U-turn lane marking is prominently visible on the intersection floor."], "answer_index": 2}
{"token": "295da6ec055ae8df320d3baf3db03ff1", "waymo_split": "test", "type": "image", "frame_index": 95, "question": "What is the classification of the scene?", "category": "Normal scene Understanding", "options": ["A. Wide two-way error lane road", "B. Narrow one-way two-lane road", "C. Main line of a highway with a divider", "D. Unpaved rural outskirts farm road"], "answer_index": 0}
{"token": "295da6ec055ae8df320d3baf3db03ff1", "waymo_split": "test", "type": "image", "frame_index": 95, "question": "Is there a blind spot in your field of vision?", "category": "Uncertainty", "options": ["A. There is a slight blind spot on the right", "B. There is a blind spot only on the left", "C. There is no blind spot", "D. There is a blind spot"], "answer_index": 2}
{"token": "295da6ec055ae8df320d3baf3db03ff1", "waymo_split": "test", "type": "image", "frame_index": 95, "question": "What is the answer regarding parked vehicles on the shoulder, the presence of a center line, and whether Ego is crossing the center line?", "category": "Normal Perception & Prediction", "options": ["A. There is a parked vehicle on the shoulder. There is a center line. Proceeding straight without crossing the center line.", "B. One vehicle is parked on the shoulder. There is a center line. Attempting a U-turn without crossing the center line.", "C. There are no parked vehicles on the shoulder. There is a center line. Attempting a left turn while crossing the center line.", "D. There are no parked vehicles on the shoulder. There is no center line. Waiting to turn right without crossing the center line."], "answer_index": 2}
{"token": "295da6ec055ae8df320d3baf3db03ff1", "waymo_split": "test", "type": "image", "frame_index": 95, "question": "Which of the following is correct regarding traffic signals?", "category": "Traffic Signal", "options": ["A. There is a traffic light", "B. There is none", "C. There is a stop line marking", "D. There is a no left turn sign"], "answer_index": 1}
{"token": "295da6ec055ae8df320d3baf3db03ff1", "waymo_split": "test", "type": "image", "frame_index": 95, "question": "What is a safety-critical object?", "category": "Safety-critical Perception", "options": ["A. A vehicle stopped on the right shoulder (hazard lights on, unrelated to the direction of the vehicle)", "B. A truck moving slowly from a distance in the left opposite lane (in the outer lane of the two lanes in the opposite direction)", "C. A vehicle speeding in the left opposite lane near the lane closest to the vehicle (in the two lanes in the opposite direction)", "D. A pedestrian standing at the edge of the crosswalk ahead (waiting for the signal, no signs of entering the roadway)"], "answer_index": 2}
{"token": "295da6ec055ae8df320d3baf3db03ff1", "waymo_split": "test", "type": "image", "frame_index": 95, "question": "How do you think a safety-critical object will move?", "category": "Safety-critical Prediction", "options": ["A. Decelerating and moving straight; if my vehicle goes straight, the collision risk seems low.", "B. Moving to the right shoulder; even if my vehicle turns left, there is enough distance to avoid.", "C. Driving against traffic; if my vehicle turns left, there is a risk of collision at a close distance.", "D. Driving normally; if my vehicle turns right, there is enough distance to spare."], "answer_index": 2}
{"token": "295da6ec055ae8df320d3baf3db03ff1", "waymo_split": "test", "type": "image", "frame_index": 95, "question": "Are there any other safety-critical objects besides the first safety-critical object? If so, how will they be transported?", "category": "Safety-critical Prediction", "options": ["A. There is an oxygen tank, transported by two people", "B. None", "C. Lithium battery pack, transported in an insulated case", "D. There is a fire extinguisher, transported by cart"], "answer_index": 1}
{"token": "295da6ec055ae8df320d3baf3db03ff1", "waymo_split": "test", "type": "image", "frame_index": 95, "question": "What is the correlation in safety-critical situations?", "category": "Safety-critical scene Understanding", "options": ["A. Two-wheeler - person", "B. Car - car", "C. Car - person", "D. Car - two-wheeler"], "answer_index": 1}
{"token": "295da6ec055ae8df320d3baf3db03ff1", "waymo_split": "test", "type": "image", "frame_index": 95, "question": "What should I do to drive safely?", "category": "Safety-critical Planning", "options": ["A. Turn on the hazard lights, enter at a slow speed to yield to the other vehicle, and attempt a left turn or U-turn.", "B. Change to the right lane and if there is a gap, immediately proceed with a left turn or U-turn.", "C. Accelerate in the central variable lane to complete the left turn or U-turn before the other vehicle.", "D. Stop and wait in the central variable lane, then attempt a left turn or U-turn after the other vehicle has passed."], "answer_index": 3}
{"token": "295da6ec055ae8df320d3baf3db03ff1", "waymo_split": "test", "type": "image", "frame_index": 95, "question": "What is the safest choice just before entering a yellow signal: stop vs proceed?", "category": "Special Event", "options": ["A. Stop first, waiting is essential", "B. No signal, judgment is impossible", "C. Right turn is possible, proceed is prioritized", "D. Prioritize slowing down, proceed at a crawl"], "answer_index": 1}
{"token": "295da6ec055ae8df320d3baf3db03ff1", "waymo_split": "test", "type": "image", "frame_index": 95, "question": "Is lane changing possible? Which is safer, slowing down or changing lanes?", "category": "Safety-critical Planning", "options": ["A. Changing to the right lane is safer", "B. Currently slowing down is safer", "C. Changing lanes to overtake the car in front is safer", "D. Currently changing lanes is safer"], "answer_index": 1}
{"token": "295da6ec055ae8df320d3baf3db03ff1", "waymo_split": "test", "type": "image", "frame_index": 95, "question": "Where is the area that hides danger in the current frame?", "category": "Uncertainty", "options": ["A. Behind the bus", "B. None", "C. Behind the right corner", "D. Next to the parked vehicle"], "answer_index": 1}
{"token": "295da6ec055ae8df320d3baf3db03ff1", "waymo_split": "test", "type": "image", "frame_index": 95, "question": "What are the new exposure risk candidates in the following interval?", "category": "Safety-critical Prediction", "options": ["A. Falling objects", "B. Slipping", "C. None", "D. Falling rocks"], "answer_index": 2}
{"token": "295da6ec055ae8df320d3baf3db03ff1", "waymo_split": "test", "type": "image", "frame_index": 95, "question": "Who is responsible in a safety-critical situation? What is the cause?", "category": "Safety-critical scene Understanding", "options": ["A. Shared negligence (50:50). The right-turning vehicle rushed in while occupying the lane, and the left-turning vehicle also neglected to check the surroundings (merging at an intersection).", "B. The responsibility lies with the vehicle making the turn. When attempting a left turn or U-turn, the vehicle must not interfere with the traffic of vehicles that are already traveling (unprotected left turn or U-turn).", "C. The responsibility lies with the other vehicle. The straight-going vehicle entered the intersection without slowing down while exceeding the speed limit, making it difficult to avoid (straight priority situation).", "D. The responsibility lies with the road manager. The unprotected signs and U-turn guiding lines were faint, creating an environment where it was easy to misinterpret the direction (poor signage and markings)."], "answer_index": 1}
{"token": "295da6ec055ae8df320d3baf3db03ff1", "waymo_split": "test", "type": "image", "frame_index": 95, "question": "What situation might occur if the vehicle acted this way?", "category": "Counterfactual", "options": ["A. If the vehicle slows down and makes a right turn, there is a risk of side contact with a vehicle approaching straight from behind, which is traveling at a low speed.", "B. If the vehicle suddenly stops and waits to turn left, there is a risk of a rear-end collision with a following vehicle that is approaching at high speed.", "C. If the vehicle maintains acceleration while going straight, there is a risk of collision with a merging vehicle on the right, which is entering at a low speed.", "D. If the vehicle accelerates and turns left, there is a risk of collision with a vehicle traveling in the opposite lane, which is moving at high speed."], "answer_index": 3}
{"token": "295da6ec055ae8df320d3baf3db03ff1", "waymo_split": "test", "type": "image", "frame_index": 133, "question": "Based on the current appearance of the person/vehicle (two-wheeled), how do they intend to move?", "category": "Normal Perception & Prediction", "options": ["A. Attempting to turn left by crossing the left central line", "B. Attempting to turn right by sticking to the right lane", "C. Attempting to make a U-turn after changing to the left lane", "D. Going straight while keeping to the central line"], "answer_index": 0}
{"token": "295da6ec055ae8df320d3baf3db03ff1", "waymo_split": "test", "type": "image", "frame_index": 133, "question": "What is the yielding plan when an ambulance/fire truck approaches?", "category": "Special Event", "options": ["A. Stop before entering the intersection to secure a passage at the stop line. Yielding is currently possible.", "B. While making a right turn, change lanes immediately to yield. Yielding is currently possible.", "C. Yielding is possible after completing a U-turn or left turn. Yielding is currently not possible.", "D. Prioritize going straight and move slowly with hazard lights on. Yielding is currently possible."], "answer_index": 2}
{"token": "295da6ec055ae8df320d3baf3db03ff1", "waymo_split": "test", "type": "image", "frame_index": 133, "question": "What is correct from the perspective of Safety-critical Frame regarding Image Caption?", "category": "Safety-critical scene caption", "options": ["A. The left opposing lane is temporarily empty, and only vehicles waiting at a distance are stopped. There is enough space for the vehicle to accelerate left, so the risk of collision is low.", "B. In the left opposing lane, a gray vehicle is seen moving slowly in the lane closest to the vehicle. If the vehicle continues to turn left slowly, it can pass without interference.", "C. In the left opposing lane, there is a white vehicle moving quickly in the opposite direction in the lane farthest from the vehicle. If the vehicle accelerates to turn left, there is a risk of collision.", "D. There is a white vehicle cutting into the vehicle's direction in the right lane. If the vehicle stops instead of turning left, the risk of a rear-end collision may increase."], "answer_index": 2}
{"token": "295da6ec055ae8df320d3baf3db03ff1", "waymo_split": "test", "type": "image", "frame_index": 95, "question": "What is the method to avoid the blind spot next to a large vehicle?", "category": "Special Event", "options": ["A. Passing on the left side of the large vehicle is possible", "B. It is possible to determine if there is a large vehicle", "C. It is impossible to determine if there is a large vehicle", "D. It is impossible to determine if there is a small vehicle"], "answer_index": 2}
{"token": "295da6ec055ae8df320d3baf3db03ff1", "waymo_split": "test", "type": "image", "frame_index": 133, "question": "Which of the following is a correct description of traffic density?", "category": "Normal scene Understanding", "options": ["A. Surrounding vehicles are fast. My vehicle is at a similar speed. Two vehicles are driving side by side.", "B. Surrounding vehicles are fast. My vehicle is very slow. There are two vehicles driving behind.", "C. Surrounding vehicles are average. My vehicle is relatively fast. There are no vehicles driving behind.", "D. Surrounding vehicles are slow. My vehicle is at an average speed. There is one vehicle driving ahead."], "answer_index": 1}
{"token": "295da6ec055ae8df320d3baf3db03ff1", "waymo_split": "test", "type": "image", "frame_index": 133, "question": "Which of the following is a correct description of the environment?", "category": "Normal scene Understanding", "options": ["A. Dawn, fog", "B. Evening, rain", "C. Night, cloudy", "D. Day, clear"], "answer_index": 3}
{"token": "295da6ec055ae8df320d3baf3db03ff1", "waymo_split": "test", "type": "image", "frame_index": 133, "question": "What are the classifications of scenes?", "category": "Normal scene Understanding", "options": ["A. Divided highway", "B. Unpaved rural mountain road", "C. Narrow one-way alley", "D. Wide two-way road with a buffer lane"], "answer_index": 3}
{"token": "295da6ec055ae8df320d3baf3db03ff1", "waymo_split": "test", "type": "image", "frame_index": 133, "question": "What are the behavior restrictions in school zones/congested areas?", "category": "Special Event", "options": ["A. Must overtake", "B. Must maintain speed", "C. Must pass quickly", "D. Must drive slowly"], "answer_index": 3}
{"token": "295da6ec055ae8df320d3baf3db03ff1", "waymo_split": "test", "type": "image", "frame_index": 133, "question": "What is the description of a non-safety-critical object?", "category": "Normal Perception & Prediction", "options": ["A. A low shrub continues along the central divider by the road, with low-rise shops in the right front, and a lane splitting to the left in the back. The roadway is congested and moving slowly, with a dedicated right turn lane visible on the right.", "B. There are many palm trees on the sidewalk outside the road. Buildings are far in the left front. In the back, there is a lane to the right. Vehicles are driving quickly on the roadway. A left turn lane that can be accessed is visible across from the opposite lane (to the left of the vehicle).", "C. There are only sparse streetlights on the sidewalk and almost no street trees. A mountain ridge is visible far in the front, and in the back, there is an entrance ramp to an overpass straight ahead. Vehicles are slowing down and moving slowly, with a sign indicating the start of a bus-only lane in the right lane.", "D. There is a narrow flower bed on the central line with ornamental trees planted. A wide parking lot is visible in the right front, and there is an entrance and exit ramp to the left in the back. Vehicles entering the side road are sparse, and a U-turn area is visible just ahead near the central line."], "answer_index": 1}
{"token": "295da6ec055ae8df320d3baf3db03ff1", "waymo_split": "test", "type": "image", "frame_index": 133, "question": "Which of the following is a correct description of traffic signals?", "category": "Traffic Signal", "options": ["A. Stop line", "B. Red light", "C. None", "D. No right turn"], "answer_index": 2}
{"token": "295da6ec055ae8df320d3baf3db03ff1", "waymo_split": "test", "type": "image", "frame_index": 133, "question": "What is a safety-critical object?", "category": "Safety-critical Perception", "options": ["A. A vehicle traveling at high speed in the opposite lane close to the shoulder on the left side.", "B. A bus changing lanes in the right lane at the entrance of the intersection ahead.", "C. A stationary truck in the lane close to the median in the opposite lane on the left side.", "D. A passenger car moving slowly in the lane close to the shoulder in the same lane on the right side."], "answer_index": 0}
{"token": "295da6ec055ae8df320d3baf3db03ff1", "waymo_split": "test", "type": "image", "frame_index": 133, "question": "Is there a blind spot in your field of vision?", "category": "Uncertainty", "options": ["A. A blind spot occurs when entering a corner", "B. There is a blind spot on the right side", "C. There is no blind spot", "D. A blind spot occurs on the right side due to the A-pillar"], "answer_index": 2}
{"token": "295da6ec055ae8df320d3baf3db03ff1", "waymo_split": "test", "type": "image", "frame_index": 133, "question": "What is the answer regarding parked vehicles on the shoulder, the presence of a center line, and whether Ego is crossing the center line?", "category": "Normal Perception & Prediction", "options": ["A. No parked vehicles on the shoulder. No center line. Waiting to turn right within the lane.", "B. No parked vehicles on the shoulder. Center line exists. Attempting to turn left while crossing the center line.", "C. One parked vehicle on the shoulder. Center line exists. Driving straight without crossing the center line.", "D. No parked vehicles on the shoulder. Center line exists. Waiting to turn left without crossing the center line."], "answer_index": 1}
{"token": "295da6ec055ae8df320d3baf3db03ff1", "waymo_split": "test", "type": "image", "frame_index": 133, "question": "How do you think a safety-critical object will move?", "category": "Safety-critical Prediction", "options": ["A. Changing lanes to the right; if my vehicle turns left, the paths won't overlap, so it's passable.", "B. Moving slowly in the same direction; if my vehicle turns right, the distance is maintained, so it's safe.", "C. Driving against traffic; if my vehicle turns left, there is a risk of collision.", "D. Waiting in a stopped state; if my vehicle turns left, the risk of collision is minimal."], "answer_index": 2}
{"token": "295da6ec055ae8df320d3baf3db03ff1", "waymo_split": "test", "type": "image", "frame_index": 133, "question": "What should I do to drive safely?", "category": "Safety-critical Planning", "options": ["A. Enter the intersection and turn on the hazard lights, then make a left turn or U-turn regardless of the signal when there is a gap.", "B. Wait in the central variable lane and attempt a left turn or U-turn after the vehicle has passed, or try to make a left turn slowly.", "C. Change lanes to the right edge and wait briefly on the shoulder, then attempt a left turn or U-turn as soon as there is a gap with the following vehicle.", "D. As soon as you enter the central variable lane, quickly complete the left turn or U-turn without interruption."], "answer_index": 1}
{"token": "295da6ec055ae8df320d3baf3db03ff1", "waymo_split": "test", "type": "image", "frame_index": 133, "question": "What is the correlation in safety-critical situations?", "category": "Safety-critical scene Understanding", "options": ["A. Car - Two-wheeler", "B. Person - Two-wheeler", "C. Car - Person", "D. Car - Car"], "answer_index": 3}
{"token": "295da6ec055ae8df320d3baf3db03ff1", "waymo_split": "test", "type": "image", "frame_index": 133, "question": "Are there any other safety-critical objects besides the first safety-critical object? If so, how will they be moved?", "category": "Safety-critical Prediction", "options": ["A. The fire extinguisher is moved to the left", "B. None", "C. The AED is moved to the front", "D. The oxygen tank is pulled back"], "answer_index": 1}
{"token": "295da6ec055ae8df320d3baf3db03ff1", "waymo_split": "test", "type": "image", "frame_index": 133, "question": "Where is the area that hides danger in the current frame?", "category": "Uncertainty", "options": ["A. Behind the left A-pillar", "B. Bottom right corner", "C. Between parked vehicles", "D. None"], "answer_index": 3}
{"token": "295da6ec055ae8df320d3baf3db03ff1", "waymo_split": "test", "type": "image", "frame_index": 133, "question": "What is the safest choice just before entering a yellow signal: stop vs proceed?", "category": "Special Event", "options": ["A. Immediate stop, the best choice", "B. No signal, unable to judge", "C. Decelerate and proceed, safer", "D. Left turn signal, can proceed"], "answer_index": 1}
{"token": "295da6ec055ae8df320d3baf3db03ff1", "waymo_split": "test", "type": "image", "frame_index": 133, "question": "What are the new exposure risk candidates in the following interval?", "category": "Safety-critical Prediction", "options": ["A. None", "B. Fall", "C. Slip", "D. Collision"], "answer_index": 0}
{"token": "295da6ec055ae8df320d3baf3db03ff1", "waymo_split": "test", "type": "image", "frame_index": 133, "question": "Who is responsible in a safety-critical situation? What is the cause?", "category": "Safety-critical scene Understanding", "options": ["A. The other vehicle is at fault. The straight-moving vehicle changed lanes abruptly without signaling, blocking the turning vehicle and causing a collision (violation of lane change rules).", "B. The vehicle itself is at fault. When attempting a left turn or U-turn, the vehicle must not interfere with the movement of vehicles that are already traveling (unprotected left turn or U-turn).", "C. The other vehicle is at fault. The straight-moving vehicle entered the intersection recklessly on a yellow light, making contact with the turning vehicle (violation of signal compliance obligation).", "D. Both parties are at fault. The left-turning vehicle's poor judgment in entering and the straight-moving vehicle's failure to pay attention in front led to the accident (violation of mutual duty of care)."], "answer_index": 1}
{"token": "295da6ec055ae8df320d3baf3db03ff1", "waymo_split": "test", "type": "image", "frame_index": 133, "question": "What is the method to avoid the blind spot next to a large vehicle?", "category": "Special Event", "options": ["A. Maintain a constant speed right next to the large vehicle", "B. Cannot determine if there is no large vehicle", "C. Check only the side mirror", "D. Slowly overtake in the right lane"], "answer_index": 1}
{"token": "295da6ec055ae8df320d3baf3db03ff1", "waymo_split": "test", "type": "image", "frame_index": 133, "question": "What situation might occur if the self-driving car behaved this way?", "category": "Counterfactual", "options": ["A. If the self-driving car slows down and turns right, there is a risk of colliding with pedestrians crossing at the crosswalk who enter according to the signal.", "B. If the self-driving car accelerates and turns left, there is a risk of colliding with a vehicle driving in the opposite lane. The vehicle in the opposite lane is driving at high speed.", "C. If the self-driving car accelerates straight, the gap with the car in front rapidly narrows, creating a risk of rear-end collision. The car in front suddenly brakes at a yellow light.", "D. If the self-driving car accelerates suddenly to change lanes, there is a risk of a side collision with a motorcycle overtaking from behind. The motorcycle approaches from the blind spot."], "answer_index": 1}
{"token": "295da6ec055ae8df320d3baf3db03ff1", "waymo_split": "test", "type": "image", "frame_index": 133, "question": "What is the guideline for the behavior of my vehicle based on the actions of a safety-critical object?", "category": "Safety-critical Planning", "options": ["A. Even if the safety-critical object shows an intention to yield, my vehicle should prioritize completing the straight path and handle the left turn as a U-turn in the next section. This will make the flow smoother. There are almost no hazards in the opposite lane.", "B. Even if the safety-critical object is driving at high speed and slows down while signaling to yield, my vehicle should hold off on the left turn and continue waiting at the stop line. It is correct to make the left turn in the next cycle after the other vehicle has passed. There are various hazards in the opposite lane.", "C. The safety-critical object may suddenly decelerate while driving at high speed to yield priority for my vehicle's left turn. In this case, my vehicle should accelerate to complete the left turn, allowing the safety-critical object to proceed after my vehicle's turn. There is one hazard in the opposite lane.", "D. If the safety-critical object reduces speed, it may be safer to change the route to a right turn instead of a left turn. My vehicle should maintain deceleration and move into the right lane to avoid the intersection. Hazards in the opposite lane are not a consideration."], "answer_index": 2}
{"token": "29761def635ea6c99c236de0f6d1c6ae", "waymo_split": "test", "type": "video", "frame_index": null, "question": "Where is the safety-critical situation in the video?", "category": "Temporal Grounding", "options": ["A. 4/4", "B. 3/4", "C. 2/4", "D. 1/4"], "answer_index": 0}
{"token": "29761def635ea6c99c236de0f6d1c6ae", "waymo_split": "test", "type": "video", "frame_index": null, "question": "Is there a special situation?", "category": "Special Event", "options": ["A. School bus stop", "B. Covered by rainwater", "C. None", "D. Fire truck passage"], "answer_index": 2}
{"token": "29761def635ea6c99c236de0f6d1c6ae", "waymo_split": "test", "type": "video", "frame_index": null, "question": "Which of the following is a correct description of traffic density?", "category": "Normal scene Understanding", "options": ["A. Fast, two surrounding vehicles. No slope.", "B. Slow, three surrounding vehicles. Slight slope.", "C. Fast, no surrounding vehicles. Downhill.", "D. Slow, five surrounding vehicles. Gentle uphill."], "answer_index": 0}
{"token": "29761def635ea6c99c236de0f6d1c6ae", "waymo_split": "test", "type": "video", "frame_index": null, "question": "What is the classification of the scene?", "category": "Normal scene Understanding", "options": ["A. 4-lane urban road (but both end lanes are occupied by parked vehicles on the shoulder)", "B. 2-lane residential road (but one lane has a long line of parked vehicles on the street)", "C. 6-lane urban road (but both end lanes are designated as bus-only lanes and are empty)", "D. 4-lane urban road (but both end lanes are separated for bicycles, making it impossible for regular vehicles to pass)"], "answer_index": 0}
{"token": "29761def635ea6c99c236de0f6d1c6ae", "waymo_split": "test", "type": "video", "frame_index": null, "question": "Which of the following is a correct description of road alignment?", "category": "Normal Perception & Prediction", "options": ["A. Straight", "B. Right turn", "C. Overtaking", "D. Left turn"], "answer_index": 0}
{"token": "29761def635ea6c99c236de0f6d1c6ae", "waymo_split": "test", "type": "video", "frame_index": null, "question": "What is correct regarding Video Summary from a Safety-critical Scene perspective?", "category": "Safety-critical scene caption", "options": ["A. There is a truck driving slowly in front of the vehicle. The vehicle reduces speed to create distance and then overtakes in the left lane, which is clear for lane change. It then safely returns to its original lane.", "B. The vehicle gradually slows down upon noticing a stopped vehicle blocking its lane. Judging that the left opposite lane has traffic and is dangerous, the vehicle carefully overtakes on the right shoulder. After overtaking, it returns to its original lane.", "C. There is a stopped vehicle obstructing the vehicle's lane directly ahead. Upon noticing this vehicle, the vehicle slows down. After confirming that there are no oncoming vehicles in the left opposite lane, the vehicle attempts to overtake the stopped vehicle using that lane.", "D. The vehicle confirms a stopped vehicle in its lane and slows down to a stop. There are oncoming vehicles in the left opposite lane, leaving no room for overtaking. After waiting briefly, when the vehicle in front moves, the vehicle follows suit."], "answer_index": 2}
{"token": "29761def635ea6c99c236de0f6d1c6ae", "waymo_split": "test", "type": "video", "frame_index": null, "question": "Which of the following is correct regarding Video Summary from the perspective of a Normal Scene?", "category": "Normal scene caption", "options": ["A. The vehicle drives to the right on a four-lane urban road. The center line is clearly marked, and both lanes at the ends are available for driving. There are few parked cars on the shoulder, so there is no significant disruption to the flow. There are multi-story shops on both sides, and pedestrians pass by occasionally. Vehicles in the opposite lane do not cross the center line and stay in their lanes as they pass by. When the vehicle encounters a car stopped with its turn signal on in front of its lane, it changes lanes to the right and passes without any issues.", "B. The vehicle drives to the right on a one-way two-lane road. There is no center line, and it is a one-way section with no oncoming traffic. There are parked cars lined up on one side, but there are two driving lanes available. Low buildings are lined up on both sides, and trees are sparsely planted. There is a vehicle with its hazard lights on that has stopped briefly in the front lane, so the vehicle slows down and waits behind it. After a moment, when the vehicle departs, the vehicle continues straight and passes by.", "C. The vehicle drives slowly to the right on a two-lane residential road. A yellow center line runs along the road, and there are almost no parked cars on the shoulder. Low houses and shops line the roadside, and the road width is relatively spacious. After one oncoming vehicle passes, the vehicle notices a delivery truck with its hazard lights on stopped in the front lane. The vehicle carefully overtakes it using the empty space on the right without moving to the left.", "D. The vehicle drives to the right on a four-lane urban road. However, both outer lanes are not drivable due to parked cars on the shoulder (meaning only two lanes are available for driving in both directions). There is no center line, and there are many parked cars on the shoulder. Low buildings are lined up outside the road on both sides. There are also vehicles driving in the opposite lane, which pass by the vehicle. There is a vehicle stopped with its turn signal on in the vehicle's driving lane. The vehicle notices this and slows down, and since there are no vehicles coming from the opposite lane, it overtakes through the left opposite lane."], "answer_index": 3}
{"token": "29761def635ea6c99c236de0f6d1c6ae", "waymo_split": "test", "type": "video", "frame_index": null, "question": "Which of the following is a correct description of the environment?", "category": "Normal scene Understanding", "options": ["A. Evening, cloudy", "B. Night, rain", "C. Morning, fog", "D. Day, clear"], "answer_index": 3}
{"token": "29761def635ea6c99c236de0f6d1c6ae", "waymo_split": "test", "type": "video", "frame_index": null, "question": "What is the answer regarding parked vehicles on the shoulder, the presence of a center line, and whether Ego crosses the center line?", "category": "Normal Perception & Prediction", "options": ["A. There are a few parked vehicles on the shoulder. There is a double solid line. My vehicle crosses the center line to turn left.", "B. There are many parked vehicles on the shoulder. There is no center line. My vehicle crosses the center line to overtake.", "C. There are no parked vehicles on the shoulder. There is a center line. My vehicle does not cross the center line.", "D. There is one parked vehicle on the shoulder. There is a dashed line. My vehicle does not cross the center line."], "answer_index": 1}
{"token": "29761def635ea6c99c236de0f6d1c6ae", "waymo_split": "test", "type": "video", "frame_index": null, "question": "Which of the following is a correct description of traffic signals?", "category": "Traffic Signal", "options": ["A. Caution", "B. Slow down", "C. None", "D. Stop"], "answer_index": 2}
{"token": "29761def635ea6c99c236de0f6d1c6ae", "waymo_split": "test", "type": "video", "frame_index": null, "question": "What is a safety-critical object?", "category": "Safety-critical Perception", "options": ["A. A vehicle that is stopped with its turn signal on, not driving in the right lane.", "B. A vehicle that is driving in the opposite lane with its turn signal on and moving slowly.", "C. A vehicle that is stopped with its hazard lights on in the shoulder next to its own lane.", "D. A vehicle that is stopped with its turn signal on, not driving in its own lane."], "answer_index": 3}
{"token": "29761def635ea6c99c236de0f6d1c6ae", "waymo_split": "test", "type": "video", "frame_index": null, "question": "Are there any blind spots in your field of vision?", "category": "Uncertainty", "options": ["A. The gap between parked vehicles on the right shoulder is a blind spot", "B. The right bus lane is a blind spot", "C. The center of the right lane is a blind spot", "D. The gap between parked vehicles on the left shoulder is a blind spot"], "answer_index": 0}
{"token": "29761def635ea6c99c236de0f6d1c6ae", "waymo_split": "test", "type": "video", "frame_index": null, "question": "What is the correlation in safety-critical situations?", "category": "Safety-critical scene Understanding", "options": ["A. Car - Two-wheeler", "B. Car - Person", "C. Two-wheeler - Person", "D. Car - Car"], "answer_index": 3}
{"token": "29761def635ea6c99c236de0f6d1c6ae", "waymo_split": "test", "type": "video", "frame_index": null, "question": "Summary of Ego (self-vehicle) behavior before safety-critical situations", "category": "Normal scene Understanding", "options": ["A. Left turn driving", "B. Right turn driving", "C. Straight driving", "D. Lane change"], "answer_index": 2}
{"token": "29761def635ea6c99c236de0f6d1c6ae", "waymo_split": "test", "type": "image", "frame_index": 29, "question": "Based on the current appearance of the person/vehicle (two-wheeled), how do you intend to move?", "category": "Normal Perception & Prediction", "options": ["A. Right turn", "B. Attempt a U-turn", "C. Go straight", "D. Left turn"], "answer_index": 2}
{"token": "29761def635ea6c99c236de0f6d1c6ae", "waymo_split": "test", "type": "image", "frame_index": 29, "question": "Which of the following is correct as an Image Caption from the perspective of a Normal Frame?", "category": "Normal scene caption", "options": ["A. Driving on a three-lane one-way street. There is a construction zone in the center, prompting a lane change to the left. Vehicles waiting at the traffic signal in front are lined up. A motorcycle with its hazard lights on is slowly approaching from behind.", "B. A four-lane urban road, with both outer lanes available for driving. The flow is smooth with no parked cars on the shoulder. A bus is traveling in the same direction on the left front. A truck is still following from a distance behind.", "C. Driving on a two-lane suburban road. Both edges are clear, causing no obstruction to driving. A bicycle is slowly moving in the same lane on the right front. A passenger car quickly overtakes from the right behind.", "D. Driving on a four-lane city road. However, both outer lanes are not drivable due to parked cars on the shoulder. Vehicles are coming from the opposite lane on the left front (in the distance). There is also a truck that has already passed using the left opposite lane behind."], "answer_index": 3}
{"token": "29761def635ea6c99c236de0f6d1c6ae", "waymo_split": "test", "type": "video", "frame_index": null, "question": "What situation might have occurred if the vehicle had behaved this way?", "category": "Counterfactual", "options": ["A. If the vehicle had gone straight without overtaking on the left lane, a collision could have occurred by hitting a vehicle that was stopped in the oncoming lane.", "B. If the vehicle had slightly veered to the right shoulder while proceeding, a contact accident could have occurred with a two-wheeled vehicle that was stopped on the shoulder.", "C. If the vehicle had suddenly decelerated and stopped, a rear-end collision could have occurred with the following vehicle.", "D. If the vehicle had gone straight without overtaking on the left lane, the vehicle in front might have moved slowly, allowing it to pass without any significant danger."], "answer_index": 0}
{"token": "29761def635ea6c99c236de0f6d1c6ae", "waymo_split": "test", "type": "image", "frame_index": 29, "question": "What are the behavioral restrictions in school zones/congested areas?", "category": "Special Event", "options": ["A. Must accelerate", "B. Must overtake", "C. Must use the horn", "D. Must drive slowly"], "answer_index": 3}
{"token": "29761def635ea6c99c236de0f6d1c6ae", "waymo_split": "test", "type": "image", "frame_index": 29, "question": "What is the plan for yielding when an ambulance/fire truck approaches?", "category": "Special Event", "options": ["A. Slow down and yield", "B. Proceed with emergency lights on", "C. Honk and overtake", "D. Accelerate and pass"], "answer_index": 0}
{"token": "29761def635ea6c99c236de0f6d1c6ae", "waymo_split": "test", "type": "image", "frame_index": 29, "question": "What are the classifications of scenes?", "category": "Normal scene Understanding", "options": ["A. Unpaved", "B. Urban", "C. Highway", "D. Residential area"], "answer_index": 1}
{"token": "29761def635ea6c99c236de0f6d1c6ae", "waymo_split": "test", "type": "image", "frame_index": 29, "question": "Which of the following is a correct description of the environment?", "category": "Normal scene Understanding", "options": ["A. Evening, cloudy", "B. Day, clear", "C. Night, rain", "D. Morning, fog"], "answer_index": 1}
{"token": "29761def635ea6c99c236de0f6d1c6ae", "waymo_split": "test", "type": "image", "frame_index": 29, "question": "Which of the following is a correct description of traffic density?", "category": "Normal scene Understanding", "options": ["A. Fast, with one vehicle in front and one behind. Many parked vehicles on the shoulder.", "B. Slow, with one vehicle on the left and one on the right. No parked vehicles on the shoulder.", "C. Slow, with two vehicles in front and none behind. Almost no parked vehicles on the shoulder.", "D. Fast, with no vehicles in front and two behind. Few parked vehicles on the shoulder."], "answer_index": 0}
{"token": "29761def635ea6c99c236de0f6d1c6ae", "waymo_split": "test", "type": "image", "frame_index": 29, "question": "Which of the following is a correct description of traffic signals?", "category": "Traffic Signal", "options": ["A. None, one crosswalk behind (no traffic light)", "B. Right stop sign, intersection traffic light", "C. Road surface left turn arrow, front flashing signal", "D. One crosswalk ahead (with traffic light)"], "answer_index": 0}
{"token": "29761def635ea6c99c236de0f6d1c6ae", "waymo_split": "test", "type": "image", "frame_index": 29, "question": "What is the description of a non-safety-critical object?", "category": "Normal Perception & Prediction", "options": ["A. A few construction cones in the center of the lane. A small park behind a low wall on the left. Shops and a bus stop on the right. The road ahead has a gentle curve to the right.", "B. Parked vehicles on the shoulder along the sidewalk. Buildings lined up on the left. A fence on the right side of the sidewalk and a parking lot beyond it. The lane we are currently driving in stretches straight ahead.", "C. Taxis are stopped on the right shoulder. A wide open space and a gas station on the left. A bike lane without a fence at the far right. The lane ahead narrows at the merging section.", "D. A large supermarket and a wide parking lot on the left. Apartment buildings and a low fence on the right. A few pedestrians between the street trees. A traffic signal intersection is close ahead."], "answer_index": 1}
{"token": "29761def635ea6c99c236de0f6d1c6ae", "waymo_split": "test", "type": "image", "frame_index": 29, "question": "What is the answer regarding parked vehicles on the shoulder, the presence of a center line, and whether Ego crosses the center line?", "category": "Normal Perception & Prediction", "options": ["A. There are many parked vehicles on the shoulder. There is a center line. Ego crosses the center.", "B. There are many parked vehicles on the shoulder. There is no center line. Ego does not cross the center.", "C. There are few parked vehicles on the shoulder. There is a center line. Ego does not cross the center.", "D. There are no parked vehicles on the shoulder. There is no center line. Ego crosses the center."], "answer_index": 1}
{"token": "29761def635ea6c99c236de0f6d1c6ae", "waymo_split": "test", "type": "image", "frame_index": 29, "question": "What is a safety-critical object?", "category": "Safety-critical Perception", "options": ["A. Brake", "B. Airbag", "C. None", "D. Defibrillator"], "answer_index": 2}
{"token": "29761def635ea6c99c236de0f6d1c6ae", "waymo_split": "test", "type": "image", "frame_index": 29, "question": "Is there a blind spot in your field of vision?", "category": "Uncertainty", "options": ["A. Blind spot between parked cars on the right shoulder ×", "B. Blind spot between parked cars on the right shoulder ✓", "C. Blind spot between parked cars on the left shoulder ✓", "D. Blind spot at the entrance and exit of the right bicycle lane ✓"], "answer_index": 1}
{"token": "29761def635ea6c99c236de0f6d1c6ae", "waymo_split": "test", "type": "image", "frame_index": 29, "question": "Is there any other safety-critical object besides the first safety-critical object? If so, how will it be moved?", "category": "Safety-critical Prediction", "options": ["A. Yes, cover it with a protective cover and move to the left", "B. Yes, move slowly to the right", "C. Yes, lift it with a clamp and move backward", "D. No"], "answer_index": 3}
{"token": "29761def635ea6c99c236de0f6d1c6ae", "waymo_split": "test", "type": "image", "frame_index": 29, "question": "What is the safer choice just before entering a yellow signal: stop vs pass?", "category": "Special Event", "options": ["A. No signal, so judgment is impossible", "B. Slowing down and passing is safer", "C. Stopping is safe when waiting to turn left", "D. Passing is recommended when a car is close behind"], "answer_index": 0}
{"token": "29761def635ea6c99c236de0f6d1c6ae", "waymo_split": "test", "type": "image", "frame_index": 29, "question": "Is lane change possible? Which is safer between slowing down and changing lanes?", "category": "Safety-critical Planning", "options": ["A. Changing lanes is preferred; slowing down is unnecessary (the left lane is open in the same direction).", "B. Changing lanes is safer; it is possible to the right (there is space in the current driving direction lane).", "C. Maintaining speed is safer; it is possible to change to the left (there is an auxiliary lane in the same direction).", "D. Slowing down is safer; changing lanes is not possible (the left lane is only available for oncoming traffic)."], "answer_index": 3}
{"token": "29761def635ea6c99c236de0f6d1c6ae", "waymo_split": "test", "type": "image", "frame_index": 29, "question": "How do you think safety-critical objects should be moved?", "category": "Safety-critical Prediction", "options": ["A. Straight", "B. Rotation", "C. None", "D. Descent"], "answer_index": 2}
{"token": "29761def635ea6c99c236de0f6d1c6ae", "waymo_split": "test", "type": "image", "frame_index": 29, "question": "Where is the area that hides danger in the current frame?", "category": "Uncertainty", "options": ["A. Gap between parked vehicles on the right shoulder", "B. Gap between parked vehicles on the left shoulder", "C. Gap next to the central median flower bed", "D. Gap between the large truck and the passenger car in front"], "answer_index": 0}
{"token": "29761def635ea6c99c236de0f6d1c6ae", "waymo_split": "test", "type": "image", "frame_index": 52, "question": "Based on the current appearance of the person/vehicle (two-wheeled), how do they intend to move?", "category": "Normal Perception & Prediction", "options": ["A. Waiting at a stop", "B. Entering a left turn", "C. Preparing for a right turn", "D. Driving straight"], "answer_index": 3}
{"token": "29761def635ea6c99c236de0f6d1c6ae", "waymo_split": "test", "type": "image", "frame_index": 29, "question": "What are the newly exposed risk candidates in the following section?", "category": "Safety-critical Prediction", "options": ["A. A motorcycle may quickly exit from the front alley towards the pedestrian road.", "B. A bicycle may emerge from between parked cars on the right and enter the roadway.", "C. A person may suddenly appear towards the roadway from between parked cars on the right shoulder.", "D. A person may suddenly appear towards the sidewalk from between parked cars on the left shoulder."], "answer_index": 2}
{"token": "29761def635ea6c99c236de0f6d1c6ae", "waymo_split": "test", "type": "image", "frame_index": 29, "question": "What is the method to avoid the blind spot next to a large vehicle?", "category": "Special Event", "options": ["A. It is impossible to judge as the large vehicle (truck) has already passed in the opposite direction.", "B. It is safe to pass closely while maintaining speed with the large vehicle (cargo).", "C. It is acceptable to pass along the blind spot behind the large vehicle (trailer).", "D. It is possible to overtake on the right since the large vehicle (bus) is going in the same direction."], "answer_index": 0}
{"token": "29761def635ea6c99c236de0f6d1c6ae", "waymo_split": "test", "type": "image", "frame_index": 52, "question": "What is the plan for yielding when an ambulance/fire truck approaches?", "category": "Special Event", "options": ["A. Slow down and yield", "B. Accelerate and pass first", "C. Proceed with emergency lights on", "D. Maintain speed and proceed"], "answer_index": 0}
{"token": "29761def635ea6c99c236de0f6d1c6ae", "waymo_split": "test", "type": "image", "frame_index": 52, "question": "What are the behavioral restrictions in school zones/congested areas?", "category": "Special Event", "options": ["A. Must come to a stop", "B. Must use the horn", "C. Must use high beams", "D. Must drive slowly"], "answer_index": 3}
{"token": "29761def635ea6c99c236de0f6d1c6ae", "waymo_split": "test", "type": "image", "frame_index": 52, "question": "Which of the following is a correct description of traffic density?", "category": "Normal scene Understanding", "options": ["A. Slow, there is one vehicle behind", "B. Fast, there is one vehicle in front", "C. Fast, there is one vehicle on the left", "D. Slow, there are two vehicles in front"], "answer_index": 1}
{"token": "29761def635ea6c99c236de0f6d1c6ae", "waymo_split": "test", "type": "image", "frame_index": 52, "question": "What are the classifications of scenes?", "category": "Normal scene Understanding", "options": ["A. Highway", "B. City", "C. Residential area", "D. Unpaved"], "answer_index": 1}
{"token": "29761def635ea6c99c236de0f6d1c6ae", "waymo_split": "test", "type": "image", "frame_index": 52, "question": "Which of the following is a correct description of the environment?", "category": "Normal scene Understanding", "options": ["A. Night, rain", "B. Dawn, fog", "C. Dusk, cloudy", "D. Day, clear"], "answer_index": 3}
{"token": "29761def635ea6c99c236de0f6d1c6ae", "waymo_split": "test", "type": "image", "frame_index": 52, "question": "Which of the following is a correct description of traffic signals?", "category": "Traffic Signal", "options": ["A. Speed limit 50", "B. None", "C. Left turn signal", "D. Stop line marking"], "answer_index": 1}
{"token": "29761def635ea6c99c236de0f6d1c6ae", "waymo_split": "test", "type": "image", "frame_index": 52, "question": "What is the description of a non-safety-critical object?", "category": "Normal Perception & Prediction", "options": ["A. There are construction fences and excavation equipment on the right side of the road. On the left, there is an empty lot, container boxes, and several streetlights. Trees and flower beds continue along the right sidewalk. The road ahead branches into a right turn lane after a downhill.", "B. A two-way road with a central divider. On the left, there is a low park with benches and several trees. On the right, there is a bus stop next to shops. The road ahead leads into a gentle left turn.", "C. Vehicles parked on the shoulder by the crosswalk. On the left, there are buildings lined up and one streetlight. On the right, there is a fence next to the sidewalk and a parking lot further right. The lane for straight driving is extended ahead.", "D. Bicycles and electric scooters parked on a narrow one-way alley. On the left, there are residential walls and several mailboxes. On the right, there are sporadic street vendors and utility poles. Ahead, there is an intersection with a traffic light."], "answer_index": 2}
{"token": "29761def635ea6c99c236de0f6d1c6ae", "waymo_split": "test", "type": "image", "frame_index": 52, "question": "What is the answer regarding parked vehicles on the shoulder, the presence of a center line, and whether Ego crosses the center line?", "category": "Normal Perception & Prediction", "options": ["A. A parked vehicles on the shoulder are few. There is a center line. Ego does not cross the center.", "B. There are many parked vehicles on the shoulder. There is no center line. Ego does not cross the center.", "C. There are many parked vehicles on the shoulder. There is a center line. Ego slightly crosses the center.", "D. There are no parked vehicles on the shoulder. There is a center line. Ego crosses the center."], "answer_index": 1}
{"token": "29761def635ea6c99c236de0f6d1c6ae", "waymo_split": "test", "type": "image", "frame_index": 52, "question": "What is a safety-critical object?", "category": "Safety-critical Perception", "options": ["A. Emergency stop button", "B. Oxygen tank", "C. None", "D. Fire extinguisher"], "answer_index": 2}
{"token": "29761def635ea6c99c236de0f6d1c6ae", "waymo_split": "test", "type": "image", "frame_index": 52, "question": "What is the safer choice just before entering a yellow signal: stop vs pass?", "category": "Special Event", "options": ["A. Stopping is definitely safer", "B. Cannot judge due to no signal", "C. Maintaining speed and passing is safer", "D. Following the car in front is safer"], "answer_index": 1}
{"token": "29761def635ea6c99c236de0f6d1c6ae", "waymo_split": "test", "type": "image", "frame_index": 52, "question": "Is there any other safety-critical object besides the first safety-critical object? If so, how will it be moved?", "category": "Safety-critical Prediction", "options": ["A. Yes, the emergency stop switch will be moved to the wall away from the workbench.", "B. Yes, the first aid kit will be placed next to the entrance.", "C. No.", "D. Yes, the fire extinguisher will be moved to the right wall."], "answer_index": 2}
{"token": "29761def635ea6c99c236de0f6d1c6ae", "waymo_split": "test", "type": "image", "frame_index": 52, "question": "Is lane changing possible? Which is safer between slowing down and changing lanes?", "category": "Safety-critical Planning", "options": ["A. Changing to the left lane is safer; slowing down is not recommended (the left lane in the same direction is open and can be used).", "B. No need to slow down; lane changing is recommended (only the right one-way lane is currently available for driving).", "C. Changing lanes is safer; changing to the right is possible (the right lane is currently available for driving).", "D. Slowing down is safer; lane changing is not possible (only the left opposite lane is currently available for driving)."], "answer_index": 3}
{"token": "29761def635ea6c99c236de0f6d1c6ae", "waymo_split": "test", "type": "image", "frame_index": 52, "question": "How do you think safety-critical objects will move?", "category": "Safety-critical Prediction", "options": ["A. None", "B. Move to the left", "C. Move straight", "D. Vibrate"], "answer_index": 0}
{"token": "29761def635ea6c99c236de0f6d1c6ae", "waymo_split": "test", "type": "image", "frame_index": 52, "question": "Where is the area that hides danger by being obscured in the current frame?", "category": "Uncertainty", "options": ["A. Gap between left-turn waiting vehicles at the intersection ahead", "B. Gap between the end of the median and the opposite lane", "C. Gap behind the bus stopped at the left bus stop", "D. Gap between parked vehicles on the right shoulder"], "answer_index": 3}
{"token": "29761def635ea6c99c236de0f6d1c6ae", "waymo_split": "test", "type": "image", "frame_index": 52, "question": "Are there any blind spots in your field of vision?", "category": "Uncertainty", "options": ["A. Blind spot next to the right curb area.", "B. Blind spot behind the bus parked on the right.", "C. Blind spot between parked vehicles on the right shoulder.", "D. Blind spot between parked vehicles on the left shoulder."], "answer_index": 2}
{"token": "29761def635ea6c99c236de0f6d1c6ae", "waymo_split": "test", "type": "image", "frame_index": 72, "question": "Based on the current appearance of the person/vehicle (two-wheeled), how do you intend to move?", "category": "Normal Perception & Prediction", "options": ["A. Going straight", "B. Entering left turn", "C. Attempting a U-turn", "D. Proceeding right turn"], "answer_index": 0}
{"token": "29761def635ea6c99c236de0f6d1c6ae", "waymo_split": "test", "type": "image", "frame_index": 52, "question": "What situation might occur if the self-driving car behaved like this?", "category": "Counterfactual", "options": ["A. If the self-driving car makes a sharp right turn at an intersection, there is a risk of colliding with pedestrians crossing on the pedestrian signal.", "B. If the self-driving car suddenly drives into the left opposite lane, there is a risk of colliding with a red vehicle approaching from the opposite lane.", "C. If the self-driving car quickly moves to the right shoulder, there is a risk of contacting a stationary white van.", "D. If the self-driving car maintains only the left lane and goes straight, there is a risk of colliding with a black sedan ahead."], "answer_index": 1}
{"token": "29761def635ea6c99c236de0f6d1c6ae", "waymo_split": "test", "type": "image", "frame_index": 52, "question": "What are the new exposure risk candidates in the following section?", "category": "Safety-critical Prediction", "options": ["A. A person may suddenly appear from between parked cars on the right shoulder towards the road.", "B. A bicycle may suddenly dart out from between parked cars on the left towards the road.", "C. A passenger may suddenly dash across the road in front of the bus stop on the opposite side.", "D. A delivery motorcycle may urgently merge onto the main road from the alley exit ahead without signaling."], "answer_index": 0}
{"token": "29761def635ea6c99c236de0f6d1c6ae", "waymo_split": "test", "type": "image", "frame_index": 52, "question": "What is the method to avoid the blind spot next to a large vehicle?", "category": "Special Event", "options": ["A. It is impossible to judge since the large vehicle (truck) has already passed in the opposite direction.", "B. Since the trailer is stopped, move to the right and pass outside the blind spot.", "C. Since the large vehicle (bus) is traveling in the same direction, quickly overtake in the left lane.", "D. Since the dump truck is waiting to enter the intersection, stay close to the center line and proceed straight."], "answer_index": 0}
{"token": "29761def635ea6c99c236de0f6d1c6ae", "waymo_split": "test", "type": "image", "frame_index": 72, "question": "Which of the following is correct as an Image Caption from the perspective of a Normal Frame?", "category": "Normal scene caption", "options": ["A. Driving along a four-lane urban road. There are almost no parked cars on the shoulder, so all lanes are available. A red vehicle in the left lane ahead is changing lanes abruptly to overtake.", "B. Driving on a six-lane urban road. Both outer lanes are empty, allowing for driving (no shoulder parking). A red vehicle in the opposite left lane is approaching from a distance (low relative speed). The leading vehicle in the lane ahead is moving slowly.", "C. Driving on a four-lane urban road. However, both outer lanes are blocked by parked cars, making them unusable. A red vehicle in the opposite left lane is passing by my vehicle (high relative speed). The leading vehicle in the lane ahead is stopped with its brake lights on.", "D. Driving on a two-lane one-way road. The outer lanes are reserved for buses and are empty (no driving restrictions). A red car on the opposite left side is stopped at a traffic signal. The leading vehicle in the lane ahead is still moving (no braking)."], "answer_index": 2}
{"token": "29761def635ea6c99c236de0f6d1c6ae", "waymo_split": "test", "type": "image", "frame_index": 72, "question": "What is correct as an Image Caption from the perspective of Safety-critical Frame?", "category": "Safety-critical scene caption", "options": ["A. A vehicle with its turn signal on is trying to merge into the main lane from the right lane. The vehicle is starting to change to the left lane to create space.", "B. The leading vehicle in the oncoming lane is gradually accelerating and moving forward. (The turn signal is off) The vehicle is gradually decelerating to match the distance with the vehicle in front.", "C. The vehicle leading in the oncoming lane is stopped. (With the turn signal on) The vehicle is continuing to drive in the current lane at the same speed.", "D. The leading vehicle in the oncoming lane is driving at a normal speed with the turn signal off. The vehicle is accelerating to the left to overtake."], "answer_index": 2}
{"token": "29761def635ea6c99c236de0f6d1c6ae", "waymo_split": "test", "type": "image", "frame_index": 72, "question": "What is the plan for yielding when an ambulance/fire truck approaches?", "category": "Special Event", "options": ["A. Proceed while honking the horn", "B. Slow down and yield", "C. Only turn on the hazard lights", "D. Accelerate and pass through"], "answer_index": 1}
{"token": "29761def635ea6c99c236de0f6d1c6ae", "waymo_split": "test", "type": "image", "frame_index": 72, "question": "Which of the following is a correct description of the environment?", "category": "Normal scene Understanding", "options": ["A. Day, clear", "B. Night, cloudy", "C. Dawn, fog", "D. Evening, rain"], "answer_index": 0}
{"token": "29761def635ea6c99c236de0f6d1c6ae", "waymo_split": "test", "type": "image", "frame_index": 72, "question": "What are the classifications of scenes?", "category": "Normal scene Understanding", "options": ["A. Highway", "B. City", "C. Residential area", "D. Unpaved"], "answer_index": 1}
{"token": "29761def635ea6c99c236de0f6d1c6ae", "waymo_split": "test", "type": "image", "frame_index": 72, "question": "What are the behavior restrictions in school zones/congested areas?", "category": "Special Event", "options": ["A. Must come to a stop", "B. Must pass through quickly", "C. Must drive slowly", "D. Must use the horn"], "answer_index": 2}
{"token": "29761def635ea6c99c236de0f6d1c6ae", "waymo_split": "test", "type": "image", "frame_index": 72, "question": "Which of the following is a correct description of traffic signals?", "category": "Traffic Signal", "options": ["A. Stop", "B. Left turn signal", "C. Stop line", "D. None"], "answer_index": 3}
{"token": "29761def635ea6c99c236de0f6d1c6ae", "waymo_split": "test", "type": "image", "frame_index": 72, "question": "Which of the following is a correct description of traffic density?", "category": "Normal scene Understanding", "options": ["A. Fast, few moving vehicles. Few parked vehicles on the shoulder.", "B. Slow, no moving vehicles. Few parked vehicles on the shoulder.", "C. Slow, many moving vehicles. No parked vehicles on the shoulder.", "D. Fast, no moving vehicles. Many parked vehicles on the shoulder."], "answer_index": 3}
{"token": "29761def635ea6c99c236de0f6d1c6ae", "waymo_split": "test", "type": "image", "frame_index": 72, "question": "What is the description of a non-safety-critical object?", "category": "Normal Perception & Prediction", "options": ["A. On the left, there are construction site barriers and a crane, with no streetlights. On the right, there is a convenience store and a taxi stand, with one person sitting on a bench. The road ahead connects to a right-turn intersection.", "B. There are parked cars on the shoulder along the road. On the left, buildings are lined up with one streetlight. On the right, there is a fence next to the sidewalk, followed by a parking lot and then more buildings. One person is walking on the right sidewalk. The current straight road stretches ahead.", "C. A two-way road with a central divider, on the left, a park is behind a low wall with several streetlights. On the right, there are shops next to a bus stop. Two people are walking on the left sidewalk, and the road ahead slightly bends to the left.", "D. Trees line both sides of the road, with an open space visible behind a large parking lot on the left. On the right, there are sparse buildings behind a river railing and a walking path. An electric bicycle passes on the sidewalk, and the lane ahead is a gentle downhill."], "answer_index": 1}
{"token": "29761def635ea6c99c236de0f6d1c6ae", "waymo_split": "test", "type": "image", "frame_index": 72, "question": "What is the answer regarding the presence of parked vehicles on the shoulder, the existence of a center line, and whether Ego crosses the center line?", "category": "Normal Perception & Prediction", "options": ["A. There are many parked vehicles on the shoulder. There is no center line. Ego does not cross the center.", "B. There are one or two parked vehicles on the shoulder. There is a center line. Ego does not cross the center.", "C. There are no parked vehicles on the shoulder. There is no center line. Ego crosses the center.", "D. There are hardly any parked vehicles on the shoulder. There is a center line. Ego crosses the center."], "answer_index": 0}
{"token": "29761def635ea6c99c236de0f6d1c6ae", "waymo_split": "test", "type": "image", "frame_index": 72, "question": "Is there a blind spot in your field of vision?", "category": "Uncertainty", "options": ["A. No blind spot behind the bus stopped at the right bus stop", "B. Blind spot between parked cars on the left shoulder", "C. No blind spot near the exit of the right alley", "D. Blind spot between parked cars on the right shoulder"], "answer_index": 3}
{"token": "29761def635ea6c99c236de0f6d1c6ae", "waymo_split": "test", "type": "image", "frame_index": 72, "question": "What should I do to drive safely?", "category": "Safety-critical Planning", "options": ["A. I should slow down as I get closer to the vehicle.", "B. I should honk the horn to alert my presence as I approach.", "C. I should turn on my high beams and get close to ensure visibility.", "D. I should maintain my speed as I get closer to the vehicle."], "answer_index": 0}
{"token": "29761def635ea6c99c236de0f6d1c6ae", "waymo_split": "test", "type": "image", "frame_index": 72, "question": "How do you think a safety-critical object will move?", "category": "Safety-critical Prediction", "options": ["A. Changing to the right lane (with the right turn signal on)", "B. Maintaining a stopped state (with the brake lights on)", "C. Starting slowly (with the left turn signal on)", "D. Reversing slowly (with the reverse lights on)"], "answer_index": 1}
{"token": "29761def635ea6c99c236de0f6d1c6ae", "waymo_split": "test", "type": "image", "frame_index": 72, "question": "Is there any other safety-critical object besides the first safety-critical object? If so, how will it be moved?", "category": "Safety-critical Prediction", "options": ["A. Yes. The oxygen tank is secured to a cart and moved down the right aisle.", "B. Yes. The fire extinguisher is taken down from the wall and moved to the end of the hallway.", "C. Yes. The AED is carried down the stairs instead of using the elevator.", "D. No."], "answer_index": 3}
{"token": "29761def635ea6c99c236de0f6d1c6ae", "waymo_split": "test", "type": "image", "frame_index": 72, "question": "Is lane changing possible? Which is safer between slowing down and changing lanes?", "category": "Safety-critical Planning", "options": ["A. Slowing down is safer; lane changing is not possible (only the left opposing lane is currently available for driving).", "B. Changing lanes is safer; slowing down is unnecessary (the right auxiliary lane in the same direction is currently available).", "C. Slowing down alone is dangerous; changing lanes is safer (there is currently one lane available in the same direction on the left).", "D. Lane changing is possible; changing lanes is safer than slowing down (a temporary detour lane next to the central divider is open)."], "answer_index": 0}
{"token": "29761def635ea6c99c236de0f6d1c6ae", "waymo_split": "test", "type": "image", "frame_index": 72, "question": "What is the correlation in safety-critical situations?", "category": "Safety-critical scene Understanding", "options": ["A. car-person", "B. car-animal", "C. car-two-wheeler", "D. car-car"], "answer_index": 3}
{"token": "29761def635ea6c99c236de0f6d1c6ae", "waymo_split": "test", "type": "image", "frame_index": 72, "question": "What is a safety-critical object?", "category": "Safety-critical Perception", "options": ["A. A pedestrian crossing the lane of the self-driving car in front", "B. A vehicle moving slowly in the adjacent lane in front", "C. A vehicle stopped in the lane of the self-driving car in front", "D. A vehicle stopped on the right shoulder in front"], "answer_index": 2}
{"token": "29761def635ea6c99c236de0f6d1c6ae", "waymo_split": "test", "type": "image", "frame_index": 72, "question": "What is the safer choice just before entering a yellow signal: stop or proceed?", "category": "Special Event", "options": ["A. No signal, so judgment is impossible", "B. Slowing down and proceeding is safer", "C. Maintaining speed and proceeding is safe", "D. Stopping immediately is safer"], "answer_index": 0}
{"token": "29761def635ea6c99c236de0f6d1c6ae", "waymo_split": "test", "type": "image", "frame_index": 72, "question": "Where is the area that hides danger in the current frame?", "category": "Uncertainty", "options": ["A. Between parked vehicles on the right shoulder", "B. Right behind the bus that is stopped ahead", "C. Between parked vehicles on the left shoulder", "D. Between the right sidewalk fence and the street trees"], "answer_index": 0}
{"token": "29761def635ea6c99c236de0f6d1c6ae", "waymo_split": "test", "type": "image", "frame_index": 72, "question": "Who is responsible in a safety-critical situation? What is the cause?", "category": "Safety-critical scene Understanding", "options": ["A. The responsibility lies with my vehicle. There was enough space to evade to the left lane, but it went straight (approaching without deceleration or lane change).", "B. The responsibility lies with the safety-critical object. The vehicle is obstructing my vehicle's path (it is stopped in the driving lane without moving).", "C. The responsibility lies with the following vehicle. It worsened the situation by driving too close at high speed (not maintaining a safe distance and causing sudden braking).", "D. The responsibility lies with the road management authority. There were no warning signs or cones for the broken-down vehicle, reducing visibility (absence of prior warning)."], "answer_index": 1}
{"token": "29761def635ea6c99c236de0f6d1c6ae", "waymo_split": "test", "type": "image", "frame_index": 72, "question": "What is the method to avoid the blind spot next to a large vehicle?", "category": "Special Event", "options": ["A. Since large vehicles (trailers) are slow, overtake in the lane right next to them.", "B. Since large vehicles (buses) are going in the same direction, pass on the right.", "C. Since large vehicles (dump trucks) have a wide left side, use the left blind spot to pass.", "D. Since large vehicles (trucks) have already passed in the opposite direction, it is impossible to judge."], "answer_index": 3}
{"token": "29761def635ea6c99c236de0f6d1c6ae", "waymo_split": "test", "type": "image", "frame_index": 72, "question": "What situation would occur if the self-driving car behaved like this?", "category": "Counterfactual", "options": ["A. If the self-driving car suddenly brakes to reduce speed, it maintains a safe distance from the car in front and passes safely.", "B. If the self-driving car continues to drive straight at high speed, a collision with the other vehicle occurs.", "C. If the self-driving car smoothly swerves to the left lane, it overtakes the other vehicle without any accident.", "D. If the self-driving car turns the steering wheel too sharply and skids, a single-vehicle accident occurs with the guardrail."], "answer_index": 1}
{"token": "29761def635ea6c99c236de0f6d1c6ae", "waymo_split": "test", "type": "image", "frame_index": 99, "question": "Which of the following is correct from the perspective of a Normal Frame Image Caption?", "category": "Normal scene caption", "options": ["A. Driving on a four-lane urban road, maintaining a constant speed. The edge lanes allow smooth passage without parked vehicles. The car in front continues to move in line with the flow without braking.", "B. Driving on a four-lane urban road, decelerating. However, the outer lanes are impassable due to parked vehicles on the shoulder. A vehicle in the lane ahead is stopped (with its brake lights on).", "C. Driving on a four-lane road in the rain, gradually accelerating. The leftmost lane is wide open for overtaking. The vehicle ahead is moving steadily without any signals.", "D. Driving on a four-lane urban road, accelerating. Both outer lanes are empty, allowing for a lane change to the right. The vehicle in the lane ahead is in motion and the gap is widening."], "answer_index": 1}
{"token": "29761def635ea6c99c236de0f6d1c6ae", "waymo_split": "test", "type": "image", "frame_index": 99, "question": "Which of the following is correct from the perspective of Safety-critical Frame regarding Image Caption?", "category": "Safety-critical scene caption", "options": ["A. A vehicle ahead in the same lane is stopped (with the turn signal on). My car is currently continuing to drive in the same lane at the same speed.", "B. The vehicle ahead in the same lane is attempting to change lanes to the left (with the left turn signal on). My car is slightly moving into the left lane.", "C. The vehicle ahead in the same lane is gradually accelerating (with the turn signal off). My car has started to decelerate while closing the gap with the vehicle in front.", "D. The vehicle ahead in the same lane is moving to the right to make a right turn (with the right turn signal on). My car is stopped at the stop line in accordance with the signal."], "answer_index": 0}
{"token": "29761def635ea6c99c236de0f6d1c6ae", "waymo_split": "test", "type": "image", "frame_index": 99, "question": "Based on the current appearance of the person/vehicle (two-wheeled), how do they intend to move?", "category": "Normal Perception & Prediction", "options": ["A. Slowing down and turning right", "B. Proceeding slowly and changing lanes", "C. Slowing down and going straight", "D. Accelerating and going straight"], "answer_index": 2}
{"token": "29761def635ea6c99c236de0f6d1c6ae", "waymo_split": "test", "type": "image", "frame_index": 99, "question": "What are the classifications of scenes?", "category": "Normal scene Understanding", "options": ["A. Residential area", "B. Highway", "C. Unpaved", "D. City"], "answer_index": 3}
{"token": "29761def635ea6c99c236de0f6d1c6ae", "waymo_split": "test", "type": "image", "frame_index": 99, "question": "What is the plan for yielding when an ambulance/fire truck approaches?", "category": "Special Event", "options": ["A. Accelerate and proceed", "B. Only turn on the emergency lights", "C. Avoid by crossing the center line", "D. Slow down and yield"], "answer_index": 3}
{"token": "29761def635ea6c99c236de0f6d1c6ae", "waymo_split": "test", "type": "image", "frame_index": 99, "question": "What are the behavioral restrictions in school zones/congested areas?", "category": "Special Event", "options": ["A. Must come to a stop", "B. Must use the horn", "C. Must use high beams", "D. Must drive slowly"], "answer_index": 3}
{"token": "29761def635ea6c99c236de0f6d1c6ae", "waymo_split": "test", "type": "image", "frame_index": 99, "question": "Which of the following is a correct description of the environment?", "category": "Normal scene Understanding", "options": ["A. Day, clear", "B. Night, shower", "C. Evening, cloudy", "D. Morning, fog"], "answer_index": 0}
{"token": "29761def635ea6c99c236de0f6d1c6ae", "waymo_split": "test", "type": "image", "frame_index": 99, "question": "What is the description of a non-safety-critical object?", "category": "Normal Perception & Prediction", "options": ["A. There is only a construction zone on a one-way two-lane road, and no parking on the shoulder. On the left, there are low walls and signs, and no streetlights. On the right, there is an empty lot, and a motorcycle is driving in the opposite lane on the left.", "B. A road with a central island, and only a few bicycles on the shoulder. On the left, there are trees lined up and one bench. On the right, there is a café terrace, and a small truck is moving slowly in the opposite lane on the left.", "C. There are no parked vehicles on the shoulder of a two-way road. On the left, there are street trees, a bus stop, and several streetlights. On the right, there is a park fence, and a white sedan passes in the opposite lane on the left.", "D. There are parked vehicles on the shoulder of a two-way street. On the left, there are buildings lined up, and one streetlight exists. There are buildings on the right. No vehicles are driving in the opposite lane on the left."], "answer_index": 3}
{"token": "29761def635ea6c99c236de0f6d1c6ae", "waymo_split": "test", "type": "image", "frame_index": 99, "question": "Which of the following is a correct description of traffic density?", "category": "Normal scene Understanding", "options": ["A. Slow, multiple vehicles on the road. The shoulder is empty.", "B. Fast, few vehicles on the road. Occasional stopping on the shoulder.", "C. Fast, no vehicles on the road. Many parked vehicles on the shoulder.", "D. Slow, many vehicles on the road. Almost no parked vehicles on the shoulder."], "answer_index": 2}
{"token": "29761def635ea6c99c236de0f6d1c6ae", "waymo_split": "test", "type": "image", "frame_index": 99, "question": "Which of the following is a correct description of traffic signals?", "category": "Traffic Signal", "options": ["A. Stop line", "B. None", "C. No right turn", "D. Red light"], "answer_index": 1}
{"token": "29761def635ea6c99c236de0f6d1c6ae", "waymo_split": "test", "type": "image", "frame_index": 99, "question": "What is the answer regarding parked vehicles on the shoulder, the presence of a center line, and whether Ego crosses the center line?", "category": "Normal Perception & Prediction", "options": ["A. One vehicle parked on the shoulder. There is a center line. Ego does not cross the center line.", "B. No parked vehicles on the shoulder. There is a center line. Ego crosses the center line.", "C. Multiple parked vehicles on the shoulder. There is no center line. Ego does not cross the center line.", "D. A few parked vehicles on the shoulder. There is a center line. Ego drives over the center line."], "answer_index": 2}
{"token": "29761def635ea6c99c236de0f6d1c6ae", "waymo_split": "test", "type": "image", "frame_index": 99, "question": "What is a safety-critical object?", "category": "Safety-critical Perception", "options": ["A. A vehicle waiting to turn left at an intersection ahead", "B. A vehicle stopped in the same lane directly in front of you", "C. A vehicle stopped in the opposite lane directly in front of you", "D. A vehicle stopped on the right shoulder with its hazard lights on"], "answer_index": 1}
{"token": "29761def635ea6c99c236de0f6d1c6ae", "waymo_split": "test", "type": "image", "frame_index": 99, "question": "How do you think a safety-critical object will move?", "category": "Safety-critical Prediction", "options": ["A. Moving slowly forward (with the left turn signal on)", "B. Entering a right turn (with the right turn signal on)", "C. Starting to reverse (with the reverse lights on)", "D. Maintaining a stopped state (with the backlight on)"], "answer_index": 3}
{"token": "29761def635ea6c99c236de0f6d1c6ae", "waymo_split": "test", "type": "image", "frame_index": 99, "question": "Are there any other safety-critical objects besides the first safety-critical object? If so, how will they be moved?", "category": "Safety-critical Prediction", "options": ["A. Yes, they will be moved with a cart", "B. No", "C. Yes, they will be pushed towards the safety zone", "D. Yes, two people will carry them"], "answer_index": 1}
{"token": "29761def635ea6c99c236de0f6d1c6ae", "waymo_split": "test", "type": "image", "frame_index": 99, "question": "Is there a blind spot in your field of vision?", "category": "Uncertainty", "options": ["A. There is a blind spot next to the right guardrail.", "B. There is a blind spot where the right sidewalk is empty.", "C. There is a blind spot between parked vehicles on the right shoulder.", "D. There is a blind spot behind the bus stop on the left."], "answer_index": 2}
{"token": "29761def635ea6c99c236de0f6d1c6ae", "waymo_split": "test", "type": "image", "frame_index": 99, "question": "What should I do to drive safely?", "category": "Safety-critical Planning", "options": ["A. As I get closer to the vehicle, I maintain my speed, but since I need to pass this car and continue on the road, if there is a gap, I can accelerate and overtake even if there is a vehicle in the left opposite lane.", "B. As I get closer to the vehicle, I am slowing down, but since I need to pass this car and drive on the road, if no vehicle is coming in the left opposite lane, I can overtake through the left opposite lane.", "C. As I get closer to the vehicle, I am gradually accelerating, but since I need to pass this car and drive on the road, if the right shoulder or bus lane is empty, I can overtake to the right.", "D. As I get closer to the vehicle, I am narrowing the gap, but since I need to pass this car and drive on the road, I can alert with the horn and high beams, then increase my speed in the same lane to overtake."], "answer_index": 1}
{"token": "29761def635ea6c99c236de0f6d1c6ae", "waymo_split": "test", "type": "image", "frame_index": 99, "question": "What is the correlation in safety-critical situations?", "category": "Safety-critical scene Understanding", "options": ["A. Car-Person", "B. Car-Car", "C. Car-Two-wheeler", "D. Two-wheeler-Person"], "answer_index": 1}
{"token": "29761def635ea6c99c236de0f6d1c6ae", "waymo_split": "test", "type": "image", "frame_index": 99, "question": "Where is the area that hides danger by being obscured in the current frame?", "category": "Uncertainty", "options": ["A. Gap between the stopped bus in front and the sidewalk", "B. Shade behind the left central divider", "C. Gap between the parked vehicles on the right shoulder", "D. Gap between the right construction fence and the lane"], "answer_index": 2}
{"token": "29761def635ea6c99c236de0f6d1c6ae", "waymo_split": "test", "type": "image", "frame_index": 99, "question": "What is the safest choice just before entering a yellow signal: stop or proceed?", "category": "Special Event", "options": ["A. It is preferable to slow down and proceed.", "B. It is impossible to judge since there is no signal.", "C. Stop before the intersection.", "D. Prioritize proceeding if a vehicle is approaching from behind."], "answer_index": 1}
{"token": "29761def635ea6c99c236de0f6d1c6ae", "waymo_split": "test", "type": "image", "frame_index": 99, "question": "What are the new exposure risk candidates in the following section?", "category": "Safety-critical Prediction", "options": ["A. A person may suddenly appear from between parked cars on the right shoulder.", "B. A passenger may unexpectedly walk out into the road, crossing in front of a stopped bus at the bus stop ahead.", "C. A vehicle from the left alley may merge into the driving lane without signaling.", "D. A vehicle from the opposite side may make a U-turn at the point where the central divider is broken and encroach into my lane."], "answer_index": 0}
{"token": "29761def635ea6c99c236de0f6d1c6ae", "waymo_split": "test", "type": "image", "frame_index": 99, "question": "What is the method to avoid the blind spot next to a large vehicle?", "category": "Special Event", "options": ["A. Since the large vehicle (bus) is going in the same direction, pass quickly on the left side.", "B. The large vehicle (trailer) is moving slowly, so overtake on the right side.", "C. The large vehicle (truck) has already passed in the opposite direction, so it is impossible to judge.", "D. The large vehicle (dump truck) has plenty of space, so maintain speed and pass right next to it."], "answer_index": 2}
{"token": "29761def635ea6c99c236de0f6d1c6ae", "waymo_split": "test", "type": "image", "frame_index": 99, "question": "What situation would occur if the vehicle acted like this?", "category": "Counterfactual", "options": ["A. If the vehicle suddenly changes lanes to the left, a head-on collision with oncoming traffic will occur.", "B. If the vehicle suddenly brakes, the car behind will not be able to stop in time, resulting in a rear-end collision.", "C. If the vehicle continues to drive straight at high speed, it will collide with the vehicle ahead.", "D. If the vehicle swerves to the right, it will make contact with the guardrail."], "answer_index": 2}
{"token": "29761def635ea6c99c236de0f6d1c6ae", "waymo_split": "test", "type": "image", "frame_index": 132, "question": "What is your plan to yield when an ambulance/fire truck approaches?", "category": "Special Event", "options": ["A. Slow down and yield", "B. Increase speed to pass", "C. Overtake on the left", "D. Maintain lane and proceed"], "answer_index": 0}
{"token": "29761def635ea6c99c236de0f6d1c6ae", "waymo_split": "test", "type": "image", "frame_index": 132, "question": "Which of the following is correct from the perspective of Safety-critical Frame regarding Image Caption?", "category": "Safety-critical scene caption", "options": ["A. A vehicle in the left lane is signaling and merging in front of my vehicle. My vehicle is slightly changing lanes to the right to avoid it.", "B. Both the preceding vehicle and my vehicle are stopped at a red light (no turn signals). My vehicle is waiting with the brake pressed.", "C. The preceding vehicle in the oncoming lane is gradually accelerating (turn signals are off). My vehicle is slightly reducing speed to maintain distance.", "D. The vehicle in the oncoming lane is stopped (with turn signals on). My vehicle is continuing to drive in the same lane at the same speed."], "answer_index": 3}
{"token": "29761def635ea6c99c236de0f6d1c6ae", "waymo_split": "test", "type": "image", "frame_index": 132, "question": "Based on the current appearance of the person/vehicle (two-wheeled), how do they intend to move?", "category": "Normal Perception & Prediction", "options": ["A. Overtaking in the left opposite lane while going straight (accelerating)", "B. Changing to the right lane and then going straight (decelerating)", "C. Maintaining lane while following closely behind the vehicle in front (maintaining speed)", "D. Waiting to turn left before entering the intersection (moving slowly)"], "answer_index": 0}
{"token": "29761def635ea6c99c236de0f6d1c6ae", "waymo_split": "test", "type": "image", "frame_index": 99, "question": "What is the guideline for your vehicle's behavior based on the actions of the safety-critical object?", "category": "Safety-critical Planning", "options": ["A. When the safety-critical object starts to move straight again, your vehicle should also continue moving straight while maintaining a safe distance from this vehicle.", "B. When the safety-critical object begins to change lanes to the left, your vehicle should also change lanes to the left at the same time.", "C. When the safety-critical object starts to move straight again, your vehicle should accelerate and quickly overtake this vehicle.", "D. When the safety-critical object starts to move again, your vehicle should closely follow it at a safe distance."], "answer_index": 0}
{"token": "29761def635ea6c99c236de0f6d1c6ae", "waymo_split": "test", "type": "image", "frame_index": 132, "question": "Which of the following is a correct description of traffic density?", "category": "Normal scene Understanding", "options": ["A. Slow, many moving vehicles, no parked vehicles on the shoulder", "B. Slow, few moving vehicles, one construction vehicle on the shoulder", "C. Fast, many moving vehicles, shoulder is empty", "D. Fast, no moving vehicles, many parked vehicles on the shoulder"], "answer_index": 3}
{"token": "29761def635ea6c99c236de0f6d1c6ae", "waymo_split": "test", "type": "image", "frame_index": 132, "question": "What are the classifications of scenes?", "category": "Normal scene Understanding", "options": ["A. Residential area", "B. Highway", "C. Unpaved", "D. City"], "answer_index": 3}
{"token": "29761def635ea6c99c236de0f6d1c6ae", "waymo_split": "test", "type": "image", "frame_index": 132, "question": "Which of the following is a correct description of the environment?", "category": "Normal scene Understanding", "options": ["A. Day, clear", "B. Morning, light rain", "C. Night, fog", "D. Dusk, cloudy"], "answer_index": 0}
{"token": "29761def635ea6c99c236de0f6d1c6ae", "waymo_split": "test", "type": "image", "frame_index": 132, "question": "What is the description of a non-safety-critical object?", "category": "Normal Perception & Prediction", "options": ["A. Vehicles parked on the shoulder of the road. Buildings lined up on the left. Buildings and trees on the right.", "B. A bus stopping in the central bus lane. Street trees and a small park fence visible on the left. Store signs and a wide parking lot entrance on the right.", "C. Cones lined up due to construction in the right lane of the road. Scattered low houses visible on the left. An empty lot and a metal fence on the right.", "D. Street vendors and a few motorcycles parked by the roadside. Cafes lined up on the left. A bus stop and a large billboard visible on the right."], "answer_index": 0}
{"token": "29761def635ea6c99c236de0f6d1c6ae", "waymo_split": "test", "type": "image", "frame_index": 132, "question": "What are the behavioral restrictions in school zones/congested areas?", "category": "Special Event", "options": ["A. Must drive slowly", "B. Must stop", "C. Must use the horn", "D. Must turn right"], "answer_index": 0}
{"token": "29761def635ea6c99c236de0f6d1c6ae", "waymo_split": "test", "type": "image", "frame_index": 132, "question": "What is a safety-critical object?", "category": "Safety-critical Perception", "options": ["A. A vehicle waiting to make a U-turn in the opposite lane directly in front.", "B. A vehicle moving slowly in the adjacent lane to the left directly in front.", "C. A vehicle stopped in the existing lane of travel to the right directly in front.", "D. A passenger car temporarily stopped on the shoulder to the right in the rear."], "answer_index": 2}
{"token": "29761def635ea6c99c236de0f6d1c6ae", "waymo_split": "test", "type": "image", "frame_index": 132, "question": "Which of the following is a correct description of traffic signals?", "category": "Traffic Signal", "options": ["A. No left turn", "B. Speed limit 60", "C. Pedestrian signal", "D. None"], "answer_index": 3}
{"token": "29761def635ea6c99c236de0f6d1c6ae", "waymo_split": "test", "type": "image", "frame_index": 132, "question": "What is the answer regarding parked vehicles on the shoulder, the presence of a center line, and whether Ego crosses the center line?", "category": "Normal Perception & Prediction", "options": ["A. A few parked vehicles on the shoulder. The center line is faintly present. Ego slightly crosses the center line.", "B. One or two parked vehicles on the shoulder. The center line is dashed. Ego briefly crosses into the opposite lane.", "C. No parked vehicles on the shoulder. The center line is present. Ego proceeds beyond the center line.", "D. Many parked vehicles on the shoulder. No center line present. Ego does not cross the center."], "answer_index": 3}
{"token": "29761def635ea6c99c236de0f6d1c6ae", "waymo_split": "test", "type": "image", "frame_index": 132, "question": "How do you think a safety-critical object will move?", "category": "Safety-critical Prediction", "options": ["A. Maintain a stopped state (with the backlight on)", "B. Move forward slowly (with the left turn signal on)", "C. Move in reverse (with the reverse lights on)", "D. Change to the right lane (with the right turn signal on)"], "answer_index": 0}
{"token": "29761def635ea6c99c236de0f6d1c6ae", "waymo_split": "test", "type": "image", "frame_index": 132, "question": "How should I drive to resolve the first hazard while also addressing the second hazard?", "category": "Safety-critical Planning", "options": ["A. I need to carefully and quickly return to the original right driving lane.", "B. I should overtake this vehicle and continue driving in the left passing lane.", "C. To avoid this vehicle, I should slow down and stay in the left lane to assess the situation.", "D. I should ignore this vehicle and maintain my current lane while proceeding slowly."], "answer_index": 0}
{"token": "29761def635ea6c99c236de0f6d1c6ae", "waymo_split": "test", "type": "image", "frame_index": 132, "question": "Is there a blind spot in your field of vision?", "category": "Uncertainty", "options": ["A. None", "B. Left side", "C. Yes", "D. Right side"], "answer_index": 0}
{"token": "29761def635ea6c99c236de0f6d1c6ae", "waymo_split": "test", "type": "image", "frame_index": 132, "question": "What is the correlation in safety-critical situations?", "category": "Safety-critical scene Understanding", "options": ["A. Two-wheeler - Person", "B. Car - Car", "C. Car - Two-wheeler", "D. Car - Person"], "answer_index": 1}
{"token": "29761def635ea6c99c236de0f6d1c6ae", "waymo_split": "test", "type": "image", "frame_index": 132, "question": "What should I do to drive safely?", "category": "Safety-critical Planning", "options": ["A. I am overtaking the vehicle alongside it in the same lane.", "B. I am overtaking the vehicle by moving to the left opposite lane.", "C. I am following the vehicle and entering the right lane.", "D. I am detouring to the right shoulder to avoid the vehicle."], "answer_index": 1}
{"token": "29761def635ea6c99c236de0f6d1c6ae", "waymo_split": "test", "type": "image", "frame_index": 132, "question": "Is lane change possible? Which is safer between slowing down and changing lanes?", "category": "Safety-critical Planning", "options": ["A. Changing to the right lane is possible / Currently, slowing down is safer - the left side is a curve section, so visibility is short.", "B. Overtaking in the left opposite lane is not possible / Currently, slowing down is safer - a vehicle is approaching from the opposite side, so there is no room.", "C. Lane change to overtake in the left opposite lane is possible. Currently, overtaking is safer - there are no other vehicles in that opposite lane.", "D. Only movement to the left lane in the same direction is possible / Right now, changing lanes is safer - the car in front shows signs of moving to the right."], "answer_index": 2}
{"token": "29761def635ea6c99c236de0f6d1c6ae", "waymo_split": "test", "type": "image", "frame_index": 132, "question": "Where is the area that is hidden and conceals danger in the current frame?", "category": "Uncertainty", "options": ["A. None", "B. Front", "C. Right", "D. Back"], "answer_index": 0}
{"token": "29761def635ea6c99c236de0f6d1c6ae", "waymo_split": "test", "type": "image", "frame_index": 132, "question": "What are the new exposure risk candidates in the following interval?", "category": "Safety-critical Prediction", "options": ["A. Collision with a motorcycle", "B. Collision with a vehicle", "C. None", "D. Collision with a pedestrian"], "answer_index": 2}
{"token": "29761def635ea6c99c236de0f6d1c6ae", "waymo_split": "test", "type": "image", "frame_index": 132, "question": "What is the safest choice when approaching a yellow signal: stop vs. proceed?", "category": "Special Event", "options": ["A. No signal, so judgment is impossible", "B. Following the car in front is safe", "C. Stopping is always safe", "D. Slowing down and proceeding is safe"], "answer_index": 0}
{"token": "29761def635ea6c99c236de0f6d1c6ae", "waymo_split": "test", "type": "image", "frame_index": 132, "question": "What is the method to avoid the blind spot next to a large vehicle?", "category": "Special Event", "options": ["A. The large vehicle (truck) has already recognized me, so I should narrow the gap and continue straight.", "B. Stay close to the large vehicle (trailer), check the blind spot, and then overtake.", "C. The large vehicle (bus) is moving slowly in the same direction, so I should pass quickly on the right.", "D. The large vehicle (truck) has already passed in the opposite direction, so it is impossible to judge."], "answer_index": 3}
{"token": "29761def635ea6c99c236de0f6d1c6ae", "waymo_split": "test", "type": "image", "frame_index": 132, "question": "What situation might occur if the vehicle acted this way?", "category": "Counterfactual", "options": ["A. If the vehicle continues to drive in the right lane without changing lanes, there is a risk of collision with a second critical object (a vehicle that merges with sudden acceleration from the entrance ramp, only showing its rear to the vehicle).", "B. If the vehicle is driving in the opposite lane and does not return to its original lane, there is a risk of collision with a second critical object (a vehicle trying to drive in the opposite lane after exiting a parked position on the shoulder, showing its side and front to the vehicle).", "C. If the vehicle continues straight while straddling the center line, there is a risk of collision with a second critical object (a truck entering the lane in reverse from a work area, only showing its front to the vehicle).", "D. If the vehicle attempts a U-turn immediately after completing a left turn at an intersection, there is a risk of collision with a second critical object (a vehicle that is exiting a stopped area across the street and trying to merge into the main lane, only showing its side to the vehicle)."], "answer_index": 1}
{"token": "29761def635ea6c99c236de0f6d1c6ae", "waymo_split": "test", "type": "image", "frame_index": 132, "question": "What is the guideline for the behavior of my vehicle based on the actions of the safety-critical object?", "category": "Safety-critical Planning", "options": ["A. When the first safety-critical object resumes going straight, my vehicle should not attempt to overtake recklessly, but instead slow down and attempt to change to the right lane behind that vehicle. (Currently driving in the opposite lane)", "B. When the first safety-critical object resumes going straight, my vehicle should change lanes to the left while maintaining speed and move in front of that vehicle. (Currently driving in the opposite lane)", "C. When the first safety-critical object resumes going straight, my vehicle should stop immediately and wait until the situation is resolved, then continue going straight. (Maintain stop for the consideration of following vehicles)", "D. When the first safety-critical object resumes going straight, my vehicle should accelerate to overtake that vehicle and pass while maintaining the opposite lane. (When forward visibility is secured)"], "answer_index": 0}
{"token": "29761def635ea6c99c236de0f6d1c6ae", "waymo_split": "test", "type": "image", "frame_index": 132, "question": "Who is responsible in a safety-critical situation? What is the cause?", "category": "Safety-critical scene Understanding", "options": ["A. It is the rear vehicle's responsibility because it approached closely without honking, reducing the margin for avoidance (failure to maintain distance and not using signals).", "B. It is the responsibility of the safety-critical object. The vehicle is obstructing the path of my vehicle (it is stopped in the driving lane without moving).", "C. It is the responsibility of the road management authority. There was no construction or accident notification, so I could not know that there was a stopped vehicle in my vehicle's path (lack of signs and guidance).", "D. It is my vehicle's responsibility. Even though I saw the stopped vehicle ahead early, I failed to decelerate and change lanes adequately (insufficient maintenance of safe distance)."], "answer_index": 1}
{"token": "2a0bc956f211fcea7e06b92078fb0029", "waymo_split": "test", "type": "video", "frame_index": null, "question": "Where is the safety-critical situation in the video?", "category": "Temporal Grounding", "options": ["A. 2/4", "B. 3/4", "C. 1/4", "D. 4/4"], "answer_index": 1}
{"token": "2a0bc956f211fcea7e06b92078fb0029", "waymo_split": "test", "type": "video", "frame_index": null, "question": "What are the divisions of the scene?", "category": "Normal scene Understanding", "options": ["A. Urban area", "B. Highway", "C. Residential area", "D. Unpaved road"], "answer_index": 2}
{"token": "2a0bc956f211fcea7e06b92078fb0029", "waymo_split": "test", "type": "video", "frame_index": null, "question": "Is there a special situation?", "category": "Special Event", "options": ["A. Covering with rainwater", "B. School bus stop", "C. None", "D. Lane reduction with construction cones"], "answer_index": 2}
{"token": "2a0bc956f211fcea7e06b92078fb0029", "waymo_split": "test", "type": "video", "frame_index": null, "question": "Which of the following is a correct description of traffic density?", "category": "Normal scene Understanding", "options": ["A. Fast, shoulder is empty, gentle downhill", "B. Fast, few surrounding vehicles", "C. Slow, many parked vehicles on the shoulder", "D. Fast, sparse surrounding vehicles, straight road"], "answer_index": 2}
{"token": "2a0bc956f211fcea7e06b92078fb0029", "waymo_split": "test", "type": "video", "frame_index": null, "question": "Which of the following is a correct description of road alignment?", "category": "Normal Perception & Prediction", "options": ["A. Straight", "B. Overtaking", "C. Left turn", "D. Right turn"], "answer_index": 0}
{"token": "2a0bc956f211fcea7e06b92078fb0029", "waymo_split": "test", "type": "video", "frame_index": null, "question": "What is correct regarding Video Summary from a Safety-critical Scene perspective?", "category": "Safety-critical scene caption", "options": ["A. A blue sedan turns right without signaling at an intersection, blocking the path of the vehicle. The vehicle is seen slowing down and creating distance.", "B. A delivery motorcycle and the vehicle enter a narrow alley simultaneously. The vehicle reverses to create space and lets the other go first.", "C. A red sports car coming from the opposite lane passes by the vehicle. At this time, the road is narrow, and both are careful not to collide in the center of their lanes (moving slowly).", "D. A white SUV suddenly reduces speed in front of the same lane. The vehicle slows down to avoid a collision and maintains distance to the left."], "answer_index": 2}
{"token": "2a0bc956f211fcea7e06b92078fb0029", "waymo_split": "test", "type": "video", "frame_index": null, "question": "Which of the following is a correct description of the environment?", "category": "Normal scene Understanding", "options": ["A. Night, cloudy", "B. Dusk, light rain", "C. Day, clear", "D. Dawn, light fog"], "answer_index": 2}
{"token": "2a0bc956f211fcea7e06b92078fb0029", "waymo_split": "test", "type": "video", "frame_index": null, "question": "What is the description of a non-safety-critical object?", "category": "Normal Perception & Prediction", "options": ["A. A central median flower bed with a continuous (four-lane) road. Trees and benches on the right sidewalk. Dense commercial area on the left, small park on the right.", "B. A single bike lane on the left. No power lines due to underground wiring. A long construction fence on the right.", "C. Numerous parked vehicles on both sides of the shoulder (on a two-lane road). Utility poles and power lines on the left sidewalk. Residential areas lined up on both sides.", "D. Almost no shoulder parking, very sparse. Only streetlights on both sidewalks. Low-rise commercial buildings on the right, an empty lot on the left."], "answer_index": 2}
{"token": "2a0bc956f211fcea7e06b92078fb0029", "waymo_split": "test", "type": "video", "frame_index": null, "question": "Which of the following is a correct description of Spatial Relationship?", "category": "Spatial Relationship", "options": ["A. A vehicle driving in the left lane parks on the shoulder in an empty space on the left lane.", "B. A vehicle driving in the right opposite lane parks on the shoulder in an empty space on the right opposite lane.", "C. A vehicle driving in the left opposite lane briefly stops with its hazard lights on in the lane of the left opposite lane.", "D. A vehicle driving in the left opposite lane parks on the shoulder in an empty space on the left opposite lane."], "answer_index": 3}
{"token": "2a0bc956f211fcea7e06b92078fb0029", "waymo_split": "test", "type": "video", "frame_index": null, "question": "Which of the following is a correct description of traffic signals?", "category": "Traffic Signal", "options": ["A. Left turn signal", "B. None", "C. Slow down sign", "D. Stop sign"], "answer_index": 1}
{"token": "2a0bc956f211fcea7e06b92078fb0029", "waymo_split": "test", "type": "video", "frame_index": null, "question": "What is the answer regarding parked vehicles on the shoulder, the presence of a center line, and whether Ego crosses the center line?", "category": "Normal Perception & Prediction", "options": ["A. Only some construction vehicles are parked on the shoulder. The center line is clear.", "B. A few vehicles are temporarily parked on the shoulder. The center line is clear.", "C. Many parked vehicles are on the shoulder. There is no center line.", "D. There are almost no parked vehicles on the shoulder. There is a center line."], "answer_index": 2}
{"token": "2a0bc956f211fcea7e06b92078fb0029", "waymo_split": "test", "type": "video", "frame_index": null, "question": "What is the correlation in safety-critical situations?", "category": "Safety-critical scene Understanding", "options": ["A. Car-Person", "B. Car-Car", "C. Car-Two-wheeler", "D. Person-Two-wheeler"], "answer_index": 1}
{"token": "2a0bc956f211fcea7e06b92078fb0029", "waymo_split": "test", "type": "video", "frame_index": null, "question": "What is a safety-critical object?", "category": "Safety-critical Perception", "options": ["A. A blue bicycle standing on the left sidewalk edge", "B. A red vehicle coming from the front in the opposite lane", "C. A black SUV slowly approaching from behind in the same lane", "D. A white van parked on the right shoulder ahead"], "answer_index": 1}
{"token": "2a0bc956f211fcea7e06b92078fb0029", "waymo_split": "test", "type": "video", "frame_index": null, "question": "Summary of Ego (self-vehicle) behavior before safety-critical situations", "category": "Normal scene Understanding", "options": ["A. Right turn driving", "B. Straight driving", "C. Lane change", "D. Left turn driving"], "answer_index": 1}
{"token": "2a0bc956f211fcea7e06b92078fb0029", "waymo_split": "test", "type": "video", "frame_index": null, "question": "How did the safety-critical object move and how did the ego vehicle behave?", "category": "Safety-critical scene Understanding", "options": ["A. The ego vehicle was stopped at the left edge of its direction of travel. It slightly swerved to the right and passed through.", "B. The ego vehicle was driving in the opposite lane. The ego vehicle and the other vehicle passed each other while slowing down.", "C. The ego vehicle briefly cut into its lane and then returned. It significantly reduced speed with the brakes to yield.", "D. The ego vehicle was driving in the same lane and direction. It maintained a safe distance and gradually slowed down."], "answer_index": 1}
{"token": "2a0bc956f211fcea7e06b92078fb0029", "waymo_split": "test", "type": "image", "frame_index": 9, "question": "Based on the current appearance of the person/vehicle (two-wheeled), how do you intend to move?", "category": "Normal Perception & Prediction", "options": ["A. Turn left", "B. Go straight", "C. Turn right", "D. Make a U-turn"], "answer_index": 1}
{"token": "2a0bc956f211fcea7e06b92078fb0029", "waymo_split": "test", "type": "video", "frame_index": null, "question": "What situation might have occurred if the vehicle acted this way?", "category": "Counterfactual", "options": ["A. If the vehicle accelerated suddenly (without deceleration) and went straight, it could have collided with the white SUV in front.", "B. If the vehicle encroached on the center (moved to the left) while driving, it could have collided with the red vehicle.", "C. If the vehicle drove close to the right (narrowed the lane), it could have made contact with the guardrail.", "D. If the vehicle tried to avoid the center line (turned right) and exited, it could have hit the sidewalk curb."], "answer_index": 1}
{"token": "2a0bc956f211fcea7e06b92078fb0029", "waymo_split": "test", "type": "video", "frame_index": null, "question": "Who is responsible in a safety-critical situation? What is the cause?", "category": "Safety-critical scene Understanding", "options": ["A. The vehicle going straight must yield and stop because of the right turn priority.", "B. Since it's a narrow two-lane road, both should slow down and pass carefully.", "C. In a one-way section, the oncoming vehicle is entirely responsible.", "D. On a wide four-lane road, each should maintain their speed and just pass through."], "answer_index": 1}
{"token": "2a0bc956f211fcea7e06b92078fb0029", "waymo_split": "test", "type": "image", "frame_index": 9, "question": "What is correct as an Image Caption from the perspective of a Normal Frame?", "category": "Normal scene caption", "options": ["A. I am driving in the left lane on a relatively wide two-lane road where there are almost no on-street parking spaces, in an area lined with commercial buildings. There are few vehicles ahead, making it quiet. A traffic light intersection is about to appear up ahead.", "B. I am driving on the right side of a narrow two-lane road due to parked cars in a residential area. I can see vehicles coming from the opposite lane in the distance. There is an intersection behind me, but it is a bit far from my vehicle.", "C. I am going straight on a one-way single-lane road in a residential alley. A motorcycle is approaching closely ahead, and there are no cars. I have just passed a small intersection behind me.", "D. This is a road around a school, where only a school zone sign and a crosswalk are visible on the shoulder, and there are no parked cars. I cannot see any cars coming from the opposite direction. The road behind me curves and continues without an intersection."], "answer_index": 1}
{"token": "2a0bc956f211fcea7e06b92078fb0029", "waymo_split": "test", "type": "image", "frame_index": 9, "question": "Which of the following is a correct description of traffic density?", "category": "Normal scene Understanding", "options": ["A. Slow, almost no surrounding vehicles", "B. Slow, few waiting vehicles at nearby intersections", "C. Fast, sparse surrounding vehicles", "D. Fast, many parked vehicles on the shoulder"], "answer_index": 3}
{"token": "2a0bc956f211fcea7e06b92078fb0029", "waymo_split": "test", "type": "image", "frame_index": 9, "question": "Which of the following is a correct description of the environment?", "category": "Normal scene Understanding", "options": ["A. Day, clear", "B. Evening, cloudy", "C. Night, light rain", "D. Morning, fog"], "answer_index": 0}
{"token": "2a0bc956f211fcea7e06b92078fb0029", "waymo_split": "test", "type": "image", "frame_index": 9, "question": "What is the classification of the scene?", "category": "Normal scene Understanding", "options": ["A. Three-lane highway", "B. Two-lane residential road", "C. Four-lane urban road", "D. Unpaved rural road"], "answer_index": 1}
{"token": "2a0bc956f211fcea7e06b92078fb0029", "waymo_split": "test", "type": "image", "frame_index": 9, "question": "What is the plan for yielding when an ambulance/fire truck approaches?", "category": "Special Event", "options": ["A. Move to the left lane, lead the way", "B. Slow down, stop to allow overtaking or yield space", "C. Proceed while maintaining speed and using hazard lights", "D. Notify with horn and high beams"], "answer_index": 1}
{"token": "2a0bc956f211fcea7e06b92078fb0029", "waymo_split": "test", "type": "image", "frame_index": 9, "question": "What are the behavioral restrictions in school zones/congested areas?", "category": "Special Event", "options": ["A. In congested areas, accelerate without breaking the flow and frequently enter empty lanes.", "B. In school zones, alert others with the horn and high beams, and pass through quickly.", "C. Even with many pedestrians, vehicles have priority, so proceed by only observing the signals without stopping.", "D. Drive slowly and be cautious of blind spots where people or objects may be present."], "answer_index": 3}
{"token": "2a0bc956f211fcea7e06b92078fb0029", "waymo_split": "test", "type": "image", "frame_index": 9, "question": "What is the description of a non-safety-critical object?", "category": "Normal Perception & Prediction", "options": ["A. Parking vehicles on the shoulder on both sides of the road. Sidewalks and residential areas extend outside both sides of the road. Utility poles and wires on the left side of the road. Vehicles driving vertically at the intersection behind. A STOP sign in the back.", "B. Parking vehicles on the shoulder only on the right side of the road. Shops are lined up outside both sides of the road. Streetlights and banners on the right side of the road. An intersection ahead with vehicles moving left and right. A YIELD sign in front.", "C. Parking vehicles on the shoulder on the left side of the road, with a bus-only lane on the right. Warehouse buildings and vacant lots outside the road. Street trees and a low metal fence on the left side of the road. A rotary and vehicles circling in the back. A roundabout sign in the back.", "D. The shoulders on both sides of the road are empty with no parked vehicles. A park and playground extend outside. Guardrails and mirrors on the left side of the road. A T-intersection and vehicles turning right in the back. A speed limit sign of 30 in the back."], "answer_index": 0}
{"token": "2a0bc956f211fcea7e06b92078fb0029", "waymo_split": "test", "type": "image", "frame_index": 9, "question": "Which of the following is a correct description of traffic signals?", "category": "Traffic Signal", "options": ["A. Red light illuminated at the front traffic light", "B. Yield sign at the rear", "C. STOP sign at the front", "D. STOP sign at the rear"], "answer_index": 3}
{"token": "2a0bc956f211fcea7e06b92078fb0029", "waymo_split": "test", "type": "image", "frame_index": 9, "question": "What is a safety-critical object?", "category": "Safety-critical Perception", "options": ["A. Emergency stop button", "B. Pressure sensor", "C. Safety relay", "D. None"], "answer_index": 3}
{"token": "2a0bc956f211fcea7e06b92078fb0029", "waymo_split": "test", "type": "image", "frame_index": 9, "question": "How do you think a safety-critical object should be moved?", "category": "Safety-critical Prediction", "options": ["A. None", "B. Slowly backward", "C. Straight forward", "D. Slightly to the right"], "answer_index": 0}
{"token": "2a0bc956f211fcea7e06b92078fb0029", "waymo_split": "test", "type": "image", "frame_index": 9, "question": "What is the answer regarding parked vehicles on the shoulder, the presence of a center line, and whether Ego crosses the center line?", "category": "Normal Perception & Prediction", "options": ["A. There are almost no parked vehicles on the shoulder. There is a center line.", "B. There are many parked vehicles on the shoulder. There is no center line.", "C. There are no parked vehicles on the shoulder. There is a center line.", "D. There are one or two parked vehicles on the shoulder. There is a center line."], "answer_index": 1}
{"token": "2a0bc956f211fcea7e06b92078fb0029", "waymo_split": "test", "type": "image", "frame_index": 9, "question": "Where is the area that hides danger in the current frame?", "category": "Uncertainty", "options": ["A. Narrow gap behind the central divider flower bed", "B. Gap between the left bus and taxi", "C. Gap between the right shoulder parked vehicles", "D. Shade at the beginning of the crosswalk ahead"], "answer_index": 2}
{"token": "2a0bc956f211fcea7e06b92078fb0029", "waymo_split": "test", "type": "image", "frame_index": 9, "question": "Are there any other safety-critical objects besides the first safety-critical object? If so, how would you move them?", "category": "Safety-critical Prediction", "options": ["A. Lithium battery: Place in an insulated box and move forward", "B. None", "C. Fire extinguisher: Hold the handle and move horizontally", "D. Oxygen tank: Secure to a cart and transport slowly"], "answer_index": 1}
{"token": "2a0bc956f211fcea7e06b92078fb0029", "waymo_split": "test", "type": "image", "frame_index": 9, "question": "What is the safest choice when approaching a yellow signal: stop or proceed?", "category": "Special Event", "options": ["A. Left turn is safe to proceed", "B. Stop is prioritized at intersections", "C. Cannot judge without a signal", "D. Proceed if there is enough space ahead"], "answer_index": 2}
{"token": "2a0bc956f211fcea7e06b92078fb0029", "waymo_split": "test", "type": "image", "frame_index": 9, "question": "Is lane change possible? Which is safer between deceleration and lane change?", "category": "Safety-critical Planning", "options": ["A. Maintaining speed is safer; lane change to the right is possible (right merging lane).", "B. Lane change is safer; moving to the left in the same direction is possible (left is a buffer lane).", "C. Deceleration is safer; lane change is not possible (left is an opposing lane).", "D. Acceleration is safer; lane change to the left is possible (the center line is dashed)."], "answer_index": 2}
{"token": "2a0bc956f211fcea7e06b92078fb0029", "waymo_split": "test", "type": "image", "frame_index": 9, "question": "What are the new exposure risk candidates in the following section?", "category": "Safety-critical Prediction", "options": ["A. Water or mud may splash from the gap, obstructing visibility.", "B. Strong winds may blow through the gap, causing the vehicle to shake.", "C. Dust may gather through the gap, fogging the windshield.", "D. People or objects may suddenly emerge from the gap."], "answer_index": 3}
{"token": "2a0bc956f211fcea7e06b92078fb0029", "waymo_split": "test", "type": "image", "frame_index": 34, "question": "Based on the current appearance of the person/vehicle (two-wheeled), how do you intend to move?", "category": "Normal Perception & Prediction", "options": ["A. Go straight", "B. Turn left", "C. Make a U-turn", "D. Turn right"], "answer_index": 0}
{"token": "2a0bc956f211fcea7e06b92078fb0029", "waymo_split": "test", "type": "image", "frame_index": 9, "question": "What is the method to avoid the blind spot next to a large vehicle?", "category": "Special Event", "options": ["A. Accelerate to immediately exit the blind spot", "B. Cannot judge as there is no large vehicle", "C. Quickly pass to the left of the large vehicle", "D. Stay close to the right edge and overtake"], "answer_index": 1}
{"token": "2a0bc956f211fcea7e06b92078fb0029", "waymo_split": "test", "type": "image", "frame_index": 34, "question": "What is the plan for yielding when an ambulance/fire truck approaches?", "category": "Special Event", "options": ["A. Slow down, stop to allow overtaking or give space", "B. Move to the left lane to guide ahead", "C. Drive closely behind to pass quickly", "D. Just turn on the emergency lights and maintain speed"], "answer_index": 0}
{"token": "2a0bc956f211fcea7e06b92078fb0029", "waymo_split": "test", "type": "image", "frame_index": 34, "question": "What are the behavioral restrictions in school zones/congested areas?", "category": "Special Event", "options": ["A. Maintain the center of the lane and only check the signals.", "B. Drive slowly and be cautious of blind spots where people or objects may pass.", "C. Accelerate to the speed limit and focus only on the forward view.", "D. Use the horn and high beams to signal your presence for priority passage."], "answer_index": 1}
{"token": "2a0bc956f211fcea7e06b92078fb0029", "waymo_split": "test", "type": "image", "frame_index": 34, "question": "What is correct as an Image Caption from the perspective of a Normal Frame?", "category": "Normal scene caption", "options": ["A. Driving on a narrow two-lane road to the right due to parked cars on the shoulder in a residential area. A vehicle is approaching from the opposite lane. There is an intersection behind, but it is a bit far from my car.", "B. A narrow two-lane road that enters from the left after turning a curve in a residential area. The opposite lane has been quiet for a while. There is a nearby alley intersection just behind.", "C. Driving on a relatively spacious two-lane road to the right with almost no parking on the shoulder in a residential area. Vehicles in the opposite lane are far away and only visible. An intersection is approaching ahead.", "D. Slowly proceeding on a two-lane road with no edge parking due to open spaces on both sides in a residential area. There are no oncoming vehicles, and only occasional pedestrians are seen on the right. The road stretches straight behind for a while without intersections."], "answer_index": 0}
{"token": "2a0bc956f211fcea7e06b92078fb0029", "waymo_split": "test", "type": "image", "frame_index": 34, "question": "What is the description of a non-safety-critical object?", "category": "Normal Perception & Prediction", "options": ["A. Continuous parking area on the left side of the road, no stopping or parking on the right side. Awnings and signs connect to the first-floor shops on the left. The right side is underground with no utility poles, only streetlights installed. Ahead, there is an intersection and crosswalk with a few pedestrians. Instead of a STOP sign, there are traffic lights and a left turn arrow marking on the road.", "B. Parked vehicles on the shoulders of both sides of the road. Sidewalks and residential areas extend outside both sides of the road. Utility poles, wires, and trees are planted on the left side of the road. Behind, there is an intersection with vehicles traveling perpendicularly. A STOP sign and road markings are behind.", "C. Only one delivery truck is briefly stopped on the right side of the road. Small shops and convenience stores extend outside the road. There is a bus stop sign and bench on the right, with few street trees. Ahead, there is a small intersection with vehicles waiting at the signal. There is a yield sign and a yellow dashed line marking ahead.", "D. A bicycle lane is marked next to the center line. Instead of sidewalks, there are low metal fences and flower beds. There are construction barriers and drum cones on the right side of the road. A few vehicles are turning left ahead on the right. There is a one-way sign at the entrance of the right alley."], "answer_index": 1}
{"token": "2a0bc956f211fcea7e06b92078fb0029", "waymo_split": "test", "type": "image", "frame_index": 34, "question": "Which of the following descriptions about the environment is correct?", "category": "Normal scene Understanding", "options": ["A. Early morning, light fog", "B. Night, light rain", "C. Daytime, clear", "D. Dusk, cloudy"], "answer_index": 2}
{"token": "2a0bc956f211fcea7e06b92078fb0029", "waymo_split": "test", "type": "image", "frame_index": 34, "question": "Which of the following is a correct description of traffic density?", "category": "Normal scene Understanding", "options": ["A. Fast, few surrounding vehicles", "B. Fast, many surrounding parked vehicles", "C. Slow, almost no surrounding vehicles", "D. Slow, many vehicles in the adjacent lanes are congested"], "answer_index": 1}
{"token": "2a0bc956f211fcea7e06b92078fb0029", "waymo_split": "test", "type": "image", "frame_index": 34, "question": "Which of the following is a correct description of traffic signals?", "category": "Traffic Signal", "options": ["A. STOP sign ahead", "B. STOP sign behind. STOP pavement marking behind", "C. STOP pavement marking on the left", "D. YIELD sign behind"], "answer_index": 1}
{"token": "2a0bc956f211fcea7e06b92078fb0029", "waymo_split": "test", "type": "image", "frame_index": 34, "question": "What is a safety-critical object?", "category": "Safety-critical Perception", "options": ["A. A vehicle traveling in the same lane from behind", "B. A vehicle coming from the opposite lane", "C. A pedestrian waiting on the sidewalk", "D. A vehicle parked on the right shoulder"], "answer_index": 1}
{"token": "2a0bc956f211fcea7e06b92078fb0029", "waymo_split": "test", "type": "image", "frame_index": 34, "question": "Are there any blind spots in your field of vision?", "category": "Uncertainty", "options": ["A. The space between parked vehicles on the right shoulder is a blind spot", "B. The space in front of the stop line at the right intersection is a blind spot", "C. The space between parked vehicles on the left shoulder is a blind spot", "D. The space between parked vehicles on the right shoulder has good visibility"], "answer_index": 0}
{"token": "2a0bc956f211fcea7e06b92078fb0029", "waymo_split": "test", "type": "image", "frame_index": 34, "question": "What is the classification of the scene?", "category": "Normal scene Understanding", "options": ["A. Residential area two-lane road", "B. Highway three-lane section", "C. Urban four-lane road", "D. Unpaved country road"], "answer_index": 0}
{"token": "2a0bc956f211fcea7e06b92078fb0029", "waymo_split": "test", "type": "image", "frame_index": 34, "question": "What is the answer regarding the presence of parked vehicles on the shoulder, the existence of a center line, and Ego's encroachment on the center line?", "category": "Normal Perception & Prediction", "options": ["A. Many parked vehicles on the shoulder. No center line.", "B. Few parked vehicles on the shoulder. There is a center line.", "C. No parked vehicles on the shoulder. There is a center line.", "D. One or two parked vehicles on the shoulder. The center line is clearly marked."], "answer_index": 0}
{"token": "2a0bc956f211fcea7e06b92078fb0029", "waymo_split": "test", "type": "image", "frame_index": 34, "question": "How do you think a safety-critical object will move?", "category": "Safety-critical Prediction", "options": ["A. Change lanes to the left lane", "B. Make a right turn at the intersection", "C. Continue straight in the same lane", "D. Continue straight in the opposite lane"], "answer_index": 3}
{"token": "2a0bc956f211fcea7e06b92078fb0029", "waymo_split": "test", "type": "image", "frame_index": 34, "question": "What is the correlation in safety-critical situations?", "category": "Safety-critical scene Understanding", "options": ["A. Two-wheeler - Two-wheeler", "B. Car - Person", "C. Car - Two-wheeler", "D. Car - Car"], "answer_index": 3}
{"token": "2a0bc956f211fcea7e06b92078fb0029", "waymo_split": "test", "type": "image", "frame_index": 34, "question": "Are there any other safety-critical objects besides the first safety-critical object? If so, how will they be moved?", "category": "Safety-critical Prediction", "options": ["A. None", "B. Yes: high-pressure gas cylinder, secured with a valve and fixed on a cart to be moved by elevator", "C. Yes: bio sample box, maintained cold chain and moved through delivery route while wearing protective gear", "D. Yes: lithium battery pack, moved on a cart through the left aisle after insulated packaging"], "answer_index": 0}
{"token": "2a0bc956f211fcea7e06b92078fb0029", "waymo_split": "test", "type": "image", "frame_index": 34, "question": "What is the safest choice just before entering a yellow signal: stop vs. pass?", "category": "Special Event", "options": ["A. Stop immediately at the stop line", "B. Slow down and pass quickly", "C. Cannot determine due to no signal", "D. Pass when the car behind is close"], "answer_index": 2}
{"token": "2a0bc956f211fcea7e06b92078fb0029", "waymo_split": "test", "type": "image", "frame_index": 34, "question": "What should I do to drive safely?", "category": "Safety-critical Planning", "options": ["A. When passing through an alley, signal with the horn but do not stop; continue through with the flow. To use the lane more widely, it's better to stay close to the center line and maintain a proper distance.", "B. When approaching each other, maintain speed or slightly accelerate to align in the center and pass at once. Also, do not leave space on the right; stay closer to the left to widen your field of vision while driving.", "C. If you see an oncoming vehicle, the one that sees it first should continue, while the following vehicle should move aside at the center to pass. On narrow roads, it's safer to keep the left wheels close to the center while going straight.", "D. When passing each other, slow down or stop to avoid colliding in the center. Also, stay to the right to avoid encroaching on the left center or getting too close."], "answer_index": 3}
{"token": "2a0bc956f211fcea7e06b92078fb0029", "waymo_split": "test", "type": "image", "frame_index": 34, "question": "Is lane changing possible? Which is safer between slowing down and changing lanes?", "category": "Safety-critical Planning", "options": ["A. Changing lanes is safer. There is space on the left, and entry is possible.", "B. Slowing down is safer. Lane change is not possible (the left is an oncoming lane).", "C. Accelerating is safer. Change lanes to the right.", "D. Maintaining speed is safer. Check the center line and move to the left."], "answer_index": 1}
{"token": "2a0bc956f211fcea7e06b92078fb0029", "waymo_split": "test", "type": "image", "frame_index": 34, "question": "Where is the area that hides danger in the current frame?", "category": "Uncertainty", "options": ["A. The shadow behind the bus stopped in front", "B. The narrow gap behind the left construction barrier", "C. The gap between the parked vehicles on the right shoulder", "D. The square next to the opening where the central divider is broken"], "answer_index": 2}
{"token": "2a0bc956f211fcea7e06b92078fb0029", "waymo_split": "test", "type": "image", "frame_index": 34, "question": "Who is responsible in a safety-critical situation? What is the cause?", "category": "Safety-critical scene Understanding", "options": ["A. It is the pedestrian's fault for suddenly entering the road at a place that is not a crosswalk, causing the vehicle to brake suddenly.", "B. It is the responsibility of the road management, as poor drainage on a rainy day makes the road slippery, increasing the risk of contact.", "C. It is the fault of one driver for changing lanes abruptly at an intersection without signaling, creating a risk of collision.", "D. It is the responsibility of both parties; they should be careful not to collide while passing each other on a narrow two-lane road."], "answer_index": 3}
{"token": "2a0bc956f211fcea7e06b92078fb0029", "waymo_split": "test", "type": "image", "frame_index": 34, "question": "What is the method to avoid the blind spot next to a large vehicle?", "category": "Special Event", "options": ["A. Cannot judge as there is no large vehicle", "B. Turn on headlights and honk the horn, then proceed as is", "C. Stay close to the right and pass quickly", "D. Change to the left lane and overtake immediately"], "answer_index": 0}
{"token": "2a0bc956f211fcea7e06b92078fb0029", "waymo_split": "test", "type": "image", "frame_index": 34, "question": "What are the newly exposed risk candidates in the following section?", "category": "Safety-critical Prediction", "options": ["A. A person or object may pop out from that gap.", "B. Wheels may get caught due to road damage in that lane.", "C. A parked vehicle may suddenly merge from that shoulder.", "D. Falling rocks may occur from behind that guardrail."], "answer_index": 0}
{"token": "2a0bc956f211fcea7e06b92078fb0029", "waymo_split": "test", "type": "image", "frame_index": 67, "question": "Based on the current appearance of the person/vehicle (two-wheeled), how are they trying to move?", "category": "Normal Perception & Prediction", "options": ["A. Accelerating. (Going straight)", "B. Decelerating. (Going straight)", "C. Maintaining a constant speed. (Going straight)", "D. Decelerating. (Turning left)"], "answer_index": 1}
{"token": "2a0bc956f211fcea7e06b92078fb0029", "waymo_split": "test", "type": "image", "frame_index": 67, "question": "Which of the following is correct from the perspective of Safety-critical Frame regarding Image Caption?", "category": "Safety-critical scene caption", "options": ["A. A blue vehicle slightly encroaching on the left lane. Care must be taken with speed and lateral distance to avoid contact when passing alongside.", "B. A white vehicle driving slowly in the same lane ahead. It is necessary to decelerate to maintain distance from the vehicle in front as it gets closer to avoid a collision.", "C. A red vehicle coming from the opposite lane directly ahead. Care must be taken in the center of the lane to avoid a collision when passing each other.", "D. A gray vehicle partially stopped on the right shoulder. It is necessary to avoid the right side of the lane when passing to prepare for the possibility of a door opening or sudden departure."], "answer_index": 2}
{"token": "2a0bc956f211fcea7e06b92078fb0029", "waymo_split": "test", "type": "image", "frame_index": 67, "question": "What are the behavioral restrictions in school zones/congested areas?", "category": "Special Event", "options": ["A. You must match the speed and stay close to the center line, prioritizing straight passage.", "B. You only need to obey the signals and prioritize vehicle flow over pedestrians to pass.", "C. You should drive slowly and be cautious of blind spots where people or objects may pass.", "D. You should maintain a constant speed and change lanes to quickly exit congested areas."], "answer_index": 2}
{"token": "2a0bc956f211fcea7e06b92078fb0029", "waymo_split": "test", "type": "image", "frame_index": 67, "question": "Which of the following is a correct description of traffic density?", "category": "Normal scene Understanding", "options": ["A. Fast, few surrounding vehicles present", "B. Slow, many surrounding vehicles waiting at signals", "C. Fast, many surrounding vehicles parked on the shoulder", "D. Slow, few surrounding vehicles in motion"], "answer_index": 2}
{"token": "2a0bc956f211fcea7e06b92078fb0029", "waymo_split": "test", "type": "image", "frame_index": 67, "question": "What is the plan for yielding when an ambulance/fire truck approaches?", "category": "Special Event", "options": ["A. Merge to the left lane and follow behind", "B. Slow down, stop to allow overtaking or yield space", "C. Use the horn and high beams to guide", "D. Maintain speed and proceed with only the hazard lights on"], "answer_index": 1}
{"token": "2a0bc956f211fcea7e06b92078fb0029", "waymo_split": "test", "type": "image", "frame_index": 67, "question": "Which of the following descriptions about the environment is correct?", "category": "Normal scene Understanding", "options": ["A. sunset, cloudy", "B. night, light rain", "C. daytime, clear", "D. dawn, light fog"], "answer_index": 2}
{"token": "2a0bc956f211fcea7e06b92078fb0029", "waymo_split": "test", "type": "image", "frame_index": 67, "question": "What is the classification of the scene?", "category": "Normal scene Understanding", "options": ["A. Unpaved one-lane road", "B. Urban four-lane road", "C. Three-lane highway", "D. Two-lane residential road"], "answer_index": 3}
{"token": "2a0bc956f211fcea7e06b92078fb0029", "waymo_split": "test", "type": "image", "frame_index": 67, "question": "Which of the following is a correct description of traffic signals?", "category": "Traffic Signal", "options": ["A. Yield sign behind", "B. Stop sign ahead", "C. Stop sign behind. Stop pavement marking behind", "D. Stop pavement marking on the right"], "answer_index": 2}
{"token": "2a0bc956f211fcea7e06b92078fb0029", "waymo_split": "test", "type": "image", "frame_index": 67, "question": "What is the answer regarding parked vehicles on the shoulder, the presence of a center line, and whether Ego crosses the center line?", "category": "Normal Perception & Prediction", "options": ["A. No parked vehicles on the shoulder. Center line is clear.", "B. A few parked vehicles on the shoulder. Center line is faintly present.", "C. Parked vehicles on the shoulder are rarely seen. There is a center line.", "D. Many parked vehicles on the shoulder. No center line."], "answer_index": 3}
{"token": "2a0bc956f211fcea7e06b92078fb0029", "waymo_split": "test", "type": "image", "frame_index": 67, "question": "What is the description of a non-safety-critical object?", "category": "Normal Perception & Prediction", "options": ["A. Vehicles parked on the shoulder on both sides of the road. Sidewalks and residential areas extend along both sides of the road. Utility poles, wires, and trees are planted on the left side of the road. There is an intersection behind. There is a STOP sign and road markings behind.", "B. There are almost no parked vehicles on both sides of the road. Sidewalks and commercial buildings line the right side. Only streetlights are visible on the left side, and there are no utility poles. A narrow alley merges from behind. There is a no parking sign and yellow road markings behind.", "C. Open space and low fences extend beyond both sides of the road. There are only scattered street trees on the right without utility poles or wires. A bus stop is visible on the left side. There is a T-intersection ahead. There are speed limit signs and road markings ahead.", "D. Construction cones and signs are placed next to the center line. A few vehicles are parked on the right side of the road. A bicycle lane and commercial buildings extend outside the road. There is an intersection ahead. There is a YIELD sign and road arrows ahead."], "answer_index": 0}
{"token": "2a0bc956f211fcea7e06b92078fb0029", "waymo_split": "test", "type": "image", "frame_index": 67, "question": "What is a safety-critical object?", "category": "Safety-critical Perception", "options": ["A. A red vehicle coming from the opposite lane", "B. A white van parked on the right shoulder", "C. A blue truck stopped at the intersection stop line", "D. A silver sedan trying to merge into the left lane"], "answer_index": 0}
{"token": "2a0bc956f211fcea7e06b92078fb0029", "waymo_split": "test", "type": "image", "frame_index": 67, "question": "What should I do to drive safely?", "category": "Safety-critical Planning", "options": ["A. When driving past each other, you should speed up and overtake quickly.", "B. When driving past each other, you should carefully go straight to avoid a collision in the center.", "C. When facing each other while driving, you should stay close to the center and make a wide turn.", "D. When reaching an intersection while driving past each other, you should slightly cross the center line and turn left to pass."], "answer_index": 1}
{"token": "2a0bc956f211fcea7e06b92078fb0029", "waymo_split": "test", "type": "image", "frame_index": 67, "question": "How do you think a safety-critical object will move?", "category": "Safety-critical Prediction", "options": ["A. Merging into the right lane and passing by", "B. Driving straight in the opposite lane", "C. Turning left at the intersection", "D. Changing lanes into our lane"], "answer_index": 1}
{"token": "2a0bc956f211fcea7e06b92078fb0029", "waymo_split": "test", "type": "image", "frame_index": 67, "question": "How should I drive to resolve the first risk while also addressing the second risk?", "category": "Safety-critical Planning", "options": ["A. No subsequent safety-critical objects", "B. Determine if the preceding vehicle is safety-critical", "C. There are subsequent safety-critical objects", "D. Avoid the safety-critical object on the right"], "answer_index": 0}
{"token": "2a0bc956f211fcea7e06b92078fb0029", "waymo_split": "test", "type": "image", "frame_index": 67, "question": "What is the correlation in safety-critical situations?", "category": "Safety-critical scene Understanding", "options": ["A. Car-Person", "B. Car-Car", "C. Car-Two-wheeler", "D. Two-wheeler-Person"], "answer_index": 1}
{"token": "2a0bc956f211fcea7e06b92078fb0029", "waymo_split": "test", "type": "image", "frame_index": 67, "question": "Is lane changing possible? Which is safer, slowing down or changing lanes?", "category": "Safety-critical Planning", "options": ["A. Changing lanes is better than slowing down. The left lane is in the same direction.", "B. Changing lanes is safer. It is possible to change to the left (the center line is dashed).", "C. Changing lanes is safer than slowing down. There is space in the right lane, and entry is possible immediately.", "D. Slowing down is safer. Lane changing is not possible (the left lane is for oncoming traffic)."], "answer_index": 3}
{"token": "2a0bc956f211fcea7e06b92078fb0029", "waymo_split": "test", "type": "image", "frame_index": 67, "question": "What is the safest choice when approaching a yellow signal: stop vs. proceed?", "category": "Special Event", "options": ["A. Maintain speed and proceed", "B. Follow the vehicle in front and proceed", "C. Stop even if the distance is short", "D. Cannot judge due to lack of signal"], "answer_index": 3}
{"token": "2a0bc956f211fcea7e06b92078fb0029", "waymo_split": "test", "type": "image", "frame_index": 67, "question": "Are there any other safety-critical objects besides the first safety-critical object? If so, how would you move them?", "category": "Safety-critical Prediction", "options": ["A. None", "B. AED, portable", "C. Oxygen tank, cart", "D. Fire extinguisher, by hand"], "answer_index": 0}
{"token": "2a0bc956f211fcea7e06b92078fb0029", "waymo_split": "test", "type": "image", "frame_index": 67, "question": "Where is the area that hides danger in the current frame?", "category": "Uncertainty", "options": ["A. The gap between parked vehicles on the left shoulder", "B. Obstruction of view behind the central divider in the opposite lane", "C. The gap between parked vehicles on the right shoulder", "D. The blind spot behind the bus stopped on the right"], "answer_index": 2}
{"token": "2a0bc956f211fcea7e06b92078fb0029", "waymo_split": "test", "type": "image", "frame_index": 67, "question": "Who is responsible in a safety-critical situation? What is the cause?", "category": "Safety-critical scene Understanding", "options": ["A. The cause is due to the following car pushing from behind at high speed. My vehicle should have avoided crossing the center line and proceeded to the left.", "B. The cause is that the other vehicle crossed the center line, so the other party is responsible. My vehicle can pass without reducing speed by staying close to the center line.", "C. Since it is a narrow two-lane road, caution is necessary. My vehicle should stay close to the right and either slow down or stop to avoid hitting the center.", "D. This is a one-way section, so there are no oncoming vehicles. My vehicle should stay close to the left edge and accelerate to pass quickly."], "answer_index": 2}
{"token": "2a0bc956f211fcea7e06b92078fb0029", "waymo_split": "test", "type": "image", "frame_index": 67, "question": "What is the method to avoid the blind spot next to a large vehicle?", "category": "Special Event", "options": ["A. Pass quickly while staying close to the large vehicle", "B. Cannot judge as there is no large vehicle", "C. Accelerate from behind the large vehicle and overtake immediately", "D. Enter the blind spot and alert with the horn"], "answer_index": 1}
{"token": "2a0bc956f211fcea7e06b92078fb0029", "waymo_split": "test", "type": "image", "frame_index": 67, "question": "What are the driving guidelines for the vehicle in response to the behavior of a safety-critical object?", "category": "Safety-critical Planning", "options": ["A. If a safety-critical object crosses the left center, the vehicle should maintain the center of the lane, honk the horn, and gradually decelerate.", "B. If a safety-critical object merges in from the opposite lane, the vehicle should keep its direction, turn on the hazard lights, and drive at a low speed.", "C. If a safety-critical object drives into the left center, the vehicle should get as close to the right as possible and make a sudden stop.", "D. If a safety-critical object drives into the left center, the vehicle should stay close to the left and proceed slowly to pass."], "answer_index": 2}
{"token": "2a0bc956f211fcea7e06b92078fb0029", "waymo_split": "test", "type": "image", "frame_index": 67, "question": "What are the newly exposed risk candidates in the following section?", "category": "Safety-critical Prediction", "options": ["A. A person or object may pop out from the gap.", "B. Strong crosswinds may blow through the gap, causing vehicles to be pushed.", "C. Headlights from the opposite side may shine through the gap, obscuring visibility.", "D. Water may spout from below the gap, making the surface slippery."], "answer_index": 0}
{"token": "2a0bc956f211fcea7e06b92078fb0029", "waymo_split": "test", "type": "image", "frame_index": 108, "question": "Based on the current appearance of the person/vehicle (two-wheeled), how are they trying to move?", "category": "Normal Perception & Prediction", "options": ["A. Accelerating gradually (turning left)", "B. Proceeding at a constant speed (turning right)", "C. In a state close to stopping (going straight)", "D. Passing without deceleration (going straight)"], "answer_index": 2}
{"token": "2a0bc956f211fcea7e06b92078fb0029", "waymo_split": "test", "type": "image", "frame_index": 108, "question": "What is the plan for yielding when an emergency vehicle/fire truck approaches?", "category": "Special Event", "options": ["A. Notify with emergency lights and high beams and continue driving", "B. Move to the left lane, accelerate, and pass through", "C. Honk the horn and drive while occupying the center line", "D. Slow down, stop, and yield space or allow to pass"], "answer_index": 3}
{"token": "2a0bc956f211fcea7e06b92078fb0029", "waymo_split": "test", "type": "image", "frame_index": 108, "question": "What are the behavioral restrictions in school zones/congested areas?", "category": "Special Event", "options": ["A. Just check the signals and you don't have to pay much attention to alleyways and parking lot entrances.", "B. You must alert others with the horn and high beams and maintain the center of the lane.", "C. Just adhere to the speed limit, keep an eye on the front, and pass through quickly.", "D. Drive slowly and be cautious of blind spots where people or objects may pass."], "answer_index": 3}
{"token": "2a0bc956f211fcea7e06b92078fb0029", "waymo_split": "test", "type": "image", "frame_index": 108, "question": "What is the classification of the scene?", "category": "Normal scene Understanding", "options": ["A. Urban commercial area with a two-lane road", "B. One-way two-lane section of a highway", "C. Unpaved rural farm road", "D. Two-lane road in a residential area"], "answer_index": 3}
{"token": "2a0bc956f211fcea7e06b92078fb0029", "waymo_split": "test", "type": "image", "frame_index": 108, "question": "Which of the following is a correct description of traffic density?", "category": "Normal scene Understanding", "options": ["A. Fast, few surrounding vehicles", "B. Fast, many surrounding parked vehicles", "C. Slow, almost no surrounding vehicles", "D. Slow, many surrounding moving vehicles"], "answer_index": 1}
{"token": "2a0bc956f211fcea7e06b92078fb0029", "waymo_split": "test", "type": "image", "frame_index": 108, "question": "Which of the following descriptions about the environment is correct?", "category": "Normal scene Understanding", "options": ["A. Evening, cloudy", "B. Daytime, clear", "C. Dawn, foggy", "D. Night, shower"], "answer_index": 1}
{"token": "2a0bc956f211fcea7e06b92078fb0029", "waymo_split": "test", "type": "image", "frame_index": 108, "question": "What is the description of a non-safety-critical object?", "category": "Normal Perception & Prediction", "options": ["A. Vehicles parked on the shoulder on both sides of the road. Sidewalks and residential areas extend outside both sides of the road. Utility poles, power lines, and trees are planted on the left side of the road. There is an intersection behind. A STOP sign and road markings are behind. Vehicles are approaching from the opposite lane in the distance ahead.", "B. A six-lane road with a central divider, with no vehicles parked on the shoulder. On both edges, there are shops and entrances/exits to parking lots. There is a bus stop shelter and an advertisement board on the left side of the road. The area behind is a straight section with no intersections. There is a speed limit sign of 30 and road markings on the left side ahead. A bicycle is riding along the edge of the lane in the distance ahead.", "C. Only delivery trucks and motorcycles are parked on the shoulder on the right side of the road. Outside the road, there is a small park and a construction site fence. There are only streetlights on the right edge, and utility poles are not visible. There is a T-intersection ahead. There is a YIELD sign and road arrows on the right side ahead. A slow-moving vehicle is in the same lane in the distance ahead.", "D. Outside both sides of the road, there are river embankments and vacant lots instead of sidewalks. There are guardrails and street trees on the right edge, but no utility poles. A small roundabout is visible close ahead. Instead of a STOP sign, there is a traffic light intersection and a pedestrian signal. Vehicles moving in the same direction as us are in the left lane. There is a tunnel entrance behind."], "answer_index": 0}
{"token": "2a0bc956f211fcea7e06b92078fb0029", "waymo_split": "test", "type": "image", "frame_index": 108, "question": "What is the answer regarding parked vehicles on the shoulder, the presence of a center line, and whether Ego crosses the center line?", "category": "Normal Perception & Prediction", "options": ["A. No parked vehicles on the shoulder. Center line is clear.", "B. Many parked vehicles on the shoulder. No center line.", "C. Few parked vehicles on the shoulder. There is a center line.", "D. A few parked vehicles on the shoulder. Center line is faint but confirmed."], "answer_index": 1}
{"token": "2a0bc956f211fcea7e06b92078fb0029", "waymo_split": "test", "type": "image", "frame_index": 108, "question": "Which of the following is a correct description of traffic signals?", "category": "Traffic Signal", "options": ["A. Yield sign ahead", "B. Speed limit 30 sign on the right", "C. No U-turn sign on the left", "D. Stop sign behind. Stop pavement marking behind"], "answer_index": 3}
{"token": "2a0bc956f211fcea7e06b92078fb0029", "waymo_split": "test", "type": "image", "frame_index": 108, "question": "What is a safety-critical object?", "category": "Safety-critical Perception", "options": ["A. A white sedan attempting to change lanes from the right lane", "B. A black sedan attempting a U-turn at the left intersection", "C. A gray SUV moving slowly in the same lane directly ahead", "D. A red vehicle coming from the opposite lane directly ahead"], "answer_index": 3}
{"token": "2a0bc956f211fcea7e06b92078fb0029", "waymo_split": "test", "type": "image", "frame_index": 108, "question": "How do you think a safety-critical object will move?", "category": "Safety-critical Prediction", "options": ["A. Change lanes to the right lane", "B. Drive straight in the opposite lane", "C. Turn left at the intersection", "D. Gradually move towards the shoulder"], "answer_index": 1}
{"token": "2a0bc956f211fcea7e06b92078fb0029", "waymo_split": "test", "type": "image", "frame_index": 108, "question": "What should I do to drive safely?", "category": "Safety-critical Planning", "options": ["A. Since we will be driving past each other, we should proceed slowly and go straight to avoid colliding in the center. It is better to stay close to the right side of my vehicle and maintain a safe distance while going straight.", "B. To ensure that one side definitely goes first, we should briefly stop in the middle of the road and signal with our hands. It is safer to position ourselves more towards the center rather than the right side to block the lane.", "C. By slightly turning to the left, the field of vision widens, so we can maintain the same speed and just turn on the hazard lights while passing. It is better to keep some distance towards the center while passing closely.", "D. Before we meet, we can quickly pass by getting close to the center, so we should accelerate and go straight. It is better to stay close to the center line and reduce the distance between vehicles to exit quickly."], "answer_index": 0}
{"token": "2a0bc956f211fcea7e06b92078fb0029", "waymo_split": "test", "type": "image", "frame_index": 108, "question": "What is the correlation in safety-critical situations?", "category": "Safety-critical scene Understanding", "options": ["A. car-person", "B. car-car", "C. person-two-wheeler", "D. two-wheeler-car"], "answer_index": 1}
{"token": "2a0bc956f211fcea7e06b92078fb0029", "waymo_split": "test", "type": "image", "frame_index": 108, "question": "How should I drive to address the first risk while also resolving the second risk?", "category": "Safety-critical Planning", "options": ["A. No safety-critical objects ahead", "B. Safety-critical object detected ahead", "C. Pedestrian approaching at the next crosswalk", "D. Sudden stop risk in the right lane ahead"], "answer_index": 0}
{"token": "2a0bc956f211fcea7e06b92078fb0029", "waymo_split": "test", "type": "image", "frame_index": 108, "question": "Is there a blind spot in your field of vision?", "category": "Uncertainty", "options": ["A. The center of the right lane is a blind spot", "B. The gaps between parked cars on the left shoulder are a blind spot", "C. The edge of the sidewalk on the right side is a blind spot", "D. The gaps between parked cars on the right shoulder are a blind spot"], "answer_index": 3}
{"token": "2a0bc956f211fcea7e06b92078fb0029", "waymo_split": "test", "type": "image", "frame_index": 108, "question": "Are there any other safety-critical objects besides the first safety-critical object? If so, how will they be moved?", "category": "Safety-critical Prediction", "options": ["A. None", "B. Oxygen tank, move outside the corridor", "C. Fire extinguisher, move towards the wall", "D. Power cable, move to the left"], "answer_index": 0}
{"token": "2a0bc956f211fcea7e06b92078fb0029", "waymo_split": "test", "type": "image", "frame_index": 108, "question": "Is lane changing possible? Which is safer between slowing down and changing lanes?", "category": "Safety-critical Planning", "options": ["A. Changing lanes is safer. Lane change to the right is possible (there is a merging lane start sign).", "B. Changing lanes is safer. Lane change is possible (it is allowed in the dashed line section).", "C. Slowing down is safer. Lane change is not possible (the left side is the opposite lane).", "D. Changing lanes is safer. Lane change to the left is possible (it is a one-way three-lane road in the same direction)."], "answer_index": 2}
{"token": "2a0bc956f211fcea7e06b92078fb0029", "waymo_split": "test", "type": "image", "frame_index": 108, "question": "What is the safest choice when approaching a yellow signal: stop vs proceed?", "category": "Special Event", "options": ["A. Stop at the yellow light", "B. Proceed with a protected left turn", "C. You can pass if you just slow down", "D. Cannot determine without a signal"], "answer_index": 3}
{"token": "2a0bc956f211fcea7e06b92078fb0029", "waymo_split": "test", "type": "image", "frame_index": 108, "question": "Where is the area that hides danger in the current frame?", "category": "Uncertainty", "options": ["A. Blind spot at the front corner of the right cargo truck", "B. Gap between parked vehicles on the left shoulder", "C. Gap between parked vehicles on the right shoulder", "D. Gap behind the construction barrier ahead"], "answer_index": 2}
{"token": "2a0bc956f211fcea7e06b92078fb0029", "waymo_split": "test", "type": "image", "frame_index": 108, "question": "What are the new exposure risk candidates in the following area?", "category": "Safety-critical Prediction", "options": ["A. Wind can blow through the gap, obstructing visibility.", "B. A person or object may suddenly emerge from the gap.", "C. A bicycle may enter the area in the wrong direction through the gap.", "D. Water may leak from the gap, making the surface slippery."], "answer_index": 1}
{"token": "2a0bc956f211fcea7e06b92078fb0029", "waymo_split": "test", "type": "image", "frame_index": 108, "question": "What is the method to avoid the blind spot next to a large vehicle?", "category": "Special Event", "options": ["A. Proceed as is while narrowing the gap with the large vehicle", "B. Change to the left lane and pass quickly", "C. Honk the horn and pass on the right", "D. Cannot judge as there is no large vehicle"], "answer_index": 3}
{"token": "2a0bc956f211fcea7e06b92078fb0029", "waymo_split": "test", "type": "image", "frame_index": 145, "question": "Based on the current appearance of the person/vehicle (two-wheeled), how are they trying to move?", "category": "Normal Perception & Prediction", "options": ["A. Gently accelerating (turning left)", "B. Maintaining speed while proceeding (turning right)", "C. Waiting to start after a temporary stop (U-turn)", "D. In a state close to stopping (going straight)"], "answer_index": 3}
{"token": "2a0bc956f211fcea7e06b92078fb0029", "waymo_split": "test", "type": "image", "frame_index": 108, "question": "What is the guideline for the behavior of my vehicle in response to the behavior of a safety-critical object?", "category": "Safety-critical Planning", "options": ["A. If a safety-critical object encroaches into the left center while driving, my vehicle must swerve to the right and make an emergency stop.", "B. If a safety-critical object slightly crosses the center line, my vehicle should honk the horn and pass while staying close to the center of the lane.", "C. If a safety-critical object suddenly changes lanes in front, my vehicle should only turn on the hazard lights and maintain a straight path.", "D. If a safety-critical object encroaches into the right center, my vehicle should steer left and accelerate to get away."], "answer_index": 0}
{"token": "2a0bc956f211fcea7e06b92078fb0029", "waymo_split": "test", "type": "image", "frame_index": 145, "question": "Which of the following is correct as an Image Caption from the perspective of a Normal Frame?", "category": "Normal scene caption", "options": ["A. Driving slowly on a narrow two-lane road to the right due to parked cars on the roadside in a residential area. A red vehicle is passing by in the opposite lane. There is another vehicle approaching from the opposite lane ahead. There is an intersection behind, but it is a bit far from my vehicle.", "B. Driving on a wide four-lane road with shops lined up, in the left lane at the speed limit. There are almost no parked cars on the roadside, and the flow is smooth. A blue vehicle ahead is slowing down and blocking my vehicle in the same lane. There is a traffic signal intersection very close behind.", "C. Entering a narrow one-way alley and stopping at the stop line while preparing to turn left. A red vehicle is overtaking my vehicle on the left from behind and goes ahead. Ahead, pedestrians and cyclists are waiting to cross the road. There is a T-intersection very close behind.", "D. In a construction zone in a residential area, merging left due to a blocked right lane. My vehicle is signaling left and following a white vehicle ahead. There are no vehicles approaching from the opposite lane. There are speed bumps and a crosswalk close behind."], "answer_index": 0}
{"token": "2a0bc956f211fcea7e06b92078fb0029", "waymo_split": "test", "type": "image", "frame_index": 145, "question": "What is correct as an Image Caption from the perspective of Safety-critical Frame?", "category": "Safety-critical scene caption", "options": ["A. A vehicle is merging onto the main road from the right alley. You must maintain speed to prevent cutting in.", "B. There is a truck driving slowly in the same lane ahead. You need to accelerate and move to the left to overtake that vehicle.", "C. There is a vehicle coming from the opposite lane ahead. You should slow down to avoid a collision while passing by that vehicle.", "D. The opposite lane is empty ahead. You should pass through without slowing down to maintain the flow."], "answer_index": 2}
{"token": "2a0bc956f211fcea7e06b92078fb0029", "waymo_split": "test", "type": "image", "frame_index": 145, "question": "What is the plan for yielding when an emergency vehicle/fire truck approaches?", "category": "Special Event", "options": ["A. Slow down, stop to allow passing or make space", "B. Use the horn and flash high beams to guide the way", "C. Prioritize signals at intersections, go straight or turn left", "D. Maintain speed, turn on hazard lights and proceed as is"], "answer_index": 0}
{"token": "2a0bc956f211fcea7e06b92078fb0029", "waymo_split": "test", "type": "image", "frame_index": 145, "question": "What is the classification of the scene?", "category": "Normal scene Understanding", "options": ["A. Residential area two-lane road", "B. Unpaved country road", "C. Three-lane section of the highway", "D. Four-lane road in the city center"], "answer_index": 0}
{"token": "2a0bc956f211fcea7e06b92078fb0029", "waymo_split": "test", "type": "image", "frame_index": 145, "question": "Which of the following is a correct description of the environment?", "category": "Normal scene Understanding", "options": ["A. Dawn, fog", "B. Evening, rain", "C. Day, clear", "D. Night, cloudy"], "answer_index": 2}
{"token": "2a0bc956f211fcea7e06b92078fb0029", "waymo_split": "test", "type": "image", "frame_index": 145, "question": "What are the behavioral restrictions in school zones/congested areas?", "category": "Special Event", "options": ["A. You can accelerate to the speed limit and just follow the flow of traffic.", "B. You can proceed with a right turn after checking for vehicles before pedestrians.", "C. You can alert others with your horn and high beams and pass through quickly.", "D. You should drive slowly and be cautious of blind spots where people or objects may be present."], "answer_index": 3}
{"token": "2a0bc956f211fcea7e06b92078fb0029", "waymo_split": "test", "type": "image", "frame_index": 145, "question": "Which of the following is a correct description of traffic density?", "category": "Normal scene Understanding", "options": ["A. Fast, many parked vehicles on the shoulder", "B. Slow, almost no parked vehicles on the shoulder", "C. Slow, many waiting vehicles at nearby intersections", "D. Fast, few moving vehicles nearby"], "answer_index": 0}
{"token": "2a0bc956f211fcea7e06b92078fb0029", "waymo_split": "test", "type": "image", "frame_index": 145, "question": "Which of the following is a correct description of traffic signals?", "category": "Traffic Signal", "options": ["A. STOP pavement marking ahead", "B. YIELD sign behind", "C. STOP sign behind. STOP pavement marking behind", "D. STOP sign ahead"], "answer_index": 2}
{"token": "2a0bc956f211fcea7e06b92078fb0029", "waymo_split": "test", "type": "image", "frame_index": 145, "question": "What is a safety-critical object?", "category": "Safety-critical Perception", "options": ["A. A pedestrian standing at the edge of the sidewalk", "B. A vehicle coming from the opposite lane", "C. A vehicle stopped on the right shoulder with hazard lights on", "D. A sign placed in a construction zone outside the lane"], "answer_index": 1}
{"token": "2a0bc956f211fcea7e06b92078fb0029", "waymo_split": "test", "type": "image", "frame_index": 145, "question": "What is the answer regarding parked vehicles on the shoulder, the presence of a center line, and whether Ego crosses the center line?", "category": "Normal Perception & Prediction", "options": ["A. There are almost no parked vehicles on the shoulder. There is a center line.", "B. A few parked vehicles on the shoulder. The center line is solid.", "C. Many parked vehicles on the shoulder. There is no center line.", "D. 1 to 2 parked vehicles on the shoulder. The center line is dashed."], "answer_index": 2}
{"token": "2a0bc956f211fcea7e06b92078fb0029", "waymo_split": "test", "type": "image", "frame_index": 145, "question": "How do you think a safety-critical object will move?", "category": "Safety-critical Prediction", "options": ["A. Changed lanes to the right lane", "B. Entered a left turn at the intersection", "C. Drove straight in the opposite lane", "D. Attempted to gradually stop on the shoulder"], "answer_index": 2}
{"token": "2a0bc956f211fcea7e06b92078fb0029", "waymo_split": "test", "type": "image", "frame_index": 145, "question": "What is the description of a non-safety-critical object?", "category": "Normal Perception & Prediction", "options": ["A. Vehicles parked on the shoulder on one side of the road, while the opposite side is empty. Outside the road, there are shops and small parking lots. A bus stop and street trees are on the right side of the road. Ahead is a T-intersection. There is a yield sign and road markings ahead. In the distance behind, a vehicle is following in the same lane.", "B. Vehicles parked on the shoulder on both sides of the road. Sidewalks and residential areas extend outside both sides of the road. There are utility poles, wires, and trees planted on the left side of the road. There is an intersection behind. A stop sign and road markings are behind. In the distance ahead, a vehicle is coming from the opposite lane.", "C. A low median and flower bed in the center of the road. On the right side of the road, there is a taxi stand and items in front of a shop. On the left side, there is an industrial area. The left side of the road has only a fence without trees. There is an intersection right in front and a no U-turn sign. Behind, there is an entrance to a parking lot.", "D. No parked vehicles on either side of the road, and the shoulder is wide open. Walking paths and sports facilities extend outside on both sides. There are only streetlights on the left, and no utility poles or wires are visible. There is a nearby crosswalk and traffic light ahead. A roundabout sign is on the right side ahead. Behind is a straight section with no intersections."], "answer_index": 1}
{"token": "2a0bc956f211fcea7e06b92078fb0029", "waymo_split": "test", "type": "image", "frame_index": 145, "question": "Are there any blind spots in your field of vision?", "category": "Uncertainty", "options": ["A. The space between parked vehicles on the right shoulder is a blind spot", "B. The right bicycle lane is clear, with no blind spots", "C. The area in front of the right bus stop is not a blind spot", "D. The gap towards the left median is a blind spot"], "answer_index": 0}
{"token": "2a0bc956f211fcea7e06b92078fb0029", "waymo_split": "test", "type": "image", "frame_index": 145, "question": "What should I do to drive safely?", "category": "Safety-critical Planning", "options": ["A. When the other vehicle approaches, my car should turn left to enter first and pass by, so I need to accelerate and quickly pass through the center. It's better to drive closely along the center and quickly pass by the other vehicle.", "B. Since both the other vehicle and my car will be in a situation where neither yields, I should stop briefly in the center and then quickly move to the left when the other vehicle stops. It's better not to leave space on the right and to drive straight while staying close to the center line.", "C. Both the other vehicle and my car should gather towards the center and pass by at the same time, so I should not slow down and drive straight at a constant speed. It's better to slightly stick to the left based on my car and minimize the gap while passing through.", "D. Since both the other vehicle and my car will be driving in the opposite direction to pass by, I should drive straight while slowing down to avoid a collision in the center. It's better to stay close to the right side based on my car and increase the distance while driving straight."], "answer_index": 3}
{"token": "2a0bc956f211fcea7e06b92078fb0029", "waymo_split": "test", "type": "image", "frame_index": 145, "question": "How should I drive to address the first risk while also resolving the second risk?", "category": "Safety-critical Planning", "options": ["A. Stop in front of the next safety-critical object", "B. Slow down in anticipation of the next safety-critical object", "C. There is no next safety-critical object", "D. Change lanes to avoid the next safety-critical object"], "answer_index": 2}
{"token": "2a0bc956f211fcea7e06b92078fb0029", "waymo_split": "test", "type": "image", "frame_index": 145, "question": "Is there any other safety-critical object besides the first safety-critical object? If so, how will it move?", "category": "Safety-critical Prediction", "options": ["A. Yes: evade to the right", "B. Yes: stop and turn left", "C. No", "D. Yes: decelerate and go straight"], "answer_index": 2}
{"token": "2a0bc956f211fcea7e06b92078fb0029", "waymo_split": "test", "type": "image", "frame_index": 145, "question": "Is lane changing possible? Which is safer, slowing down or changing lanes?", "category": "Safety-critical Planning", "options": ["A. Acceleration is safer / The left lane is a passing lane and can be temporarily used", "B. Maintaining speed is safer / The center line is dashed, allowing lane changes to the left", "C. Changing lanes is safer / Lane change to the left is possible (no oncoming traffic)", "D. Slowing down is safer. Lane change not possible (the left is an oncoming lane)"], "answer_index": 3}
{"token": "2a0bc956f211fcea7e06b92078fb0029", "waymo_split": "test", "type": "image", "frame_index": 145, "question": "What is the correlation in safety-critical situations?", "category": "Safety-critical scene Understanding", "options": ["A. Car-Car", "B. Car-Two-wheeler", "C. Person-Two-wheeler", "D. Car-Person"], "answer_index": 0}
{"token": "2a0bc956f211fcea7e06b92078fb0029", "waymo_split": "test", "type": "image", "frame_index": 145, "question": "Who is responsible in a safety-critical situation? What is the cause?", "category": "Safety-critical scene Understanding", "options": ["A. Since it is a narrow two-lane road, caution is required. The vehicle should stay close to the right to avoid colliding with the center and either slow down or stop.", "B. The oncoming vehicle entered without yielding first, so the other party is largely at fault. My vehicle can proceed straight while staying close to the center line.", "C. In this section, my vehicle has the right of way, so there is almost no fault. Slightly veering left reduces the risk of a central collision.", "D. Although it is a two-lane road, there is enough space for normal driving. I should maintain speed or slightly accelerate to quickly pass the oncoming vehicle."], "answer_index": 0}
{"token": "2a0bc956f211fcea7e06b92078fb0029", "waymo_split": "test", "type": "image", "frame_index": 145, "question": "What is the safest choice when approaching a yellow signal: stop vs proceed?", "category": "Special Event", "options": ["A. Stop immediately at the stop line", "B. Proceed with a right turn", "C. Slowing down to proceed is safe", "D. Cannot determine without a signal"], "answer_index": 3}
{"token": "2a0bc956f211fcea7e06b92078fb0029", "waymo_split": "test", "type": "image", "frame_index": 145, "question": "Where is the area that hides danger in the current frame?", "category": "Uncertainty", "options": ["A. The gap between parked vehicles on the right shoulder", "B. The gap between parked vehicles on the left shoulder", "C. The empty space right behind the truck in front", "D. The space behind the central divider railing"], "answer_index": 0}
{"token": "2a0bc956f211fcea7e06b92078fb0029", "waymo_split": "test", "type": "image", "frame_index": 145, "question": "What are the newly exposed risk candidates in the following section?", "category": "Safety-critical Prediction", "options": ["A. Construction materials may fall from the upper area.", "B. Wheels may slip due to surface damage in the section.", "C. Vehicles coming from the opposite direction may cross the center line at that corner.", "D. People or objects may pop out from that gap."], "answer_index": 3}
{"token": "2a0bc956f211fcea7e06b92078fb0029", "waymo_split": "test", "type": "image", "frame_index": 145, "question": "What is the guideline for the behavior of our vehicle based on the actions of a safety-critical object?", "category": "Safety-critical Planning", "options": ["A. If a safety-critical object encroaches into the left center while driving, our vehicle should swerve to the right and make an emergency stop. (Currently, the safety-critical object is driving normally without encroaching into the opposite lane on the left side of our vehicle.)", "B. If a safety-critical object crosses the left center and comes into our lane up to the edge, our vehicle should steer left to create space and should not brake. (Currently, the safety-critical object is stopped on the left shoulder relative to our vehicle.)", "C. If a safety-critical object suddenly merges into our lane from the right, our vehicle should maintain its current speed, honk the horn, and continue straight. (Currently, the safety-critical object is maintaining its lane and keeping a distance in the right lane relative to our vehicle.)", "D. If a safety-critical object is being pushed to the right edge while driving, our vehicle should slightly encroach into the left lane and accelerate to overtake. (Currently, the safety-critical object is maintaining speed in the same lane ahead of our vehicle and is close to the center.)"], "answer_index": 0}
{"token": "2a0bc956f211fcea7e06b92078fb0029", "waymo_split": "test", "type": "image", "frame_index": 145, "question": "What is the method to avoid the blind spot next to a large vehicle?", "category": "Special Event", "options": ["A. Cannot judge as there is no large vehicle", "B. Slowly pass to the left of the large vehicle", "C. Wait in the blind spot behind the bus", "D. Proceed closely to the right of the large vehicle"], "answer_index": 0}
{"token": "2aa75335f876b06abecc9e05076aa067", "waymo_split": "test", "type": "video", "frame_index": null, "question": "What is the classification of the scene?", "category": "Normal scene Understanding", "options": ["A. A one-way alley in a quiet residential area", "B. A narrow two-lane road in the city", "C. A narrow dirt road in an unpaved rural area", "D. A wide four-lane road with two-way traffic in the suburbs"], "answer_index": 1}
{"token": "2aa75335f876b06abecc9e05076aa067", "waymo_split": "test", "type": "video", "frame_index": null, "question": "Where is the safety-critical situation in the video?", "category": "Temporal Grounding", "options": ["A. 1/4", "B. 2/4", "C. 3/4", "D. 4/4"], "answer_index": 3}
{"token": "2aa75335f876b06abecc9e05076aa067", "waymo_split": "test", "type": "video", "frame_index": null, "question": "Which of the following is a correct description of traffic density?", "category": "Normal scene Understanding", "options": ["A. Slow speed. Many surrounding vehicles. Flat terrain.", "B. Moderate speed. No surrounding vehicles. Uphill.", "C. Slightly fast speed. Few vehicles in front and behind. Gentle downhill.", "D. Fast speed. A few surrounding vehicles. Downhill."], "answer_index": 1}
{"token": "2aa75335f876b06abecc9e05076aa067", "waymo_split": "test", "type": "video", "frame_index": null, "question": "Is there a special situation?", "category": "Special Event", "options": ["A. Uphill", "B. Downhill", "C. Tunnel section", "D. Curved section"], "answer_index": 0}
{"token": "2aa75335f876b06abecc9e05076aa067", "waymo_split": "test", "type": "video", "frame_index": null, "question": "What is correct regarding Video Summary from a Safety-critical Scene perspective?", "category": "Safety-critical scene caption", "options": ["A. As the signalized intersection appears on the flat section, a bicycle comes out from the right alley and enters diagonally towards the crosswalk. The bicycle stops to yield, and the vehicle passes through the intersection without stopping.", "B. As the vehicle reaches the T-intersection while going uphill, a vehicle coming from the opposite direction turns left just before the intersection, not overlapping with the vehicle's direction. The vehicle only briefly reduces speed and passes through the intersection without stopping.", "C. As the vehicle goes uphill and approaches the intersection, a vehicle appears from the opposite lane beyond the intersection, heading towards the vehicle's direction. This vehicle enters the narrow uphill road. As this vehicle gets closer to the vehicle, it briefly slows down and then continues to drive away from the vehicle. At this moment, the vehicle notices the other vehicle and comes to a brief stop.", "D. As the vehicle goes downhill and approaches the intersection, a vehicle is seen on the left front trying to merge into the same lane by turning right. This vehicle smoothly enters the wide downhill lane while maintaining speed, and the vehicle only reduces speed while keeping a distance and continues driving."], "answer_index": 2}
{"token": "2aa75335f876b06abecc9e05076aa067", "waymo_split": "test", "type": "video", "frame_index": null, "question": "Which of the following is a correct description of road alignment?", "category": "Normal Perception & Prediction", "options": ["A. Right turn", "B. Straight", "C. Overtaking", "D. Left turn"], "answer_index": 1}
{"token": "2aa75335f876b06abecc9e05076aa067", "waymo_split": "test", "type": "video", "frame_index": null, "question": "Which of the following is a correct description of the environment?", "category": "Normal scene Understanding", "options": ["A. Dawn, fog", "B. Night, drizzle", "C. Evening, cloudy", "D. Day, clear"], "answer_index": 3}
{"token": "2aa75335f876b06abecc9e05076aa067", "waymo_split": "test", "type": "video", "frame_index": null, "question": "What is the answer regarding parked vehicles on the shoulder, the presence of a center line, and whether Ego crosses the center line?", "category": "Normal Perception & Prediction", "options": ["A. Many parked vehicles on the shoulder. Center line exists. No crossing.", "B. Many parked vehicles on the shoulder. No center line. No crossing.", "C. Many parked vehicles on the shoulder. Center line exists. Crossing.", "D. Few parked vehicles on the shoulder. Center line exists. No crossing."], "answer_index": 0}
{"token": "2aa75335f876b06abecc9e05076aa067", "waymo_split": "test", "type": "video", "frame_index": null, "question": "Which of the following is a correct description of traffic signals?", "category": "Traffic Signal", "options": ["A. Intersection traffic light (red signal for vehicles). No right turn sign at the traffic light. The left shoulder lane is a bus-only lane according to the road marking.", "B. Unprotected left turn signal at a three-way intersection, right turn allowed sign at the traffic light, the central lane is a bus-only road marking.", "C. T-intersection traffic light (green signal for vehicles), U-turn allowed sign at the traffic light, the right shoulder lane is a bicycle-only road marking.", "D. Flashing yellow signal at an intersection (yellow flashing for vehicles), no left turn sign below the traffic light, the rightmost lane is a freight-only road marking."], "answer_index": 0}
{"token": "2aa75335f876b06abecc9e05076aa067", "waymo_split": "test", "type": "video", "frame_index": null, "question": "What is a safety-critical object?", "category": "Safety-critical Perception", "options": ["A. A vehicle moving away from your lane at an intersection.", "B. A work vehicle parked on the right shoulder at an intersection.", "C. A pedestrian waiting for the signal at a crosswalk at an intersection.", "D. A vehicle approaching from the opposite lane at an intersection."], "answer_index": 3}
{"token": "2aa75335f876b06abecc9e05076aa067", "waymo_split": "test", "type": "video", "frame_index": null, "question": "What is the correlation in safety-critical situations?", "category": "Safety-critical scene Understanding", "options": ["A. car-car", "B. car-two-wheeler", "C. car-person", "D. person-two-wheeler"], "answer_index": 0}
{"token": "2aa75335f876b06abecc9e05076aa067", "waymo_split": "test", "type": "video", "frame_index": null, "question": "How did the safety-critical object move and how did the ego vehicle behave?", "category": "Safety-critical scene Understanding", "options": ["A. Yielded at the center line before the intersection, came to a complete stop, then turned left according to the signal while the ego vehicle passed through at a slow speed.", "B. Drove in the opposite lane and briefly slowed down before entering the road towards the ego vehicle, then accelerated again. The ego vehicle noticed and slowed down to a stop.", "C. Moved to the right shoulder in the opposite lane, briefly stopped, then merged slowly while the ego vehicle slightly swerved to the left.", "D. Maintained a constant speed while going straight in the same lane and passed through the intersection, with the ego vehicle continuing without slowing down."], "answer_index": 1}
{"token": "2aa75335f876b06abecc9e05076aa067", "waymo_split": "test", "type": "video", "frame_index": null, "question": "Summary of Ego (own vehicle) behavior before a safety-critical situation", "category": "Normal scene Understanding", "options": ["A. Changing lanes to turn left", "B. Going straight just before entering the intersection", "C. Coming to a temporary stop at the stop line", "D. Just before merging from the right alley"], "answer_index": 1}
{"token": "2aa75335f876b06abecc9e05076aa067", "waymo_split": "test", "type": "image", "frame_index": 8, "question": "Based on the current appearance of the person/vehicle (two-wheeled), how do you intend to move?", "category": "Normal Perception & Prediction", "options": ["A. Left turn", "B. U-turn", "C. Straight", "D. Right turn"], "answer_index": 2}
{"token": "2aa75335f876b06abecc9e05076aa067", "waymo_split": "test", "type": "image", "frame_index": 8, "question": "What are the behavioral restrictions in school zones/congested areas?", "category": "Special Event", "options": ["A. Pass before pedestrians", "B. Narrow the gap between cars and overtake quickly", "C. Proceed slowly while being cautious", "D. Honk and pass quickly"], "answer_index": 2}
{"token": "2aa75335f876b06abecc9e05076aa067", "waymo_split": "test", "type": "image", "frame_index": 8, "question": "Which of the following is a correct description of traffic density?", "category": "Normal scene Understanding", "options": ["A. Slow speed. Vehicles are dense in each lane.", "B. Congestion level. Large trucks are lined up in the right lane.", "C. Moderate speed. There are many parked vehicles on the shoulder.", "D. Fast speed. There are almost no vehicles around."], "answer_index": 2}
{"token": "2aa75335f876b06abecc9e05076aa067", "waymo_split": "test", "type": "image", "frame_index": 8, "question": "What is the plan for yielding when an ambulance/fire truck approaches?", "category": "Special Event", "options": ["A. Yield by slowing down in the center lane", "B. Yield by stopping in the left shoulder", "C. Yield by turning on hazard lights and slowing down", "D. Yield by stopping in the right shoulder"], "answer_index": 3}
{"token": "2aa75335f876b06abecc9e05076aa067", "waymo_split": "test", "type": "image", "frame_index": 8, "question": "What are the classifications of scenes?", "category": "Normal scene Understanding", "options": ["A. Unpaved", "B. Highway", "C. Residential area", "D. City"], "answer_index": 3}
{"token": "2aa75335f876b06abecc9e05076aa067", "waymo_split": "test", "type": "image", "frame_index": 8, "question": "Which of the following descriptions about the environment is correct?", "category": "Normal scene Understanding", "options": ["A. Night, cloudy", "B. Day, clear", "C. Dawn, fog", "D. Sunset, light rain"], "answer_index": 1}
{"token": "2aa75335f876b06abecc9e05076aa067", "waymo_split": "test", "type": "image", "frame_index": 8, "question": "Which of the following is a correct description of traffic signals?", "category": "Traffic Signal", "options": ["A. NO ENTRY sign behind", "B. ONE WAY sign ahead", "C. YIELD sign on the left", "D. ONE WAY sign behind"], "answer_index": 3}
{"token": "2aa75335f876b06abecc9e05076aa067", "waymo_split": "test", "type": "image", "frame_index": 8, "question": "What is the description of non-safety-critical objects?", "category": "Normal Perception & Prediction", "options": ["A. An empty lane and shoulder in front, a child riding a bicycle on the right sidewalk / trees outside the left sidewalk,", "B. Parked cars on the shoulder in front, people walking on the right sidewalk. Buildings outside the left and right sidewalks,", "C. A delivery motorcycle running in front, a person sitting on a bench on the left sidewalk / parking lots outside the left and right sidewalks,", "D. Vehicles waiting at a signal in front, people standing on the left sidewalk / low fences outside the right sidewalk,"], "answer_index": 1}
{"token": "2aa75335f876b06abecc9e05076aa067", "waymo_split": "test", "type": "image", "frame_index": 8, "question": "Is there a blind spot in your field of vision?", "category": "Uncertainty", "options": ["A. The area in front of the parked vehicle on the right shoulder is a blind spot", "B. The area in front of the stopped bus on the right is a blind spot", "C. The area behind the parked vehicle on the right shoulder is a blind spot", "D. The area in front of the parked vehicle on the left shoulder is a blind spot"], "answer_index": 0}
{"token": "2aa75335f876b06abecc9e05076aa067", "waymo_split": "test", "type": "image", "frame_index": 8, "question": "What is the answer regarding parked vehicles on the shoulder, the presence of a center line, and whether Ego crosses the center line?", "category": "Normal Perception & Prediction", "options": ["A. There are a few parked vehicles on the shoulder, there is a center line, partial encroachment.", "B. There are almost no parked vehicles on the shoulder, there is a center line, no encroachment.", "C. There are many parked vehicles on the shoulder, there is no center line, no encroachment.", "D. There are many parked vehicles on the shoulder, there is a center line, no encroachment."], "answer_index": 3}
{"token": "2aa75335f876b06abecc9e05076aa067", "waymo_split": "test", "type": "image", "frame_index": 8, "question": "What is a safety-critical object?", "category": "Safety-critical Perception", "options": ["A. Emergency stop button", "B. Power cut-off switch", "C. None", "D. Brake system"], "answer_index": 2}
{"token": "2aa75335f876b06abecc9e05076aa067", "waymo_split": "test", "type": "image", "frame_index": 8, "question": "Is there any other safety-critical object besides the first safety-critical object? If so, how will it be moved?", "category": "Safety-critical Prediction", "options": ["A. Yes, move to the left", "B. Yes, move to the rear", "C. No", "D. Yes, move to the right"], "answer_index": 2}
{"token": "2aa75335f876b06abecc9e05076aa067", "waymo_split": "test", "type": "image", "frame_index": 8, "question": "How do you think a safety-critical object should be moved?", "category": "Safety-critical Prediction", "options": ["A. None", "B. Reverse", "C. Forward", "D. Rotate"], "answer_index": 0}
{"token": "2aa75335f876b06abecc9e05076aa067", "waymo_split": "test", "type": "image", "frame_index": 8, "question": "Where is the area that hides danger in the current frame?", "category": "Uncertainty", "options": ["A. Right corner of the intersection ahead", "B. In front of the vehicle parked on the left lane", "C. In front of the vehicle parked on the right shoulder", "D. Behind the vehicle parked on the right shoulder"], "answer_index": 2}
{"token": "2aa75335f876b06abecc9e05076aa067", "waymo_split": "test", "type": "image", "frame_index": 8, "question": "What are the new exposure risk candidates in the following section?", "category": "Safety-critical Prediction", "options": ["A. Reduced forward visibility", "B. Road surface slipping", "C. None", "D. Right-side falling rocks"], "answer_index": 2}
{"token": "2aa75335f876b06abecc9e05076aa067", "waymo_split": "test", "type": "image", "frame_index": 8, "question": "Is lane changing possible? Which is safer between slowing down and changing lanes?", "category": "Safety-critical Planning", "options": ["A. Slowing down is safe, there is no lane to change to", "B. Accelerating is safe, moving to the merging lane", "C. Changing lanes is safe, there is an empty lane on the right", "D. Maintaining speed is safe, lane change to the left is possible"], "answer_index": 0}
{"token": "2aa75335f876b06abecc9e05076aa067", "waymo_split": "test", "type": "image", "frame_index": 29, "question": "Based on the current appearance of the person/vehicle (two-wheeled), how do you intend to move?", "category": "Normal Perception & Prediction", "options": ["A. Turn left", "B. Reverse", "C. Go straight", "D. Turn right"], "answer_index": 2}
{"token": "2aa75335f876b06abecc9e05076aa067", "waymo_split": "test", "type": "image", "frame_index": 8, "question": "What is the method to avoid the blind spot next to a large vehicle?", "category": "Special Event", "options": ["A. No large vehicle", "B. Match the speed of the large vehicle", "C. Maintain position next to the truck", "D. Pass on the right side of the large vehicle"], "answer_index": 0}
{"token": "2aa75335f876b06abecc9e05076aa067", "waymo_split": "test", "type": "image", "frame_index": 29, "question": "What is the plan for yielding when an ambulance/fire truck approaches?", "category": "Special Event", "options": ["A. Yield by slowing down and pulling over to the left shoulder", "B. Yield by stopping on the right shoulder", "C. Yield by stopping in the center lane", "D. Yield by keeping speed while turning on hazard lights"], "answer_index": 1}
{"token": "2aa75335f876b06abecc9e05076aa067", "waymo_split": "test", "type": "image", "frame_index": 29, "question": "What are the behavioral restrictions in school zones/congested areas?", "category": "Special Event", "options": ["A. Changing lanes and overtaking", "B. Honking and passing quickly", "C. Maintaining speed and going straight", "D. Driving slowly and being cautious"], "answer_index": 3}
{"token": "2aa75335f876b06abecc9e05076aa067", "waymo_split": "test", "type": "image", "frame_index": 29, "question": "What are the classifications of scenes?", "category": "Normal scene Understanding", "options": ["A. City", "B. Residential area", "C. Unpaved", "D. Highway"], "answer_index": 0}
{"token": "2aa75335f876b06abecc9e05076aa067", "waymo_split": "test", "type": "image", "frame_index": 29, "question": "Which of the following is a correct description of the environment?", "category": "Normal scene Understanding", "options": ["A. Day, clear", "B. Dawn, fog", "C. Night, rain", "D. Evening, cloudy"], "answer_index": 0}
{"token": "2aa75335f876b06abecc9e05076aa067", "waymo_split": "test", "type": "image", "frame_index": 29, "question": "Which of the following is a correct description of traffic density?", "category": "Normal scene Understanding", "options": ["A. Slow-moving section. Vehicles are concentrated only in the opposite lane.", "B. Slow speed. There are almost no parked vehicles on the shoulder.", "C. Fast speed. Surrounding vehicles are relatively sparse.", "D. Moderate speed. There are many parked vehicles on the shoulder."], "answer_index": 3}
{"token": "2aa75335f876b06abecc9e05076aa067", "waymo_split": "test", "type": "image", "frame_index": 29, "question": "Which of the following is a correct description of traffic signals?", "category": "Traffic Signal", "options": ["A. No right turn sign ahead", "B. ONEWAY sign ahead", "C. ONEWAY sign on the left", "D. STOP sign ahead"], "answer_index": 1}
{"token": "2aa75335f876b06abecc9e05076aa067", "waymo_split": "test", "type": "image", "frame_index": 29, "question": "What is the answer regarding parked vehicles on the shoulder, the presence of a center line, and whether Ego crosses the center line?", "category": "Normal Perception & Prediction", "options": ["A. There are many parked vehicles on the shoulder. There is a center line. No crossing.", "B. There are few parked vehicles on the shoulder. There is no center line. No crossing.", "C. There are no parked vehicles on the shoulder. There is no center line. Crossing.", "D. One or two vehicles are parked on the shoulder. There is a center line. Crossing."], "answer_index": 0}
{"token": "2aa75335f876b06abecc9e05076aa067", "waymo_split": "test", "type": "image", "frame_index": 29, "question": "Is there a blind spot in your field of vision?", "category": "Uncertainty", "options": ["A. The area in front of the parked vehicle on the left shoulder is a blind spot", "B. The area behind the parked vehicle on the right shoulder is a blind spot", "C. The area in front of the parked vehicle on the right shoulder is a blind spot", "D. The area in front of the bus stop on the right is a blind spot"], "answer_index": 2}
{"token": "2aa75335f876b06abecc9e05076aa067", "waymo_split": "test", "type": "image", "frame_index": 29, "question": "What is a safety-critical object?", "category": "Safety-critical Perception", "options": ["A. Airbag", "B. Brake", "C. Emergency light", "D. None"], "answer_index": 3}
{"token": "2aa75335f876b06abecc9e05076aa067", "waymo_split": "test", "type": "image", "frame_index": 29, "question": "How do you think a safety-critical object will move?", "category": "Safety-critical Prediction", "options": ["A. to the left", "B. straight", "C. none", "D. rotate"], "answer_index": 2}
{"token": "2aa75335f876b06abecc9e05076aa067", "waymo_split": "test", "type": "image", "frame_index": 29, "question": "Is lane changing possible? Which is safer between slowing down and changing lanes?", "category": "Safety-critical Planning", "options": ["A. Slowing down is safe, there is no lane to change to", "B. Changing lanes is safe, there is a free lane on the left", "C. Accelerating is safer, there is enough distance from the car in front", "D. Changing lanes is advantageous, there is merging space on the right"], "answer_index": 0}
{"token": "2aa75335f876b06abecc9e05076aa067", "waymo_split": "test", "type": "image", "frame_index": 29, "question": "Are there any other safety-critical objects besides the first safety-critical object? If so, how would you move?", "category": "Safety-critical Prediction", "options": ["A. Motorcycle, going straight", "B. Vehicle in front, reversing", "C. Pedestrian on the right, jaywalking", "D. None"], "answer_index": 3}
{"token": "2aa75335f876b06abecc9e05076aa067", "waymo_split": "test", "type": "image", "frame_index": 67, "question": "Based on the current appearance of the person/vehicle (two-wheeled), how do you intend to move?", "category": "Normal Perception & Prediction", "options": ["A. Turn left", "B. Turn right", "C. Reverse", "D. Go straight"], "answer_index": 3}
{"token": "2aa75335f876b06abecc9e05076aa067", "waymo_split": "test", "type": "image", "frame_index": 29, "question": "Where is the area that hides danger in the current frame?", "category": "Uncertainty", "options": ["A. Straight lane", "B. Right turn lane", "C. Opposite lane", "D. Left turn lane"], "answer_index": 1}
{"token": "2aa75335f876b06abecc9e05076aa067", "waymo_split": "test", "type": "image", "frame_index": 29, "question": "What are the potential new hazards in the following area?", "category": "Safety-critical Prediction", "options": ["A. A bicycle may appear on the right bike lane", "B. A motorcycle may appear on the left lane", "C. A pedestrian may appear on the sidewalk ahead", "D. A car may appear on the right lane"], "answer_index": 3}
{"token": "2aa75335f876b06abecc9e05076aa067", "waymo_split": "test", "type": "image", "frame_index": 29, "question": "What is the safest choice just before entering a yellow signal: stop vs pass?", "category": "Special Event", "options": ["A. Stop right before the intersection.", "B. Just pass because the car behind is close.", "C. Cannot decide because there is no signal.", "D. Accelerate and pass because I am turning left."], "answer_index": 2}
{"token": "2aa75335f876b06abecc9e05076aa067", "waymo_split": "test", "type": "image", "frame_index": 67, "question": "What are the behavioral restrictions in school zones/congested areas?", "category": "Special Event", "options": ["A. Honk to clear the way", "B. Proceed slowly while being cautious", "C. Accelerate and pass quickly", "D. Change lanes by looking for gaps"], "answer_index": 1}
{"token": "2aa75335f876b06abecc9e05076aa067", "waymo_split": "test", "type": "image", "frame_index": 67, "question": "What is the plan for yielding when an ambulance/fire truck approaches?", "category": "Special Event", "options": ["A. Stop and yield", "B. Drive with emergency lights on", "C. Increase speed to pass", "D. Proceed while slowing down"], "answer_index": 0}
{"token": "2aa75335f876b06abecc9e05076aa067", "waymo_split": "test", "type": "image", "frame_index": 67, "question": "What are the classifications of scenes?", "category": "Normal scene Understanding", "options": ["A. Unpaved", "B. Urban", "C. Suburban", "D. Residential area"], "answer_index": 1}
{"token": "2aa75335f876b06abecc9e05076aa067", "waymo_split": "test", "type": "image", "frame_index": 67, "question": "Which of the following is a correct description of the environment?", "category": "Normal scene Understanding", "options": ["A. sunset, rain", "B. dawn, fog", "C. daytime, clear", "D. night, cloudy"], "answer_index": 2}
{"token": "2aa75335f876b06abecc9e05076aa067", "waymo_split": "test", "type": "image", "frame_index": 67, "question": "What is the answer regarding parked vehicles on the shoulder, the presence of a center line, and whether Ego crosses the center line?", "category": "Normal Perception & Prediction", "options": ["A. There are many parked vehicles on the shoulder. There is a center line. No crossing.", "B. There are hardly any parked vehicles on the shoulder. There is no center line. No crossing.", "C. There are a few parked vehicles on the shoulder. There is no center line. Crossing.", "D. There are many parked vehicles on the shoulder. There is a center line. Crossing."], "answer_index": 0}
{"token": "2aa75335f876b06abecc9e05076aa067", "waymo_split": "test", "type": "image", "frame_index": 67, "question": "What is the description of a non-safety-critical object?", "category": "Normal Perception & Prediction", "options": ["A. In front, there is a bus stop and a bus that is stopped, people jogging on the left sidewalk, rows of street trees outside the left and right sidewalks, streetlights and banners on the sidewalk, people riding bicycles along the left sidewalk, and a traffic light and a left turn only sign at the intersection ahead.", "B. In front, there is a taxi stand and waiting taxis, a bike lane marked in the right lane, a low fence and flower bed outside the left sidewalk, signposts and a bus route map on the sidewalk, people walking with their dogs on the left and right sidewalks, and a traffic light and a one-way sign at the intersection ahead.", "C. In front, there is a construction fence and cones in the area, people resting on a bench on the right sidewalk, a small parking lot and a small park outside the left and right roads, benches and trash cans on the sidewalk, people walking on the left sidewalk, and a flashing traffic signal and a U-turn allowed sign at the intersection ahead.", "D. In front, there are parked vehicles on the shoulder, people walking on the right sidewalk, buildings outside the left and right sidewalks, and utility poles and wires on the sidewalk. People walking on the right sidewalk. Ahead, there is a traffic light and a no right turn sign at the intersection."], "answer_index": 3}
{"token": "2aa75335f876b06abecc9e05076aa067", "waymo_split": "test", "type": "image", "frame_index": 67, "question": "Are there any blind spots?", "category": "Uncertainty", "options": ["A. The area in front of the vehicle parked on the left shoulder is a blind spot", "B. The area behind the vehicle parked on the right shoulder is a blind spot", "C. The area next to the vehicle waiting to turn right on the right side is a blind spot", "D. The area in front of the vehicle parked on the right shoulder is a blind spot"], "answer_index": 3}
{"token": "2aa75335f876b06abecc9e05076aa067", "waymo_split": "test", "type": "image", "frame_index": 67, "question": "Which of the following is a correct description of traffic signals?", "category": "Traffic Signal", "options": ["A. Traffic light at the intersection ahead (left turn signal illuminated), one-way sign, and road marking indicating the right shoulder is for bicycles.", "B. Traffic light at the intersection ahead (yellow flashing), U-turn allowed sign, and road marking indicating the central lane is for buses.", "C. Traffic light at the intersection ahead (red signal), no right turn sign, and road marking indicating the left shoulder is a bus-only lane.", "D. Traffic light at the T-intersection ahead (green signal), no left turn sign, and road marking indicating the right lane is a bus-only lane."], "answer_index": 2}
{"token": "2aa75335f876b06abecc9e05076aa067", "waymo_split": "test", "type": "image", "frame_index": 67, "question": "What is a safety-critical object?", "category": "Safety-critical Perception", "options": ["A. Steering system", "B. Airbag", "C. None", "D. Brake"], "answer_index": 2}
{"token": "2aa75335f876b06abecc9e05076aa067", "waymo_split": "test", "type": "image", "frame_index": 67, "question": "How do you think safety-critical objects should be moved?", "category": "Safety-critical Prediction", "options": ["A. In a straight line", "B. In a zigzag", "C. In a circle", "D. None"], "answer_index": 3}
{"token": "2aa75335f876b06abecc9e05076aa067", "waymo_split": "test", "type": "image", "frame_index": 67, "question": "Are there any other safety-critical objects besides the first safety-critical object? If so, how will you move them?", "category": "Safety-critical Prediction", "options": ["A. Yes: Move it low with team members", "B. No", "C. Yes: Secure it with both hands and move slowly", "D. Yes: Protect it with cushioning material and keep it horizontal while moving"], "answer_index": 1}
{"token": "2aa75335f876b06abecc9e05076aa067", "waymo_split": "test", "type": "image", "frame_index": 67, "question": "Is lane changing possible? Which is safer, slowing down or changing lanes?", "category": "Safety-critical Planning", "options": ["A. Changing lanes is better, the right lane is clear", "B. Changing lanes is better than slowing down, the flow ahead is smooth", "C. Slowing down is safer, there is no lane to change to", "D. Changing lanes is safe, there is a spare lane on the left"], "answer_index": 2}
{"token": "2aa75335f876b06abecc9e05076aa067", "waymo_split": "test", "type": "image", "frame_index": 67, "question": "What is the safest choice when approaching a yellow signal: stop vs. proceed?", "category": "Special Event", "options": ["A. Slowing down is safe", "B. Accelerating is safe", "C. Proceeding is safe", "D. Stopping is safe"], "answer_index": 3}
{"token": "2aa75335f876b06abecc9e05076aa067", "waymo_split": "test", "type": "image", "frame_index": 87, "question": "Based on the current appearance of the person/vehicle (two-wheeled), how do you intend to move?", "category": "Normal Perception & Prediction", "options": ["A. Stop", "B. Go straight", "C. Depart", "D. Reverse"], "answer_index": 0}
{"token": "2aa75335f876b06abecc9e05076aa067", "waymo_split": "test", "type": "image", "frame_index": 67, "question": "Where is the area that hides danger in the current frame?", "category": "Uncertainty", "options": ["A. In front of the crosswalk (due to the shade of the trees and parked vehicles, pedestrian influx is not noticeable)", "B. Left turn lane (the large bus in front obstructs the view, making it difficult to assess the traffic signal and situation ahead)", "C. Right alley (obscured by the corner building and parked vehicles, making it hard to see vehicles merging from the right)", "D. Intersection (currently on an uphill, making it difficult to see the intersection ahead)"], "answer_index": 3}
{"token": "2aa75335f876b06abecc9e05076aa067", "waymo_split": "test", "type": "image", "frame_index": 67, "question": "What are the new risk candidates that will be exposed in the following section?", "category": "Safety-critical Prediction", "options": ["A. Vehicles entering the road from the intersection towards the main road", "B. Vehicles approaching by crossing the center line from the opposite lane", "C. Two-wheeled vehicles urgently merging from the shoulder into the main lane", "D. Pedestrians jumping into the road from the crosswalk"], "answer_index": 0}
{"token": "2aa75335f876b06abecc9e05076aa067", "waymo_split": "test", "type": "image", "frame_index": 67, "question": "What is the method to avoid the blind spot next to a large vehicle?", "category": "Special Event", "options": ["A. Driving alongside the bus", "B. Overtaking on the right", "C. No large vehicle present", "D. Following behind a truck"], "answer_index": 2}
{"token": "2aa75335f876b06abecc9e05076aa067", "waymo_split": "test", "type": "image", "frame_index": 87, "question": "What are the classifications of scenes?", "category": "Normal scene Understanding", "options": ["A. City", "B. Unpaved", "C. Residential area", "D. Highway"], "answer_index": 0}
{"token": "2aa75335f876b06abecc9e05076aa067", "waymo_split": "test", "type": "image", "frame_index": 87, "question": "Which of the following is correct as an Image Caption from a Safety-critical Frame perspective?", "category": "Safety-critical scene caption", "options": ["A. A motorcycle trying to merge onto the road towards its own vehicle from the left at an intersection.", "B. A vehicle entering the road towards its own vehicle from the front at an intersection.", "C. A truck waiting to turn right onto the road towards its own vehicle from the front at an intersection.", "D. A vehicle entering the opposite road from the front at an intersection."], "answer_index": 1}
{"token": "2aa75335f876b06abecc9e05076aa067", "waymo_split": "test", "type": "image", "frame_index": 87, "question": "What are the behavioral restrictions in school zones/congested areas?", "category": "Special Event", "options": ["A. Overtaking while honking the horn", "B. Proceeding slowly while being cautious", "C. Maintaining a constant speed while passing through", "D. Continuing with hazard lights on"], "answer_index": 1}
{"token": "2aa75335f876b06abecc9e05076aa067", "waymo_split": "test", "type": "image", "frame_index": 87, "question": "What is the plan for yielding when an ambulance/fire truck approaches?", "category": "Special Event", "options": ["A. Stop and yield", "B. Maintain the left lane", "C. Slow down and pass", "D. Wait in the center of the intersection"], "answer_index": 0}
{"token": "2aa75335f876b06abecc9e05076aa067", "waymo_split": "test", "type": "image", "frame_index": 87, "question": "Which of the following is a correct description of the environment?", "category": "Normal scene Understanding", "options": ["A. Day, cloudy", "B. Dusk, drizzle", "C. Night, clear", "D. Day, clear"], "answer_index": 3}
{"token": "2aa75335f876b06abecc9e05076aa067", "waymo_split": "test", "type": "image", "frame_index": 87, "question": "Which of the following is a correct description of traffic density?", "category": "Normal scene Understanding", "options": ["A. Fast, many surrounding vehicles", "B. Fast, almost no parked vehicles on the shoulder", "C. Slow, many parked vehicles on the shoulder", "D. Fast, almost no surrounding vehicles"], "answer_index": 2}
{"token": "2aa75335f876b06abecc9e05076aa067", "waymo_split": "test", "type": "image", "frame_index": 87, "question": "Which of the following is a correct description of traffic signals?", "category": "Traffic Signal", "options": ["A. Traffic light at the intersection ahead (red signal). No right turn sign. The left shoulder is a bus-only lane according to the road marking.", "B. Traffic light at the T-intersection ahead (yellow flashing). U-turn allowed sign. The central lane is a bus-only lane according to the road marking.", "C. Traffic light at the intersection ahead (green signal). Left turn only sign. The right lane is a bicycle-only lane according to the road marking.", "D. Traffic light at the intersection ahead (left turn signal). Right turn allowed sign. The right shoulder is no parking according to the road marking."], "answer_index": 0}
{"token": "2aa75335f876b06abecc9e05076aa067", "waymo_split": "test", "type": "image", "frame_index": 87, "question": "Is there a blind spot in your field of vision?", "category": "Uncertainty", "options": ["A. In front of the parked vehicle on the left shoulder, the left sidewalk at the intersection is a blind spot", "B. In front of the parked vehicle on the right shoulder, the right sidewalk at the intersection is a blind spot", "C. Behind the bus stop on the right, the left lane at the intersection is a blind spot", "D. Behind the parked vehicle on the right shoulder, the center of the intersection is a blind spot"], "answer_index": 1}
{"token": "2aa75335f876b06abecc9e05076aa067", "waymo_split": "test", "type": "image", "frame_index": 87, "question": "Which description is not safety-critical?", "category": "Normal Perception & Prediction", "options": ["A. A parked vehicle on the shoulder in front, people walking on the right sidewalk, buildings outside the left and right sidewalks, and utility poles and wires on the sidewalk. People walking on the right sidewalk. Traffic lights and a no right turn sign at the intersection ahead.", "B. A bus stopped in front, a few people standing on the right sidewalk, a park and a fence outside the left and right sidewalks, flag-type information signs on the sidewalk, and a T-intersection signal and a no U-turn sign ahead.", "C. A taxi moving slowly in front, people walking on the left sidewalk, low fences and store signs outside the left and right sidewalks, street trees and streetlights on the sidewalk, and traffic lights and a right turn guide sign at the intersection ahead.", "D. An empty shoulder in front and a delivery motorcycle in motion, pedestrians walking on the left sidewalk, a parking lot entrance and low buildings outside the right sidewalk, a bus stop instead of a utility pole on the sidewalk, and traffic lights and a no left turn sign at the intersection ahead."], "answer_index": 0}
{"token": "2aa75335f876b06abecc9e05076aa067", "waymo_split": "test", "type": "image", "frame_index": 87, "question": "What is the answer regarding parked vehicles on the shoulder, the presence of a center line, and whether Ego crosses the center line?", "category": "Normal Perception & Prediction", "options": ["A. There are many parked vehicles on the shoulder. There is a center line. It crosses.", "B. There are no parked vehicles on the shoulder. There is a center line. It does not cross.", "C. There are few parked vehicles on the shoulder. There is no center line. It does not cross.", "D. There are many parked vehicles on the shoulder. There is a center line. It does not cross."], "answer_index": 3}
{"token": "2aa75335f876b06abecc9e05076aa067", "waymo_split": "test", "type": "image", "frame_index": 87, "question": "What is a safety-critical object?", "category": "Safety-critical Perception", "options": ["A. A motorcycle stopped with its turn signal on at the entrance of the right alley", "B. A vehicle slowly approaching from the same lane behind", "C. A vehicle exiting to another lane at the intersection ahead", "D. A vehicle entering from the intersection ahead into your lane"], "answer_index": 3}
{"token": "2aa75335f876b06abecc9e05076aa067", "waymo_split": "test", "type": "image", "frame_index": 87, "question": "How do you think safety-critical objects will be moved?", "category": "Safety-critical Prediction", "options": ["A. Entering the right turn lane, turning", "B. Entering the bus-only lane, driving", "C. Entering the private vehicle lane, driving", "D. Stopping on the shoulder, waiting"], "answer_index": 2}
{"token": "2aa75335f876b06abecc9e05076aa067", "waymo_split": "test", "type": "image", "frame_index": 87, "question": "Is lane changing possible? Which is safer between slowing down and changing lanes?", "category": "Safety-critical Planning", "options": ["A. Changing lanes is safe; there is an empty lane on the right.", "B. Slowing down is safe; there is no lane to change into.", "C. Maintaining speed is safe; merging into the left lane is possible.", "D. Accelerating is safe; changing lanes while overtaking the car in front."], "answer_index": 1}
{"token": "2aa75335f876b06abecc9e05076aa067", "waymo_split": "test", "type": "image", "frame_index": 87, "question": "What should I do to drive safely?", "category": "Safety-critical Planning", "options": ["A. When the vehicle passes, the width of the two-lane road is narrowed due to parked cars on the shoulder, so my car must remain stationary. (In the first place, my car must stop because the traffic signal ahead is red.)", "B. Since the oncoming vehicle has slowed down, my car should move to the right edge and go first. (Proceeding rather than stopping reduces accidents in narrow areas.)", "C. Even if the vehicle approaches, the width of the two-lane road is sufficient, so my car should pass slowly while staying close to the center line. (The traffic signal ahead is about to turn green, so unnecessary stopping causes congestion.)", "D. Due to the ambiguous space caused by parked cars on the shoulder, my car should slightly cross the stop line to position itself and pass the oncoming vehicle. (Even with a red signal, waiting inside the intersection is allowed for flow.)"], "answer_index": 0}
{"token": "2aa75335f876b06abecc9e05076aa067", "waymo_split": "test", "type": "image", "frame_index": 87, "question": "Is there any other safety-critical object besides the first safety-critical object? If so, how will it be moved?", "category": "Safety-critical Prediction", "options": ["A. There is a fire extinguisher, check the inspection list, load it onto a cart, and move it down the right corridor.", "B. None.", "C. There is an AED, turn it off, put it in the case, and move towards the exit following the guide signs.", "D. There is an oxygen tank, close the valve, secure it with a chain, and transport it with two people using a lift."], "answer_index": 1}
{"token": "2aa75335f876b06abecc9e05076aa067", "waymo_split": "test", "type": "image", "frame_index": 87, "question": "What is the correlation in safety-critical situations?", "category": "Safety-critical scene Understanding", "options": ["A. Two-wheeled vehicles", "B. Car-Person", "C. Person-Two-wheeled vehicles", "D. Car-Car"], "answer_index": 3}
{"token": "2aa75335f876b06abecc9e05076aa067", "waymo_split": "test", "type": "image", "frame_index": 87, "question": "What is the safest choice when approaching a yellow signal: stop or proceed?", "category": "Special Event", "options": ["A. If the car behind is close, it's safer to hurry through the yellow.", "B. Even though it's currently a red signal, stopping is safe at yellow.", "C. Even if there's no room to decelerate, it's safe to accelerate through the yellow.", "D. Even if it's currently a red signal, it's safe to proceed if it's yellow."], "answer_index": 1}
{"token": "2aa75335f876b06abecc9e05076aa067", "waymo_split": "test", "type": "image", "frame_index": 87, "question": "Where is the area that hides danger in the current frame?", "category": "Uncertainty", "options": ["A. Right sidewalk of the intersection", "B. Central divider of the intersection", "C. Right lane of the intersection", "D. Left lane of the intersection"], "answer_index": 2}
{"token": "2aa75335f876b06abecc9e05076aa067", "waymo_split": "test", "type": "image", "frame_index": 87, "question": "What is the method to avoid the blind spot next to a large vehicle?", "category": "Special Event", "options": ["A. Entering the blind spot", "B. Staying close to the large vehicle", "C. No large vehicle", "D. Overtaking on the right"], "answer_index": 2}
{"token": "2aa75335f876b06abecc9e05076aa067", "waymo_split": "test", "type": "image", "frame_index": 87, "question": "What are the potential new exposure risks in the following section?", "category": "Safety-critical Prediction", "options": ["A. A person may appear in the right lane at the intersection.", "B. A bicycle may appear on the right sidewalk at the intersection.", "C. A motorcycle may appear in the left lane at the intersection.", "D. A vehicle may suddenly stop in the lane ahead at the intersection."], "answer_index": 0}
{"token": "2aa75335f876b06abecc9e05076aa067", "waymo_split": "test", "type": "image", "frame_index": 87, "question": "What situation might have occurred if the vehicle had behaved this way?", "category": "Counterfactual", "options": ["A. If the vehicle had continued driving, there would be a possibility of collision when passing alongside the overtaking vehicle from behind.", "B. If the vehicle had continued driving, there would be a possibility of collision when merging with the vehicle in the right lane.", "C. If the vehicle had continued driving, there would be a possibility of collision when overtaking the vehicle in the same lane ahead.", "D. If the vehicle had continued driving, there would be a possibility of collision when passing by the vehicle in the opposite lane ahead."], "answer_index": 3}
{"token": "2aa75335f876b06abecc9e05076aa067", "waymo_split": "test", "type": "image", "frame_index": 138, "question": "Based on the current appearance of the person/vehicle (two-wheeled), how do you intend to move?", "category": "Normal Perception & Prediction", "options": ["A. Stop", "B. Go straight", "C. Turn right", "D. Turn left"], "answer_index": 0}
{"token": "2aa75335f876b06abecc9e05076aa067", "waymo_split": "test", "type": "image", "frame_index": 138, "question": "What is the plan for yielding when an ambulance/fire truck approaches?", "category": "Special Event", "options": ["A. Stop and yield", "B. Turn on hazard lights and proceed slowly", "C. Proceed slowly while passing", "D. Turn right and continue"], "answer_index": 0}
{"token": "2aa75335f876b06abecc9e05076aa067", "waymo_split": "test", "type": "image", "frame_index": 138, "question": "What are the behavior restrictions in school zones/congested areas?", "category": "Special Event", "options": ["A. Proceed while honking the horn", "B. Change lanes and attempt to overtake", "C. Maintain speed and pass quickly", "D. Drive slowly while being cautious"], "answer_index": 3}
{"token": "2aa75335f876b06abecc9e05076aa067", "waymo_split": "test", "type": "image", "frame_index": 138, "question": "What are the classifications of scenes?", "category": "Normal scene Understanding", "options": ["A. Highway", "B. Unpaved", "C. City", "D. Residential area"], "answer_index": 2}
{"token": "2aa75335f876b06abecc9e05076aa067", "waymo_split": "test", "type": "image", "frame_index": 138, "question": "Which of the following is a correct description of traffic density?", "category": "Normal scene Understanding", "options": ["A. Fast, only the right lane is sparse", "B. Slow, there are few surrounding vehicles", "C. Fast, there are almost no surrounding vehicles", "D. Slow, there are many parked vehicles on the shoulder"], "answer_index": 3}
{"token": "2aa75335f876b06abecc9e05076aa067", "waymo_split": "test", "type": "image", "frame_index": 138, "question": "Which of the following is a correct description of the environment?", "category": "Normal scene Understanding", "options": ["A. Dawn, fog", "B. Night, light rain", "C. Evening, cloudy", "D. Day, clear"], "answer_index": 3}
{"token": "2aa75335f876b06abecc9e05076aa067", "waymo_split": "test", "type": "image", "frame_index": 138, "question": "What is the answer regarding parked vehicles on the shoulder, the presence of a center line, and whether Ego crosses the center line?", "category": "Normal Perception & Prediction", "options": ["A. There are many parked vehicles on the shoulder. There is a center line. No crossing.", "B. There are no parked vehicles on the shoulder. There is a center line. Crossing.", "C. There are a few parked vehicles on the shoulder. There is no center line. No crossing.", "D. There is one or two parked vehicles on the shoulder. There is no center line. Crossing."], "answer_index": 0}
{"token": "2aa75335f876b06abecc9e05076aa067", "waymo_split": "test", "type": "image", "frame_index": 138, "question": "Is there a blind spot in your field of vision?", "category": "Uncertainty", "options": ["A. In front of the parked vehicle on the left shoulder, the left sidewalk at the intersection is a blind spot", "B. In front of the parked vehicle on the right shoulder, the right sidewalk at the intersection is a blind spot", "C. In front of the right bus stop lane, the center of the right lane at the intersection is a blind spot", "D. Behind the parked vehicle on the right shoulder, next to the median at the intersection is a blind spot"], "answer_index": 1}
{"token": "2aa75335f876b06abecc9e05076aa067", "waymo_split": "test", "type": "image", "frame_index": 138, "question": "What is a safety-critical object?", "category": "Safety-critical Perception", "options": ["A. A vehicle trying to pass by your vehicle through the opposite lane at an intersection ahead.", "B. A vehicle moving away from your vehicle in the opposite direction at an intersection ahead.", "C. A pedestrian waiting for the signal next to the crosswalk at an intersection ahead.", "D. A vehicle slowly merging into the right lane at an intersection ahead."], "answer_index": 0}
{"token": "2aa75335f876b06abecc9e05076aa067", "waymo_split": "test", "type": "image", "frame_index": 138, "question": "How do you think a safety-critical object will move?", "category": "Safety-critical Prediction", "options": ["A. Entering the road for personal vehicles and passing by them", "B. Entering the right alley and moving in the opposite direction of personal vehicles", "C. Entering the opposite lane and sticking close to personal vehicles", "D. Entering the pedestrian road and blocking the front of personal vehicles"], "answer_index": 0}
{"token": "2aa75335f876b06abecc9e05076aa067", "waymo_split": "test", "type": "image", "frame_index": 138, "question": "Are there any other safety-critical objects besides the first safety-critical object? If so, how would they be moved?", "category": "Safety-critical Prediction", "options": ["A. None", "B. First aid kit - move under the shelf at the end of the aisle", "C. Fire extinguisher - move one space towards the exit", "D. Emergency stop switch - relocate to the right of the workbench"], "answer_index": 0}
{"token": "2aa75335f876b06abecc9e05076aa067", "waymo_split": "test", "type": "image", "frame_index": 138, "question": "What is the correlation in safety-critical situations?", "category": "Safety-critical scene Understanding", "options": ["A. Car-Car", "B. Car-Two-wheeler", "C. Person-Two-wheeler", "D. Car-Person"], "answer_index": 0}
{"token": "2aa75335f876b06abecc9e05076aa067", "waymo_split": "test", "type": "image", "frame_index": 138, "question": "Is lane changing possible? Which is safer between slowing down and changing lanes?", "category": "Safety-critical Planning", "options": ["A. Changing lanes is safe, can overtake the car in front", "B. Accelerating is safe, the right lane is empty", "C. Changing lanes is safe, there is a spare lane on the left", "D. Slowing down is safe, there is no lane to change to"], "answer_index": 3}
{"token": "2aa75335f876b06abecc9e05076aa067", "waymo_split": "test", "type": "image", "frame_index": 138, "question": "What should I do to drive safely?", "category": "Safety-critical Planning", "options": ["A. Since there is space next to the parked vehicle on the shoulder, my car should proceed slowly with the hazard lights on (it's better not to disrupt the flow as the traffic signal ahead will change soon).", "B. Since the vehicle is still at a distance, my car should use the empty space in the second lane to pass first (the traffic signal ahead is yellow, so I need to maintain speed to exit the intersection).", "C. After confirming the yield with hand signals from the other vehicle, my car should slightly encroach on the center line to bypass (it's preferable to pass without stopping to reduce the queue at the traffic signal ahead).", "D. When the other vehicle passes, the width of the second lane is narrow due to the parked vehicle on the shoulder, so my car should remain stationary. (In the first place, my car must stop because the traffic signal ahead is red.)"], "answer_index": 3}
{"token": "2aa75335f876b06abecc9e05076aa067", "waymo_split": "test", "type": "image", "frame_index": 138, "question": "Where is the area that hides danger in the current frame?", "category": "Uncertainty", "options": ["A. Left lane of the intersection", "B. Front lane of the intersection", "C. Right sidewalk of the intersection", "D. Right lane of the intersection"], "answer_index": 3}
{"token": "2aa75335f876b06abecc9e05076aa067", "waymo_split": "test", "type": "image", "frame_index": 138, "question": "What is the safest choice just before entering a yellow signal: stop vs. proceed?", "category": "Special Event", "options": ["A. It is currently a red signal, but stopping is safe even if it is yellow.", "B. Even in a downhill approach, it is safe to accelerate and proceed when it is yellow.", "C. While waiting to turn left, it is safe to enter quickly if it is yellow.", "D. It is currently a green signal, and it is safe to proceed even when it turns yellow."], "answer_index": 0}
{"token": "2aa75335f876b06abecc9e05076aa067", "waymo_split": "test", "type": "image", "frame_index": 138, "question": "Who is responsible in a safety-critical situation? What is the cause?", "category": "Safety-critical scene Understanding", "options": ["A. A taxi that passed through the intersection on a yellow signal from the left is the cause. My vehicle was making a right turn.", "B. A vehicle that changed lanes abruptly from the right lane is the cause. My vehicle was gradually entering a left turn.", "C. A motorcycle that aggressively overtook from behind is the cause. My vehicle was driving straight at the regulated speed.", "D. A vehicle from the opposite lane that entered the road towards my vehicle at the intersection ahead is the cause. My vehicle is currently at a standstill."], "answer_index": 3}
{"token": "2aa75335f876b06abecc9e05076aa067", "waymo_split": "test", "type": "image", "frame_index": 138, "question": "What are the new potential risks that may be exposed in the following area?", "category": "Safety-critical Prediction", "options": ["A. An electric scooter may come down from the right sidewalk at the intersection.", "B. A bicycle may appear from the left lane at the intersection.", "C. A person may appear from the right lane at the intersection.", "D. A vehicle from the opposite direction may make a U-turn from the central divider ahead."], "answer_index": 2}
{"token": "2aa75335f876b06abecc9e05076aa067", "waymo_split": "test", "type": "image", "frame_index": 138, "question": "What is the method to avoid blind spots when passing large vehicles?", "category": "Special Event", "options": ["A. No large vehicle", "B. Overtake on the right", "C. Pass closely", "D. Drive closely"], "answer_index": 0}
{"token": "2aa75335f876b06abecc9e05076aa067", "waymo_split": "test", "type": "image", "frame_index": 138, "question": "What situation might have occurred if the vehicle acted this way?", "category": "Counterfactual", "options": ["A. If the vehicle attempted to change lanes, there is a possibility of a rear-end collision at the moment the overtaking vehicle overlaps.", "B. If the vehicle continued driving as is, there is a possibility of a collision when passing by a vehicle in the opposite lane ahead.", "C. If the vehicle made a sudden stop, there is a possibility of a rear-end collision if the following vehicle cannot brake.", "D. If the vehicle drove close to the right, there is a possibility of contact when entering alongside a vehicle in the right lane ahead."], "answer_index": 1}
{"token": "2aa75335f876b06abecc9e05076aa067", "waymo_split": "test", "type": "image", "frame_index": 138, "question": "What are the guidelines for the vehicle's behavior based on the actions of the safety-critical object?", "category": "Safety-critical Planning", "options": ["A. If the safety-critical object maintains straight driving only within the center line and reduces speed, it is considered that there is room for the vehicle to proceed, and it is appropriate for the vehicle to move left by about half a car width and exit slowly.", "B. If the safety-critical object shows behavior of hesitating and looking around, it is safe for the vehicle to signal with the horn and lights, then move forward about one car length to get close to the stop line.", "C. If the safety-critical object is trying to move closer to the right lane, which is opposite to the vehicle, and is slowly stopping, there is currently not much interference with the vehicle. In this case, it is safer for the vehicle to move close to the right edge and proceed straight at low speed to pass through the intersection first.", "D. If the safety-critical object moves closer to the left side of the vehicle based on its driving direction and continues straight, there is a risk of collision with the vehicle. In this case, it is also safe for the vehicle to remain in its current stopped state (the road is narrow, making movement impossible, and there is a red light at the intersection, so proceeding straight is also not possible)."], "answer_index": 3}
{"token": "2b6a0cb6e68a3a963c8427e1fa7bdfa6", "waymo_split": "test", "type": "video", "frame_index": null, "question": "Where is the safety-critical situation in the video?", "category": "Temporal Grounding", "options": ["A. 1/4", "B. 2/4", "C. 4/4", "D. 3/4"], "answer_index": 2}
{"token": "2b6a0cb6e68a3a963c8427e1fa7bdfa6", "waymo_split": "test", "type": "video", "frame_index": null, "question": "Which of the following is a correct description of road alignment?", "category": "Normal Perception & Prediction", "options": ["A. Right turn", "B. Left turn", "C. Overtaking", "D. Straight ahead"], "answer_index": 3}
{"token": "2b6a0cb6e68a3a963c8427e1fa7bdfa6", "waymo_split": "test", "type": "video", "frame_index": null, "question": "What are the classifications of scenes?", "category": "Normal scene Understanding", "options": ["A. Unpaved", "B. Residential area", "C. Highway", "D. City road"], "answer_index": 2}
{"token": "2b6a0cb6e68a3a963c8427e1fa7bdfa6", "waymo_split": "test", "type": "video", "frame_index": null, "question": "Is there a special situation?", "category": "Special Event", "options": ["A. Fire truck is entering", "B. It is a highway", "C. Covered by rainwater", "D. School bus is stopped"], "answer_index": 1}
{"token": "2b6a0cb6e68a3a963c8427e1fa7bdfa6", "waymo_split": "test", "type": "video", "frame_index": null, "question": "Which of the following is correct regarding Video Summary from a safety-critical scene perspective?", "category": "Safety-critical scene caption", "options": ["A. A small animal suddenly jumps onto the road in front of the vehicle. The vehicle reduces its speed and tries to avoid it by steering left.", "B. An object resembling a black plastic bag appears in the oncoming lane of the vehicle's driving lane. The vehicle maintains a high speed but immediately changes to the right lane or slightly moves to the right while steering.", "C. An object that appears to be metal debris has fallen onto the lane ahead of the vehicle. The vehicle sees this and makes an emergency stop, significantly reducing its speed while maintaining its lane.", "D. A black plastic bag is blown into the opposite lane, but there are no obstacles in the vehicle's lane. The vehicle continues straight without any evasive action, maintaining its current speed."], "answer_index": 1}
{"token": "2b6a0cb6e68a3a963c8427e1fa7bdfa6", "waymo_split": "test", "type": "video", "frame_index": null, "question": "Which of the following is a correct description of traffic density?", "category": "Normal scene Understanding", "options": ["A. Slow. One vehicle on each side of surrounding vehicles. Slight uphill.", "B. Slow. One vehicle in front of surrounding vehicles, one behind. Gentle downhill.", "C. Slow. Two vehicles behind surrounding vehicles. Inclined.", "D. Fast. Two vehicles in front of surrounding vehicles. No incline."], "answer_index": 3}
{"token": "2b6a0cb6e68a3a963c8427e1fa7bdfa6", "waymo_split": "test", "type": "video", "frame_index": null, "question": "Which of the following is a correct description of the environment?", "category": "Normal scene Understanding", "options": ["A. Night, clear", "B. Day, cloudy", "C. Dawn, fog", "D. Evening, rain"], "answer_index": 1}
{"token": "2b6a0cb6e68a3a963c8427e1fa7bdfa6", "waymo_split": "test", "type": "video", "frame_index": null, "question": "What is the answer regarding the presence of parked vehicles on the shoulder, the existence of a central line, and whether Ego crosses the central line?", "category": "Normal Perception & Prediction", "options": ["A. There is a parked vehicle on the shoulder. The central line (guardrail) exists. My vehicle does not cross the center.", "B. There is no parked vehicle on the shoulder. The central line (guardrail) exists. My vehicle does not cross the center.", "C. There is no parked vehicle on the shoulder. The central line (guardrail) exists. My vehicle crosses the center.", "D. There is no parked vehicle on the shoulder. There is no central line (guardrail). My vehicle does not cross the center."], "answer_index": 1}
{"token": "2b6a0cb6e68a3a963c8427e1fa7bdfa6", "waymo_split": "test", "type": "video", "frame_index": null, "question": "What is the description of a non-safety-critical object?", "category": "Normal Perception & Prediction", "options": ["A. On the left center, there is a metal fence, and on the right side, there is a gentle grassy slope and a field, with a few small greenhouses visible below.", "B. There is a stone wall on the left center, and on the right side, there is a flat park and playground, with a school building next to it.", "C. There is a low soundproof wall on the left center, and on the right side, there is a sidewalk and street trees, with commercial buildings adjacent to the sidewalk.", "D. There is a guardrail on the left center. There is also a guardrail on the right side, and outside the road, there is a cliff, with a parking lot and buildings below where many vehicles are parked."], "answer_index": 3}
{"token": "2b6a0cb6e68a3a963c8427e1fa7bdfa6", "waymo_split": "test", "type": "video", "frame_index": null, "question": "Which of the following is a correct description of traffic signals?", "category": "Traffic Signal", "options": ["A. None", "B. No right turn", "C. Left turn signal", "D. Stop line marking"], "answer_index": 0}
{"token": "2b6a0cb6e68a3a963c8427e1fa7bdfa6", "waymo_split": "test", "type": "video", "frame_index": null, "question": "How did the safety-critical object move and how did the ego vehicle behave?", "category": "Safety-critical scene Understanding", "options": ["A. The object is moving towards the right edge, and the ego vehicle is maintaining its current lane while gently decelerating and going straight.", "B. The object is stationary, and the ego vehicle is maintaining a high speed but immediately changes to the right lane or slightly moves to the right and turns the steering wheel to drive.", "C. The object is showing a gradual approach towards the ego vehicle, and the ego vehicle assesses the danger, significantly reduces its speed, and slightly swerves to the left.", "D. The object is moving forward slowly, and the ego vehicle reduces its speed and changes to the left lane to pass."], "answer_index": 1}
{"token": "2b6a0cb6e68a3a963c8427e1fa7bdfa6", "waymo_split": "test", "type": "video", "frame_index": null, "question": "Who is responsible in a safety-critical situation? What is the cause?", "category": "Safety-critical scene Understanding", "options": ["A. The cause is that the vehicle in front made a sudden stop.", "B. The cause is that an object is lying on the highway.", "C. The cause is that the road is slippery due to rain.", "D. The cause is that the driver exceeded the speed limit."], "answer_index": 1}
{"token": "2b6a0cb6e68a3a963c8427e1fa7bdfa6", "waymo_split": "test", "type": "video", "frame_index": null, "question": "Is there a blind spot in your field of vision?", "category": "Uncertainty", "options": ["A. There is a blind spot on the left", "B. There is a blind spot", "C. There is a blind spot on the right", "D. There is no blind spot"], "answer_index": 3}
{"token": "2b6a0cb6e68a3a963c8427e1fa7bdfa6", "waymo_split": "test", "type": "video", "frame_index": null, "question": "What is a safety-critical object?", "category": "Safety-critical Perception", "options": ["A. A black object like a plastic bag that has appeared in the oncoming traffic lane. It is located close to the left lane of the traffic lane.", "B. An orange construction cone placed on the right shoulder. It is outside the lane, close to the right edge.", "C. An object resembling a white plastic bag visible in the opposite lane. It is located outside, across the central divider.", "D. An electric scooter that is stopped at the edge of the sidewalk. It is on the sidewalk side, away from the traffic lane."], "answer_index": 0}
{"token": "2b6a0cb6e68a3a963c8427e1fa7bdfa6", "waymo_split": "test", "type": "video", "frame_index": null, "question": "Summary of Ego (own vehicle) behavior before a safety-critical situation", "category": "Normal scene Understanding", "options": ["A. Left turn", "B. Going straight", "C. Right turn", "D. Lane change"], "answer_index": 1}
{"token": "2b6a0cb6e68a3a963c8427e1fa7bdfa6", "waymo_split": "test", "type": "video", "frame_index": null, "question": "What is the correlation in safety-critical situations?", "category": "Safety-critical scene Understanding", "options": ["A. Person - Two-wheeled vehicle", "B. Vehicle - Person", "C. Two-wheeled vehicle - Vehicle", "D. Vehicle - Object"], "answer_index": 3}
{"token": "2b6a0cb6e68a3a963c8427e1fa7bdfa6", "waymo_split": "test", "type": "video", "frame_index": null, "question": "What situation might have occurred if the vehicle had behaved this way?", "category": "Counterfactual", "options": ["A. If the vehicle had continued driving as is, the plastic bag would have changed the airflow, making the vehicle more stable.", "B. If the vehicle had continued driving as is, the plastic bag would have stuck to the road and passed through without any effect.", "C. If the vehicle had continued driving as is, the plastic bag would have been pushed away by the wind and naturally avoided.", "D. If the vehicle had continued driving as is, the plastic bag could have caused the vehicle to skid or collide."], "answer_index": 3}
{"token": "2b6a0cb6e68a3a963c8427e1fa7bdfa6", "waymo_split": "test", "type": "image", "frame_index": 29, "question": "Based on the current appearance of the person/vehicle (two-wheeled), how do they intend to move?", "category": "Normal Perception & Prediction", "options": ["A. They will turn right", "B. They will go straight", "C. They will turn left", "D. They will make a U-turn"], "answer_index": 1}
{"token": "2b6a0cb6e68a3a963c8427e1fa7bdfa6", "waymo_split": "test", "type": "image", "frame_index": 29, "question": "What are the restrictions on behavior in school zones/congested areas?", "category": "Special Event", "options": ["A. If it's not the designated area, drive at normal speed even if it's congested", "B. It's not the designated area, but if it's congested, you must drive slowly", "C. Even in a school zone, if there are no pedestrians, there's no need to drive slowly", "D. In congested areas, you can honk and pass through first"], "answer_index": 1}
{"token": "2b6a0cb6e68a3a963c8427e1fa7bdfa6", "waymo_split": "test", "type": "image", "frame_index": 29, "question": "What is the plan for yielding when an ambulance/fire truck approaches?", "category": "Special Event", "options": ["A. Slow down and give space", "B. Stop in the center of the lane and wait", "C. Accelerate and pass quickly", "D. Use the horn and high beams to alert"], "answer_index": 0}
{"token": "2b6a0cb6e68a3a963c8427e1fa7bdfa6", "waymo_split": "test", "type": "image", "frame_index": 29, "question": "Which of the following is a correct description of traffic density?", "category": "Normal scene Understanding", "options": ["A. Slow, four vehicles on the right", "B. Fast, two vehicles in front", "C. Slow, one vehicle in front", "D. Fast, three vehicles on the left"], "answer_index": 1}
{"token": "2b6a0cb6e68a3a963c8427e1fa7bdfa6", "waymo_split": "test", "type": "image", "frame_index": 29, "question": "What is the classification of the scene?", "category": "Normal scene Understanding", "options": ["A. Residential area", "B. Unpaved", "C. Highway", "D. City"], "answer_index": 2}
{"token": "2b6a0cb6e68a3a963c8427e1fa7bdfa6", "waymo_split": "test", "type": "image", "frame_index": 29, "question": "Which of the following is a correct description of the environment?", "category": "Normal scene Understanding", "options": ["A. Evening shower", "B. Clear night", "C. Cloudy day", "D. Morning fog"], "answer_index": 2}
{"token": "2b6a0cb6e68a3a963c8427e1fa7bdfa6", "waymo_split": "test", "type": "image", "frame_index": 29, "question": "Which of the following is a correct description of traffic signals?", "category": "Traffic Signal", "options": ["A. Stop line marking", "B. Left turn only signal", "C. Speed limit 30 sign", "D. None"], "answer_index": 3}
{"token": "2b6a0cb6e68a3a963c8427e1fa7bdfa6", "waymo_split": "test", "type": "image", "frame_index": 29, "question": "What is the description of a non-safety-critical object?", "category": "Normal Perception & Prediction", "options": ["A. A small transmission tower on the slope above the right shoulder of the highway.", "B. Other buildings (below the cliff) under the right shoulder of the highway. Guardrail on the left center line. Four cranes used at a construction site far outside the left highway.", "C. Three wind turbines far outside the left highway.", "D. A low concrete barrier on the left center line side."], "answer_index": 1}
{"token": "2b6a0cb6e68a3a963c8427e1fa7bdfa6", "waymo_split": "test", "type": "image", "frame_index": 29, "question": "How do you think a safety-critical object will move?", "category": "Safety-critical Prediction", "options": ["A. Slides to the left", "B. Sways slightly", "C. Rolls slowly", "D. None"], "answer_index": 3}
{"token": "2b6a0cb6e68a3a963c8427e1fa7bdfa6", "waymo_split": "test", "type": "image", "frame_index": 29, "question": "What is a safety-critical object?", "category": "Safety-critical Perception", "options": ["A. None", "B. Emergency button", "C. Braking system", "D. Circuit breaker"], "answer_index": 0}
{"token": "2b6a0cb6e68a3a963c8427e1fa7bdfa6", "waymo_split": "test", "type": "image", "frame_index": 29, "question": "Is there a blind spot in your field of vision?", "category": "Uncertainty", "options": ["A. There is a blind spot on the right when driving on the right.", "B. A blind spot occurs on the right when driving on the left.", "C. None.", "D. The right side is particularly obscured when making a right turn."], "answer_index": 2}
{"token": "2b6a0cb6e68a3a963c8427e1fa7bdfa6", "waymo_split": "test", "type": "image", "frame_index": 29, "question": "Are there any safety-critical objects other than the first safety-critical object? If so, how will you move?", "category": "Safety-critical Prediction", "options": ["A. Yes, change to the right lane", "B. Yes, evade to the left", "C. No", "D. Yes, slow down and go straight"], "answer_index": 2}
{"token": "2b6a0cb6e68a3a963c8427e1fa7bdfa6", "waymo_split": "test", "type": "image", "frame_index": 29, "question": "Is lane changing possible? Which is safer between slowing down and changing lanes?", "category": "Safety-critical Planning", "options": ["A. Changing to the right is safer", "B. Only slowing down is possible and safe", "C. Both are possible and safe", "D. Only changing to the left is possible and safe"], "answer_index": 2}
{"token": "2b6a0cb6e68a3a963c8427e1fa7bdfa6", "waymo_split": "test", "type": "image", "frame_index": 29, "question": "Where is the area that hides danger in the current frame?", "category": "Uncertainty", "options": ["A. None", "B. Right blind spot", "C. Behind the left A-pillar", "D. Behind the central divider"], "answer_index": 0}
{"token": "2b6a0cb6e68a3a963c8427e1fa7bdfa6", "waymo_split": "test", "type": "image", "frame_index": 29, "question": "What are the new risk candidates that will be exposed in the following period?", "category": "Safety-critical Prediction", "options": ["A. Communication failure", "B. Process delay", "C. Quality degradation", "D. None"], "answer_index": 3}
{"token": "2b6a0cb6e68a3a963c8427e1fa7bdfa6", "waymo_split": "test", "type": "image", "frame_index": 29, "question": "What is the safest choice when approaching a yellow signal: stop or proceed?", "category": "Special Event", "options": ["A. Proceed slowly through the yellow flashing intersection", "B. Stop first at the urban traffic signal intersection", "C. Slow down and enter the dedicated right turn lane", "D. Cannot judge at a signal-free highway"], "answer_index": 3}
{"token": "2b6a0cb6e68a3a963c8427e1fa7bdfa6", "waymo_split": "test", "type": "image", "frame_index": 51, "question": "Based on the current appearance of the person/vehicle (two-wheeled), how do you intend to move?", "category": "Normal Perception & Prediction", "options": ["A. Go straight", "B. Make a U-turn", "C. Turn right", "D. Turn left"], "answer_index": 0}
{"token": "2b6a0cb6e68a3a963c8427e1fa7bdfa6", "waymo_split": "test", "type": "image", "frame_index": 51, "question": "What are the classifications of scenes?", "category": "Normal scene Understanding", "options": ["A. Highway", "B. Unpaved", "C. Residential area", "D. City"], "answer_index": 0}
{"token": "2b6a0cb6e68a3a963c8427e1fa7bdfa6", "waymo_split": "test", "type": "image", "frame_index": 51, "question": "Which of the following is a correct description of traffic density?", "category": "Normal scene Understanding", "options": ["A. Slow, one vehicle on the left", "B. Slow, two vehicles on the right", "C. Fast, three vehicles in the rear", "D. Fast, two vehicles in front"], "answer_index": 3}
{"token": "2b6a0cb6e68a3a963c8427e1fa7bdfa6", "waymo_split": "test", "type": "image", "frame_index": 51, "question": "What is the plan for yielding when an ambulance/fire truck approaches?", "category": "Special Event", "options": ["A. Continue driving while maintaining the lane", "B. Signal with the horn and high beams", "C. Slow down to give space", "D. Accelerate to pass the intersection first"], "answer_index": 2}
{"token": "2b6a0cb6e68a3a963c8427e1fa7bdfa6", "waymo_split": "test", "type": "image", "frame_index": 51, "question": "What are the behavior restrictions in school zones/congested areas?", "category": "Special Event", "options": ["A. If it is that area, drive at normal speed if it is not crowded.", "B. Even if it is not that area, if it is congested, you must drive slowly.", "C. Even in a congested area, if there is no control, proceed at normal speed.", "D. In a school zone, if there are no pedestrians, you do not have to drive slowly."], "answer_index": 1}
{"token": "2b6a0cb6e68a3a963c8427e1fa7bdfa6", "waymo_split": "test", "type": "image", "frame_index": 51, "question": "Which of the following is a correct description of the environment?", "category": "Normal scene Understanding", "options": ["A. Evening rain", "B. Morning fog", "C. Clear night", "D. Cloudy day"], "answer_index": 3}
{"token": "2b6a0cb6e68a3a963c8427e1fa7bdfa6", "waymo_split": "test", "type": "image", "frame_index": 51, "question": "Which of the following is correct regarding traffic signals?", "category": "Traffic Signal", "options": ["A. None", "B. There is a right turn sign", "C. There is a stop line marking", "D. There is a traffic light"], "answer_index": 0}
{"token": "2b6a0cb6e68a3a963c8427e1fa7bdfa6", "waymo_split": "test", "type": "image", "frame_index": 51, "question": "What is a safety-critical object?", "category": "Safety-critical Perception", "options": ["A. Brake pedal", "B. None", "C. Emergency stop button", "D. Pressure relief device"], "answer_index": 1}
{"token": "2b6a0cb6e68a3a963c8427e1fa7bdfa6", "waymo_split": "test", "type": "image", "frame_index": 51, "question": "What is the description of a non-safety-critical object?", "category": "Normal Perception & Prediction", "options": ["A. Under the right shoulder of the highway, there is a small viewpoint and parking lot on a hillside, the right guardrail is uniformly a concrete barrier from start to finish, the left median is decorated with a low flower bed, and in the distance on the left side, there are two high-voltage transmission towers, while the left opposite lane appears empty with almost no vehicles.", "B. Under the right shoulder, there are rice fields and a narrow stream, and a section of the right guardrail is completely missing due to construction, breaking its continuity, the left center line is made of a wire fence, and in the distance on the left side, moving excavators are pushing dirt, while the left opposite lane is marked by a long bus side advertisement.", "C. Under the right shoulder, there are subway tracks and an outdoor platform, with a continuous metal sound barrier on the right, there is no median and only a painted lane section, and in the distance on the left side, a Ferris wheel at an amusement park is turning, while the left opposite lane only shows the side of a motorcycle procession.", "D. Under the right shoulder of the highway, there are other buildings (below a cliff). There is a guardrail on the right shoulder, but the material of the guardrail changes in the front section. The guardrail of the left center line. In the distance on the left side of the highway, there are four cranes used for construction. The upper parts of vehicles driving in the left opposite lane."], "answer_index": 3}
{"token": "2b6a0cb6e68a3a963c8427e1fa7bdfa6", "waymo_split": "test", "type": "image", "frame_index": 51, "question": "How do you think safety-critical objects will move?", "category": "Safety-critical Prediction", "options": ["A. Right", "B. Curve", "C. None", "D. Rotation"], "answer_index": 2}
{"token": "2b6a0cb6e68a3a963c8427e1fa7bdfa6", "waymo_split": "test", "type": "image", "frame_index": 51, "question": "Is lane changing possible? Which is safer between slowing down and changing lanes?", "category": "Safety-critical Planning", "options": ["A. Both are possible, but slowing down is safer", "B. Only lane changing is possible and safe", "C. Both are possible and safe", "D. Only slowing down is possible and safe"], "answer_index": 2}
{"token": "2b6a0cb6e68a3a963c8427e1fa7bdfa6", "waymo_split": "test", "type": "image", "frame_index": 51, "question": "Is there a blind spot in your field of vision?", "category": "Uncertainty", "options": ["A. None", "B. There is one in the right front", "C. There is one in the left rear", "D. There is one in the left front"], "answer_index": 0}
{"token": "2b6a0cb6e68a3a963c8427e1fa7bdfa6", "waymo_split": "test", "type": "image", "frame_index": 51, "question": "Is there any other safety-critical object besides the first safety-critical object? If so, how would you move it?", "category": "Safety-critical Prediction", "options": ["A. There is a kitchen knife: cover the blade and move it to the right shelf by the handle", "B. There is a hot pot: unplug it and cool it down, then move it to the sink by the handle", "C. None", "D. There is a glass bottle: hold it upright with both hands and move it steadily to the left corner"], "answer_index": 2}
{"token": "2b6a0cb6e68a3a963c8427e1fa7bdfa6", "waymo_split": "test", "type": "image", "frame_index": 51, "question": "Where is the area that hides danger in the current frame?", "category": "Uncertainty", "options": ["A. Right corner", "B. Left front", "C. None", "D. Behind the truck"], "answer_index": 2}
{"token": "2b6a0cb6e68a3a963c8427e1fa7bdfa6", "waymo_split": "test", "type": "image", "frame_index": 51, "question": "What are the new exposure risk candidates in the following interval?", "category": "Safety-critical Prediction", "options": ["A. None", "B. Falling objects", "C. Pedestrian contact", "D. Slipping accident"], "answer_index": 0}
{"token": "2b6a0cb6e68a3a963c8427e1fa7bdfa6", "waymo_split": "test", "type": "image", "frame_index": 51, "question": "What is the safest choice just before entering a yellow signal: stop vs. proceed?", "category": "Special Event", "options": ["A. It is a highway without signals. Unable to judge.", "B. It is a yellow flashing signal, proceed with caution.", "C. It is a left turn waiting lane, passing is prohibited.", "D. It is an urban intersection, stopping is a priority."], "answer_index": 0}
{"token": "2b6a0cb6e68a3a963c8427e1fa7bdfa6", "waymo_split": "test", "type": "image", "frame_index": 80, "question": "Based on the current appearance of the person/vehicle (two-wheeled), how do they intend to move?", "category": "Normal Perception & Prediction", "options": ["A. They will turn right", "B. They will go straight", "C. They will turn left", "D. They will reverse"], "answer_index": 1}
{"token": "2b6a0cb6e68a3a963c8427e1fa7bdfa6", "waymo_split": "test", "type": "image", "frame_index": 80, "question": "Which of the following is a correct description of traffic density?", "category": "Normal scene Understanding", "options": ["A. Fast, two vehicles in front", "B. Slow, two vehicles behind", "C. Fast, three vehicles on the right", "D. Slow, one vehicle in the left lane"], "answer_index": 0}
{"token": "2b6a0cb6e68a3a963c8427e1fa7bdfa6", "waymo_split": "test", "type": "image", "frame_index": 80, "question": "What is the plan for yielding when an ambulance/fire truck approaches?", "category": "Special Event", "options": ["A. Pass through the intersection first", "B. Maintain speed and proceed", "C. Drive with only the emergency lights on", "D. Slow down and yield space"], "answer_index": 3}
{"token": "2b6a0cb6e68a3a963c8427e1fa7bdfa6", "waymo_split": "test", "type": "image", "frame_index": 80, "question": "Which of the following is correct as an Image Caption from the perspective of Normal Frame?", "category": "Normal scene caption", "options": ["A. A vehicle driving in the second lane from the left. It is gradually slowing down, and a truck is entering from the merging area ahead. The opposite lane across the median has a clear view of the front of the vehicle without a guardrail.", "B. A vehicle driving slowly in the rightmost lane. A passenger car directly in front is changing lanes. The opposite lane on the left is sparse with almost no vehicles, only the surrounding scenery is visible.", "C. A vehicle driving in the second lane from the right on the highway. It is traveling at high speed. In the distance ahead, two vehicles are driving straight. The left opposite lane is blocked by a guardrail, so only the upper part of the vehicles can be seen, and most of the body is not visible.", "D. A vehicle maintaining a central lane while driving at a constant speed. The road has a gentle left curve, and a large bus is moving slowly ahead. The opposite lane has a low flower bed instead of a sound barrier, allowing the entire vehicle to be in view."], "answer_index": 2}
{"token": "2b6a0cb6e68a3a963c8427e1fa7bdfa6", "waymo_split": "test", "type": "image", "frame_index": 80, "question": "What are the classifications of scenes?", "category": "Normal scene Understanding", "options": ["A. Residential area", "B. Unpaved", "C. Highway", "D. City"], "answer_index": 2}
{"token": "2b6a0cb6e68a3a963c8427e1fa7bdfa6", "waymo_split": "test", "type": "image", "frame_index": 80, "question": "Which of the following is a correct description of the environment?", "category": "Normal scene Understanding", "options": ["A. light daytime rain", "B. clear night", "C. cloudy daytime", "D. dawn fog"], "answer_index": 2}
{"token": "2b6a0cb6e68a3a963c8427e1fa7bdfa6", "waymo_split": "test", "type": "image", "frame_index": 80, "question": "Which of the following is a correct description of traffic signals?", "category": "Traffic Signal", "options": ["A. Stop line marking", "B. Left turn signal", "C. None", "D. Green pedestrian signal"], "answer_index": 2}
{"token": "2b6a0cb6e68a3a963c8427e1fa7bdfa6", "waymo_split": "test", "type": "image", "frame_index": 80, "question": "What is the description of a non-safety-critical object?", "category": "Normal Perception & Prediction", "options": ["A. A steep drop below the right shoulder of the highway, a large parking lot with parked vehicles. A guardrail on the left center line. In the distance on the left side of the highway, four cranes used for construction. The upper parts of vehicles traveling in the opposite lane on the left.", "B. On a gentle slope below the left shoulder, a ranch fence and a white storage tank. A low concrete curb in the center of the lane. A rooftop advertisement sign of a downtown building far ahead. The upper part of a bus window traveling in the same direction on the left.", "C. On flat land right next to the right shoulder of the highway, a small rest area parking lot and a vending machine booth. A transparent sound barrier on the right median. In the distance on the right side of the highway, three transmission towers. The sides of vehicles traveling in the same direction in the right lane.", "D. Beyond the right shoulder, on a flat field, an array of solar panels and a maintenance container. A low flower bed and reflective posts instead of a median. In the distance on the left side of the highway, two wind turbines. The hood of a vehicle entering from the right lane."], "answer_index": 0}
{"token": "2b6a0cb6e68a3a963c8427e1fa7bdfa6", "waymo_split": "test", "type": "image", "frame_index": 80, "question": "Is there any other safety-critical object besides the first safety-critical object? If so, how will it be moved?", "category": "Safety-critical Prediction", "options": ["A. The AED is hanging by the door, so it will be moved to the inner wall to avoid the flow of people.", "B. None.", "C. The oxygen tank is in the aisle, so it will be loaded onto a cart and moved to the right storage area.", "D. The fire extinguisher is on the floor, so it will be stood up and moved towards the wall bracket."], "answer_index": 1}
{"token": "2b6a0cb6e68a3a963c8427e1fa7bdfa6", "waymo_split": "test", "type": "image", "frame_index": 80, "question": "What is a safety-critical object?", "category": "Safety-critical Perception", "options": ["A. Circuit breaker", "B. Emergency button", "C. Brake", "D. None"], "answer_index": 3}
{"token": "2b6a0cb6e68a3a963c8427e1fa7bdfa6", "waymo_split": "test", "type": "image", "frame_index": 80, "question": "What are the behavior restrictions in school zones/congested areas?", "category": "Special Event", "options": ["A. If it is not the designated area, but it is congested, you must drive slowly.", "B. Even in a school zone, if there are no children, there is no need to drive slowly.", "C. If it is the designated area, you can pass at the speed limit even if it is congested.", "D. If it is not the designated area, you can drive as usual even if it is congested."], "answer_index": 0}
{"token": "2b6a0cb6e68a3a963c8427e1fa7bdfa6", "waymo_split": "test", "type": "image", "frame_index": 80, "question": "How do you think a safety-critical object should be moved?", "category": "Safety-critical Prediction", "options": ["A. Left", "B. Straight", "C. Upward", "D. None"], "answer_index": 3}
{"token": "2b6a0cb6e68a3a963c8427e1fa7bdfa6", "waymo_split": "test", "type": "image", "frame_index": 80, "question": "Is there a blind spot in your field of vision?", "category": "Uncertainty", "options": ["A. None", "B. There is a blind spot on the right", "C. It occurs when turning right", "D. There is one in the rear"], "answer_index": 0}
{"token": "2b6a0cb6e68a3a963c8427e1fa7bdfa6", "waymo_split": "test", "type": "image", "frame_index": 80, "question": "What is the safest choice just before entering a yellow signal: stop vs. proceed?", "category": "Special Event", "options": ["A. It is an urban intersection. Stopping is a priority.", "B. It is a highway without signals. Judgment is not possible.", "C. It is a yellow flashing zone. Proceed with caution.", "D. Just before the pedestrian signal changes. Wait at the stop line."], "answer_index": 1}
{"token": "2b6a0cb6e68a3a963c8427e1fa7bdfa6", "waymo_split": "test", "type": "image", "frame_index": 80, "question": "Is lane changing possible? Which is safer between slowing down and changing lanes?", "category": "Safety-critical Planning", "options": ["A. Only slowing down is possible and safe", "B. Both are impossible and dangerous", "C. Only lane changing is possible and safe", "D. Both are possible and safe"], "answer_index": 3}
{"token": "2b6a0cb6e68a3a963c8427e1fa7bdfa6", "waymo_split": "test", "type": "image", "frame_index": 80, "question": "What are the new exposure risk candidates in the following section?", "category": "Safety-critical Prediction", "options": ["A. None", "B. Falling rocks", "C. Electric shock", "D. Falling"], "answer_index": 0}
{"token": "2b6a0cb6e68a3a963c8427e1fa7bdfa6", "waymo_split": "test", "type": "image", "frame_index": 80, "question": "Where is the area that hides danger in the current frame?", "category": "Uncertainty", "options": ["A. None", "B. Behind a large vehicle in front", "C. Behind the right A-pillar", "D. Left blind spot"], "answer_index": 0}
{"token": "2b6a0cb6e68a3a963c8427e1fa7bdfa6", "waymo_split": "test", "type": "image", "frame_index": 132, "question": "Based on the current appearance of the person/vehicle (two-wheeled), how do they intend to move?", "category": "Normal Perception & Prediction", "options": ["A. turn left", "B. make a U-turn", "C. go straight", "D. turn right"], "answer_index": 2}
{"token": "2b6a0cb6e68a3a963c8427e1fa7bdfa6", "waymo_split": "test", "type": "image", "frame_index": 80, "question": "What is the method to avoid blind spots when passing large vehicles?", "category": "Special Event", "options": ["A. No large vehicles. If there are, maintain a safe distance on the highway and do not drive directly behind the large vehicle.", "B. On the highway, follow directly behind the large vehicle to benefit from the windbreak effect.", "C. Maintain a stable view of the rear outside the side mirror while in the blind spot.", "D. Stay close to the lane next to the large vehicle and increase speed to overtake in one go."], "answer_index": 0}
{"token": "2b6a0cb6e68a3a963c8427e1fa7bdfa6", "waymo_split": "test", "type": "image", "frame_index": 132, "question": "What is the plan for yielding when an ambulance/fire truck approaches?", "category": "Special Event", "options": ["A. Maintain speed and go straight", "B. Look for a gap to overtake", "C. Slow down and yield space", "D. Turn on emergency lights and follow"], "answer_index": 2}
{"token": "2b6a0cb6e68a3a963c8427e1fa7bdfa6", "waymo_split": "test", "type": "image", "frame_index": 132, "question": "Which of the following is correct from the perspective of Safety-critical Frame regarding Image Caption?", "category": "Safety-critical scene caption", "options": ["A. A black object is placed on the left shoulder of the road ahead, and a vehicle traveling straight in the same lane as the subject vehicle is seen avoiding the object to the left. The likelihood of the subject vehicle encountering the object while going straight is low.", "B. A black object is placed on the road in the path ahead, and a vehicle traveling straight in the same lane as the subject vehicle is seen avoiding the object to the right. If the subject vehicle continues straight, there is a risk of encountering the black object.", "C. Several construction cones are placed near the center line ahead, and a vehicle traveling straight in the same lane as the subject vehicle is seen changing to the right lane to avoid them. It seems safer for the subject vehicle to reduce speed and merge into the right lane.", "D. Only puddles of rainwater are visible on the road ahead, and no distinct obstacles are identified, so a vehicle traveling straight in the same lane as the subject vehicle is seen simply reducing speed and passing through. It seems there is no risk of encountering obstacles if the subject vehicle goes straight."], "answer_index": 1}
{"token": "2b6a0cb6e68a3a963c8427e1fa7bdfa6", "waymo_split": "test", "type": "image", "frame_index": 132, "question": "Which of the following is a correct description of traffic density?", "category": "Normal scene Understanding", "options": ["A. Fast, three vehicles behind", "B. Fast, two vehicles in front", "C. Slow, four vehicles in front", "D. Slow, one vehicle on the left"], "answer_index": 1}
{"token": "2b6a0cb6e68a3a963c8427e1fa7bdfa6", "waymo_split": "test", "type": "image", "frame_index": 132, "question": "What are the behavioral restrictions in school zones/congested areas?", "category": "Special Event", "options": ["A. If it is not that area, but it is congested, you must drive slowly.", "B. Even in a congested area, the priority is to exit quickly.", "C. Even in a school zone, there is no obligation to slow down if there are no pedestrians.", "D. If it is that area, you can drive at your usual speed even if it is congested."], "answer_index": 0}
{"token": "2b6a0cb6e68a3a963c8427e1fa7bdfa6", "waymo_split": "test", "type": "image", "frame_index": 132, "question": "Which of the following is correct as an Image Caption from the perspective of a Normal Frame?", "category": "Normal scene caption", "options": ["A. A car driving in the third lane from the right on the highway. Cruising at a constant speed. Two vehicles are driving ahead, following a slight curve to the right at a short distance. The left opposing lane has only a shallow median, allowing for a clear view of the vehicles coming from the opposite direction. The road ahead is clean, and the leading vehicle is changing to the left lane to maintain a safe distance.", "B. A car driving in the second lane from the right on the highway. Driving at high speed. Two vehicles are driving straight ahead from a distance. The left opposing lane is blocked by a guardrail, so only the upper parts of the vehicles can be seen, and most of their bodies are not visible. A black object is on the road ahead, and the vehicle that was driving straight in the same lane is seen avoiding the object to the right.", "C. A car driving in the first lane from the right on the highway. The speed is not fast. There is only one vehicle driving straight ahead. The left opposing lane has a low guardrail, allowing for a clear view of almost the entire body of the vehicles coming from the opposite direction. A white box-like object is visible on the road ahead, and the leading vehicle is seen passing it to the left.", "D. A car driving in the second lane from the right on the highway. It is raining and driving slowly. Three vehicles are lined up driving straight ahead at a close distance. The left opposing lane has no guardrail, allowing for a good view of the vehicles coming from the opposite direction. An orange cone is placed on the right shoulder of the road ahead, and the leading vehicle is seen passing it and merging onto the exit while signaling right."], "answer_index": 1}
{"token": "2b6a0cb6e68a3a963c8427e1fa7bdfa6", "waymo_split": "test", "type": "image", "frame_index": 132, "question": "What are the classifications of scenes?", "category": "Normal scene Understanding", "options": ["A. Unpaved", "B. Highway", "C. Residential area", "D. City"], "answer_index": 1}
{"token": "2b6a0cb6e68a3a963c8427e1fa7bdfa6", "waymo_split": "test", "type": "image", "frame_index": 132, "question": "Which of the following is a correct description of traffic signals?", "category": "Traffic Signal", "options": ["A. Stop", "B. None", "C. Slow", "D. Left turn"], "answer_index": 1}
{"token": "2b6a0cb6e68a3a963c8427e1fa7bdfa6", "waymo_split": "test", "type": "image", "frame_index": 132, "question": "Which of the following is a correct description of the environment?", "category": "Normal scene Understanding", "options": ["A. Evening shower", "B. Clear night", "C. Morning fog", "D. Cloudy day"], "answer_index": 3}
{"token": "2b6a0cb6e68a3a963c8427e1fa7bdfa6", "waymo_split": "test", "type": "image", "frame_index": 132, "question": "How do you think a safety-critical object will move?", "category": "Safety-critical Prediction", "options": ["A. It seems like it will roll slightly to the left (movement)", "B. It seems like it will slowly slide downwards (descent)", "C. It seems like it will be pushed forward by the wind (advance)", "D. It seems like it will remain in place (stop)"], "answer_index": 3}
{"token": "2b6a0cb6e68a3a963c8427e1fa7bdfa6", "waymo_split": "test", "type": "image", "frame_index": 132, "question": "What is the answer regarding parked vehicles on the shoulder, the presence of a center line, and whether Ego crosses the center line?", "category": "Normal Perception & Prediction", "options": ["A. No parked vehicles on the shoulder. Center line (guardrail present) yes. Crosses the center line.", "B. Parked vehicles on the shoulder. Center line (guardrail present) yes. Does not cross the center line.", "C. No parked vehicles on the shoulder. Center line (guardrail present) no. Does not cross the center line.", "D. No parked vehicles on the shoulder. Center line (guardrail present) yes. Does not cross the center line."], "answer_index": 3}
{"token": "2b6a0cb6e68a3a963c8427e1fa7bdfa6", "waymo_split": "test", "type": "image", "frame_index": 132, "question": "What is a safety-critical object?", "category": "Safety-critical Perception", "options": ["A. A dark object stopped in the opposite lane, which is seen behind the vehicle in front.", "B. A black object placed in the lane of your vehicle, which is seen to the left of the vehicle in front.", "C. A gray object located in the center of the right lane, which is seen to the right of the vehicle in front.", "D. A black object fallen on the shoulder outside your vehicle's lane, which is seen in front of the vehicle in front."], "answer_index": 1}
{"token": "2b6a0cb6e68a3a963c8427e1fa7bdfa6", "waymo_split": "test", "type": "image", "frame_index": 132, "question": "Is there a blind spot in your field of vision?", "category": "Uncertainty", "options": ["A. There is one when turning right", "B. There is one in the rear", "C. There is one on the left", "D. None"], "answer_index": 3}
{"token": "2b6a0cb6e68a3a963c8427e1fa7bdfa6", "waymo_split": "test", "type": "image", "frame_index": 132, "question": "What is the correlation in safety-critical situations?", "category": "Safety-critical scene Understanding", "options": ["A. Person - Two-wheeler", "B. Vehicle - Object", "C. Vehicle - Person", "D. Two-wheeler - Vehicle"], "answer_index": 1}
{"token": "2b6a0cb6e68a3a963c8427e1fa7bdfa6", "waymo_split": "test", "type": "image", "frame_index": 132, "question": "What should I do to drive safely?", "category": "Safety-critical Planning", "options": ["A. I should maintain speed and go straight towards the object.", "B. I should change lanes to the left or right in advance to avoid the object.", "C. If I spot the object, I should brake hard and stop in the middle of the lane.", "D. I should briefly cross the center line to go over the object."], "answer_index": 1}
{"token": "2b6a0cb6e68a3a963c8427e1fa7bdfa6", "waymo_split": "test", "type": "image", "frame_index": 132, "question": "Are there any other safety-critical objects besides the first safety-critical object? If so, how will you move?", "category": "Safety-critical Prediction", "options": ["A. None", "B. Yes: evade to the right", "C. Yes: evade to the left", "D. Yes: move back"], "answer_index": 0}
{"token": "2b6a0cb6e68a3a963c8427e1fa7bdfa6", "waymo_split": "test", "type": "image", "frame_index": 132, "question": "Is lane changing possible? Which is safer between slowing down and changing lanes?", "category": "Safety-critical Planning", "options": ["A. It is safe to brake and come to a slow stop.", "B. It is safe to slow down and avoid the object.", "C. It is safe to maintain the lane and reduce speed.", "D. It is safe to change lanes to avoid the object."], "answer_index": 3}
{"token": "2b6a0cb6e68a3a963c8427e1fa7bdfa6", "waymo_split": "test", "type": "image", "frame_index": 132, "question": "Where is the area that hides danger in the current frame?", "category": "Uncertainty", "options": ["A. Behind the bus", "B. None", "C. Behind the A-pillar", "D. Left blind spot"], "answer_index": 1}
{"token": "2b6a0cb6e68a3a963c8427e1fa7bdfa6", "waymo_split": "test", "type": "image", "frame_index": 132, "question": "What is the safest choice when approaching a yellow signal: stop vs proceed?", "category": "Special Event", "options": ["A. Proceed slowly through an urban intersection", "B. Stop immediately in a school zone with many pedestrians", "C. Indeterminate on a highway without signals", "D. Wait and then proceed in a left-turn only lane"], "answer_index": 2}
{"token": "2b6a0cb6e68a3a963c8427e1fa7bdfa6", "waymo_split": "test", "type": "image", "frame_index": 132, "question": "What are the new risk candidates that will be exposed in the following period?", "category": "Safety-critical Prediction", "options": ["A. Falling rocks", "B. Power outage", "C. None", "D. Flooding"], "answer_index": 2}
{"token": "2b6a0cb6e68a3a963c8427e1fa7bdfa6", "waymo_split": "test", "type": "image", "frame_index": 132, "question": "Who is responsible in a safety-critical situation? What is the cause?", "category": "Safety-critical scene Understanding", "options": ["A. The object is the cause. The object on the highway obstructs the path of the vehicle.", "B. The vehicle in front is the cause. It failed to secure its cargo properly, causing it to fall onto the road and block the vehicle's progress.", "C. The vehicle itself is the cause. It failed to recognize the obstacle ahead on the highway in time, leading to a delayed evasive action.", "D. The road management authority is the cause. It did not remove the foreign object on the highway in a timely manner, allowing the dangerous situation to persist."], "answer_index": 0}
{"token": "2b6a0cb6e68a3a963c8427e1fa7bdfa6", "waymo_split": "test", "type": "image", "frame_index": 132, "question": "What is the method to avoid blind spots when passing large vehicles?", "category": "Special Event", "options": ["A. If there is one, enter near the front bumper of the large vehicle in urban areas and maintain a close distance from the vehicle in front.", "B. No large vehicle. If there is one, maintain a safe distance on the highway and do not drive directly behind the large vehicle.", "C. Maintain the lane next to the large vehicle and pass closely and briefly if necessary.", "D. On the highway, follow closely behind the large vehicle for stability and avoid overtaking as much as possible."], "answer_index": 1}
{"token": "2b6a0cb6e68a3a963c8427e1fa7bdfa6", "waymo_split": "test", "type": "image", "frame_index": 132, "question": "What situation would occur if the self-driving car behaved like this?", "category": "Counterfactual", "options": ["A. If the self-driving car continues straight, it will collide with the black object.", "B. If the self-driving car changes to the left lane, it will make contact with the white object.", "C. If the self-driving car swerves to the right, it will successfully avoid the black object.", "D. If the self-driving car passes through without slowing down, it will maintain distance from the vehicle in front."], "answer_index": 0}
{"token": "2b6a0cb6e68a3a963c8427e1fa7bdfa6", "waymo_split": "test", "type": "image", "frame_index": 148, "question": "Based on the current appearance of the person/vehicle (two-wheeled), how do they intend to move?", "category": "Normal Perception & Prediction", "options": ["A. Turns right", "B. Turns left", "C. Reverses", "D. Goes straight"], "answer_index": 3}
{"token": "2b6a0cb6e68a3a963c8427e1fa7bdfa6", "waymo_split": "test", "type": "image", "frame_index": 148, "question": "What is the plan for yielding when an ambulance/fire truck approaches?", "category": "Special Event", "options": ["A. Slow down and give space", "B. Maintain lane and only turn on hazard lights", "C. Stop in the center of the intersection", "D. Accelerate and pass quickly"], "answer_index": 0}
{"token": "2b6a0cb6e68a3a963c8427e1fa7bdfa6", "waymo_split": "test", "type": "image", "frame_index": 148, "question": "Which of the following is a correct description of traffic density?", "category": "Normal scene Understanding", "options": ["A. Slow, two vehicles behind", "B. Slow, one vehicle in front", "C. Fast, two vehicles in front", "D. Fast, three vehicles on the left"], "answer_index": 2}
{"token": "2b6a0cb6e68a3a963c8427e1fa7bdfa6", "waymo_split": "test", "type": "image", "frame_index": 148, "question": "What are the restrictions on behavior in school zones/congested areas?", "category": "Special Event", "options": ["A. Even in a school zone, if there are no pedestrians, you can maintain speed.", "B. In a children's protection area, you can just honk and proceed.", "C. Even if it's not that area, if it's congested, you must drive slowly.", "D. Even in a congested area, you can overtake if the lane is clear."], "answer_index": 2}
{"token": "2b6a0cb6e68a3a963c8427e1fa7bdfa6", "waymo_split": "test", "type": "image", "frame_index": 148, "question": "What are the classifications of scenes?", "category": "Normal scene Understanding", "options": ["A. Urban road", "B. Expressway", "C. Unpaved road", "D. Residential alley"], "answer_index": 1}
{"token": "2b6a0cb6e68a3a963c8427e1fa7bdfa6", "waymo_split": "test", "type": "image", "frame_index": 148, "question": "What is correct as an Image Caption from the perspective of Safety-critical Frame?", "category": "Safety-critical scene caption", "options": ["A. A white object is crossing the center of the path ahead. If the vehicle continues straight, there is a high risk of collision. Therefore, the vehicle attempts to change to the left lane.", "B. A black object is visible ahead but is located outside the lane. If the vehicle continues straight, it can pass without any significant risk. Therefore, the vehicle continues straight without changing to the right lane.", "C. A black object is on the road ahead in the path. If the vehicle continues straight, there is a risk of encountering the black object. Therefore, the vehicle attempts to change to the right lane.", "D. A gray fragment is on the shoulder of the road ahead. If the vehicle continues straight, there is enough distance from the fragment, so the risk is low. Therefore, the vehicle maintains its lane and slightly reduces speed."], "answer_index": 2}
{"token": "2b6a0cb6e68a3a963c8427e1fa7bdfa6", "waymo_split": "test", "type": "image", "frame_index": 148, "question": "Which of the following is a correct description of the environment?", "category": "Normal scene Understanding", "options": ["A. Cloudy in the afternoon", "B. Evening shower", "C. Clear at night", "D. Morning fog"], "answer_index": 0}
{"token": "2b6a0cb6e68a3a963c8427e1fa7bdfa6", "waymo_split": "test", "type": "image", "frame_index": 148, "question": "Which of the following is a correct description of traffic signals?", "category": "Traffic Signal", "options": ["A. Traffic light", "B. None", "C. Stop line", "D. Left turn only"], "answer_index": 1}
{"token": "2b6a0cb6e68a3a963c8427e1fa7bdfa6", "waymo_split": "test", "type": "image", "frame_index": 148, "question": "How do you think a safety-critical object will move?", "category": "Safety-critical Prediction", "options": ["A. It seems like it will stay in place (stopped)", "B. It seems like it will be pushed slightly to the right (moving)", "C. It seems like it will slightly go to the left if the wind blows (moving)", "D. It seems like it will slowly roll forward (movement)"], "answer_index": 0}
{"token": "2b6a0cb6e68a3a963c8427e1fa7bdfa6", "waymo_split": "test", "type": "image", "frame_index": 148, "question": "Is there a blind spot in your field of vision?", "category": "Uncertainty", "options": ["A. None", "B. Left blind spot", "C. Rear blind spot", "D. Right blind spot when changing lanes"], "answer_index": 0}
{"token": "2b6a0cb6e68a3a963c8427e1fa7bdfa6", "waymo_split": "test", "type": "image", "frame_index": 148, "question": "What is the description of a non-safety-critical object?", "category": "Normal Perception & Prediction", "options": ["A. A large building below the right shoulder of the highway cliff. A guardrail on the left center line. Four cranes used at a construction site far to the left outside the highway. The upper parts of vehicles driving in the opposite lane on the left.", "B. A small factory chimney below the left shoulder of the highway. A low flower bed next to the left center line. In the distance to the right front, a Ferris wheel at an amusement park. The top of a bus driving in the same direction on the left.", "C. A small gas station sign on the right shoulder of the highway. A reflective post next to the right center line. In the distance near the horizon, a power line tower. The roof line of the vehicles in front.", "D. A farmhouse with a red roof below the left shoulder slope of the highway. A concrete wall of the right median. In the distance far outside the right highway, two wind turbines. The upper parts of vehicles driving in the same direction in the right lane."], "answer_index": 0}
{"token": "2b6a0cb6e68a3a963c8427e1fa7bdfa6", "waymo_split": "test", "type": "image", "frame_index": 148, "question": "What is a safety-critical object?", "category": "Safety-critical Perception", "options": ["A. A black plastic piece (appears to be trash) that has fallen into the lane directly opposite. It is close to the center line and far from our lane.", "B. A white styrofoam piece (presumed to be packaging material) placed in our driving lane. It is closer to the right lane of the driving lane.", "C. A gray box (appears to be a cardboard box) that has fallen into the right lane directly opposite. It is very close to the right shoulder line.", "D. A black object (presumed to be a plastic bag) placed in our driving lane. It is positioned close to the left lane of the driving lane."], "answer_index": 3}
{"token": "2b6a0cb6e68a3a963c8427e1fa7bdfa6", "waymo_split": "test", "type": "image", "frame_index": 148, "question": "What should I do to drive safely?", "category": "Safety-critical Planning", "options": ["A. I am changing lanes to the left to avoid the object. Similarly, I should change lanes to the left to pass.", "B. I am slowing down and stopping on the shoulder in front of the object. Similarly, I should stop and wait at the edge of the road.", "C. The object is small, and I am going straight while maintaining my speed. Similarly, I should maintain my lane and pass by.", "D. I am changing lanes to the right to avoid the object. Similarly, I should change lanes to avoid it."], "answer_index": 3}
{"token": "2b6a0cb6e68a3a963c8427e1fa7bdfa6", "waymo_split": "test", "type": "image", "frame_index": 148, "question": "What is the correlation in safety-critical situations?", "category": "Safety-critical scene Understanding", "options": ["A. Person - Two-wheeled vehicle", "B. Vehicle - Person", "C. Two-wheeled vehicle - Vehicle", "D. Vehicle - Object"], "answer_index": 3}
{"token": "2b6a0cb6e68a3a963c8427e1fa7bdfa6", "waymo_split": "test", "type": "image", "frame_index": 148, "question": "Is lane changing possible? Which is safer between slowing down and changing lanes?", "category": "Safety-critical Planning", "options": ["A. It is safer to drive straight slowly with the hazard lights on.", "B. It is safer to reduce speed and maintain the lane.", "C. It is safer to change lanes to avoid an object.", "D. It is safer to slow down while staying close to the right."], "answer_index": 2}
{"token": "2b6a0cb6e68a3a963c8427e1fa7bdfa6", "waymo_split": "test", "type": "image", "frame_index": 148, "question": "Are there any other safety-critical objects besides the first safety-critical object? If so, how will you move?", "category": "Safety-critical Prediction", "options": ["A. Avoiding pedestrians in front, veering to the right", "B. None", "C. Sudden stop of the vehicle in front, reduce speed to pass", "D. Moving close to the center while avoiding the left cone"], "answer_index": 1}
{"token": "2b6a0cb6e68a3a963c8427e1fa7bdfa6", "waymo_split": "test", "type": "image", "frame_index": 148, "question": "Who is responsible in a safety-critical situation? What is the cause?", "category": "Safety-critical scene Understanding", "options": ["A. The road management agency is at fault. The risk increased because they did not remove road debris in time.", "B. The vehicle is at fault. The risk of collision increased because it did not slow down sufficiently or perform evasive maneuvers.", "C. An object is at fault. An object on the highway interferes with the vehicle's path.", "D. The vehicle in front is at fault. The load was not secured, causing falling objects to obstruct the vehicle's view."], "answer_index": 2}
{"token": "2b6a0cb6e68a3a963c8427e1fa7bdfa6", "waymo_split": "test", "type": "image", "frame_index": 148, "question": "What is the safest choice just before entering a yellow signal: stop vs. proceed?", "category": "Special Event", "options": ["A. Stop at the stop line since it's a left turn area", "B. Stop immediately as you are approaching a crosswalk", "C. Slow down and proceed since it's an urban intersection", "D. Cannot judge as it's a highway without signals"], "answer_index": 3}
{"token": "2b6a0cb6e68a3a963c8427e1fa7bdfa6", "waymo_split": "test", "type": "image", "frame_index": 148, "question": "What are the new exposure risk candidates in the following interval?", "category": "Safety-critical Prediction", "options": ["A. None", "B. Slipping", "C. Falling rocks", "D. Falling objects"], "answer_index": 0}
{"token": "2b6a0cb6e68a3a963c8427e1fa7bdfa6", "waymo_split": "test", "type": "image", "frame_index": 148, "question": "What is the method to avoid the blind spot next to a large vehicle?", "category": "Special Event", "options": ["A. Driving next to the bus", "B. Passing between large vehicles", "C. Passing on the right side of the large vehicle", "D. No large vehicle"], "answer_index": 3}
{"token": "2b6a0cb6e68a3a963c8427e1fa7bdfa6", "waymo_split": "test", "type": "image", "frame_index": 148, "question": "Where is the area that hides danger in the current frame?", "category": "Uncertainty", "options": ["A. Bottom left corner", "B. None", "C. Shade in front of the hood", "D. Square behind the A-pillar"], "answer_index": 1}
{"token": "2b6a0cb6e68a3a963c8427e1fa7bdfa6", "waymo_split": "test", "type": "image", "frame_index": 148, "question": "What situation might occur if the vehicle acted this way?", "category": "Counterfactual", "options": ["A. If the vehicle slightly swerves towards the center line, the black object will brush under the bumper or the plastic bag will flow to the side and soon fall.", "B. If the vehicle maintains its speed and passes through, the black object will be pressed down with little impact or the plastic bag will roll out safely alongside the vehicle.", "C. If the vehicle slightly moves to the right, the black object will pass without touching the tire or the plastic bag will be pushed back by the wind with little effect.", "D. If the vehicle continues straight, it will collide with the black object. If it's a plastic bag, it could get caught near the wheels and slip."], "answer_index": 3}
{"token": "2b6a0cb6e68a3a963c8427e1fa7bdfa6", "waymo_split": "test", "type": "image", "frame_index": 148, "question": "What is the guideline for the vehicle's behavior in response to the behavior of a safety-critical object?", "category": "Safety-critical Planning", "options": ["A. If the safety-critical object rolls into the center of the road, accelerate to quickly pass in front of it to avoid a collision.", "B. If the safety-critical object is blown towards the vehicle, change lanes more quickly while decelerating.", "C. If the safety-critical object approaches unsteadily from the shoulder, keep the lane, turn on the hazard lights, and monitor the situation.", "D. If the safety-critical object is pushed towards the opposite lane by the wind, maintain speed, honk the horn, and continue straight."], "answer_index": 1}
{"token": "2f35266c0b38fe703332fb2f40ba9d55", "waymo_split": "test", "type": "video", "frame_index": null, "question": "What are the classifications of scenes?", "category": "Normal scene Understanding", "options": ["A. Highway", "B. City", "C. Residential area", "D. Unpaved"], "answer_index": 1}
{"token": "2f35266c0b38fe703332fb2f40ba9d55", "waymo_split": "test", "type": "video", "frame_index": null, "question": "Where is the safety-critical situation in the video?", "category": "Temporal Grounding", "options": ["A. 4/4", "B. 3/4", "C. 1/4", "D. 2/4"], "answer_index": 3}
{"token": "2f35266c0b38fe703332fb2f40ba9d55", "waymo_split": "test", "type": "video", "frame_index": null, "question": "Which of the following is a correct description of traffic density?", "category": "Normal scene Understanding", "options": ["A. Light vehicle flow, uphill road", "B. Many surrounding vehicles, flat road", "C. Few surrounding vehicles, gently downhill road", "D. Plenty of lane space, downhill before an intersection"], "answer_index": 1}
{"token": "2f35266c0b38fe703332fb2f40ba9d55", "waymo_split": "test", "type": "video", "frame_index": null, "question": "Which of the following is correct from the perspective of a safety-critical scene video summary?", "category": "Safety-critical scene caption", "options": ["A. Just as the traffic light for the vehicle turns green and it is about to start moving, a motorcycle is rapidly approaching from the left lane, driving very close to the left side of the vehicle. The vehicle then starts to move slowly after the motorcycle has passed.", "B. In a situation where the vehicle is waiting at the stop line just before the signal changes, a pedestrian crossing from the right completes crossing the crosswalk. The vehicle then starts smoothly after the pedestrian has completely passed.", "C. At the moment the traffic light for the vehicle turns green and it is about to start, a taxi with its turn signal on slightly merges into the vehicle's lane from the right lane. After letting it pass, the vehicle gradually accelerates.", "D. While the traffic light is still red and the vehicle is stopped, an ambulance with its siren on crosses the intersection from the left. After the signal turns green, the vehicle slowly starts to move."], "answer_index": 0}
{"token": "2f35266c0b38fe703332fb2f40ba9d55", "waymo_split": "test", "type": "video", "frame_index": null, "question": "Which of the following is a correct description of the road alignment?", "category": "Normal Perception & Prediction", "options": ["A. It is an intersection and a planned left turn.", "B. It is an intersection and a planned unprotected left turn.", "C. It is an intersection and a planned straight.", "D. It is a T-junction and a planned right turn."], "answer_index": 2}
{"token": "2f35266c0b38fe703332fb2f40ba9d55", "waymo_split": "test", "type": "video", "frame_index": null, "question": "What is the description of a non-safety-critical object?", "category": "Normal Perception & Prediction", "options": ["A. People crossing the crosswalk on the left and right sides. There are many streetlights on both sides. There is a no right turn sign at the right streetlight when the red signal is on.", "B. There are many street trees on the left and right sides.", "C. The crosswalks on the left and right sides are empty, and pedestrians are waiting for the signal.", "D. There is a right turn allowed sign attached to the right streetlight when the red signal is on."], "answer_index": 0}
{"token": "2f35266c0b38fe703332fb2f40ba9d55", "waymo_split": "test", "type": "video", "frame_index": null, "question": "Which of the following descriptions about the environment is correct?", "category": "Normal scene Understanding", "options": ["A. At dusk, light snow is falling. The lighting is mainly from signs, and streetlights are sparse.", "B. At night, during rainy weather. There are many headlights and streetlights.", "C. In the early morning, there is thick fog. There are few fog lights, and only a faint dawn.", "D. During the day, in clear weather. The lighting is mainly from natural light, and shadows are distinct."], "answer_index": 1}
{"token": "2f35266c0b38fe703332fb2f40ba9d55", "waymo_split": "test", "type": "video", "frame_index": null, "question": "Which of the following descriptions about traffic signals is correct?", "category": "Traffic Signal", "options": ["A. Intersection with traffic lights. Sign prohibiting right turn when the light is red on the right.", "B. Crosswalk with only pedestrian signals. Sign for dedicated right turn lane on the right.", "C. Intersection with flashing signals. Sign allowing right turn when the light is red on the right.", "D. Intersection without traffic lights. Sign prohibiting left turn on the left."], "answer_index": 0}
{"token": "2f35266c0b38fe703332fb2f40ba9d55", "waymo_split": "test", "type": "video", "frame_index": null, "question": "What is the answer regarding parked vehicles on the shoulder, the presence of a center line, and whether Ego crosses the center line?", "category": "Normal Perception & Prediction", "options": ["A. One parked vehicle on the shoulder. The center line is clear.", "B. No parked vehicles on the shoulder. The center line is not visible.", "C. There is a parked vehicle on the shoulder. The center line is visible.", "D. There is a parked vehicle on the shoulder. The center line is visible but unclear."], "answer_index": 1}
{"token": "2f35266c0b38fe703332fb2f40ba9d55", "waymo_split": "test", "type": "video", "frame_index": null, "question": "What is the correlation in safety-critical situations?", "category": "Safety-critical scene Understanding", "options": ["A. Truck-Bicycle", "B. Bus-Scooter", "C. Car-Motorcycle", "D. Car-Pedestrian"], "answer_index": 2}
{"token": "2f35266c0b38fe703332fb2f40ba9d55", "waymo_split": "test", "type": "video", "frame_index": null, "question": "Is there a blind spot?", "category": "Uncertainty", "options": ["A. There is a blind spot", "B. There is no blind spot", "C. Blind spot occurs in the right rear", "D. There is a blind spot on the right"], "answer_index": 1}
{"token": "2f35266c0b38fe703332fb2f40ba9d55", "waymo_split": "test", "type": "video", "frame_index": null, "question": "How did the safety-critical object move and how did the ego vehicle behave?", "category": "Safety-critical scene Understanding", "options": ["A. The object decelerates and moves to the right lane. The ego vehicle stops at the stop line for the red light.", "B. As soon as the ego vehicle's signal turns green, it accelerates and passes on the left. The ego vehicle slowly goes straight through the intersection.", "C. The object moves straight at a constant speed and passes through the intersection. The ego vehicle turns on its blinker and changes lanes to the right.", "D. The object waits briefly in the center of the intersection before making a right turn. The ego vehicle accelerates and enters the left turn lane."], "answer_index": 1}
{"token": "2f35266c0b38fe703332fb2f40ba9d55", "waymo_split": "test", "type": "video", "frame_index": null, "question": "What is a safety-critical object?", "category": "Safety-critical Perception", "options": ["A. A motorcycle passing on the left side of your car using the opposite lane from the front.", "B. A bus waiting at a signal in the left lane of your car before the intersection.", "C. A passenger car slowly approaching in the same lane from behind your car.", "D. An electric scooter stopped at the edge of the sidewalk on the right side of your car."], "answer_index": 0}
{"token": "2f35266c0b38fe703332fb2f40ba9d55", "waymo_split": "test", "type": "video", "frame_index": null, "question": "Who is responsible in a safety-critical situation? What is the cause?", "category": "Safety-critical scene Understanding", "options": ["A. It is the pedestrian's fault for ignoring the signal and jumping into the road with their view blocked by an umbrella.", "B. It is the driver's fault for changing lanes abruptly without signaling, crossing in front of the motorcycle.", "C. It is the road management's fault for leaving a large puddle due to poor drainage, which hinders vehicle braking.", "D. It is the motorcycle's fault for speeding on a slippery road right after it rained."], "answer_index": 3}
{"token": "2f35266c0b38fe703332fb2f40ba9d55", "waymo_split": "test", "type": "image", "frame_index": 10, "question": "Based on the current appearance of the person/vehicle (two-wheeled), how are they trying to move?", "category": "Normal Perception & Prediction", "options": ["A. Accelerating straight", "B. Waiting at a signal", "C. Preparing to turn right", "D. Entering a left turn"], "answer_index": 1}
{"token": "2f35266c0b38fe703332fb2f40ba9d55", "waymo_split": "test", "type": "image", "frame_index": 10, "question": "What is the plan for yielding when an ambulance/fire truck approaches?", "category": "Special Event", "options": ["A. Pass through the intersection first", "B. Drive after signaling right", "C. Stop and yield as is", "D. Turn on hazard lights and proceed slowly"], "answer_index": 2}
{"token": "2f35266c0b38fe703332fb2f40ba9d55", "waymo_split": "test", "type": "video", "frame_index": null, "question": "What potential situations may arise depending on the type/condition of the road?", "category": "Normal Perception & Prediction", "options": ["A. Because it is an unpaved road, speed must be increased", "B. In curved sections, you should stay close to the center line", "C. The road surface is slippery, so you must drive slowly", "D. In tunnel sections, you must turn on your high beams"], "answer_index": 2}
{"token": "2f35266c0b38fe703332fb2f40ba9d55", "waymo_split": "test", "type": "video", "frame_index": null, "question": "Summary of Ego (own vehicle) behavior before a safety-critical situation", "category": "Normal scene Understanding", "options": ["A. Waiting to enter the intersection while stopped", "B. Waiting to turn left beyond the stop line", "C. Approaching to turn right", "D. Entering the intersection while moving slowly"], "answer_index": 0}
{"token": "2f35266c0b38fe703332fb2f40ba9d55", "waymo_split": "test", "type": "image", "frame_index": 10, "question": "What are the restrictions on behavior in school zones/congested areas?", "category": "Special Event", "options": ["A. Turning right", "B. Overtaking", "C. Driving slowly", "D. Speeding"], "answer_index": 2}
{"token": "2f35266c0b38fe703332fb2f40ba9d55", "waymo_split": "test", "type": "image", "frame_index": 10, "question": "Which of the following is a correct description of traffic density?", "category": "Normal scene Understanding", "options": ["A. Usually, many surrounding vehicles are present (distributed over a three-lane one-way road)", "B. Slow, many surrounding vehicles are present (many on each road at the intersection)", "C. Slow, few surrounding vehicles are present (wide gaps before entering the intersection)", "D. Fast, almost no surrounding vehicles are present (sparse on straight sections)"], "answer_index": 1}
{"token": "2f35266c0b38fe703332fb2f40ba9d55", "waymo_split": "test", "type": "image", "frame_index": 10, "question": "Which of the following is correct as an Image Caption from the perspective of a Normal Frame?", "category": "Normal scene caption", "options": ["A. In front of a T-intersection, a left turn signal is on, and the vehicle is turning the steering wheel to enter. The wind is blowing before a shower, and the road surface is dry. It is afternoon, so the vehicle relies on sunlight rather than streetlights for driving.", "B. Just before entering the intersection, a yellow flashing signal is visible, and the vehicle is slowing down while waiting to turn right. The road surface is dry, showing only tire marks with almost no reflection. The sun is up, making it easy to identify the front.", "C. Before entering the intersection, the signal is red, and the vehicle is waiting for the signal. Right after it rained, the road surface looks slippery, and there is significant light reflection. It is night, so the visibility relies on the lights of the streetlights.", "D. While passing through the intersection, the signal is green, and the vehicle is going straight. It is not raining, so the road surface is dry and the reflection is weak. It is early morning, so visibility is good due to natural light."], "answer_index": 2}
{"token": "2f35266c0b38fe703332fb2f40ba9d55", "waymo_split": "test", "type": "image", "frame_index": 10, "question": "What are the divisions of the scene?", "category": "Normal scene Understanding", "options": ["A. city intersection", "B. highway interchange", "C. city crossroad", "D. residential area intersection"], "answer_index": 2}
{"token": "2f35266c0b38fe703332fb2f40ba9d55", "waymo_split": "test", "type": "image", "frame_index": 10, "question": "What is the answer regarding parked vehicles on the shoulder, the presence of a center line, and whether Ego crosses the center line?", "category": "Normal Perception & Prediction", "options": ["A. No parked vehicles on the shoulder. Center line not visible.", "B. Parked vehicles on the shoulder. Center line not visible.", "C. Parked vehicles visible on the shoulder. Center line is dashed.", "D. No parked vehicles on the shoulder. Center line visible."], "answer_index": 0}
{"token": "2f35266c0b38fe703332fb2f40ba9d55", "waymo_split": "test", "type": "image", "frame_index": 10, "question": "Which of the following is a correct description of traffic signals?", "category": "Traffic Signal", "options": ["A. Green traffic light. A no left turn sign is attached to the traffic light support.", "B. Yellow traffic light. A non-protected left turn sign is installed towards the central divider ahead.", "C. Red traffic light. A dedicated right turn lane sign is clearly marked on the right pavement.", "D. Red traffic light. A no right turn on red sign is attached to the streetlight on the right."], "answer_index": 3}
{"token": "2f35266c0b38fe703332fb2f40ba9d55", "waymo_split": "test", "type": "image", "frame_index": 10, "question": "Which of the following descriptions about the environment is correct?", "category": "Normal scene Understanding", "options": ["A. At sunset, cloudy, after the fog has cleared. Lighting: neon signs and shop lights.", "B. At noon, dazzling, before a shower. Lighting: strong direct sunlight and billboard lights.", "C. Early morning, clear, dry pavement. Lighting: low sunlight and glass reflections.", "D. Night, darkness, right after it has rained. Lighting: traffic lights, vehicle headlights, and streetlights."], "answer_index": 3}
{"token": "2f35266c0b38fe703332fb2f40ba9d55", "waymo_split": "test", "type": "image", "frame_index": 10, "question": "What is the description of non-safety-critical objects?", "category": "Normal Perception & Prediction", "options": ["A. People walking on the right sidewalk. Traffic lights and crosswalks at the front intersection. Vehicles driving from left to right. Buildings located at each corner block.", "B. People waiting on the left sidewalk. A no-protection left turn sign and flashing signal at the front intersection. Bicycles moving from right to left. Low-rise commercial buildings at each corner.", "C. Street trees in the median between the left and right lanes. A roundabout and circular traffic island at the front. Several taxis entering from the right. Cafes with outdoor terraces at each corner.", "D. Passengers waiting at the bus stop on the right. An overpass and stairs ahead, and an underground passage entrance instead of a crosswalk. Sedans merging from the left and going straight. A park fence continuing on one side of the intersection."], "answer_index": 0}
{"token": "2f35266c0b38fe703332fb2f40ba9d55", "waymo_split": "test", "type": "image", "frame_index": 10, "question": "Is there a blind spot in your field of vision?", "category": "Uncertainty", "options": ["A. Obstruction on the left side with light", "B. No blind spot", "C. There is a blind spot when turning right", "D. There is a blind spot on the right side"], "answer_index": 1}
{"token": "2f35266c0b38fe703332fb2f40ba9d55", "waymo_split": "test", "type": "image", "frame_index": 10, "question": "How do you think safety-critical objects should be moved?", "category": "Safety-critical Prediction", "options": ["A. Rotation", "B. Straight", "C. Vibration", "D. None"], "answer_index": 3}
{"token": "2f35266c0b38fe703332fb2f40ba9d55", "waymo_split": "test", "type": "image", "frame_index": 10, "question": "What is a safety-critical object?", "category": "Safety-critical Perception", "options": ["A. Gas valve", "B. None", "C. Braking system", "D. Emergency stop button"], "answer_index": 1}
{"token": "2f35266c0b38fe703332fb2f40ba9d55", "waymo_split": "test", "type": "image", "frame_index": 10, "question": "Is lane changing possible? Which is safer between slowing down and changing lanes?", "category": "Safety-critical Planning", "options": ["A. Can slow down and change lanes smoothly after decelerating", "B. Both are impossible as currently at a stop", "C. Slowing down is safer since driving at low speed", "D. Changing lanes is safer since there is space on the left"], "answer_index": 1}
{"token": "2f35266c0b38fe703332fb2f40ba9d55", "waymo_split": "test", "type": "image", "frame_index": 10, "question": "Are there any other safety-critical objects besides the first safety-critical object? If so, how will they be moved?", "category": "Safety-critical Prediction", "options": ["A. Yes, the oxygen tank will be moved backward after being secured with a chain.", "B. Yes, the fire extinguisher will be moved to the right using a cart.", "C. No.", "D. Yes, the battery pack will be moved to the left after placing an insulating pad."], "answer_index": 2}
{"token": "2f35266c0b38fe703332fb2f40ba9d55", "waymo_split": "test", "type": "image", "frame_index": 63, "question": "What is the plan for yielding when an ambulance/fire truck approaches?", "category": "Special Event", "options": ["A. Continue driving slowly", "B. Stop and yield", "C. Move to the left and proceed", "D. Pass through the intersection first"], "answer_index": 1}
{"token": "2f35266c0b38fe703332fb2f40ba9d55", "waymo_split": "test", "type": "image", "frame_index": 63, "question": "What are the restrictions on behavior in school zones/congested areas?", "category": "Special Event", "options": ["A. Acceleration", "B. Overtaking", "C. U-turn", "D. Slow driving"], "answer_index": 3}
{"token": "2f35266c0b38fe703332fb2f40ba9d55", "waymo_split": "test", "type": "image", "frame_index": 63, "question": "Based on the current appearance of the person/vehicle (two-wheeled), how do they intend to move?", "category": "Normal Perception & Prediction", "options": ["A. About to depart while stationary", "B. Entering a turn, planning to turn left", "C. Continuing straight while in motion", "D. Decelerating, about to stop"], "answer_index": 0}
{"token": "2f35266c0b38fe703332fb2f40ba9d55", "waymo_split": "test", "type": "image", "frame_index": 63, "question": "Which of the following is a correct description of traffic density?", "category": "Normal scene Understanding", "options": ["A. Slow, few surrounding vehicles (ample space on a two-lane straight section)", "B. Slow, many surrounding vehicles (a lot at the intersections of each road)", "C. Fast, almost no surrounding vehicles (vehicles scattered just as the traffic signal changes at the intersection)", "D. Normal, few surrounding vehicles (slightly congested in one direction)"], "answer_index": 1}
{"token": "2f35266c0b38fe703332fb2f40ba9d55", "waymo_split": "test", "type": "image", "frame_index": 63, "question": "What are the classifications of scenes?", "category": "Normal scene Understanding", "options": ["A. Unpaved farm road", "B. Residential area intersection", "C. Urban intersection", "D. Highway exit ramp"], "answer_index": 2}
{"token": "2f35266c0b38fe703332fb2f40ba9d55", "waymo_split": "test", "type": "image", "frame_index": 63, "question": "Which of the following descriptions about the environment is correct?", "category": "Normal scene Understanding", "options": ["A. At sunset, cloudy, just before light rain. Lighting: sunset glow and shop neon signs, sign lighting.", "B. At night, darkness, just after rain. Lighting: traffic lights and vehicle headlights, streetlights.", "C. Early dawn, light fog, dew formation. Lighting: faint natural light and window lights.", "D. At noon, brightness, dryness. Lighting: strong sunlight and road reflections."], "answer_index": 1}
{"token": "2f35266c0b38fe703332fb2f40ba9d55", "waymo_split": "test", "type": "image", "frame_index": 63, "question": "What is the answer regarding parked vehicles on the shoulder, the presence of a center line, and Ego's encroachment on the center line?", "category": "Normal Perception & Prediction", "options": ["A. No parked vehicles on the shoulder. Center line not visible.", "B. Parked vehicles on the shoulder. Center line visible.", "C. One car parked on the shoulder. Center line faintly visible.", "D. One delivery truck stopped on the shoulder. Center line clear."], "answer_index": 0}
{"token": "2f35266c0b38fe703332fb2f40ba9d55", "waymo_split": "test", "type": "image", "frame_index": 63, "question": "Which of the following statements about traffic signals is correct?", "category": "Traffic Signal", "options": ["A. Traffic light - Green. A sign indicating no right turn at a red signal is attached to the streetlight on the right.", "B. Traffic light - Red. A sign indicating right turn allowed at a red signal is attached to the traffic light pole on the left.", "C. Traffic light - Green. A no left turn sign is installed on the sign post towards the median.", "D. Traffic light - Yellow. A dedicated right turn arrow is painted on the road in front of the stop line."], "answer_index": 0}
{"token": "2f35266c0b38fe703332fb2f40ba9d55", "waymo_split": "test", "type": "image", "frame_index": 63, "question": "How do you think safety-critical objects will move?", "category": "Safety-critical Prediction", "options": ["A. Vibration", "B. Straight", "C. Rotation", "D. None"], "answer_index": 3}
{"token": "2f35266c0b38fe703332fb2f40ba9d55", "waymo_split": "test", "type": "image", "frame_index": 63, "question": "What is the description of a non-safety-critical object?", "category": "Normal Perception & Prediction", "options": ["A. Bicycles riding on the bike lane next to the central divider. A bus stopped at the bus stop in front and a waiting line. One-way vehicle flow curving to the left. Construction barriers on the right corner, outdoor café tables on the left corner. Flags are hanging in the air instead of power lines.", "B. People walking on the right sidewalk. Traffic lights and crosswalks at the intersection ahead, with people crossing the crosswalks on both sides. Vehicles driving from left to right. Buildings located at each corner block. Above, there are power lines connecting to the bus.", "C. A person walking a dog on the right sidewalk. The rotary ahead and surrounding crosswalks, with very few people crossing. Vehicles approaching towards the camera from the front. The area around the intersection has low houses and low fences. Above, an elevated train passes, casting a shadow.", "D. People jogging on the left sidewalk. Flashing signal at the T-intersection ahead and an empty crosswalk. Vehicles slowly moving from right to left. Small parks and street trees are visible at each corner. Above, there are only streetlights and banners without power lines."], "answer_index": 1}
{"token": "2f35266c0b38fe703332fb2f40ba9d55", "waymo_split": "test", "type": "image", "frame_index": 63, "question": "Is there a blind spot in your field of vision?", "category": "Uncertainty", "options": ["A. Right blind spot", "B. No blind spot", "C. There is a blind spot", "D. Left blind spot"], "answer_index": 1}
{"token": "2f35266c0b38fe703332fb2f40ba9d55", "waymo_split": "test", "type": "image", "frame_index": 63, "question": "What is a safety-critical object?", "category": "Safety-critical Perception", "options": ["A. Brake", "B. Airbag", "C. Emergency stop button", "D. None"], "answer_index": 3}
{"token": "2f35266c0b38fe703332fb2f40ba9d55", "waymo_split": "test", "type": "image", "frame_index": 63, "question": "Is lane change possible? Which is safer between slowing down and changing lanes?", "category": "Safety-critical Planning", "options": ["A. Prioritize slowing down since driving at low speed (changing to the right is possible on a one-way two-lane road)", "B. Currently, lane change is not possible (the driving direction is a single lane). It is also not possible to slow down as the vehicle is stationary", "C. Currently, lane change is possible (the left auxiliary lane is open). Changing lanes is safer than gradually slowing down", "D. The right bus-only lane has been released, making lane change possible. Changing lanes is safer than slowing down"], "answer_index": 1}
{"token": "2f35266c0b38fe703332fb2f40ba9d55", "waymo_split": "test", "type": "image", "frame_index": 63, "question": "What is the safest choice when approaching a yellow signal: stop vs. proceed?", "category": "Special Event", "options": ["A. Accelerate to pass when the yellow light turns on", "B. Stop even if you have crossed the stop line", "C. Not applicable signal situation. Unable to judge", "D. Always stop when pressured by the car behind"], "answer_index": 2}
{"token": "2f35266c0b38fe703332fb2f40ba9d55", "waymo_split": "test", "type": "image", "frame_index": 63, "question": "What are the new potential hazards in the following section?", "category": "Safety-critical Prediction", "options": ["A. Motorcycles in the alley that protrude from the side", "B. Pedestrians suddenly crossing from the lane", "C. Vehicles in the same lane approaching quickly from behind", "D. Vehicles coming head-on from the opposite lane"], "answer_index": 3}
{"token": "2f35266c0b38fe703332fb2f40ba9d55", "waymo_split": "test", "type": "image", "frame_index": 63, "question": "What is the method to avoid blind spots when passing large vehicles?", "category": "Special Event", "options": ["A. Pass quickly on the left side of the large vehicle", "B. Pass closely on the right side in a straight line", "C. Enter the blind spot, prioritize honking", "D. No large vehicle present, unable to judge"], "answer_index": 3}
{"token": "2f35266c0b38fe703332fb2f40ba9d55", "waymo_split": "test", "type": "image", "frame_index": 71, "question": "Based on the current appearance of the person/vehicle (two-wheeled), how do they intend to move?", "category": "Normal Perception & Prediction", "options": ["A. Trying to back out", "B. Starting to accelerate and drive", "C. Trying to change lanes to the left", "D. Trying to slow down and stop"], "answer_index": 1}
{"token": "2f35266c0b38fe703332fb2f40ba9d55", "waymo_split": "test", "type": "image", "frame_index": 71, "question": "Which of the following is correct as an Image Caption from a safety-critical Frame perspective?", "category": "Safety-critical scene caption", "options": ["A. A scooter that stopped in front of the stop line to make a U-turn at the intersection.", "B. A motorcycle speeding to drive towards the direction of the car at the intersection.", "C. A passenger car suddenly cutting in from the opposite direction of the car at the intersection.", "D. A motorcycle slowly moving while waiting for the signal to turn right at the intersection."], "answer_index": 1}
{"token": "2f35266c0b38fe703332fb2f40ba9d55", "waymo_split": "test", "type": "image", "frame_index": 71, "question": "What is the classification of the scene?", "category": "Normal scene Understanding", "options": ["A. city intersection", "B. highway shoulder", "C. suburban rotary", "D. residential alley"], "answer_index": 0}
{"token": "2f35266c0b38fe703332fb2f40ba9d55", "waymo_split": "test", "type": "image", "frame_index": 71, "question": "What is the plan for yielding when an ambulance/fire truck approaches?", "category": "Special Event", "options": ["A. Slow down and yield the space in front", "B. Maintain speed and stay in the current lane", "C. Stay close to the left and continue driving", "D. Stop and wait in the center of the lane"], "answer_index": 0}
{"token": "2f35266c0b38fe703332fb2f40ba9d55", "waymo_split": "test", "type": "image", "frame_index": 71, "question": "Which of the following is a correct description of traffic density?", "category": "Normal scene Understanding", "options": ["A. Slow, many surrounding vehicles (many at intersections on each road)", "B. Fast, many surrounding vehicles (long distribution in one direction)", "C. Slow, few surrounding vehicles (sparse on one side of a T-intersection)", "D. Fast, few surrounding vehicles (mainly sparse in the straight lanes)"], "answer_index": 0}
{"token": "2f35266c0b38fe703332fb2f40ba9d55", "waymo_split": "test", "type": "image", "frame_index": 71, "question": "What are the restrictions on behavior in school zones/congested areas?", "category": "Special Event", "options": ["A. Overtaking", "B. Accelerating", "C. U-turn", "D. Slow driving"], "answer_index": 3}
{"token": "2f35266c0b38fe703332fb2f40ba9d55", "waymo_split": "test", "type": "image", "frame_index": 71, "question": "What is the description of a non-safety-critical object?", "category": "Normal Perception & Prediction", "options": ["A. People walking on the right sidewalk. Pedestrians at the traffic light and crosswalk at the front intersection, crossing the left and right crosswalks. Above, there are power lines connecting to the bus. Buildings located at each corner block. Vehicles trying to drive towards the road on the left side through the opposite lane.", "B. Wet road and vehicles parked lengthwise on the left and right lanes after the rain, a pedestrian overpass crossing the front, an intersection without signals, the right sidewalk has shop shutters down with no people in the alley, above are only tree branches and street trees sparsely, a car attempting a U-turn from the right front.", "C. An empty street parking area and parked shared scooters on the right, the front has a tunnel entrance sign and merging lane, a crosswalk blocked by construction, above are only road signs and CCTV visible, at the corner is an empty lot with a low fence, a bus preparing to depart at the bus stop on the left front.", "D. People riding bicycles on the left sidewalk, a rotary and fountain at the front with an underground passage entrance, above are only streetlights with no power lines visible, at each corner are small parks and street vendors, a motorcycle waiting to turn left from the right front."], "answer_index": 0}
{"token": "2f35266c0b38fe703332fb2f40ba9d55", "waymo_split": "test", "type": "image", "frame_index": 71, "question": "Which of the following descriptions about the environment is correct?", "category": "Normal scene Understanding", "options": ["A. At sunset, twilight, dry road. Lighting: store signs and window lights", "B. Night, darkness, right after it rains. Lighting: traffic lights, vehicle headlights, streetlights", "C. Midday, clear, strong backlight. Lighting: direct sunlight and building reflections", "D. Early morning, light fog, dew formation. Lighting: convenience store neon and bus stop billboards"], "answer_index": 1}
{"token": "2f35266c0b38fe703332fb2f40ba9d55", "waymo_split": "test", "type": "image", "frame_index": 71, "question": "Is there a blind spot?", "category": "Uncertainty", "options": ["A. No blind spot", "B. Right blind spot exists", "C. There is a blind spot", "D. Right rear blind spot"], "answer_index": 0}
{"token": "2f35266c0b38fe703332fb2f40ba9d55", "waymo_split": "test", "type": "image", "frame_index": 71, "question": "Which of the following is a correct description of traffic signals?", "category": "Traffic Signal", "options": ["A. Traffic light - Green. A sign indicating no right turn at a red signal is attached to the streetlight on the right.", "B. Traffic light - Yellow. A sign indicating right turn allowed at a red signal is attached to the traffic light pole on the left.", "C. Traffic light - Red. A no U-turn sign is installed towards the central divider in front.", "D. Traffic light - Green. A separate sign under the streetlight indicates that right turn is allowed during nighttime."], "answer_index": 0}
{"token": "2f35266c0b38fe703332fb2f40ba9d55", "waymo_split": "test", "type": "image", "frame_index": 71, "question": "What is the answer regarding the parked vehicle on the shoulder, the presence of a center line, and whether Ego crosses the center line?", "category": "Normal Perception & Prediction", "options": ["A. There is 1 parked vehicle on the shoulder. The center line is visible.", "B. There are no parked vehicles on the shoulder. The center line is clearly visible.", "C. There is a parked vehicle on the shoulder. The center line is faintly visible.", "D. There are no parked vehicles on the shoulder. The center line is not visible."], "answer_index": 3}
{"token": "2f35266c0b38fe703332fb2f40ba9d55", "waymo_split": "test", "type": "image", "frame_index": 71, "question": "What is a safety-critical object?", "category": "Safety-critical Perception", "options": ["A. A motorcycle trying to enter the opposite lane on the left side towards my vehicle near the center of the intersection.", "B. A pedestrian darting diagonally into my vehicle's lane in front of the crosswalk on the right side of the intersection.", "C. A gray SUV urgently making a U-turn near the center line at the entrance of the intersection.", "D. An electric scooter cutting across the straight lane at the end of the left turn lane."], "answer_index": 0}
{"token": "2f35266c0b38fe703332fb2f40ba9d55", "waymo_split": "test", "type": "image", "frame_index": 71, "question": "How do you think a safety-critical object will move?", "category": "Safety-critical Prediction", "options": ["A. Planning to enter the road towards the car lane. Currently driving at high speed.", "B. Planning to enter the left sidewalk, currently driving at low speed.", "C. Planning to make an emergency stop on the right shoulder, slowing down.", "D. Planning to make a U-turn in the opposite lane, moving slowly."], "answer_index": 0}
{"token": "2f35266c0b38fe703332fb2f40ba9d55", "waymo_split": "test", "type": "image", "frame_index": 71, "question": "What is the correlation in safety-critical situations?", "category": "Safety-critical scene Understanding", "options": ["A. Car - Motorcycle", "B. Bicycle - Car", "C. Pedestrian - Motorcycle", "D. Car - Pedestrian"], "answer_index": 0}
{"token": "2f35266c0b38fe703332fb2f40ba9d55", "waymo_split": "test", "type": "image", "frame_index": 71, "question": "What should I do to drive safely?", "category": "Safety-critical Planning", "options": ["A. I need to quickly overtake the motorcycle and proceed.", "B. I should change to the left lane in advance and increase my speed to pass.", "C. I need to use the horn and high beams to alert and accelerate to pass quickly.", "D. I should proceed slowly while being cautious of a potential collision with the motorcycle."], "answer_index": 3}
{"token": "2f35266c0b38fe703332fb2f40ba9d55", "waymo_split": "test", "type": "image", "frame_index": 71, "question": "Is lane change possible? Which is safer between deceleration and lane change?", "category": "Safety-critical Planning", "options": ["A. Lane change to the right is possible. Unable to decelerate as it is stationary.", "B. Lane change to the left is possible. Deceleration is safer due to low-speed driving.", "C. Avoid lane change. Decelerate while maintaining distance from the car in front.", "D. Lane change to the right is not possible. Gradual deceleration is a priority."], "answer_index": 0}
{"token": "2f35266c0b38fe703332fb2f40ba9d55", "waymo_split": "test", "type": "image", "frame_index": 71, "question": "Where is the area that hides danger in the current frame?", "category": "Uncertainty", "options": ["A. None", "B. Top left", "C. Center", "D. Bottom right"], "answer_index": 0}
{"token": "2f35266c0b38fe703332fb2f40ba9d55", "waymo_split": "test", "type": "image", "frame_index": 71, "question": "Are there any other safety-critical objects besides the first safety-critical object? If so, how will they be moved?", "category": "Safety-critical Prediction", "options": ["A. None", "B. Yes, moved forward", "C. Yes, moved to the right", "D. Yes, moved to the left"], "answer_index": 0}
{"token": "2f35266c0b38fe703332fb2f40ba9d55", "waymo_split": "test", "type": "image", "frame_index": 71, "question": "What is the safest choice just before entering a yellow signal: stop vs proceed?", "category": "Special Event", "options": ["A. Avoid the danger zone by turning right", "B. Come to a complete stop immediately at the stop line", "C. Slow down and proceed through the signal intersection", "D. Not applicable signal situation. Unable to judge"], "answer_index": 3}
{"token": "2f35266c0b38fe703332fb2f40ba9d55", "waymo_split": "test", "type": "image", "frame_index": 71, "question": "Who is responsible in a safety-critical situation? What is the cause?", "category": "Safety-critical scene Understanding", "options": ["A. The problem is the motorcycle going the wrong way in an alley on a rainy night.", "B. The problem is the motorcycle speeding through an intersection at night right after it rained.", "C. The problem is the pedestrian jaywalking at a dark intersection after the rain.", "D. The problem is the car making a sudden lane change at an intersection right after it rained."], "answer_index": 1}
{"token": "2f35266c0b38fe703332fb2f40ba9d55", "waymo_split": "test", "type": "image", "frame_index": 71, "question": "What is the method to avoid blind spots when passing large vehicles?", "category": "Special Event", "options": ["A. Change to the left lane and accelerate", "B. Alert with a horn and overtake on the right", "C. No large vehicle present, unable to judge", "D. Maintain center of the lane and keep speed"], "answer_index": 2}
{"token": "2f35266c0b38fe703332fb2f40ba9d55", "waymo_split": "test", "type": "image", "frame_index": 71, "question": "What are the new exposure risk candidates in the following section?", "category": "Safety-critical Prediction", "options": ["A. Pedestrians in front", "B. Left merging vehicles", "C. None", "D. Bicycles on the right"], "answer_index": 2}
{"token": "2f35266c0b38fe703332fb2f40ba9d55", "waymo_split": "test", "type": "image", "frame_index": 86, "question": "What is the plan for yielding when an ambulance/fire truck approaches?", "category": "Special Event", "options": ["A. Stop and wait in the center of the lane", "B. Reverse to create space behind", "C. Slow down to yield space in front", "D. Accelerate to pass the intersection first"], "answer_index": 2}
{"token": "2f35266c0b38fe703332fb2f40ba9d55", "waymo_split": "test", "type": "image", "frame_index": 71, "question": "What are the driving guidelines for your vehicle based on the behavior of a safety-critical object?", "category": "Safety-critical Planning", "options": ["A. If the safety-critical object leans towards the center line while driving, there is little interference with your vehicle. Even in rain or snow, the car's assistance systems will intervene automatically. Your vehicle should maintain the center of the lane and continue cruising.", "B. If the safety-critical object slightly drifts to the right and moves away from your vehicle while going straight, the risk of collision is minimal. Even if the road is slippery, maintaining a constant speed is sufficient. Your vehicle can pass through without any deceleration.", "C. Even if the safety-critical object gets closer to the left, lightly accelerating to overtake quickly reduces the possibility of a collision. The wetter the road, the more advantageous it is to pass in a shorter time. Your vehicle should manage the situation with speed instead of stopping.", "D. If the safety-critical object moves closely to the left, meaning it is approaching your vehicle while going straight, there is a risk of collision with your vehicle. Especially on a slippery road, the risk of sudden collision increases. Your vehicle should stop to avoid a collision if the distance between the vehicles decreases."], "answer_index": 3}
{"token": "2f35266c0b38fe703332fb2f40ba9d55", "waymo_split": "test", "type": "image", "frame_index": 86, "question": "Based on the current appearance of the person/vehicle (two-wheeled), how are they trying to move?", "category": "Normal Perception & Prediction", "options": ["A. Starting to accelerate and drive", "B. Changing lanes to the left", "C. Decelerating and about to stop", "D. Entering the parking area to the right"], "answer_index": 0}
{"token": "2f35266c0b38fe703332fb2f40ba9d55", "waymo_split": "test", "type": "image", "frame_index": 86, "question": "What are the restrictions on behavior in school zones/congested areas?", "category": "Special Event", "options": ["A. U-turn", "B. Acceleration", "C. Detour", "D. Slow driving"], "answer_index": 3}
{"token": "2f35266c0b38fe703332fb2f40ba9d55", "waymo_split": "test", "type": "image", "frame_index": 86, "question": "What is the classification of the scene?", "category": "Normal scene Understanding", "options": ["A. Residential intersection", "B. Urban intersection", "C. Unpaved forest road", "D. Highway ramp"], "answer_index": 1}
{"token": "2f35266c0b38fe703332fb2f40ba9d55", "waymo_split": "test", "type": "image", "frame_index": 86, "question": "Which of the following is a correct description of traffic density?", "category": "Normal scene Understanding", "options": ["A. Slow, many surrounding vehicles (many at intersections)", "B. Fast, few surrounding vehicles (only slightly at the intersection approach)", "C. Slow, few surrounding vehicles (in alleys, one or two in front and behind)", "D. Fast, almost no surrounding vehicles (sparse on straight sections)"], "answer_index": 0}
{"token": "2f35266c0b38fe703332fb2f40ba9d55", "waymo_split": "test", "type": "image", "frame_index": 86, "question": "Which of the following is correct as an Image Caption from a Safety-critical Frame perspective?", "category": "Safety-critical scene caption", "options": ["A. A motorcycle speeding towards the vehicle at an intersection, moving in the opposite direction right in front of the vehicle's left side.", "B. A motorcycle naturally merging into the right lane at an intersection, moving in the same direction as the vehicle right in front of the vehicle's right side.", "C. A motorcycle waiting at a traffic signal, stopped on the left side of the vehicle and not moving.", "D. A motorcycle slowly moving in the same lane as the vehicle's direction at an intersection, driving in the same direction as the vehicle right in front of it."], "answer_index": 0}
{"token": "2f35266c0b38fe703332fb2f40ba9d55", "waymo_split": "test", "type": "image", "frame_index": 86, "question": "Which of the following is a correct description of traffic signals?", "category": "Traffic Signal", "options": ["A. Traffic light - Green. A sign indicating no right turn at a red light is attached to the streetlight on the right.", "B. Traffic light - Red. A sign indicating a right turn is allowed is attached to the traffic light pole on the right.", "C. Traffic light - Left turn signal is on. A sign for a right turn only lane and a white guiding arrow are marked on the road.", "D. Traffic light - Yellow flashing. A no left turn sign is installed on the median ahead of the intersection."], "answer_index": 0}
{"token": "2f35266c0b38fe703332fb2f40ba9d55", "waymo_split": "test", "type": "image", "frame_index": 86, "question": "Is there a blind spot?", "category": "Uncertainty", "options": ["A. No blind spot", "B. Temporary blind spot occurred", "C. There is a blind spot", "D. There is a right blind spot"], "answer_index": 0}
{"token": "2f35266c0b38fe703332fb2f40ba9d55", "waymo_split": "test", "type": "image", "frame_index": 86, "question": "What is the answer regarding parked vehicles on the shoulder, the presence of a center line, and whether Ego crosses the center line?", "category": "Normal Perception & Prediction", "options": ["A. No parked vehicles on the shoulder. Center line not visible.", "B. Passenger car parked on the shoulder. Center line is clear.", "C. Parked vehicles on the shoulder. Center line is visible.", "D. Cargo truck stopped on the shoulder. Center line is distinct."], "answer_index": 0}
{"token": "2f35266c0b38fe703332fb2f40ba9d55", "waymo_split": "test", "type": "image", "frame_index": 86, "question": "What is the description of a non-safety-critical object?", "category": "Normal Perception & Prediction", "options": ["A. The right sidewalk is quiet with only a few benches. The traffic sign at the intersection ahead and the right turn signal, as well as the crosswalk, are closed due to construction. Each corner block has low walls and vacant shops. Vehicles are turning right from the left side in the same direction. Above, festival flags are hanging instead of power lines.", "B. People riding bicycles on the left sidewalk. A fountain in the rotary ahead and a circular crosswalk, with people crossing only on the right. Each corner block has small parks and street trees. Vehicles are entering the intersection from the right side in the same lane. Above, streetlights and banners are hanging.", "C. People pushing electric scooters on the right sidewalk. No flashing signal or pedestrian signal at the T-intersection ahead. One corner has an empty lot and a temporary parking lot. A bus is stopped at the bus stop on the right ahead. Above, only a clear sky is visible without power lines.", "D. People walking on the right sidewalk. Traffic lights and crosswalks at the intersection ahead, with people crossing the crosswalks on both sides. Buildings exist on each corner block. Vehicles are entering the intersection from the left side through the opposite lane. Above, there are power lines connecting to the bus."], "answer_index": 3}
{"token": "2f35266c0b38fe703332fb2f40ba9d55", "waymo_split": "test", "type": "image", "frame_index": 86, "question": "What is a safety-critical object?", "category": "Safety-critical Perception", "options": ["A. An electric scooter attempting to enter the right lane without a signal from directly in front of the vehicle on the right side (next to the bus stop)", "B. A white sedan changing lanes abruptly to the left while proceeding towards the vehicle from a mid-distance directly in front (near the center line)", "C. A small truck merging into the vehicle's lane after completing a U-turn from the left rear of the vehicle (at the intersection exit)", "D. A motorcycle entering the left opposite lane from directly in front of the vehicle on the left side (positioned on the crosswalk)"], "answer_index": 3}
{"token": "2f35266c0b38fe703332fb2f40ba9d55", "waymo_split": "test", "type": "image", "frame_index": 86, "question": "How do you think a safety-critical object will move?", "category": "Safety-critical Prediction", "options": ["A. Currently exiting to the ramp area. Planning to maintain straight ahead with my vehicle.. (Driving at low speed)", "B. Entering the lane towards my vehicle. Planning to drive to the left of my vehicle.. (Currently driving at high speed)", "C. Entering the right turn lane. Planning to drive to the right of my vehicle.. (Currently slowing down gradually)", "D. Proceeding while straddling the opposite lane. Planning to move towards the center line of my vehicle.. (Currently intermittently stopped due to congestion)"], "answer_index": 1}
{"token": "2f35266c0b38fe703332fb2f40ba9d55", "waymo_split": "test", "type": "image", "frame_index": 86, "question": "Are there any other safety-critical objects besides the first safety-critical object? If so, how will they be moved?", "category": "Safety-critical Prediction", "options": ["A. Yes, secured with a dedicated harness for vertical movement", "B. No", "C. Yes, placed in an explosion-proof case for transport", "D. Yes, slowly transported with a shock-absorbing cart"], "answer_index": 1}
{"token": "2f35266c0b38fe703332fb2f40ba9d55", "waymo_split": "test", "type": "image", "frame_index": 86, "question": "What should I do to drive safely?", "category": "Safety-critical Planning", "options": ["A. I need to change to the left lane to avoid the motorcycle.", "B. I should slowly turn right while watching the motorcycle.", "C. It looks like the motorcycle is far away, so I should maintain my speed and go straight.", "D. I need to proceed slowly while being cautious of a potential collision with the motorcycle."], "answer_index": 3}
{"token": "2f35266c0b38fe703332fb2f40ba9d55", "waymo_split": "test", "type": "image", "frame_index": 86, "question": "Is lane change possible? Which is safer between slowing down and changing lanes?", "category": "Safety-critical Planning", "options": ["A. Lane change to the right is possible. Unable to slow down as it is at a stop.", "B. Lane keeping is recommended. Slowing down is safer.", "C. Lane change to the left is possible. Slowing down is safer as it is at a low speed.", "D. Lane change is not possible. The situation can be managed by slowing down."], "answer_index": 0}
{"token": "2f35266c0b38fe703332fb2f40ba9d55", "waymo_split": "test", "type": "image", "frame_index": 86, "question": "What is the correlation in safety-critical situations?", "category": "Safety-critical scene Understanding", "options": ["A. car-person", "B. bus-motorcycle", "C. car-motorcycle", "D. car-bicycle"], "answer_index": 2}
{"token": "2f35266c0b38fe703332fb2f40ba9d55", "waymo_split": "test", "type": "image", "frame_index": 86, "question": "What is the safest choice just before entering a yellow signal: stop vs. proceed?", "category": "Special Event", "options": ["A. Proceed while slowing down", "B. Not applicable signal situation. Unable to judge", "C. Proceed straight", "D. Stop immediately"], "answer_index": 1}
{"token": "2f35266c0b38fe703332fb2f40ba9d55", "waymo_split": "test", "type": "image", "frame_index": 86, "question": "Where is the area that hides danger in the current frame?", "category": "Uncertainty", "options": ["A. Behind the left pillar", "B. None", "C. Behind the vehicle in front", "D. Behind the right bus"], "answer_index": 1}
{"token": "2f35266c0b38fe703332fb2f40ba9d55", "waymo_split": "test", "type": "image", "frame_index": 86, "question": "Who is responsible in a safety-critical situation? What is the cause?", "category": "Safety-critical scene Understanding", "options": ["A. The problem is that the pedestrian ignored the signal and crossed the street illegally.", "B. The problem is that the motorcycle was speeding through an intersection at night right after it rained.", "C. The problem is that the bicycle was going against traffic on a street with the lights on.", "D. The problem is that the passenger car was speeding at an intersection during the day on a clear day."], "answer_index": 1}
{"token": "2f35266c0b38fe703332fb2f40ba9d55", "waymo_split": "test", "type": "image", "frame_index": 86, "question": "What are the new exposure risk candidates in the following section?", "category": "Safety-critical Prediction", "options": ["A. None", "B. Limited visibility", "C. Falling rocks", "D. Icy road surface"], "answer_index": 0}
{"token": "2f35266c0b38fe703332fb2f40ba9d55", "waymo_split": "test", "type": "image", "frame_index": 86, "question": "What is the method to avoid the blind spot next to a large vehicle?", "category": "Special Event", "options": ["A. Narrow gap between vehicles, proceed as is", "B. Accelerate and overtake on the right side of the large vehicle", "C. Check only the side mirror, enter immediately", "D. No large vehicle present, unable to judge"], "answer_index": 3}
{"token": "2f35266c0b38fe703332fb2f40ba9d55", "waymo_split": "test", "type": "image", "frame_index": 86, "question": "What situation would occur if the vehicle acted like this?", "category": "Counterfactual", "options": ["A. If the vehicle suddenly makes a right turn, it will collide with a bicycle and an electric scooter entering from the right side road.", "B. If the vehicle makes a sudden stop, it will collide with a vehicle and a bus approaching from behind in the same lane.", "C. If the vehicle suddenly makes a left turn, it will collide with a vehicle and a motorcycle coming from the opposite lane.", "D. If the vehicle ignores the traffic signal and goes straight, it will collide with a pedestrian and a stroller crossing the crosswalk."], "answer_index": 2}
{"token": "2f35266c0b38fe703332fb2f40ba9d55", "waymo_split": "test", "type": "image", "frame_index": 115, "question": "What is correct as an Image Caption from the perspective of Normal Frame?", "category": "Normal scene caption", "options": ["A. It is daytime, and a while has passed since the rain stopped, with the road almost dry and little light reflection. Some pedestrians are waiting for the signal at the left crosswalk. The vehicle is preparing to turn right in accordance with the green signal and is already moving to the right lane.", "B. It is night, but light snow is falling instead of rain, and a little snow has accumulated on the wet road. A few people can be seen crossing the front crosswalk. The vehicle is turning left at the intersection in accordance with the left turn signal and is trying to enter the inner lane.", "C. In the early morning, there is a slight fog that makes visibility a bit unclear, and the road is damp but not shiny. A bicycle can be seen crossing towards the central divider. The vehicle is slightly changing to the left lane from the straight signal and is trying to proceed in the same direction.", "D. It is night, and right after the rain, the road looks slippery and there is significant light reflection. People can also be seen crossing the right crosswalk. The vehicle is going straight through the intersection according to the green signal, and at this time, it is slightly changing to the right lane to continue straight."], "answer_index": 3}
{"token": "2f35266c0b38fe703332fb2f40ba9d55", "waymo_split": "test", "type": "image", "frame_index": 115, "question": "Based on the current appearance of the person/vehicle (two-wheeled), how are they trying to move?", "category": "Normal Perception & Prediction", "options": ["A. Accelerating and starting to drive, but currently at a low speed. Trying to go straight through the intersection.", "B. Trying to make a U-turn by moving towards the center line.", "C. Decelerating and trying to stop in front of the signal.", "D. Making a right turn to enter the side alley."], "answer_index": 0}
{"token": "2f35266c0b38fe703332fb2f40ba9d55", "waymo_split": "test", "type": "image", "frame_index": 115, "question": "What is the plan for yielding when an ambulance/fire truck approaches?", "category": "Special Event", "options": ["A. Slow down and yield the space in front", "B. Accelerate and pass first", "C. Pull over to the side of the center line and stop", "D. Turn on hazard lights and continue driving"], "answer_index": 0}
{"token": "2f35266c0b38fe703332fb2f40ba9d55", "waymo_split": "test", "type": "image", "frame_index": 115, "question": "What are the restrictions on behavior in school zones/congested areas?", "category": "Special Event", "options": ["A. U-turn", "B. Slow down", "C. Accelerate", "D. Overtake"], "answer_index": 1}
{"token": "2f35266c0b38fe703332fb2f40ba9d55", "waymo_split": "test", "type": "image", "frame_index": 115, "question": "Which of the following is a correct description of traffic density?", "category": "Normal scene Understanding", "options": ["A. Slow, few surrounding vehicles (single-lane suburban road)", "B. Slow, many surrounding vehicles (many at intersections)", "C. Fast, many surrounding vehicles (multi-lane section, smooth flow)", "D. Fast, almost no surrounding vehicles (sparse on straight section)"], "answer_index": 1}
{"token": "2f35266c0b38fe703332fb2f40ba9d55", "waymo_split": "test", "type": "image", "frame_index": 115, "question": "What are the divisions of the scene?", "category": "Normal scene Understanding", "options": ["A. city intersection", "B. unpaved farm road", "C. highway entrance ramp", "D. residential alley"], "answer_index": 0}
{"token": "2f35266c0b38fe703332fb2f40ba9d55", "waymo_split": "test", "type": "image", "frame_index": 115, "question": "Which of the following statements about traffic signals is correct?", "category": "Traffic Signal", "options": ["A. Traffic light - Green. A sign indicating no right turn on red is attached to the streetlight.", "B. Traffic light - Flashing yellow / A left turn only arrow is marked on the road ahead.", "C. Traffic light - Red / A no left turn sign is attached to the traffic light pole on the left.", "D. Traffic light - Green arrow (left turn) / A sign indicating right turn allowed on red is installed on the sign post on the right."], "answer_index": 0}
{"token": "2f35266c0b38fe703332fb2f40ba9d55", "waymo_split": "test", "type": "image", "frame_index": 86, "question": "What are the guidelines for the vehicle's behavior based on the actions of the safety-critical object?", "category": "Safety-critical Planning", "options": ["A. If the safety-critical object is closely approaching from the right, meaning it is moving away from the vehicle and going straight, the risk of collision with the vehicle is low (especially if the road is slippery, unnecessary braking is more dangerous). It is better for the vehicle to slightly increase speed to quickly overtake when the distance between vehicles increases.", "B. If the safety-critical object is closely approaching from the left, meaning it is getting closer to the vehicle while going straight, there is a risk of collision with the vehicle. (Especially if the road is slippery, the risk of sudden collision increases). The vehicle should stop when the distance between vehicles decreases to reduce the risk of unexpected collision damage.", "C. If the safety-critical object approaches diagonally towards the center line, the vehicle should slightly take the overtaking line to the left to create space for parallel driving (maintaining flow is safer than stopping, even on slippery roads). Use the horn and headlights to signal and continue moving.", "D. Even if the safety-critical object is closely approaching from the left towards the vehicle, sudden braking should be avoided as it increases the risk of secondary accidents (especially if the road is slippery, steering to avoid is more advantageous than slowing down). The vehicle should maintain speed and slightly evade to the right while continuing."], "answer_index": 1}
{"token": "2f35266c0b38fe703332fb2f40ba9d55", "waymo_split": "test", "type": "image", "frame_index": 115, "question": "Which of the following descriptions about the environment is correct?", "category": "Normal scene Understanding", "options": ["A. Late at night, slightly dark, beginning to rain. Lighting: subway exit lights and crosswalk signals, window lights.", "B. Early evening, cloudy, just before it rains. Lighting: store neon signs and bus headlights, billboards.", "C. Night, dark, just after it rained. Lighting: traffic lights and vehicle headlights, streetlights.", "D. Dawn, light fog, dew forming. Lighting: convenience store signs and taxi tail lights, alley lights."], "answer_index": 2}
{"token": "2f35266c0b38fe703332fb2f40ba9d55", "waymo_split": "test", "type": "image", "frame_index": 115, "question": "What is the answer regarding parked vehicles on the shoulder, the presence of a center line, and whether Ego crosses the center line?", "category": "Normal Perception & Prediction", "options": ["A. A parked car is on the shoulder. The center line is faintly visible.", "B. There are no parked vehicles on the shoulder. The center line is not visible.", "C. There is a parked vehicle on the shoulder. The center line is visible.", "D. A cargo truck is stopped on the shoulder. The center line is clearly visible."], "answer_index": 1}
{"token": "2f35266c0b38fe703332fb2f40ba9d55", "waymo_split": "test", "type": "image", "frame_index": 115, "question": "What is a safety-critical object?", "category": "Safety-critical Perception", "options": ["A. Surgical robot arm", "B. Emergency stop button", "C. Aircraft altimeter", "D. None"], "answer_index": 3}
{"token": "2f35266c0b38fe703332fb2f40ba9d55", "waymo_split": "test", "type": "image", "frame_index": 115, "question": "How do you think a safety-critical object will move?", "category": "Safety-critical Prediction", "options": ["A. Irregular shaking", "B. No object", "C. Rotate to the left", "D. Move slowly straight"], "answer_index": 1}
{"token": "2f35266c0b38fe703332fb2f40ba9d55", "waymo_split": "test", "type": "image", "frame_index": 115, "question": "Is there a blind spot?", "category": "Uncertainty", "options": ["A. No blind spot", "B. No left blind spot", "C. There is a right blind spot", "D. There is a rear blind spot"], "answer_index": 0}
{"token": "2f35266c0b38fe703332fb2f40ba9d55", "waymo_split": "test", "type": "image", "frame_index": 115, "question": "Are there any other safety-critical objects besides the first safety-critical object? If so, how will they be moved?", "category": "Safety-critical Prediction", "options": ["A. None", "B. Yes: Oxygen tank, secured with a belt and placed upright on a cart", "C. Yes: High-pressure gas cylinder, capped and pushed upright", "D. Yes: Glass syringe, placed in a case and kept horizontal while moving slowly"], "answer_index": 0}
{"token": "2f35266c0b38fe703332fb2f40ba9d55", "waymo_split": "test", "type": "image", "frame_index": 115, "question": "Is lane change possible? Which is safer between slowing down and changing lanes?", "category": "Safety-critical Planning", "options": ["A. Lane change possible to the right. Slowing down is not significant (already low speed). Changing lanes to the right is safer.", "B. Lane change possible to the left. Slowing down is more effective (the gap to the car in front is narrow). Changing lanes to the left is safer.", "C. Lane change possible to the left. Slightly reduce speed before moving. Changing lanes to the left is safer.", "D. No need to change lanes. Maintain the current lane. Additional slowing down helps safety. Staying in the lane is safer."], "answer_index": 0}
{"token": "2f35266c0b38fe703332fb2f40ba9d55", "waymo_split": "test", "type": "image", "frame_index": 115, "question": "Which risk candidates will be newly exposed in the following section?", "category": "Safety-critical Prediction", "options": ["A. Right alley bicycle", "B. None", "C. Overtaking motorcycle from behind", "D. Pedestrian jaywalking ahead"], "answer_index": 1}
{"token": "2f35266c0b38fe703332fb2f40ba9d55", "waymo_split": "test", "type": "image", "frame_index": 115, "question": "Where is the area that hides danger in the current frame?", "category": "Uncertainty", "options": ["A. Lower left shadow", "B. Behind the vehicle", "C. None", "D. Front right"], "answer_index": 2}
{"token": "2f35266c0b38fe703332fb2f40ba9d55", "waymo_split": "test", "type": "image", "frame_index": 115, "question": "What potential situations could arise in the current scenario?", "category": "Counterfactual", "options": ["A. The vehicle will change to the left lane and turn left to enter the next block after the intersection. (There are no pedestrians crossing at the right crosswalk as the signal is red.)", "B. The vehicle will maintain its current lane and make a right turn to merge into the adjacent main road. (There are no pedestrians on the right, so it can pass without stopping.)", "C. The vehicle will change to the right lane and go straight to enter the next block after the intersection. (A right turn is possible, but there are people crossing the crosswalk on the right, so the turn can only be made after they have all crossed.)", "D. The vehicle will slow down and make a U-turn to move into the opposite direction lane. (The straight lane is blocked due to construction, making a U-turn advantageous.)"], "answer_index": 2}
{"token": "2f7f17a816304bb71574e87a1342b80b", "waymo_split": "test", "type": "video", "frame_index": null, "question": "Where is the safety-critical situation in the video?", "category": "Temporal Grounding", "options": ["A. 3/4", "B. 2/4", "C. 1/4", "D. 4/4"], "answer_index": 0}
{"token": "2f7f17a816304bb71574e87a1342b80b", "waymo_split": "test", "type": "video", "frame_index": null, "question": "What is the classification of the scene?", "category": "Normal scene Understanding", "options": ["A. Urban intersection and four-lane road", "B. Residential area intersection and two-lane road", "C. Highway merging point and one-way two-lane road", "D. Unpaved farm road straight section and single lane"], "answer_index": 1}
{"token": "2f7f17a816304bb71574e87a1342b80b", "waymo_split": "test", "type": "video", "frame_index": null, "question": "Is there a special situation?", "category": "Special Event", "options": ["A. School bus stopping", "B. Fire truck passing by", "C. Construction cone placement", "D. None"], "answer_index": 3}
{"token": "2f7f17a816304bb71574e87a1342b80b", "waymo_split": "test", "type": "video", "frame_index": null, "question": "Which of the following is a correct description of traffic density?", "category": "Normal scene Understanding", "options": ["A. Slow, two vehicles on the left side.", "B. Fast, one vehicle directly in front.", "C. Fast, one vehicle on the right side.", "D. Slow, two vehicles directly in front."], "answer_index": 1}
{"token": "2f7f17a816304bb71574e87a1342b80b", "waymo_split": "test", "type": "video", "frame_index": null, "question": "Which of the following is a correct description of road alignment?", "category": "Normal Perception & Prediction", "options": ["A. Straight, right turn", "B. Straight, overtaking", "C. Right turn, unprotected left turn", "D. Straight, left turn"], "answer_index": 3}
{"token": "2f7f17a816304bb71574e87a1342b80b", "waymo_split": "test", "type": "video", "frame_index": null, "question": "Which of the following is correct regarding the Video Summary from the perspective of a Normal Scene?", "category": "Normal scene caption", "options": ["A. A car turning left at an intersection, then going straight on a two-lane road. At this time, there is a preceding vehicle in front of the car, and the distance is far. After the left turn, the car accelerates and goes straight, when suddenly a child pulling a scooter appears from the right sidewalk. Therefore, the car had to brake suddenly. While the car is stopped, the child and a person following behind crossed the road together to the left sidewalk.", "B. A car that started after waiting at a traffic signal on a straight section, going straight on a two-lane road. There are no preceding vehicles ahead. While accelerating, a dog and its owner suddenly entered from the left crosswalk. The car slowed down in advance and stopped in front of the stop line. After that, the two people returned to the sidewalk in the same direction.", "C. A car that made a U-turn at a T-intersection, immediately entering the first lane and going straight. There is a truck ahead, and the distance is close. After the U-turn, while reducing speed, a delivery motorcycle slightly came out from the right alley. The car lightly tapped the brakes and passed slowly. After that, the motorcycle backed away.", "D. A car turning right at an intersection, then slowly merging into a one-way three-lane road. There is a bus close in front, making the gap narrow. Right after the turn, while slowing down, an adult on a bicycle came down from the left sidewalk into the road. The car passed by slowly to avoid it. After that, the bicycle returned to the sidewalk."], "answer_index": 0}
{"token": "2f7f17a816304bb71574e87a1342b80b", "waymo_split": "test", "type": "video", "frame_index": null, "question": "Which of the following is a correct description of the environment?", "category": "Normal scene Understanding", "options": ["A. Day, clear", "B. Morning, cloudy", "C. Evening, drizzle", "D. Night, fog"], "answer_index": 0}
{"token": "2f7f17a816304bb71574e87a1342b80b", "waymo_split": "test", "type": "video", "frame_index": null, "question": "Which of the following is a correct description of Spatial Relationship?", "category": "Spatial Relationship", "options": ["A. A vehicle that is stopped facing the vehicle in front, in order to enter the intersection after making a left turn at the right turn lane of the intersection.", "B. As the vehicle accelerates straight after making a left turn at the entrance of the intersection, a following vehicle is temporarily stopped on the shoulder, facing away from the vehicle.", "C. At the end of the dedicated right turn lane, the vehicle is waiting to make a left turn, while vehicles that have already entered the intersection are moving away in the same direction as the vehicle.", "D. As the vehicle makes a right turn and exits the intersection, a vehicle in the merging lane on the opposite side is slowly proceeding to avoid crossing paths with the vehicle."], "answer_index": 0}
{"token": "2f7f17a816304bb71574e87a1342b80b", "waymo_split": "test", "type": "video", "frame_index": null, "question": "Which of the following is a correct description of traffic signals?", "category": "Traffic Signal", "options": ["A. Yield sign on the right lane road sign", "B. Stop sign on the left opposite lane road sign", "C. No right turn sign on the right roadside sign", "D. Red light on the traffic signal at the intersection"], "answer_index": 1}
{"token": "2f7f17a816304bb71574e87a1342b80b", "waymo_split": "test", "type": "video", "frame_index": null, "question": "What is the description of a non-safety-critical object?", "category": "Normal Perception & Prediction", "options": ["A. Passengers waiting at the right bus stop", "B. Billboard on the central divider ahead", "C. Street trees on both sidewalks", "D. Parked vehicles on the shoulders on both sides"], "answer_index": 3}
{"token": "2f7f17a816304bb71574e87a1342b80b", "waymo_split": "test", "type": "video", "frame_index": null, "question": "What is the answer regarding parked vehicles on the shoulder, the presence of a center line, and whether Ego crosses the center line?", "category": "Normal Perception & Prediction", "options": ["A. There are many parked vehicles on the shoulder only on the left. There is a center line. My vehicle does not cross.", "B. There are a few parked vehicles on the shoulder only on the right. There is a center line. My vehicle crosses.", "C. There are many parked vehicles on both sides of the road. There is no center line. My vehicle does not cross.", "D. There are no parked vehicles on the shoulder. There is a center line. My vehicle does not cross."], "answer_index": 2}
{"token": "2f7f17a816304bb71574e87a1342b80b", "waymo_split": "test", "type": "video", "frame_index": null, "question": "What is the correlation in safety-critical situations?", "category": "Safety-critical scene Understanding", "options": ["A. Car-Person", "B. Two-wheeler-Person", "C. Car-Car", "D. Car-Two-wheeler"], "answer_index": 0}
{"token": "2f7f17a816304bb71574e87a1342b80b", "waymo_split": "test", "type": "video", "frame_index": null, "question": "What is a safety-critical object?", "category": "Safety-critical Perception", "options": ["A. A stroller that was hidden behind a pillar at the exit of the right-side shopping center parking lot and a parent following behind.", "B. An electric scooter that suddenly joined from an alley entrance obscured by a construction fence, accompanied by a guardian with a pet dog.", "C. A child and a scooter that came out from a blind spot caused by a parked vehicle on the right shoulder.", "D. A pedestrian and a bicycle that jumped onto the road from a blind spot behind a bus stopped at the left bus stop."], "answer_index": 2}
{"token": "2f7f17a816304bb71574e87a1342b80b", "waymo_split": "test", "type": "video", "frame_index": null, "question": "Summary of Ego (self-vehicle) behavior before safety-critical situations", "category": "Normal scene Understanding", "options": ["A. Driving straight", "B. Turning right", "C. Reversing", "D. Turning left"], "answer_index": 0}
{"token": "2f7f17a816304bb71574e87a1342b80b", "waymo_split": "test", "type": "video", "frame_index": null, "question": "Who is responsible in a safety-critical situation? What is the cause?", "category": "Safety-critical scene Understanding", "options": ["A. The driver not checking their surroundings while making a left turn is the cause.", "B. The guardian losing sight of the child while looking at their phone is the cause.", "C. The child suddenly appearing from a blind spot is the cause.", "D. The bicycle entering the sidewalk while ignoring the signal is the cause."], "answer_index": 2}
{"token": "2f7f17a816304bb71574e87a1342b80b", "waymo_split": "test", "type": "video", "frame_index": null, "question": "How did the safety-critical object move and how did the ego vehicle behave?", "category": "Safety-critical scene Understanding", "options": ["A. A bicycle crossed from the right sidewalk to the left sidewalk. The ego vehicle slowed down in advance from a sufficient distance.", "B. An electric scooter came down from the right sidewalk to the roadway. The ego vehicle honked and maintained its speed.", "C. A scooter was traveling from the left sidewalk to the right sidewalk. The ego vehicle gradually slowed down and then stopped.", "D. A scooter was traveling from the right sidewalk to the left sidewalk. The ego vehicle came to a sudden stop as soon as it noticed this."], "answer_index": 3}
{"token": "2f7f17a816304bb71574e87a1342b80b", "waymo_split": "test", "type": "image", "frame_index": 9, "question": "Based on the current appearance of the person/vehicle (two-wheeled), how are they trying to move?", "category": "Normal Perception & Prediction", "options": ["A. Changing to the right lane", "B. Going straight at the intersection", "C. Making a right turn at the intersection", "D. Making a left turn at the intersection"], "answer_index": 3}
{"token": "2f7f17a816304bb71574e87a1342b80b", "waymo_split": "test", "type": "video", "frame_index": null, "question": "Is there a blind spot in your field of vision?", "category": "Uncertainty", "options": ["A. The area below the right bus stop sign is a blind spot", "B. The gap between parked cars on the right shoulder is a blind spot", "C. The middle of the right lane is a blind spot", "D. The center of the right crosswalk is a blind spot"], "answer_index": 1}
{"token": "2f7f17a816304bb71574e87a1342b80b", "waymo_split": "test", "type": "video", "frame_index": null, "question": "What situation might have occurred if the vehicle had acted this way?", "category": "Counterfactual", "options": ["A. If the vehicle had recognized the situation even slightly later and the emergency braking was delayed, it could have collided with the car behind.", "B. If the vehicle had recognized the situation even slightly later and the emergency braking was delayed, it could have collided with a child.", "C. If the vehicle had recognized the situation even slightly later and the evasive action was delayed, it could have made contact with the guardrail.", "D. If the vehicle had recognized the situation even slightly earlier and had slowed down in advance, it could have passed without waiting for the signal."], "answer_index": 1}
{"token": "2f7f17a816304bb71574e87a1342b80b", "waymo_split": "test", "type": "image", "frame_index": 9, "question": "What is the plan for yielding when an ambulance/fire truck approaches?", "category": "Special Event", "options": ["A. Slightly increase speed to exit the intersection first, then move to the right (it's safer to enter ahead than to stop suddenly when a vehicle is close behind).", "B. Turn on hazard lights and continue driving slowly to clear the way (stopping on the shoulder is dangerous as it blocks the flow, so choose to drive slowly).", "C. Immediately change to the left lane and yield by moving towards the median (it's easier to utilize the left space at an intersection).", "D. Stop where you are to yield (there are no vehicles following closely behind, so it's possible to stop even at an intersection)."], "answer_index": 3}
{"token": "2f7f17a816304bb71574e87a1342b80b", "waymo_split": "test", "type": "image", "frame_index": 9, "question": "What is the classification of the scene?", "category": "Normal scene Understanding", "options": ["A. Residential alley", "B. Urban intersection", "C. Residential intersection", "D. Suburban intersection"], "answer_index": 2}
{"token": "2f7f17a816304bb71574e87a1342b80b", "waymo_split": "test", "type": "image", "frame_index": 9, "question": "Which of the following is correct as an Image Caption from the perspective of a Normal Frame?", "category": "Normal scene caption", "options": ["A. A vehicle preparing to make a U-turn at an intersection. A motorcycle is crossing the crosswalk and entering the intersection from the right front road. The leading vehicle on the left turn road has not yet entered the crosswalk.", "B. A vehicle attempting to make a right turn at a T-intersection. A bus is stopped on the right front road, waiting to change lanes. The left turn road is empty, and no vehicles are visible waiting at the signal.", "C. A vehicle attempting to make a left turn at an intersection. A vehicle is waiting to enter the three-way intersection after the vehicle's movement on the right front road. A vehicle that is leading the left turn has passed the crosswalk.", "D. A vehicle preparing to go straight at an intersection. One vehicle has already entered the intersection from the right front road. The leading vehicle on the left turn road is stopped in front of the crosswalk."], "answer_index": 2}
{"token": "2f7f17a816304bb71574e87a1342b80b", "waymo_split": "test", "type": "image", "frame_index": 9, "question": "Which of the following is a correct description of traffic density?", "category": "Normal scene Understanding", "options": ["A. Slow, many parked vehicles on the shoulder", "B. Fast, few surrounding vehicles", "C. Slow, many vehicles changing lanes", "D. Fast, almost no surrounding vehicles"], "answer_index": 0}
{"token": "2f7f17a816304bb71574e87a1342b80b", "waymo_split": "test", "type": "image", "frame_index": 9, "question": "Which of the following descriptions about the environment is correct?", "category": "Normal scene Understanding", "options": ["A. Morning, light fog. Auxiliary lighting used", "B. Daytime, clear. No other lighting", "C. Night, light rain. Neon signs present", "D. Dusk, cloudy. Streetlights on"], "answer_index": 1}
{"token": "2f7f17a816304bb71574e87a1342b80b", "waymo_split": "test", "type": "image", "frame_index": 9, "question": "Which of the following is a correct description of traffic signals?", "category": "Traffic Signal", "options": ["A. STOP pavement sign on the right turn lane", "B. STOP pavement sign on the left turn lane", "C. STOP sign on the left turn lane", "D. SLOW pavement sign on the left turn lane"], "answer_index": 1}
{"token": "2f7f17a816304bb71574e87a1342b80b", "waymo_split": "test", "type": "image", "frame_index": 9, "question": "What are the behavior restrictions in school zones/congested areas?", "category": "Special Event", "options": ["A. Must turn on hazard lights", "B. Must honk the horn", "C. Must drive slowly", "D. Must turn on high beams"], "answer_index": 2}
{"token": "2f7f17a816304bb71574e87a1342b80b", "waymo_split": "test", "type": "image", "frame_index": 9, "question": "What is the answer regarding parked vehicles on the shoulder, the presence of a center line, and whether Ego crosses the center line?", "category": "Normal Perception & Prediction", "options": ["A. Many parked vehicles on the shoulder. No center line. Does not cross the center.", "B. A few parked vehicles on the shoulder. There is a center line (dashed). Crosses the center.", "C. A small number of parked vehicles on the shoulder. There is a center line. Crosses the center.", "D. No parked vehicles on the shoulder. Yellow solid center line. Does not cross the center."], "answer_index": 0}
{"token": "2f7f17a816304bb71574e87a1342b80b", "waymo_split": "test", "type": "image", "frame_index": 9, "question": "What is the description of a non-safety-critical object?", "category": "Normal Perception & Prediction", "options": ["A. Bus stop shelter and bench on the right roadside", "B. Numerous parked vehicles on the shoulder. STOP road sign on the left turn lane. Crosswalk. Buildings and trees lined along the left and right sidewalks", "C. Low central divider and flower bed in the middle of the road", "D. YIELD road sign on the right turn lane"], "answer_index": 1}
{"token": "2f7f17a816304bb71574e87a1342b80b", "waymo_split": "test", "type": "image", "frame_index": 9, "question": "How do you think safety-critical objects will move?", "category": "Safety-critical Prediction", "options": ["A. Straight", "B. Curved", "C. None", "D. Rotating"], "answer_index": 2}
{"token": "2f7f17a816304bb71574e87a1342b80b", "waymo_split": "test", "type": "image", "frame_index": 9, "question": "Is there a blind spot?", "category": "Uncertainty", "options": ["A. None", "B. Only when driving at high speeds", "C. Yes", "D. Only for large vehicles"], "answer_index": 0}
{"token": "2f7f17a816304bb71574e87a1342b80b", "waymo_split": "test", "type": "image", "frame_index": 9, "question": "What is a safety-critical object?", "category": "Safety-critical Perception", "options": ["A. None", "B. Power supply", "C. Sensor", "D. Valve"], "answer_index": 0}
{"token": "2f7f17a816304bb71574e87a1342b80b", "waymo_split": "test", "type": "image", "frame_index": 9, "question": "Where is the area that hides danger in the current frame?", "category": "Uncertainty", "options": ["A. Behind the left tree", "B. Next to the large bus in front", "C. None", "D. Behind the parked vehicle on the right"], "answer_index": 2}
{"token": "2f7f17a816304bb71574e87a1342b80b", "waymo_split": "test", "type": "image", "frame_index": 9, "question": "What are the new exposure risk candidates in the following section?", "category": "Safety-critical Prediction", "options": ["A. None", "B. Flooding", "C. Delay", "D. Falling rocks"], "answer_index": 0}
{"token": "2f7f17a816304bb71574e87a1342b80b", "waymo_split": "test", "type": "image", "frame_index": 9, "question": "Is lane changing possible? Which is safer, slowing down or changing lanes?", "category": "Safety-critical Planning", "options": ["A. It is possible to change lanes just before passing the intersection. Changing lanes is safer.", "B. It is possible to change lanes while going straight. Changing lanes is safer.", "C. It is possible to change lanes while entering a right turn. Changing lanes is safer.", "D. It is not possible to change lanes while currently turning left. Slowing down is safer."], "answer_index": 3}
{"token": "2f7f17a816304bb71574e87a1342b80b", "waymo_split": "test", "type": "image", "frame_index": 9, "question": "What is the safest choice just before entering a yellow signal: stop vs pass?", "category": "Special Event", "options": ["A. Pass safely after slowing down", "B. No signal, cannot judge", "C. Pass because there is a car behind", "D. Stop just before the stop line"], "answer_index": 1}
{"token": "2f7f17a816304bb71574e87a1342b80b", "waymo_split": "test", "type": "image", "frame_index": 9, "question": "Are there any other safety-critical objects besides the first safety-critical object? If so, how will they be moved?", "category": "Safety-critical Prediction", "options": ["A. There is a high-pressure gas cylinder, moved with a dedicated cart", "B. There is a lithium-ion battery pack, transported in a fireproof box", "C. There are no other safety-critical objects", "D. There is a chemical drum, moved on a pallet with a forklift"], "answer_index": 2}
{"token": "2f7f17a816304bb71574e87a1342b80b", "waymo_split": "test", "type": "image", "frame_index": 31, "question": "Based on the current appearance of the person/vehicle (two-wheeled), how do they intend to move?", "category": "Normal Perception & Prediction", "options": ["A. Proceed straight on a two-lane road", "B. Stop on the right shoulder", "C. Make a right turn on a two-lane road", "D. Make a left turn on a two-lane road"], "answer_index": 0}
{"token": "2f7f17a816304bb71574e87a1342b80b", "waymo_split": "test", "type": "image", "frame_index": 31, "question": "What is the plan for yielding when an ambulance/fire truck approaches?", "category": "Special Event", "options": ["A. Slow down and move to the side of the center line to yield", "B. Enter the right turn lane and maintain speed to yield", "C. Park on the shoulder in the left empty space to yield", "D. Park on the shoulder in the right empty space to yield"], "answer_index": 3}
{"token": "2f7f17a816304bb71574e87a1342b80b", "waymo_split": "test", "type": "image", "frame_index": 31, "question": "Which of the following is correct as an Image Caption from the perspective of a Normal Frame?", "category": "Normal scene caption", "options": ["A. The vehicle enters a two-lane road after passing an intersection and begins to go straight. There are parked cars on the shoulder of the two-lane road. A preceding vehicle is going straight in front of the vehicle. There is an intersection behind the vehicle.", "B. The vehicle is preparing to make a right turn as it approaches the intersection. The shoulder of the two-lane road is quiet with almost no parked cars. The vehicle in front is moving to the right lane and waiting to turn right. An intersection is ahead of the vehicle.", "C. The vehicle is going straight after passing an intersection and entering a one-way three-lane road. Only a bicycle lane is visible at the edge of the road, and no parked cars can be seen. The preceding vehicle changes lanes to the left. There is a narrow alley behind the vehicle.", "D. The vehicle that has passed the crosswalk enters the left turn lane. One lane of the two-lane section is partially closed due to construction. The vehicle in front is temporarily stopped on the right. A small intersection is visible ahead of the vehicle."], "answer_index": 0}
{"token": "2f7f17a816304bb71574e87a1342b80b", "waymo_split": "test", "type": "image", "frame_index": 31, "question": "What are the behavior restrictions in school zones/congested areas?", "category": "Special Event", "options": ["A. Must overtake", "B. Must maintain speed", "C. Must honk", "D. Must drive slowly"], "answer_index": 3}
{"token": "2f7f17a816304bb71574e87a1342b80b", "waymo_split": "test", "type": "image", "frame_index": 31, "question": "Which of the following is a correct description of traffic density?", "category": "Normal scene Understanding", "options": ["A. Fast, many pedestrians around", "B. Fast, only a few vehicles visible around", "C. Slow, ample space between vehicles", "D. Slow, many vehicles parked on the shoulder"], "answer_index": 3}
{"token": "2f7f17a816304bb71574e87a1342b80b", "waymo_split": "test", "type": "image", "frame_index": 9, "question": "What is the method to avoid the blind spot next to a large vehicle?", "category": "Special Event", "options": ["A. Slowly pass to the right of the large vehicle", "B. Cannot judge as there is no large vehicle", "C. Pass next to the large vehicle while maintaining the lane", "D. Quickly pass close to the left side of the large vehicle"], "answer_index": 1}
{"token": "2f7f17a816304bb71574e87a1342b80b", "waymo_split": "test", "type": "image", "frame_index": 31, "question": "What is the classification of the scene?", "category": "Normal scene Understanding", "options": ["A. Four-lane highway outside the city", "B. Two-lane road in the urban commercial area", "C. Three-lane highway", "D. Two-lane road in a residential area"], "answer_index": 3}
{"token": "2f7f17a816304bb71574e87a1342b80b", "waymo_split": "test", "type": "image", "frame_index": 31, "question": "Which of the following descriptions about the environment is correct?", "category": "Normal scene Understanding", "options": ["A. Night, raining. Neon sign is on", "B. Evening, cloudy. Streetlights are on", "C. Dusk, light fog. Indoor lights are on", "D. Day, clear. No other lighting"], "answer_index": 3}
{"token": "2f7f17a816304bb71574e87a1342b80b", "waymo_split": "test", "type": "image", "frame_index": 31, "question": "Which of the following is a correct description of traffic signals?", "category": "Traffic Signal", "options": ["A. STOP pavement sign on the left opposing lane", "B. YIELD pavement sign on the left shoulder", "C. SLOW pavement sign in front of an intersection", "D. STOP pavement sign in the same lane on the right"], "answer_index": 0}
{"token": "2f7f17a816304bb71574e87a1342b80b", "waymo_split": "test", "type": "image", "frame_index": 31, "question": "Is there a blind spot in your field of vision?", "category": "Uncertainty", "options": ["A. The front of the vehicles parked on the left shoulder is a blind spot", "B. The rear of the vehicles parked on the right shoulder is a blind spot", "C. The center of the right lane is a blind spot", "D. The front of the vehicles parked on the right shoulder is a blind spot"], "answer_index": 3}
{"token": "2f7f17a816304bb71574e87a1342b80b", "waymo_split": "test", "type": "image", "frame_index": 31, "question": "What is the description of a non-safety-critical object?", "category": "Normal Perception & Prediction", "options": ["A. A long stretch of space without parked vehicles on the shoulder. The opposite lane has directional arrows on the road surface. Vehicles moving along the roundabout ahead. Low fences and empty lots on both sides.", "B. Many parked vehicles on the shoulder. A STOP road sign on the left opposite lane. Vehicles traveling perpendicularly at an intersection behind. Buildings and trees lined up along the sidewalks on both sides.", "C. A few passengers waiting at the bus stop on the right and a bicycle rack. A YIELD road sign on the right lane. Vehicles entering a T-intersection ahead. Low flower beds and streetlights along the median.", "D. A temporary construction area by the roadside with orange safety cones. Pedestrians waiting for the signal in front of the crosswalk ahead. A city bus stopped in the right lane. A sign directing to the parking lot next to the left sidewalk."], "answer_index": 1}
{"token": "2f7f17a816304bb71574e87a1342b80b", "waymo_split": "test", "type": "image", "frame_index": 31, "question": "What is a safety-critical object?", "category": "Safety-critical Perception", "options": ["A. Airbag", "B. Brake pedal", "C. None", "D. Emergency stop switch"], "answer_index": 2}
{"token": "2f7f17a816304bb71574e87a1342b80b", "waymo_split": "test", "type": "image", "frame_index": 31, "question": "Is there any safety-critical object other than the first safety-critical object? If so, how will you move?", "category": "Safety-critical Prediction", "options": ["A. Pause after confirming the nearby safety-critical object and then resume moving straight", "B. If there is a next safety-critical object, move slowly to the right", "C. There is no next safety-critical object", "D. Detect a safety-critical object ahead and move to the left to bypass"], "answer_index": 2}
{"token": "2f7f17a816304bb71574e87a1342b80b", "waymo_split": "test", "type": "image", "frame_index": 31, "question": "How do you think a safety-critical object will move?", "category": "Safety-critical Prediction", "options": ["A. Right", "B. Forward", "C. None", "D. Rotate"], "answer_index": 2}
{"token": "2f7f17a816304bb71574e87a1342b80b", "waymo_split": "test", "type": "image", "frame_index": 31, "question": "Where is the area that hides danger in the current frame?", "category": "Uncertainty", "options": ["A. Blind spot in front of the parked vehicle on the right shoulder", "B. Blind spot behind the parked vehicle on the left shoulder", "C. Blind spot at the corner of the right alley exit", "D. Blind spot on the right side of the large truck in front"], "answer_index": 0}
{"token": "2f7f17a816304bb71574e87a1342b80b", "waymo_split": "test", "type": "image", "frame_index": 31, "question": "What is the answer regarding parked vehicles on the shoulder, the presence of a central line, and whether Ego crosses the central line?", "category": "Normal Perception & Prediction", "options": ["A. One or two parked vehicles on the shoulder. There is a central line. Crosses the center.", "B. Many parked vehicles on the shoulder. There is no central line. Does not cross the center.", "C. A few parked vehicles on the shoulder. There is a central line. Crosses the center.", "D. No parked vehicles on the shoulder. There is a central line. Does not cross the center."], "answer_index": 1}
{"token": "2f7f17a816304bb71574e87a1342b80b", "waymo_split": "test", "type": "image", "frame_index": 31, "question": "Is lane changing possible? Which is safer, slowing down or changing lanes?", "category": "Safety-critical Planning", "options": ["A. It is a one-way two-lane road, so lane changing is possible. Changing lanes is safer.", "B. Since it is a two-lane road, lane changing is not possible. Slowing down is safer.", "C. It is an intersection approach area, so lane changing is possible in advance. Changing lanes is safer.", "D. It is a variable lane section, so changing lanes is possible. Changing lanes is safer."], "answer_index": 1}
{"token": "2f7f17a816304bb71574e87a1342b80b", "waymo_split": "test", "type": "image", "frame_index": 46, "question": "Based on the current appearance of the person/vehicle (two-wheeled), how do you intend to move?", "category": "Normal Perception & Prediction", "options": ["A. Change lanes to the first lane", "B. Go straight on the second lane road", "C. Enter a right turn at the intersection", "D. Enter the left turn lane"], "answer_index": 1}
{"token": "2f7f17a816304bb71574e87a1342b80b", "waymo_split": "test", "type": "image", "frame_index": 31, "question": "What is the method to avoid the blind spot next to a large vehicle?", "category": "Special Event", "options": ["A. Honk the horn while maintaining the blind spot", "B. Stay close to the right lane and overtake continuously", "C. Cannot judge as there is no large vehicle", "D. Quickly pass to the left of the large vehicle"], "answer_index": 2}
{"token": "2f7f17a816304bb71574e87a1342b80b", "waymo_split": "test", "type": "image", "frame_index": 31, "question": "What is the safest choice when approaching a yellow signal: stop vs proceed?", "category": "Special Event", "options": ["A. No signal, unable to judge", "B. Immediate stop is the top priority", "C. Priority to proceed with a right turn", "D. Recommended to maintain speed and proceed"], "answer_index": 0}
{"token": "2f7f17a816304bb71574e87a1342b80b", "waymo_split": "test", "type": "image", "frame_index": 31, "question": "What are the new exposure risk candidates in the following section?", "category": "Safety-critical Prediction", "options": ["A. A bicycle can quickly enter the blind spot behind the parked vehicle on the right shoulder.", "B. A person may suddenly appear from the blind spot in front of the parked vehicle on the left shoulder.", "C. A person may suddenly appear from the blind spot in front of the parked vehicle on the right shoulder.", "D. A pedestrian may walk out onto the roadway from the gap in the central divider."], "answer_index": 2}
{"token": "2f7f17a816304bb71574e87a1342b80b", "waymo_split": "test", "type": "image", "frame_index": 46, "question": "What is the plan for yielding when an ambulance/fire truck approaches?", "category": "Special Event", "options": ["A. Park on the shoulder in the empty space on the right to yield", "B. Move to the left shoulder and stop to yield", "C. Accelerate through the intersection to yield first", "D. Turn on hazard lights and proceed slowly towards the center line to yield"], "answer_index": 0}
{"token": "2f7f17a816304bb71574e87a1342b80b", "waymo_split": "test", "type": "image", "frame_index": 46, "question": "Which of the following is a correct description of traffic density?", "category": "Normal scene Understanding", "options": ["A. Slow, many parked vehicles on the shoulder", "B. Slow, almost no surrounding vehicles", "C. Fast, few surrounding vehicles", "D. Fast, wide spacing between surrounding vehicles"], "answer_index": 0}
{"token": "2f7f17a816304bb71574e87a1342b80b", "waymo_split": "test", "type": "image", "frame_index": 46, "question": "What is the classification of the scene?", "category": "Normal scene Understanding", "options": ["A. Urban four-lane road", "B. Unpaved two-lane road", "C. Residential two-lane road", "D. Residential one-way road"], "answer_index": 2}
{"token": "2f7f17a816304bb71574e87a1342b80b", "waymo_split": "test", "type": "image", "frame_index": 46, "question": "Which of the following is correct as an Image Caption from the perspective of a Normal Frame?", "category": "Normal scene caption", "options": ["A. The vehicle that has merged onto the two-lane road after exiting the tunnel is gradually slowing down. There are only construction signs and cones on the shoulder, and there are no parked cars. The vehicle in front is signaling a left turn and reducing speed. Vehicles in the opposite lane are entering the right alley. The entrance of the tunnel is visible close behind the vehicle.", "B. The vehicle is slowing down and waiting to turn left at the intersection. The shoulder of the two-lane road is empty. There is a vehicle making a right turn ahead. The opposite lane is quiet with no vehicles going straight. There is a signalized intersection with a crosswalk in front of the vehicle.", "C. The vehicle is accelerating and driving straight on the two-lane road after passing the intersection. The two-lane road is lined with parked cars on the shoulder. A leading vehicle is going straight in front of the vehicle. In the opposite lane, there is a vehicle coming straight towards the vehicle. There is an intersection with a crosswalk behind the vehicle.", "D. The vehicle is driving straight at a constant speed on a three-lane road after passing the T-junction. There are almost no long-term parked vehicles along the roadside. The leading vehicle has moved into the right lane. There are no oncoming vehicles in the opposite lane. Behind the vehicle, there is a straight section without any intersections."], "answer_index": 2}
{"token": "2f7f17a816304bb71574e87a1342b80b", "waymo_split": "test", "type": "image", "frame_index": 46, "question": "Which of the following descriptions about the environment is correct?", "category": "Normal scene Understanding", "options": ["A. Night, clear. There is streetlight illumination.", "B. Dusk, cloudy. Auxiliary lights are on.", "C. Early morning, light rain. Indoor lights are on.", "D. Daytime, clear. No other lighting."], "answer_index": 3}
{"token": "2f7f17a816304bb71574e87a1342b80b", "waymo_split": "test", "type": "image", "frame_index": 46, "question": "What is the description of a non-safety-critical object?", "category": "Normal Perception & Prediction", "options": ["A. There are many vehicles parked on the shoulder. There is a STOP road sign on the left opposing lane. There are vehicles driving perpendicularly at the intersection behind. Buildings and trees are lined up along the sidewalks on both sides. There is a person standing on the right sidewalk.", "B. There are almost no vehicles parked on the shoulder. The right lane has SLOW markings on the road. There is a T-junction ahead, with few crossing vehicles. The left side has an open space and a low fence, while the right side has commercial buildings and street trees. There is a person walking a bicycle on the left sidewalk.", "C. Several delivery motorcycles are temporarily stopped on the shoulder. There is a left turn only arrow sign in the center lane. There is a rotary behind, with vehicles circulating clockwise. There are parks and a children's playground adjacent on both sides. The right sidewalk is quiet with no pedestrians.", "D. Only one delivery truck is stopped on the shoulder. There is a BUS ONLY lane marking on the left lane. Vehicles can be seen merging onto the elevated road entrance ramp behind. Instead of sidewalks on both sides, there are bicycle paths and a riverbank path. There are two people walking with a dog on the right sidewalk."], "answer_index": 0}
{"token": "2f7f17a816304bb71574e87a1342b80b", "waymo_split": "test", "type": "image", "frame_index": 46, "question": "Which of the following is a correct description of traffic signals?", "category": "Traffic Signal", "options": ["A. 30 speed limit road sign on the right opposite lane", "B. STOP sign on the right lane", "C. STOP road sign on the left opposite lane", "D. YIELD road sign on the front lane"], "answer_index": 2}
{"token": "2f7f17a816304bb71574e87a1342b80b", "waymo_split": "test", "type": "image", "frame_index": 46, "question": "What are the behavior restrictions in school zones/congested areas?", "category": "Special Event", "options": ["A. Must honk", "B. Must overtake", "C. Must accelerate", "D. Must drive slowly"], "answer_index": 3}
{"token": "2f7f17a816304bb71574e87a1342b80b", "waymo_split": "test", "type": "image", "frame_index": 46, "question": "What is a safety-critical object?", "category": "Safety-critical Perception", "options": ["A. Seatbelt", "B. None", "C. Brake", "D. Airbag"], "answer_index": 1}
{"token": "2f7f17a816304bb71574e87a1342b80b", "waymo_split": "test", "type": "image", "frame_index": 46, "question": "What is the answer regarding parked vehicles on the shoulder, the presence of a center line, and whether Ego crosses the center line?", "category": "Normal Perception & Prediction", "options": ["A. No parked vehicles on the shoulder. Dashed center line. No center line violation.", "B. Few parked vehicles on the shoulder. Center line present. Center line violation occurs.", "C. Many parked vehicles on the shoulder. No center line. No center line violation.", "D. One parked vehicle on the shoulder. Solid center line. Briefly crosses the center line."], "answer_index": 2}
{"token": "2f7f17a816304bb71574e87a1342b80b", "waymo_split": "test", "type": "image", "frame_index": 46, "question": "Are there any safety-critical objects other than the first safety-critical object? If so, how will they be moved?", "category": "Safety-critical Prediction", "options": ["A. No more safety-critical objects", "B. There is another safety-critical object, move slowly with a lifting strap", "C. There is another safety-critical object, transport with a cart through the left aisle", "D. There is another safety-critical object, two people will move it while wearing gloves"], "answer_index": 0}
{"token": "2f7f17a816304bb71574e87a1342b80b", "waymo_split": "test", "type": "image", "frame_index": 46, "question": "How do you think safety-critical objects will move?", "category": "Safety-critical Prediction", "options": ["A. None", "B. Forward", "C. Rotate", "D. Backward"], "answer_index": 0}
{"token": "2f7f17a816304bb71574e87a1342b80b", "waymo_split": "test", "type": "image", "frame_index": 46, "question": "Is lane changing possible? Which is safer between slowing down and changing lanes?", "category": "Safety-critical Planning", "options": ["A. It is a one-way three-lane road, so lane change to the right is possible. Changing lanes is safer.", "B. It is right after an intersection, so lane change is possible. Changing lanes is safer.", "C. It is a two-lane road, so lane change is not possible. Slowing down is safer.", "D. It is a section where the bus-only lane is lifted, so lane change to the left is possible. Changing lanes is safer."], "answer_index": 2}
{"token": "2f7f17a816304bb71574e87a1342b80b", "waymo_split": "test", "type": "image", "frame_index": 46, "question": "What are the new exposure risk candidates in the following section?", "category": "Safety-critical Prediction", "options": ["A. A stroller may suddenly appear in the blind spot between the queue at the front bus stop.", "B. A motorcycle may enter the lane from the blind corner of the right-side store entrance.", "C. A person may jump out from the blind spot in front of the parked vehicle on the right shoulder.", "D. A bicycle may emerge from the blind spot at the back of the parked vehicle on the left shoulder."], "answer_index": 2}
{"token": "2f7f17a816304bb71574e87a1342b80b", "waymo_split": "test", "type": "image", "frame_index": 46, "question": "Where is the area that hides danger in the current frame?", "category": "Uncertainty", "options": ["A. Blind spot behind the taxi in the right lane", "B. Blind spot in front of the parked vehicle on the right shoulder", "C. Blind spot behind the parked vehicle on the left shoulder", "D. Blind spot on the side of the large bus in front"], "answer_index": 1}
{"token": "2f7f17a816304bb71574e87a1342b80b", "waymo_split": "test", "type": "image", "frame_index": 46, "question": "What is the method to avoid the blind spot next to a large vehicle?", "category": "Special Event", "options": ["A. Quickly overtake to the left", "B. Accelerate to get out of the blind spot", "C. Cannot judge as there is no large vehicle", "D. Pass by sticking to the right lane"], "answer_index": 2}
{"token": "2f7f17a816304bb71574e87a1342b80b", "waymo_split": "test", "type": "image", "frame_index": 46, "question": "What is the safest choice when approaching a yellow signal: stop vs proceed?", "category": "Special Event", "options": ["A. Prioritize stopping on a wet road", "B. Indeterminate due to lack of signal", "C. Slowing down and proceeding is safe", "D. Continue making a left turn"], "answer_index": 1}
{"token": "2f7f17a816304bb71574e87a1342b80b", "waymo_split": "test", "type": "image", "frame_index": 64, "question": "Based on the current appearance of the person/vehicle (two-wheeled), how are they trying to move?", "category": "Normal Perception & Prediction", "options": ["A. Entering the right turn lane (decelerating)", "B. Going straight on a two-lane road (accelerating)", "C. Waiting to turn left before entering (crawling)", "D. Changing to the first lane (crawling)"], "answer_index": 1}
{"token": "2f7f17a816304bb71574e87a1342b80b", "waymo_split": "test", "type": "image", "frame_index": 64, "question": "Which of the following is correct from the perspective of a safety-critical frame regarding image captioning?", "category": "Safety-critical scene caption", "options": ["A. A child riding a kickboard suddenly appeared in front of a parked vehicle on the right shoulder. The car is currently accelerating and has just noticed this.", "B. An adult is pulling an electric scooter up onto the road from the entrance of a right alley. The car is moving slowly, so there is time to respond.", "C. A teenager slowly emerged from behind a parked vehicle on the left shoulder while riding a bicycle. The car is gradually decelerating and has already recognized this.", "D. A pedestrian is standing next to a parked vehicle on the right shoulder, looking around. The car is traveling at a constant speed and has maintained a sufficient distance."], "answer_index": 0}
{"token": "2f7f17a816304bb71574e87a1342b80b", "waymo_split": "test", "type": "image", "frame_index": 64, "question": "What are the behavior restrictions in school zones/congested areas?", "category": "Special Event", "options": ["A. Must honk", "B. Must overtake", "C. Must drive slowly", "D. Must accelerate"], "answer_index": 2}
{"token": "2f7f17a816304bb71574e87a1342b80b", "waymo_split": "test", "type": "image", "frame_index": 64, "question": "What is the plan for yielding when an ambulance/fire truck approaches?", "category": "Special Event", "options": ["A. Yield by parking on the shoulder in the empty space on the right", "B. Stop in the center of the intersection and wait for passage", "C. Change lanes to the empty space on the left to yield", "D. Turn on hazard lights and proceed slowly while guiding the way"], "answer_index": 0}
{"token": "2f7f17a816304bb71574e87a1342b80b", "waymo_split": "test", "type": "image", "frame_index": 64, "question": "Which of the following is a correct description of traffic density?", "category": "Normal scene Understanding", "options": ["A. Fast, only a few surrounding vehicles are driving", "B. Fast, almost no surrounding vehicles", "C. Slow, surrounding vehicles are spaced out", "D. Slow, there are many parked vehicles on the shoulder"], "answer_index": 3}
{"token": "2f7f17a816304bb71574e87a1342b80b", "waymo_split": "test", "type": "image", "frame_index": 64, "question": "Which of the following descriptions about the environment is correct?", "category": "Normal scene Understanding", "options": ["A. Daytime, clear. No other lighting.", "B. Dusk, cloudy. Only the light by the window is on.", "C. Early morning, foggy. Soft indoor lights are on.", "D. Night, clear. There are streetlights and neon signs."], "answer_index": 0}
{"token": "2f7f17a816304bb71574e87a1342b80b", "waymo_split": "test", "type": "image", "frame_index": 64, "question": "What is the classification of the scene?", "category": "Normal scene Understanding", "options": ["A. Two-lane one-way highway", "B. Four-lane road in the city center", "C. Two-lane road in a residential area", "D. Unpaved rural road section"], "answer_index": 2}
{"token": "2f7f17a816304bb71574e87a1342b80b", "waymo_split": "test", "type": "image", "frame_index": 64, "question": "What is the description of a non-safety-critical object?", "category": "Normal Perception & Prediction", "options": ["A. An empty parking space and a bicycle rack are connected at the edge of the road. A white vehicle is merging into the same lane on the right (about to cut in front of my car). There is a crosswalk and a T-intersection ahead. On the left sidewalk, there are store signs, and on the right, there is a low fence and a flower bed. Two people are standing on the left sidewalk.", "B. There are construction fences and several construction vehicles on the left roadside. A black SUV is driving slowly in the same lane on the left (my car is about to overtake). There is a traffic light and a crosswalk at the left corner ahead. Instead of sidewalks, there are dedicated bike lanes on both sides. There is only a bench on the right, and no people are visible.", "C. There are many parked vehicles on the shoulder. A red vehicle is driving in the opposite lane on the left (about to pass by my car). There is a crosswalk and an intersection behind. Buildings and trees line both sidewalks. A person is standing on the right sidewalk.", "D. A four-lane road with a central divider, no parking on the shoulder. A blue bus is stopped in the opposite lane on the right. There is a small roundabout ahead on the right. Low houses and empty lots are sparsely visible on both sides. There are no pedestrians crossing over the crosswalk."], "answer_index": 2}
{"token": "2f7f17a816304bb71574e87a1342b80b", "waymo_split": "test", "type": "image", "frame_index": 64, "question": "Which of the following is a correct description of traffic signals?", "category": "Traffic Signal", "options": ["A. None", "B. Green light for proceeding", "C. Speed limit 50 sign", "D. Left turn only signal"], "answer_index": 0}
{"token": "2f7f17a816304bb71574e87a1342b80b", "waymo_split": "test", "type": "image", "frame_index": 64, "question": "Is there a blind spot in your field of vision?", "category": "Uncertainty", "options": ["A. The front of the parked vehicles on the right shoulder is a blind spot", "B. The front of the parked vehicles on the left shoulder is a blind spot", "C. The back of the parked vehicles on the right shoulder is a blind spot", "D. The side of the stopped vehicles at the right bus stop is a blind spot"], "answer_index": 0}
{"token": "2f7f17a816304bb71574e87a1342b80b", "waymo_split": "test", "type": "image", "frame_index": 64, "question": "What is the answer regarding parked vehicles on the shoulder, the presence of a center line, and whether Ego has crossed the center line?", "category": "Normal Perception & Prediction", "options": ["A. Few parked vehicles on the shoulder. There is a center line. Crossed the center.", "B. One parked vehicle on the shoulder. The center line is dashed. Crossed the center.", "C. Many parked vehicles on the shoulder. No center line. Did not cross the center.", "D. No parked vehicles on the shoulder. The center line is solid. Crossed the center."], "answer_index": 2}
{"token": "2f7f17a816304bb71574e87a1342b80b", "waymo_split": "test", "type": "image", "frame_index": 64, "question": "How do you think a safety-critical object will be moved?", "category": "Safety-critical Prediction", "options": ["A. I plan to turn right towards the intersection from the left sidewalk.", "B. I plan to go straight along the same side sidewalk from the right sidewalk.", "C. I plan to cross the road from the right sidewalk to the left sidewalk.", "D. I plan to cross the road from the left sidewalk to the right sidewalk."], "answer_index": 2}
{"token": "2f7f17a816304bb71574e87a1342b80b", "waymo_split": "test", "type": "image", "frame_index": 64, "question": "What is the correlation in safety-critical situations?", "category": "Safety-critical scene Understanding", "options": ["A. Car-Car", "B. Car-Person", "C. Person-Two-wheeler", "D. Car-Two-wheeler"], "answer_index": 1}
{"token": "2f7f17a816304bb71574e87a1342b80b", "waymo_split": "test", "type": "image", "frame_index": 64, "question": "What is a safety-critical object?", "category": "Safety-critical Perception", "options": ["A. A delivery person on an electric scooter stopped in the center of the right lane.", "B. A child standing next to a scooter at the bus stop ahead.", "C. A child riding a scooter that is protruding from the front of a parked vehicle on the right shoulder.", "D. An adult riding a bicycle that appeared from the back of a parked vehicle on the left shoulder."], "answer_index": 2}
{"token": "2f7f17a816304bb71574e87a1342b80b", "waymo_split": "test", "type": "image", "frame_index": 64, "question": "Is lane change possible? Which is safer between slowing down and changing lanes?", "category": "Safety-critical Planning", "options": ["A. Since it's before the exit, lane change to the right is possible. Changing lanes is safer.", "B. Since it's a two-lane road, lane change is not possible. Slowing down is safer.", "C. Since it's a one-way three-lane road, lane change is possible. Changing lanes is safer.", "D. Since it's the time when the bus-only lane is released, lane change is possible. Changing lanes is safer."], "answer_index": 1}
{"token": "2f7f17a816304bb71574e87a1342b80b", "waymo_split": "test", "type": "image", "frame_index": 64, "question": "What should I do to drive safely?", "category": "Safety-critical Planning", "options": ["A. Turn on the hazard lights", "B. Honk the horn", "C. Make a sudden stop", "D. Stay to the right"], "answer_index": 2}
{"token": "2f7f17a816304bb71574e87a1342b80b", "waymo_split": "test", "type": "image", "frame_index": 64, "question": "Where is the area that hides danger in the current frame?", "category": "Uncertainty", "options": ["A. Blind spot in front of the parked vehicle on the right shoulder", "B. Blind spot behind the central divider signpost", "C. Blind spot behind the stopped bus at the left bus stop", "D. Blind spot next to the large truck during a right turn at the intersection ahead"], "answer_index": 0}
{"token": "2f7f17a816304bb71574e87a1342b80b", "waymo_split": "test", "type": "image", "frame_index": 64, "question": "Who is responsible in a safety-critical situation? What is the cause?", "category": "Safety-critical scene Understanding", "options": ["A. It is the cyclist's fault, as they suddenly entered the road from the left and obstructed the child's progress.", "B. It is the child's fault, as they suddenly jumped out from the right sidewalk while riding the scooter.", "C. It is the driver's fault, as they did not slow down or avoid the scooter approaching from the right sidewalk.", "D. It is the guardian's fault, as they did not prevent the child from riding the scooter at the edge of the road."], "answer_index": 1}
{"token": "2f7f17a816304bb71574e87a1342b80b", "waymo_split": "test", "type": "image", "frame_index": 64, "question": "What is the safest choice when approaching a yellow signal: stop or proceed?", "category": "Special Event", "options": ["A. Proceed if a vehicle is close behind", "B. Proceed if there are no pedestrians", "C. Cannot determine without a signal", "D. Proceed in the left turn lane"], "answer_index": 2}
{"token": "2f7f17a816304bb71574e87a1342b80b", "waymo_split": "test", "type": "image", "frame_index": 64, "question": "What are the new potential hazards that may be exposed in the following section?", "category": "Safety-critical Prediction", "options": ["A. An electric scooter may suddenly appear from the blind spot at the left sidewalk corner.", "B. A person may suddenly appear from the blind spot in front of the parked vehicle on the right shoulder.", "C. A bicycle may emerge from the blind spot behind the parked vehicle on the right shoulder.", "D. A pedestrian may cross from the blind spot in the gap of the central divider ahead."], "answer_index": 1}
{"token": "2f7f17a816304bb71574e87a1342b80b", "waymo_split": "test", "type": "image", "frame_index": 64, "question": "What is the method to avoid the blind spot next to a large vehicle?", "category": "Special Event", "options": ["A. Unable to judge as there is no large vehicle", "B. Pass slowly while staying close to the right side of the bus", "C. Maintain speed in the blind spot behind the trailer", "D. Quickly overtake on the left side of the large vehicle"], "answer_index": 0}
{"token": "2f7f17a816304bb71574e87a1342b80b", "waymo_split": "test", "type": "image", "frame_index": 64, "question": "What situation would occur if the self-driving car behaved like this?", "category": "Counterfactual", "options": ["A. If the self-driving car continues without changing lanes, there is minimal interference with the bus in the adjacent lane.", "B. If the self-driving car changes lanes abruptly without signaling, there is a risk of contact with the following motorcycle.", "C. If the self-driving car continues driving without slowing down, there is a risk of colliding with a child crossing the road.", "D. If the self-driving car moves slowly and stops at the stop line, it can cross without issues with the oncoming left-turning vehicle."], "answer_index": 2}
{"token": "2f7f17a816304bb71574e87a1342b80b", "waymo_split": "test", "type": "image", "frame_index": 103, "question": "What is the plan for yielding when an ambulance/fire truck approaches?", "category": "Special Event", "options": ["A. Maintain the current stopped position", "B. Drive with emergency lights on", "C. Slowly proceed straight through", "D. Move to the right lane"], "answer_index": 0}
{"token": "2f7f17a816304bb71574e87a1342b80b", "waymo_split": "test", "type": "image", "frame_index": 103, "question": "Based on the current appearance of the person/vehicle (two-wheeled), how do they intend to move?", "category": "Normal Perception & Prediction", "options": ["A. Waiting to turn left", "B. Planning to change to the right lane", "C. Suddenly stopped and planning to go straight again", "D. Moving slowly to make a U-turn"], "answer_index": 2}
{"token": "2f7f17a816304bb71574e87a1342b80b", "waymo_split": "test", "type": "image", "frame_index": 103, "question": "Which of the following is correct from the perspective of Safety-critical Frame regarding Image Caption?", "category": "Safety-critical scene caption", "options": ["A. A child riding a kickboard suddenly came out in front of a vehicle parked on the right shoulder. The vehicle is currently in a state of emergency braking, having stopped right in front of the child.", "B. An adult riding a bicycle came into the lane from behind a vehicle parked on the left shoulder. The vehicle is slowing down and carefully passing by.", "C. A person walking with a dog stepped onto the sidewalk from behind a taxi that was stopped on the right shoulder. The vehicle is lightly pressing the brake and continuing straight.", "D. A pedestrian is standing still waiting for the signal in front of the crosswalk. The vehicle is moving slowly in accordance with the speed limit while passing through the intersection."], "answer_index": 0}
{"token": "2f7f17a816304bb71574e87a1342b80b", "waymo_split": "test", "type": "image", "frame_index": 103, "question": "Which of the following is a correct description of traffic density?", "category": "Normal scene Understanding", "options": ["A. Fast, with wide gaps between surrounding vehicles and sporadic", "B. Slow, with many parked vehicles in the shoulder", "C. Slow, with only a few surrounding vehicles in motion", "D. Fast, with almost no surrounding vehicles and rare merging vehicles"], "answer_index": 1}
{"token": "2f7f17a816304bb71574e87a1342b80b", "waymo_split": "test", "type": "image", "frame_index": 103, "question": "What are the restrictions on behavior in school zones/congested areas?", "category": "Special Event", "options": ["A. Must stop", "B. Must detour", "C. Must honk", "D. Must drive slowly"], "answer_index": 3}
{"token": "2f7f17a816304bb71574e87a1342b80b", "waymo_split": "test", "type": "image", "frame_index": 103, "question": "What is the classification of the scene?", "category": "Normal scene Understanding", "options": ["A. Three-lane highway", "B. Two-lane residential road", "C. Four-lane urban road", "D. Unpaved one-lane road"], "answer_index": 1}
{"token": "2f7f17a816304bb71574e87a1342b80b", "waymo_split": "test", "type": "image", "frame_index": 103, "question": "What is the description of a non-safety-critical object?", "category": "Normal Perception & Prediction", "options": ["A. Almost no parked vehicles on the shoulder. The sidewalks on both sides are mainly wide flower pots and benches. There are utility poles and wires on the left sidewalk.", "B. One bus waiting in the bus-only lane. The sidewalks on both sides have low fences and parking barriers. The right sidewalk has only streetlights and no wires.", "C. Many parked vehicles on the shoulder. Buildings and trees line both sidewalks. There are utility poles and wires on the right sidewalk.", "D. Only a few delivery motorcycles scattered on the shoulder. The sidewalks on both sides are densely packed with store signs. The right sidewalk is lined with trees instead of utility poles."], "answer_index": 2}
{"token": "2f7f17a816304bb71574e87a1342b80b", "waymo_split": "test", "type": "image", "frame_index": 103, "question": "Which of the following descriptions about the environment is correct?", "category": "Normal scene Understanding", "options": ["A. Daytime, clear. No other lighting.", "B. Night, light rain. Mixed with streetlight.", "C. Dusk, cloudy. Weak auxiliary light present.", "D. Early morning, fog. Indirect light from the window."], "answer_index": 0}
{"token": "2f7f17a816304bb71574e87a1342b80b", "waymo_split": "test", "type": "image", "frame_index": 103, "question": "Which of the following is a correct description of traffic signals?", "category": "Traffic Signal", "options": ["A. Pedestrian signal", "B. None", "C. No right turn", "D. Stop line"], "answer_index": 1}
{"token": "2f7f17a816304bb71574e87a1342b80b", "waymo_split": "test", "type": "image", "frame_index": 103, "question": "Are there any blind spots in your field of vision?", "category": "Uncertainty", "options": ["A. The front of parked vehicles on the left shoulder is a blind spot", "B. The front of large vehicles near the center line is a blind spot", "C. The back of parked vehicles on the right shoulder is a blind spot", "D. The front of parked vehicles on the right shoulder is a blind spot"], "answer_index": 3}
{"token": "2f7f17a816304bb71574e87a1342b80b", "waymo_split": "test", "type": "image", "frame_index": 103, "question": "What is the answer regarding parked vehicles on the shoulder, the presence of a center line, and whether Ego crosses the center line?", "category": "Normal Perception & Prediction", "options": ["A. No parked vehicles on the shoulder. Dashed center line. Slightly crosses the center.", "B. Multiple parked vehicles on the shoulder. No center line. Does not cross the center.", "C. Few parked vehicles on the shoulder. There is a center line. Does not cross the center.", "D. One parked vehicle on the shoulder. Double solid center line. Crosses the center."], "answer_index": 1}
{"token": "2f7f17a816304bb71574e87a1342b80b", "waymo_split": "test", "type": "image", "frame_index": 103, "question": "What should I do to drive safely?", "category": "Safety-critical Planning", "options": ["A. I need to accelerate and pass before the child crosses.", "B. I should honk and change lanes to avoid the child.", "C. I must brake suddenly and stop right in front of the child.", "D. I should turn on my hazard lights and slowly pass by the child."], "answer_index": 2}
{"token": "2f7f17a816304bb71574e87a1342b80b", "waymo_split": "test", "type": "image", "frame_index": 103, "question": "What is a safety-critical object?", "category": "Safety-critical Perception", "options": ["A. An adult riding a bicycle, leaning out from the rear of a parked vehicle on the right shoulder", "B. A student pushing a scooter, slowly emerging from the front corner of a parked vehicle on the left shoulder", "C. A guardian pushing a stroller, stopped at the edge of a crosswalk ahead", "D. A child riding a scooter, protruding from the front of a parked vehicle on the right shoulder"], "answer_index": 3}
{"token": "2f7f17a816304bb71574e87a1342b80b", "waymo_split": "test", "type": "image", "frame_index": 103, "question": "How should I drive to resolve the first risk while also addressing the second risk?", "category": "Safety-critical Planning", "options": ["A. When the pedestrian reaches the middle of the road, proceed with priority and then continue straight at normal speed.", "B. After slowing down and passing the first risk close to the right edge, drive continuously without stopping for the next risk.", "C. When the pedestrian enters, pass by slowly to get past the first risk, then increase speed and drive straight in the second section.", "D. Stop the vehicle until the person has completely crossed the road, then proceed straight at a slow speed."], "answer_index": 3}
{"token": "2f7f17a816304bb71574e87a1342b80b", "waymo_split": "test", "type": "image", "frame_index": 103, "question": "How do you think a safety-critical object would move?", "category": "Safety-critical Prediction", "options": ["A. Crossing the road from the right sidewalk to the left sidewalk", "B. Crossing the road from the left sidewalk to the right sidewalk", "C. Moving straight along the right sidewalk parallel to the road", "D. Changing lanes from the right lane to the left lane while driving"], "answer_index": 0}
{"token": "2f7f17a816304bb71574e87a1342b80b", "waymo_split": "test", "type": "image", "frame_index": 103, "question": "Is there any other safety-critical object besides the first safety-critical object? If so, how would it move?", "category": "Safety-critical Prediction", "options": ["A. A person pushing a bicycle and entering the road (towards the center line)", "B. A person crossing the road in front of it (towards the left sidewalk)", "C. A person getting off the sidewalk and walking along the road (towards the left lane)", "D. A person crossing the road behind it (towards the right sidewalk)"], "answer_index": 3}
{"token": "2f7f17a816304bb71574e87a1342b80b", "waymo_split": "test", "type": "image", "frame_index": 103, "question": "What is the correlation in safety-critical situations?", "category": "Safety-critical scene Understanding", "options": ["A. Car - Bicycle", "B. Person - Two-wheeler", "C. Car - Person", "D. Car - Two-wheeler"], "answer_index": 2}
{"token": "2f7f17a816304bb71574e87a1342b80b", "waymo_split": "test", "type": "image", "frame_index": 103, "question": "Where is the area that hides danger in the current frame?", "category": "Uncertainty", "options": ["A. The blind spot between parked cars on the right shoulder", "B. The blind spot between parked cars on the left shoulder", "C. The blind spot right in front of the large bus on the right", "D. The blind spot behind the central divider"], "answer_index": 0}
{"token": "2f7f17a816304bb71574e87a1342b80b", "waymo_split": "test", "type": "image", "frame_index": 103, "question": "What is the safest choice when approaching a yellow signal: stop vs. proceed?", "category": "Special Event", "options": ["A. No signal, unable to judge", "B. Prioritize stopping when close", "C. Accelerate and pass quickly", "D. Proceed if there are vehicles behind"], "answer_index": 0}
{"token": "2f7f17a816304bb71574e87a1342b80b", "waymo_split": "test", "type": "image", "frame_index": 103, "question": "Is lane changing possible? Which is safer, slowing down or changing lanes?", "category": "Safety-critical Planning", "options": ["A. Since it is a two-lane road, lane changing is not possible. Slowing down is safer.", "B. The center line is dashed, so changing to the left is possible. Changing lanes is safer.", "C. It is a one-way two-lane road, so lane changing is possible. Changing lanes is safer.", "D. It is the time when the bus-only restriction is lifted, so changing to the right is possible. Changing lanes is safer."], "answer_index": 0}
{"token": "2f7f17a816304bb71574e87a1342b80b", "waymo_split": "test", "type": "image", "frame_index": 103, "question": "Who is responsible in a safety-critical situation? What is the cause?", "category": "Safety-critical scene Understanding", "options": ["A. The responsibility lies with the vehicle, as the child stopped entering the road but the driver hurriedly accelerated to pass through the narrow alley first.", "B. The responsibility lies with the road management authority, as the construction fence obstructed the view and the vehicle saw the pedestrian coming out from the left alley too late.", "C. The responsibility lies with the child, as the child suddenly appeared from the right sidewalk while riding a kickboard, causing the vehicle to brake suddenly.", "D. The responsibility lies with the driver, as they failed to see the child on the kickboard moving slowly on the left sidewalk and approached without slowing down."], "answer_index": 2}
{"token": "2f7f17a816304bb71574e87a1342b80b", "waymo_split": "test", "type": "image", "frame_index": 103, "question": "What are the new potential hazards that may be exposed in the following section?", "category": "Safety-critical Prediction", "options": ["A. A person may suddenly appear in the blind spot between parked cars on the right shoulder.", "B. An electric scooter may suddenly appear in the blind spot between parked cars on the left shoulder.", "C. A motorcycle may cut in from the blind spot between stopped vehicles at the bus stop ahead.", "D. A pet may suddenly jump into the road from the blind spot at the edge of the right sidewalk."], "answer_index": 0}
{"token": "2f7f17a816304bb71574e87a1342b80b", "waymo_split": "test", "type": "image", "frame_index": 103, "question": "What situation might occur if the self-driving car behaved like this?", "category": "Counterfactual", "options": ["A. If the self-driving car accelerates before the child crosses the road, there is a risk of colliding with the child crossing the road.", "B. If the self-driving car suddenly reverses after passing a school zone, there is a risk of a collision with the car behind.", "C. If the self-driving car suddenly brakes after the child has already crossed the road, there is a risk of a collision with the following vehicle.", "D. If the self-driving car continues to drive slowly at an intersection without pedestrians, there is a risk of being penalized for obstructing traffic flow."], "answer_index": 0}
{"token": "2f7f17a816304bb71574e87a1342b80b", "waymo_split": "test", "type": "image", "frame_index": 103, "question": "What is the method to avoid the blind spot next to a large vehicle?", "category": "Special Event", "options": ["A. Quickly overtake by closely following the left side of the truck", "B. Pass directly in the lane next to the large vehicle", "C. Cannot judge as there is no large vehicle", "D. Wait in the blind spot behind the bus"], "answer_index": 2}
{"token": "2f9920d08ad837d73dd44789849eabe6", "waymo_split": "test", "type": "video", "frame_index": null, "question": "Where is the safety-critical situation in the video?", "category": "Temporal Grounding", "options": ["A. 2/4", "B. 1/4", "C. 3/4", "D. 4/4"], "answer_index": 0}
{"token": "2f9920d08ad837d73dd44789849eabe6", "waymo_split": "test", "type": "video", "frame_index": null, "question": "Which of the following is a correct description of traffic density?", "category": "Normal scene Understanding", "options": ["A. Fast, few surrounding vehicles, slight uphill", "B. Fast, no surrounding vehicles, no slope", "C. Slow, 1-2 surrounding vehicles, gentle downhill", "D. Slow, many surrounding vehicles, gentle uphill"], "answer_index": 1}
{"token": "2f9920d08ad837d73dd44789849eabe6", "waymo_split": "test", "type": "video", "frame_index": null, "question": "What are the divisions of the scene?", "category": "Normal scene Understanding", "options": ["A. Commercial alley", "B. Unpaved country road", "C. Residential alley", "D. Urban main road"], "answer_index": 2}
{"token": "2f9920d08ad837d73dd44789849eabe6", "waymo_split": "test", "type": "video", "frame_index": null, "question": "Is there a special situation?", "category": "Special Event", "options": ["A. Narrow single-lane road", "B. Construction zone with cones", "C. Emergency vehicle approaching", "D. School bus stop area"], "answer_index": 0}
{"token": "2f9920d08ad837d73dd44789849eabe6", "waymo_split": "test", "type": "video", "frame_index": null, "question": "Which of the following is correct regarding the Video Summary from the perspective of a Normal Scene?", "category": "Normal scene caption", "options": ["A. A narrow one-lane road is flanked by residential walls on both sides. Ahead, there is a T-shaped intersection, and a yield sign is visible on the right. When a teenager on a bicycle appears on the right sidewalk, the car briefly stops inside the intersection. Afterward, the bicycle passes from right to right, and the car follows.", "B. A car is driving through a narrow one-lane alley, with residential walls on both sides. A four-way intersection appears ahead, and a STOP sign is visible on the right. A dog and a woman appear on the right sidewalk at the intersection, and the car slows down and stops before entering the intersection. After stopping, the dog and the woman cross the road to the left sidewalk.", "C. A car is driving down a narrow one-lane alley, with low walls and parked cars on both sides. A four-way intersection appears ahead, and a stop sign is posted on the left. A dog and a man appear together on the left sidewalk at the intersection, and the car turns right while maintaining speed. The pedestrians move along the left sidewalk and do not cross the road.", "D. A car is driving on a two-lane road with traffic in both directions, flanked by commercial buildings and street trees. Ahead, there is a four-way intersection with traffic lights, and a crosswalk sign is clearly visible on the left. A man and a child appear on the left sidewalk, but the car only slows down and passes through the intersection. The pedestrians wait for the signal and remain stopped in place."], "answer_index": 1}
{"token": "2f9920d08ad837d73dd44789849eabe6", "waymo_split": "test", "type": "video", "frame_index": null, "question": "Which of the following is a correct description of road alignment?", "category": "Normal Perception & Prediction", "options": ["A. Left turn", "B. Overtaking", "C. Straight", "D. Right turn"], "answer_index": 2}
{"token": "2f9920d08ad837d73dd44789849eabe6", "waymo_split": "test", "type": "video", "frame_index": null, "question": "Which of the following is correct regarding Video Summary from a Safety-critical Scene perspective?", "category": "Safety-critical scene caption", "options": ["A. The vehicle enters the intersection and proceeds slowly. A person and a dog on the left sidewalk are waiting to cross the road to the right. The dog does not come down to the road and stays next to the person. Even after the vehicle passes, the person and the dog continue to wait.", "B. The vehicle entering the intersection makes a right turn. The person and the dog on the left sidewalk have already crossed to the right and are briefly staying on the right sidewalk. There is no situation where the dog slightly comes onto the road. The vehicle exits into the right turn lane without stopping.", "C. Before entering the intersection, the vehicle slows down and stops. A person and a dog on the right sidewalk are waiting to cross the road to the left. As the dog slightly crosses from the sidewalk to the road while the vehicle is slowing down, it moves back to the right sidewalk. After the vehicle has stopped, the person and the dog cross the road to the left. (There is no crosswalk.)", "D. Before entering the intersection, the vehicle stops at the stop line. The person and the dog on the right sidewalk move to the left using the crosswalk according to the signal. There is no scene where the dog comes onto the road and then retreats. When the signal changes, the vehicle slowly starts moving."], "answer_index": 2}
{"token": "2f9920d08ad837d73dd44789849eabe6", "waymo_split": "test", "type": "video", "frame_index": null, "question": "Which of the following descriptions about the environment is correct?", "category": "Normal scene Understanding", "options": ["A. Dawn, light rain. Side lighting", "B. Day, clear. No lighting", "C. Dusk, light fog. Backlighting", "D. Evening, cloudy. Soft lighting"], "answer_index": 1}
{"token": "2f9920d08ad837d73dd44789849eabe6", "waymo_split": "test", "type": "video", "frame_index": null, "question": "Which of the following is a correct description of traffic signals?", "category": "Traffic Signal", "options": ["A. STOP road sign. STOP sign", "B. Right turn traffic light", "C. SLOW road sign", "D. YIELD sign"], "answer_index": 0}
{"token": "2f9920d08ad837d73dd44789849eabe6", "waymo_split": "test", "type": "video", "frame_index": null, "question": "What is the answer regarding the parked vehicle on the shoulder, the presence of a center line, and whether Ego has crossed the center line?", "category": "Normal Perception & Prediction", "options": ["A. No parked vehicle on the shoulder. There is a center line (2 lanes). No crossing.", "B. No parked vehicle on the shoulder. No center line (1 lane). No crossing.", "C. There is a parked vehicle on the shoulder. No center line (1 lane). No crossing.", "D. No parked vehicle on the shoulder. There is a center line (2 lanes). Crossing."], "answer_index": 1}
{"token": "2f9920d08ad837d73dd44789849eabe6", "waymo_split": "test", "type": "video", "frame_index": null, "question": "What is the correlation in safety-critical situations?", "category": "Safety-critical scene Understanding", "options": ["A. Car - Two-wheeler", "B. Car - Person", "C. Two-wheeler - Person", "D. Car - Car"], "answer_index": 1}
{"token": "2f9920d08ad837d73dd44789849eabe6", "waymo_split": "test", "type": "video", "frame_index": null, "question": "What is a safety-critical object?", "category": "Safety-critical Perception", "options": ["A. A person and a child trying to come down to the road from the central divider", "B. A person and a dog trying to cross from the right sidewalk to the left", "C. A person and a cat trying to cross from the left sidewalk to the right", "D. An electric scooter user trying to merge into the lane from the right sidewalk"], "answer_index": 1}
{"token": "2f9920d08ad837d73dd44789849eabe6", "waymo_split": "test", "type": "video", "frame_index": null, "question": "How did the safety-critical object move and how did the ego vehicle behave?", "category": "Safety-critical scene Understanding", "options": ["A. Waiting to cross. The ego vehicle noticed this and slowed down to stop.", "B. Attempting to merge into the lane from the right. The ego vehicle only slowed down and did not stop.", "C. Started to cross slowly. The ego vehicle maintained its speed and passed through.", "D. Moved back towards the sidewalk. The ego vehicle accelerated and passed through the intersection."], "answer_index": 0}
{"token": "2f9920d08ad837d73dd44789849eabe6", "waymo_split": "test", "type": "video", "frame_index": null, "question": "Is there a blind spot in your field of vision?", "category": "Uncertainty", "options": ["A. The right sidewalk and roadway are blind spots due to the right wall before entering the intersection.", "B. The central lane is a blind spot due to parked vehicles on the right when entering the intersection.", "C. The left sidewalk and roadway are blind spots due to the left wall after passing through the intersection.", "D. There are no blind spots as the right field of vision is sufficient before entering the intersection."], "answer_index": 0}
{"token": "2f9920d08ad837d73dd44789849eabe6", "waymo_split": "test", "type": "video", "frame_index": null, "question": "Summary of Ego (own vehicle) behavior before a safety-critical situation", "category": "Normal scene Understanding", "options": ["A. Immediately after changing to the right lane", "B. Just before entering the intersection while going straight", "C. Waiting in front of the stop line to make a left turn", "D. Just before entering a right turn while decelerating"], "answer_index": 1}
{"token": "2f9920d08ad837d73dd44789849eabe6", "waymo_split": "test", "type": "video", "frame_index": null, "question": "Who is responsible in a safety-critical situation? What is the cause?", "category": "Safety-critical scene Understanding", "options": ["A. The traffic signal was off, so the signal management is the cause.", "B. The driver ignored the signal and proceeded, so the driver is the cause.", "C. The road was slippery due to rain, so the road condition is the cause.", "D. A person was trying to cross the road, so that person is the cause."], "answer_index": 3}
{"token": "2f9920d08ad837d73dd44789849eabe6", "waymo_split": "test", "type": "image", "frame_index": 9, "question": "What is your plan for yielding when an ambulance/fire truck approaches?", "category": "Special Event", "options": ["A. Pull over to the right shoulder (clear the path)", "B. Currently unable to yield (it's a narrow alley)", "C. Avoid by parking at a convenience store (wait briefly)", "D. Yield before the intersection (stay close to the right)"], "answer_index": 1}
{"token": "2f9920d08ad837d73dd44789849eabe6", "waymo_split": "test", "type": "image", "frame_index": 9, "question": "Which of the following is correct as an Image Caption from the perspective of a Normal Frame?", "category": "Normal scene caption", "options": ["A. A car slowly passing through a one-lane rural road. Fields and low fences are spread out on both sides. A small bridge is visible ahead, and bicycles and motorcycles are parked on the shoulder.", "B. A car driving through a narrow one-lane alley. There are walls of houses on both sides. A distant intersection is visible ahead. There are trash cans on the shoulders of both sides.", "C. A car driving on a two-lane road with traffic in both directions. Shops and cafe signs are visible on both sides. A T-intersection with traffic lights is nearby, and parked vehicles are lined up on the shoulder.", "D. A car following a bus on a wide avenue. On the left is a park fence, and on the right is a construction barrier. An entrance ramp to an overpass is visible ahead, and cone-shaped safety posts are placed on the shoulder."], "answer_index": 1}
{"token": "2f9920d08ad837d73dd44789849eabe6", "waymo_split": "test", "type": "image", "frame_index": 9, "question": "Based on the current appearance of the person/vehicle (two-wheeled), how do you intend to move?", "category": "Normal Perception & Prediction", "options": ["A. Moving straight", "B. Turning left", "C. Entering right turn", "D. Preparing to stop"], "answer_index": 0}
{"token": "2f9920d08ad837d73dd44789849eabe6", "waymo_split": "test", "type": "video", "frame_index": null, "question": "What situation might have occurred if the self-driving car acted like this?", "category": "Counterfactual", "options": ["A. If the self-driving car had ignored the signal and moved straight, it would have passed through without any cars.", "B. If the self-driving car had honked and moved forward, pedestrians would have stepped aside and there would have been no collision.", "C. If the self-driving car had ignored and entered the intersection, it would have collided with a person or a dog.", "D. If the self-driving car had chosen to turn right, it would have maintained a distance from the car behind and exited smoothly."], "answer_index": 2}
{"token": "2f9920d08ad837d73dd44789849eabe6", "waymo_split": "test", "type": "image", "frame_index": 9, "question": "Which of the following is a correct description of traffic density?", "category": "Normal scene Understanding", "options": ["A. Fast, several vehicles", "B. Slow, one or two vehicles", "C. Fast, no vehicles", "D. Slow, many vehicles"], "answer_index": 2}
{"token": "2f9920d08ad837d73dd44789849eabe6", "waymo_split": "test", "type": "image", "frame_index": 9, "question": "Which of the following descriptions about the environment is correct?", "category": "Normal scene Understanding", "options": ["A. Dusk, light fog", "B. Early morning, cloudy", "C. Daytime, clear", "D. Night, light rain"], "answer_index": 2}
{"token": "2f9920d08ad837d73dd44789849eabe6", "waymo_split": "test", "type": "image", "frame_index": 9, "question": "What is the classification of the scene?", "category": "Normal scene Understanding", "options": ["A. 3 lanes of the main highway", "B. 1 lane of an unpaved farm road", "C. 2 lanes of an urban outskirts road", "D. 1 lane of a residential alley"], "answer_index": 3}
{"token": "2f9920d08ad837d73dd44789849eabe6", "waymo_split": "test", "type": "image", "frame_index": 9, "question": "What are the behavior restrictions in school zones/congested areas?", "category": "Special Event", "options": ["A. Must turn right slowly", "B. Must wait while stopped", "C. Must proceed straight slowly", "D. Must change lanes"], "answer_index": 2}
{"token": "2f9920d08ad837d73dd44789849eabe6", "waymo_split": "test", "type": "image", "frame_index": 9, "question": "What is the description of a non-safety-critical object?", "category": "Normal Perception & Prediction", "options": ["A. Store display racks and mailboxes on the left and right. Trees and benches on the inside of the left sidewalk. A narrow alley and a one-way sign directly in front.", "B. Low flower beds and bicycle racks on the left and right. A utility pole and wires on the edge of the right sidewalk. A crosswalk and a YIELD sign visible up ahead.", "C. Fences and recycling bins on the left and right. Streetlights and advertising signs outside the right roadway. A rotary and a no parking sign visible in the distance.", "D. Walls and trash cans on the left and right. A utility pole and trees outside the left roadway. An intersection and a STOP sign visible far ahead."], "answer_index": 3}
{"token": "2f9920d08ad837d73dd44789849eabe6", "waymo_split": "test", "type": "image", "frame_index": 9, "question": "What is the answer regarding parked vehicles on the shoulder, the presence of a center line, and whether Ego crosses the center line?", "category": "Normal Perception & Prediction", "options": ["A. No parked vehicles on the shoulder. There is a center line and Ego slightly crosses it.", "B. No parked vehicles on the shoulder. There is no center line.", "C. Two vehicles parked on the shoulder. There is a center line and Ego does not cross it.", "D. One vehicle parked on the shoulder. There is also a center line."], "answer_index": 1}
{"token": "2f9920d08ad837d73dd44789849eabe6", "waymo_split": "test", "type": "image", "frame_index": 9, "question": "What is a safety-critical object?", "category": "Safety-critical Perception", "options": ["A. Airbag", "B. None", "C. Lidar", "D. Brake"], "answer_index": 1}
{"token": "2f9920d08ad837d73dd44789849eabe6", "waymo_split": "test", "type": "image", "frame_index": 9, "question": "Which of the following is a correct description of traffic signals?", "category": "Traffic Signal", "options": ["A. Red light illuminated on the right traffic light ahead", "B. YIELD sign on the left side close ahead", "C. STOP sign on the right side far ahead", "D. Speed limit 30 sign on the left side far ahead"], "answer_index": 2}
{"token": "2f9920d08ad837d73dd44789849eabe6", "waymo_split": "test", "type": "image", "frame_index": 9, "question": "Is there a blind spot in your field of vision?", "category": "Uncertainty", "options": ["A. Right blind spot exists", "B. No blind spot", "C. There is a blind spot", "D. Partial blind spot exists"], "answer_index": 1}
{"token": "2f9920d08ad837d73dd44789849eabe6", "waymo_split": "test", "type": "image", "frame_index": 9, "question": "Is there any other safety-critical object besides the first one? If so, how will you move?", "category": "Safety-critical Prediction", "options": ["A. Safety-critical object on the left, slow down and detour", "B. Safety-critical object ahead, evade to the right", "C. Safety-critical object on the right, stop and proceed to the left", "D. No next safety-critical object"], "answer_index": 3}
{"token": "2f9920d08ad837d73dd44789849eabe6", "waymo_split": "test", "type": "image", "frame_index": 9, "question": "Is lane changing possible? Which is safer, slowing down or changing lanes?", "category": "Safety-critical Planning", "options": ["A. Lane changing is possible. Changing lanes is safer.", "B. Recommended to change to the left lane. Accelerating is safer.", "C. Lane changing for overtaking is allowed. Maintaining speed is safer.", "D. Lane changing is not possible. Slowing down is safer."], "answer_index": 3}
{"token": "2f9920d08ad837d73dd44789849eabe6", "waymo_split": "test", "type": "image", "frame_index": 25, "question": "Based on the current appearance of the person/vehicle (two-wheeled), how do you intend to move?", "category": "Normal Perception & Prediction", "options": ["A. Attempting a U-turn", "B. Turning left", "C. Going straight", "D. Entering a right turn"], "answer_index": 2}
{"token": "2f9920d08ad837d73dd44789849eabe6", "waymo_split": "test", "type": "image", "frame_index": 9, "question": "What is the safest choice when approaching a yellow signal: stop vs proceed?", "category": "Special Event", "options": ["A. Immediate stop is the best choice (in front of a stop line at an urban intersection)", "B. Indeterminate situation due to lack of signals (one-lane alley)", "C. Proceed after checking for pedestrians (flashing signal crosswalk)", "D. Slowing down to pass is safer (two-lane intersection)"], "answer_index": 1}
{"token": "2f9920d08ad837d73dd44789849eabe6", "waymo_split": "test", "type": "image", "frame_index": 25, "question": "What is the plan for yielding when an ambulance/fire truck approaches?", "category": "Special Event", "options": ["A. Pull over to the right edge and yield (with space on the shoulder)", "B. Yield at the stop line before the intersection (while waiting for the signal)", "C. Slightly move to the opposite lane to yield (on a road without a center line)", "D. Currently unable to yield (because the alley is narrow)"], "answer_index": 3}
{"token": "2f9920d08ad837d73dd44789849eabe6", "waymo_split": "test", "type": "image", "frame_index": 25, "question": "Which of the following is a correct description of traffic density?", "category": "Normal scene Understanding", "options": ["A. Slow, a few vehicles", "B. Fast, one or two vehicles", "C. Fast, no vehicles", "D. Slow, many vehicles"], "answer_index": 2}
{"token": "2f9920d08ad837d73dd44789849eabe6", "waymo_split": "test", "type": "image", "frame_index": 25, "question": "Which of the following is correct as an Image Caption from the perspective of a Normal Frame?", "category": "Normal scene caption", "options": ["A. A car running along the riverbank. On the left, there is a river beyond the guardrail, and on the right, there are a cafe and a bicycle path. In front, a long straight section extends without any intersections.", "B. A car driving on a two-lane residential road. On both sides, there are shops and parked vehicles, and in front, there is a large intersection with traffic lights. The road is wide enough for vehicles to pass each other in both directions.", "C. A car driving on a narrow one-lane alley. On both sides, there are the walls of houses. An intersection is visible ahead. The shoulders on both sides of the road have walls, and the road is only wide enough for one car to pass.", "D. A car driving on a quiet rural road. Fields stretch out on both sides with no walls, and only gentle curves are ahead. The shoulders are lined with grass and drainage ditches."], "answer_index": 2}
{"token": "2f9920d08ad837d73dd44789849eabe6", "waymo_split": "test", "type": "image", "frame_index": 25, "question": "What are the behavior restrictions in school zones/congested areas?", "category": "Special Event", "options": ["A. Must turn left while slowing down", "B. Must make a U-turn after stopping", "C. Must go straight while slowing down", "D. Must accelerate while going straight"], "answer_index": 2}
{"token": "2f9920d08ad837d73dd44789849eabe6", "waymo_split": "test", "type": "image", "frame_index": 25, "question": "What is the classification of the scene?", "category": "Normal scene Understanding", "options": ["A. Unpaved farm road, single lane", "B. Main highway, three lanes", "C. City center, two-lane road", "D. Residential alley, single lane"], "answer_index": 3}
{"token": "2f9920d08ad837d73dd44789849eabe6", "waymo_split": "test", "type": "image", "frame_index": 9, "question": "What is the method to avoid the blind spot next to a large vehicle?", "category": "Special Event", "options": ["A. Quickly pass to the right of the large vehicle", "B. Honk the horn and overtake closely", "C. Cannot judge because there is no large vehicle", "D. Proceed straight in the blind spot behind the bus"], "answer_index": 2}
{"token": "2f9920d08ad837d73dd44789849eabe6", "waymo_split": "test", "type": "image", "frame_index": 25, "question": "Which of the following is a correct description of the environment?", "category": "Normal scene Understanding", "options": ["A. Dawn, fog", "B. Night, light rain", "C. Day, clear", "D. Evening, cloudy"], "answer_index": 2}
{"token": "2f9920d08ad837d73dd44789849eabe6", "waymo_split": "test", "type": "image", "frame_index": 25, "question": "Is there a blind spot in the field of view?", "category": "Uncertainty", "options": ["A. The right sidewalk and roadway of the intersection ahead are blind spots", "B. The left sidewalk and roadway of the intersection ahead are blind spots", "C. The right bicycle lane and crosswalk of the intersection ahead are blind spots", "D. The right sidewalk and roadway of the intersection behind are blind spots"], "answer_index": 0}
{"token": "2f9920d08ad837d73dd44789849eabe6", "waymo_split": "test", "type": "image", "frame_index": 25, "question": "What is the description of a non-safety-critical object?", "category": "Normal Perception & Prediction", "options": ["A. A wall on the left and right, a sidewalk on the left, utility poles and trees outside the left lane, a distant intersection and a STOP sign ahead.", "B. Guardrails on the left and right, a sidewalk on the right, streetlights and billboards outside the right lane, a crosswalk and traffic lights close ahead.", "C. An entrance to a shopping center parking lot on the left, a bus stop on the right, a trash bin and a bench at the edge of the road, a distant sign for an overpass ahead.", "D. A low flower bed on one side and a metal fence on the opposite side, a bike lane on the right, cones for lane painting next to the center line, a rotary and a yield sign ahead."], "answer_index": 0}
{"token": "2f9920d08ad837d73dd44789849eabe6", "waymo_split": "test", "type": "image", "frame_index": 25, "question": "Which of the following is a correct description of traffic signals?", "category": "Traffic Signal", "options": ["A. Traffic light showing green at the top of the intersection ahead. Dedicated left turn lane sign on the right pavement.", "B. YIELD sign on the left side of the intersection ahead. SLOW sign on the pavement ahead.", "C. STOP sign on the right side of the intersection ahead. STOP sign on the pavement ahead.", "D. One-way sign on the right side of the T-intersection ahead. Right turn guiding arrow on the pavement ahead."], "answer_index": 2}
{"token": "2f9920d08ad837d73dd44789849eabe6", "waymo_split": "test", "type": "image", "frame_index": 25, "question": "What is the answer regarding parked vehicles on the shoulder, the presence of a center line, and whether Ego crosses the center line?", "category": "Normal Perception & Prediction", "options": ["A. One parked vehicle on the shoulder. There is a center line, Ego does not cross.", "B. A broken-down vehicle is parked on the shoulder. There is a center line, Ego slightly crosses.", "C. There is a parked vehicle on the shoulder. There is also a center line.", "D. There are no parked vehicles on the shoulder. There is also no center line."], "answer_index": 3}
{"token": "2f9920d08ad837d73dd44789849eabe6", "waymo_split": "test", "type": "image", "frame_index": 25, "question": "Is there any other safety-critical object besides the first safety-critical object? If so, how will you move?", "category": "Safety-critical Prediction", "options": ["A. Change to the left lane for debris in the next lane", "B. Slow down and move to the right edge for construction vehicles waiting in the next section", "C. Stop and proceed slowly after the signal is off at the next intersection", "D. No other safety-critical objects in the next area"], "answer_index": 3}
{"token": "2f9920d08ad837d73dd44789849eabe6", "waymo_split": "test", "type": "image", "frame_index": 25, "question": "Is lane changing possible? Which is safer, slowing down or changing lanes?", "category": "Safety-critical Planning", "options": ["A. Lane change possible to avoid the car in front. Changing lanes is safer.", "B. Lane change possible only to the right. Moving lanes is safer.", "C. Lane change possible to the left. Changing lanes is safer.", "D. Lane change not possible. Slowing down is safer."], "answer_index": 3}
{"token": "2f9920d08ad837d73dd44789849eabe6", "waymo_split": "test", "type": "image", "frame_index": 25, "question": "What is a safety-critical object?", "category": "Safety-critical Perception", "options": ["A. None", "B. Car brake", "C. Emergency stop button", "D. IV pump"], "answer_index": 0}
{"token": "2f9920d08ad837d73dd44789849eabe6", "waymo_split": "test", "type": "image", "frame_index": 25, "question": "Where is the area that hides danger in the current frame?", "category": "Uncertainty", "options": ["A. The right lane and sidewalk of the intersection", "B. The left lane and sidewalk of the intersection", "C. The front lane and median of the intersection", "D. The right alley entrance and lane of the intersection"], "answer_index": 0}
{"token": "2f9920d08ad837d73dd44789849eabe6", "waymo_split": "test", "type": "image", "frame_index": 25, "question": "What is the safer choice just before entering a yellow signal: stop vs. proceed?", "category": "Special Event", "options": ["A. Decelerating and proceeding is a reasonable situation (end of left turn, unprotected area)", "B. Turning on hazard lights and proceeding slowly is appropriate (flashing yellow intersection)", "C. It's impossible to judge due to no signal (one-lane alley)", "D. Immediate stopping is safer (before entering a highway merge)"], "answer_index": 2}
{"token": "2f9920d08ad837d73dd44789849eabe6", "waymo_split": "test", "type": "image", "frame_index": 25, "question": "What potential situations could arise in the current scenario?", "category": "Counterfactual", "options": ["A. Turn left and enter immediately without stopping (because of the yield sign)", "B. Turn right and pass through the intersection according to the signal (because of the green light)", "C. Go straight and stop just before entering the intersection (because of the STOP sign)", "D. Go straight and accelerate past the stop line (because the signal takes priority)"], "answer_index": 2}
{"token": "2f9920d08ad837d73dd44789849eabe6", "waymo_split": "test", "type": "image", "frame_index": 25, "question": "What are the new exposure risk candidates in the following section?", "category": "Safety-critical Prediction", "options": ["A. People or vehicles may appear on the right lane and sidewalk of the intersection.", "B. Bicycles and motorcycles may enter from the left lane and sidewalk of the intersection.", "C. Pedestrians may jaywalk near the central divider of the intersection.", "D. Waiting vehicles and pedestrians may move simultaneously due to a signal change at the upcoming crosswalk."], "answer_index": 0}
{"token": "2f9920d08ad837d73dd44789849eabe6", "waymo_split": "test", "type": "image", "frame_index": 25, "question": "What is the method to avoid the blind spot next to a large vehicle?", "category": "Special Event", "options": ["A. Overtaking on the right side of the truck", "B. Honk the horn and pass first", "C. Unable to judge due to no large vehicle", "D. Passing closely on the left side of the large vehicle"], "answer_index": 2}
{"token": "2f9920d08ad837d73dd44789849eabe6", "waymo_split": "test", "type": "image", "frame_index": 53, "question": "Based on the current appearance of the person/vehicle (two-wheeled), how do they intend to move?", "category": "Normal Perception & Prediction", "options": ["A. Accelerating, expected to pass straight through the intersection", "B. Moving slowly, intending to turn left to match the signal", "C. Decelerating, expected to stop before entering the intersection", "D. Maintaining speed, planning to turn right by moving to the right lane"], "answer_index": 2}
{"token": "2f9920d08ad837d73dd44789849eabe6", "waymo_split": "test", "type": "image", "frame_index": 53, "question": "What are the behavior restrictions in school zones/congested areas?", "category": "Special Event", "options": ["A. Must proceed slowly straight", "B. Must slow down and turn left", "C. Must proceed slowly and turn right", "D. Must stop and make a U-turn"], "answer_index": 0}
{"token": "2f9920d08ad837d73dd44789849eabe6", "waymo_split": "test", "type": "image", "frame_index": 53, "question": "Which of the following is correct from the perspective of Safety-critical Frame regarding Image Caption?", "category": "Safety-critical scene caption", "options": ["A. A person riding a bicycle appears on the right edge of the road at the intersection. There are no dogs or pedestrians on the sidewalk. The vehicle has already entered the intersection and is proceeding.", "B. On the left sidewalk of the intersection, a person and a dog can be seen. The dog is staying on the sidewalk next to its owner. The vehicle is expected to pass through the intersection according to the signal.", "C. Only one adult pedestrian is standing on the right sidewalk of the intersection. No dogs or other obstacles are visible. The vehicle is entering the intersection while maintaining its speed.", "D. A person and a dog appear on the right sidewalk of the intersection. The dog is slightly encroaching towards the road rather than staying on the sidewalk. The vehicle is currently slowing down and is expected to stop before entering the intersection."], "answer_index": 3}
{"token": "2f9920d08ad837d73dd44789849eabe6", "waymo_split": "test", "type": "image", "frame_index": 53, "question": "Which of the following is a correct description of traffic density?", "category": "Normal scene Understanding", "options": ["A. Fast, multiple vehicles", "B. Fast, no vehicles", "C. Slow, many vehicles", "D. Slow, one or two vehicles"], "answer_index": 1}
{"token": "2f9920d08ad837d73dd44789849eabe6", "waymo_split": "test", "type": "image", "frame_index": 53, "question": "What is the plan for yielding when an ambulance/fire truck approaches?", "category": "Special Event", "options": ["A. Yield to the right after passing the intersection (there is space ahead)", "B. Plan to stop on the right (there is enough shoulder space)", "C. Move to the left lane (there is space towards the center line)", "D. Currently unable to yield (the road is narrow in the alley)"], "answer_index": 3}
{"token": "2f9920d08ad837d73dd44789849eabe6", "waymo_split": "test", "type": "image", "frame_index": 53, "question": "Which of the following is a correct description of the environment?", "category": "Normal scene Understanding", "options": ["A. sunset, cloudy", "B. daytime, clear", "C. early morning, light fog", "D. night, light rain"], "answer_index": 1}
{"token": "2f9920d08ad837d73dd44789849eabe6", "waymo_split": "test", "type": "image", "frame_index": 53, "question": "What is the classification of the scene?", "category": "Normal scene Understanding", "options": ["A. Residential alley with one lane", "B. Main city road with two lanes", "C. One-way highway with three lanes", "D. Unpaved country road with one lane"], "answer_index": 0}
{"token": "2f9920d08ad837d73dd44789849eabe6", "waymo_split": "test", "type": "image", "frame_index": 53, "question": "Which of the following is a correct description of traffic signals?", "category": "Traffic Signal", "options": ["A. STOP sign on the right side ahead", "B. YIELD sign on the left side ahead", "C. Red traffic light at the top ahead", "D. Stop line marking in the center of the road"], "answer_index": 0}
{"token": "2f9920d08ad837d73dd44789849eabe6", "waymo_split": "test", "type": "image", "frame_index": 53, "question": "What is the description of a non-safety-critical object?", "category": "Normal Perception & Prediction", "options": ["A. A low metal fence on both sides, a T-intersection and a YIELD sign in front, a blue mailbox on the right turn lane shoulder, and sparse street trees far left in the block.", "B. A shrub hedge on both sides, a crosswalk and a speed limit 30 sign in front, a bus stop bench next to the left turn lane, and short trees lined up far left in the block.", "C. Parked cars instead of residential fences on both sides, a roundabout and traffic lights in front, a recycling bin on the sidewalk next to the straight lane, and small potted trees in a nearby alley on the right.", "D. Walls on both sides, an intersection and a STOP sign in front, a trash can on the shoulder of the left turn lane, and large trees far right in the block."], "answer_index": 3}
{"token": "2f9920d08ad837d73dd44789849eabe6", "waymo_split": "test", "type": "image", "frame_index": 53, "question": "Is there a blind spot?", "category": "Uncertainty", "options": ["A. Left blind spot", "B. No blind spot", "C. Partial blind spot", "D. There is a blind spot"], "answer_index": 1}
{"token": "2f9920d08ad837d73dd44789849eabe6", "waymo_split": "test", "type": "image", "frame_index": 53, "question": "What is a safety-critical object?", "category": "Safety-critical Perception", "options": ["A. A person and a dog standing on the right sidewalk with their back to the road", "B. A person and a bicycle already crossing from the right sidewalk to the left", "C. A person and a dog waiting to cross from the left sidewalk to the right", "D. A person and a dog waiting to cross from the right sidewalk to the left"], "answer_index": 3}
{"token": "2f9920d08ad837d73dd44789849eabe6", "waymo_split": "test", "type": "image", "frame_index": 53, "question": "What is the answer regarding the parked vehicle on the shoulder, the presence of a center line, and whether Ego has crossed the center line?", "category": "Normal Perception & Prediction", "options": ["A. There is one parked vehicle on the shoulder. There is also a center line.", "B. There are no parked vehicles on the shoulder. There is also no center line.", "C. There are no parked vehicles on the shoulder. There is a center line.", "D. There are several parked vehicles on the shoulder. The center line is faint but present."], "answer_index": 1}
{"token": "2f9920d08ad837d73dd44789849eabe6", "waymo_split": "test", "type": "image", "frame_index": 53, "question": "How do you think a safety-critical object will move?", "category": "Safety-critical Prediction", "options": ["A. A person is standing on the sidewalk, but currently, the dog is stepping into the road from the right side. (So it will no longer stay close to the right and will move more towards the left side of the road. The person on the right sidewalk is holding the leash loosely.)", "B. A person is standing on the sidewalk, but currently, the dog is slightly encroaching on the right side of the road. (However, it will not move further to the left and will move to the right. The person standing on the right sidewalk is holding the leash.)", "C. A person has one foot down at the edge of the road, and the dog is standing close to the right sidewalk. (However, it will soon come down towards the left side of the road to follow the person. It is being led by a short leash.)", "D. A person is standing on the left sidewalk, and currently, the dog is slightly pulling its body towards the center of the road. (So it will show movement to cross to the left without turning to the right. The leash is being pulled by a call from the opposite side.)"], "answer_index": 1}
{"token": "2f9920d08ad837d73dd44789849eabe6", "waymo_split": "test", "type": "image", "frame_index": 53, "question": "What should I do to drive safely?", "category": "Safety-critical Planning", "options": ["A. I need to stop. After that, I should go straight once the people and dogs have crossed.", "B. I need to slow down and go straight while the pedestrians and dogs are crossing.", "C. I should honk once to alert them, then slowly pass by the stroller.", "D. I need to turn on the hazard lights and make a right turn before the people and dogs arrive."], "answer_index": 0}
{"token": "2f9920d08ad837d73dd44789849eabe6", "waymo_split": "test", "type": "image", "frame_index": 53, "question": "What is the correlation in safety-critical situations?", "category": "Safety-critical scene Understanding", "options": ["A. Car - Two-wheeler", "B. Car - Car", "C. Car - Person", "D. Two-wheeler - Person"], "answer_index": 2}
{"token": "2f9920d08ad837d73dd44789849eabe6", "waymo_split": "test", "type": "image", "frame_index": 53, "question": "Where is the area that hides danger in the current frame?", "category": "Uncertainty", "options": ["A. Front truck blind spot", "B. Behind the left bus", "C. Behind the right tree", "D. None"], "answer_index": 3}
{"token": "2f9920d08ad837d73dd44789849eabe6", "waymo_split": "test", "type": "image", "frame_index": 53, "question": "Is there any other safety-critical object besides the first safety-critical object? If so, how will it be moved?", "category": "Safety-critical Prediction", "options": ["A. No other safety-critical object", "B. There is a leaking solvent drum, block it with an absorbent pad and move it to the rear safety area", "C. There are exposed wires, turn off the power and tie them with a cable tie to move to the right storage area", "D. There is a gas cylinder, close the valve and move it to the left bay with a cart"], "answer_index": 0}
{"token": "2f9920d08ad837d73dd44789849eabe6", "waymo_split": "test", "type": "image", "frame_index": 53, "question": "What are the new exposure risk candidates in the following section?", "category": "Safety-critical Prediction", "options": ["A. None", "B. Slipping", "C. Falling", "D. Rockfall"], "answer_index": 0}
{"token": "2f9920d08ad837d73dd44789849eabe6", "waymo_split": "test", "type": "image", "frame_index": 53, "question": "Who is responsible in a safety-critical situation? What is the cause?", "category": "Safety-critical scene Understanding", "options": ["A. The cause was a vehicle in the right lane changing lanes abruptly without signaling and moving towards the pedestrian.", "B. The cause was a child chasing a ball suddenly running into the road from the left sidewalk.", "C. The cause was a bicycle suddenly entering the right lane from the left sidewalk.", "D. The cause was a person and a dog suddenly coming out from the right sidewalk and trying to cross to the left."], "answer_index": 3}
{"token": "2f9920d08ad837d73dd44789849eabe6", "waymo_split": "test", "type": "image", "frame_index": 53, "question": "What is the safer choice when approaching a yellow signal: stop or proceed?", "category": "Special Event", "options": ["A. A situation where it is impossible to judge due to no signal (one-lane alley)", "B. If there are no pedestrians, proceed first and then reduce speed (adjacent to a central bus-only lane)", "C. If you are right in front of the stop line, slow passing is safer (non-protected left turn area)", "D. When the yellow light comes on, accelerating to exit the intersection is safer (one-way two-lane straight)"], "answer_index": 0}
{"token": "2f9920d08ad837d73dd44789849eabe6", "waymo_split": "test", "type": "image", "frame_index": 53, "question": "What situation might have occurred if the self-driving car acted this way?", "category": "Counterfactual", "options": ["A. If the self-driving car changed to the left lane and passed by, there would be no interference with the bicycle running on the shoulder.", "B. If the self-driving car slowed down and proceeded to the right, the risk of collision with the cat that stayed on the sidewalk would be low.", "C. If the self-driving car ignored and did not slow down while going straight, there would be a possibility of collision with the dog that invaded the current roadway.", "D. If the self-driving car made a sudden stop and honked the horn, the situation would end without contact with the pedestrian in front of the crosswalk."], "answer_index": 2}
{"token": "2f9920d08ad837d73dd44789849eabe6", "waymo_split": "test", "type": "image", "frame_index": 82, "question": "What is correct as an Image Caption from the perspective of Safety-critical Frame?", "category": "Safety-critical scene caption", "options": ["A. A bicycle passes by on the right lane of the intersection. The vehicle is moving slowly to make a right turn.", "B. A person and a dog are stopped on the right sidewalk of the intersection. The vehicle is also currently slowing down and stopped.", "C. Only pedestrians are standing at the right crosswalk of the intersection. The vehicle is entering the intersection according to the signal.", "D. A person and a dog are moving slowly on the left sidewalk of the intersection. The vehicle is maintaining its speed and going straight."], "answer_index": 1}
{"token": "2f9920d08ad837d73dd44789849eabe6", "waymo_split": "test", "type": "image", "frame_index": 82, "question": "Which of the following is correct as an Image Caption from the perspective of a Normal Frame?", "category": "Normal scene caption", "options": ["A. A vehicle stopped in its current lane before entering an intersection. There is a STOP sign on the right. There are currently no vehicles traveling left or right through the intersection. A person and a dog appear on the right sidewalk, either trying to cross to the left sidewalk or currently stopped on the sidewalk.", "B. A vehicle temporarily stopped near the center of the intersection. There is a YIELD sign on the right. Buses and cars are lined up left and right through the intersection. A person and a dog appear on the left sidewalk, trying to cross to the right.", "C. The vehicle is slowing down to make a right turn before entering the intersection. There is no STOP sign on the right, but there is a traffic light. A vehicle speeds past on either side of the intersection. There is only one person standing on the right sidewalk, and the dog is not visible.", "D. A vehicle is slowly moving forward in its current lane before entering the intersection. There is a STOP sign on the left. A vehicle passes by left and right through the intersection. The person and dog on the right sidewalk have already stepped onto the crosswalk."], "answer_index": 0}
{"token": "2f9920d08ad837d73dd44789849eabe6", "waymo_split": "test", "type": "image", "frame_index": 53, "question": "Is lane change possible? Which is safer between slowing down and changing lanes?", "category": "Safety-critical Planning", "options": ["A. Lane change is possible. Changing lanes is safer", "B. Can change to the right. Maintaining speed is safer", "C. Can change after accelerating. Accelerating is safer", "D. Lane change is not possible. Slowing down is safer"], "answer_index": 3}
{"token": "2f9920d08ad837d73dd44789849eabe6", "waymo_split": "test", "type": "image", "frame_index": 82, "question": "Based on the current appearance of the person/vehicle (two-wheeled), how do they intend to move?", "category": "Normal Perception & Prediction", "options": ["A. In a state of changing lanes to the left. They plan to continue driving while staying close to the center line to avoid pedestrians and a dog on the right.", "B. In a state of slowing down and stopping. They plan to resume driving after the person and dog on the right walk to the left.", "C. In a state of proceeding slowly and preparing to turn right. They plan to turn the corner and move to the right, leaving the pedestrian and dog behind.", "D. In a state of accelerating to pass through. They plan to continue straight first since the person and dog on the right are stopped."], "answer_index": 1}
{"token": "2f9920d08ad837d73dd44789849eabe6", "waymo_split": "test", "type": "image", "frame_index": 82, "question": "What is the plan for yielding when an ambulance/fire truck approaches?", "category": "Special Event", "options": ["A. Slightly move to the left turn waiting lane to yield (left lane is clear)", "B. Immediately pull over to the right shoulder and stop (ample space available)", "C. Enter the empty parking space ahead to make way (maintaining close distance)", "D. Currently unable to yield (the road is narrow in the alley)"], "answer_index": 3}
{"token": "2f9920d08ad837d73dd44789849eabe6", "waymo_split": "test", "type": "image", "frame_index": 82, "question": "What are the restrictions on behavior in school zones/congested areas?", "category": "Special Event", "options": ["A. Must stop as is. (Before entering the intersection)", "B. Can pass with hazard lights on. (In front of the crosswalk)", "C. Right turns are still allowed. (Vehicle priority)", "D. Can proceed slowly. (After entering the intersection)"], "answer_index": 0}
{"token": "2f9920d08ad837d73dd44789849eabe6", "waymo_split": "test", "type": "image", "frame_index": 82, "question": "Which of the following is a correct description of traffic density?", "category": "Normal scene Understanding", "options": ["A. Fast, no vehicles", "B. Slow, many vehicles", "C. Fast, few vehicles", "D. Slow, no vehicles"], "answer_index": 0}
{"token": "2f9920d08ad837d73dd44789849eabe6", "waymo_split": "test", "type": "image", "frame_index": 82, "question": "What is the classification of the scene?", "category": "Normal scene Understanding", "options": ["A. Two-lane urban side road", "B. One-lane residential alley", "C. One-lane unpaved farm road", "D. Three-lane highway main line"], "answer_index": 1}
{"token": "2f9920d08ad837d73dd44789849eabe6", "waymo_split": "test", "type": "image", "frame_index": 82, "question": "What is the answer regarding the parked vehicle on the shoulder, the presence of a center line, and whether Ego crosses the center line?", "category": "Normal Perception & Prediction", "options": ["A. One parked vehicle on the shoulder. Ego crosses the center line.", "B. No parked vehicles on the shoulder. No center line.", "C. There is a parked vehicle on the shoulder. There is a center line.", "D. A truck is parked on the shoulder. There is a center line, but Ego does not cross."], "answer_index": 1}
{"token": "2f9920d08ad837d73dd44789849eabe6", "waymo_split": "test", "type": "image", "frame_index": 82, "question": "Which of the following is a correct description of traffic signals?", "category": "Traffic Signal", "options": ["A. STOP sign on the right side ahead", "B. Red traffic light at the top ahead", "C. Speed limit 30 sign on the right side ahead", "D. STOP sign on the left side ahead"], "answer_index": 0}
{"token": "2f9920d08ad837d73dd44789849eabe6", "waymo_split": "test", "type": "image", "frame_index": 82, "question": "What is the description of a non-safety-critical object?", "category": "Normal Perception & Prediction", "options": ["A. A low fence on the left and right, a T-intersection and a YIELD sign in front. A fire hydrant on the shoulder of the right turn lane. Two streetlights far left at the end of the block.", "B. Walls on the left and right, an intersection and a STOP sign in front. A trash can on the shoulder of the left turn lane. Large trees far right in the block.", "C. A row of parked cars on the left, a vacant lot fence on the right, a crosswalk and traffic light in front. A mailbox next to the left turn lane. A grassy area continues down the hill far right.", "D. Storefront glass on the left and right, a roundabout and a speed limit 30 sign in front. A bicycle rack on the sidewalk next to the center line. Low shrubs in a flower bed close to the right."], "answer_index": 1}
{"token": "2f9920d08ad837d73dd44789849eabe6", "waymo_split": "test", "type": "image", "frame_index": 82, "question": "Which of the following descriptions about the environment is correct?", "category": "Normal scene Understanding", "options": ["A. Evening, cloudy", "B. Day, clear", "C. Night, shower", "D. Dawn, fog"], "answer_index": 1}
{"token": "2f9920d08ad837d73dd44789849eabe6", "waymo_split": "test", "type": "image", "frame_index": 82, "question": "Is there a blind spot?", "category": "Uncertainty", "options": ["A. There is a blind spot", "B. Right blind spot", "C. No blind spot", "D. Blind spot when turning right"], "answer_index": 2}
{"token": "2f9920d08ad837d73dd44789849eabe6", "waymo_split": "test", "type": "image", "frame_index": 82, "question": "How do you think a safety-critical object will move?", "category": "Safety-critical Prediction", "options": ["A. Since the vehicle has stopped, it will now cross the road on the right sidewalk.", "B. Since the vehicle has stopped, it will now go straight along the left sidewalk.", "C. Since the vehicle has stopped, it will now turn back in the opposite direction along the right sidewalk.", "D. Since the vehicle has stopped, it will now cross the road on the left sidewalk."], "answer_index": 3}
{"token": "2f9920d08ad837d73dd44789849eabe6", "waymo_split": "test", "type": "image", "frame_index": 82, "question": "What is a safety-critical object?", "category": "Safety-critical Perception", "options": ["A. A person and a dog crossing from the left sidewalk to the right", "B. A child and a kickboard about to run into the road from the right sidewalk", "C. A person and a dog waiting to cross from the right sidewalk to the left", "D. A person on a bicycle standing to cross from the left sidewalk to the right"], "answer_index": 2}
{"token": "2f9920d08ad837d73dd44789849eabe6", "waymo_split": "test", "type": "image", "frame_index": 82, "question": "What is the correlation in safety-critical situations?", "category": "Safety-critical scene Understanding", "options": ["A. Car - Two-wheeled vehicle", "B. Car - Person", "C. Person - Two-wheeled vehicle", "D. Car - Person"], "answer_index": 1}
{"token": "2f9920d08ad837d73dd44789849eabe6", "waymo_split": "test", "type": "image", "frame_index": 82, "question": "Are there any other safety-critical objects besides the first safety-critical object? If so, how will they be moved?", "category": "Safety-critical Prediction", "options": ["A. There are hazardous chemicals, transport in a sealed container to the rear.", "B. There is a high-pressure gas cylinder, move it towards the exit using a dedicated cart.", "C. There is a fire extinguisher, move it through the left corridor.", "D. There are no other safety-critical objects."], "answer_index": 3}
{"token": "2f9920d08ad837d73dd44789849eabe6", "waymo_split": "test", "type": "image", "frame_index": 82, "question": "What should I do to drive safely?", "category": "Safety-critical Planning", "options": ["A. If there is no danger after checking only the right sidewalk, I should enter the intersection directly without stopping.", "B. After alerting people and dogs with hazard lights and honking, I should maintain a distance and pass through the intersection first.", "C. If I determine that pedestrians and dogs have moved aside sufficiently, I should pass through slowly and then continue through the intersection.", "D. I should wait until people and dogs have safely crossed on the left sidewalk. After stopping, I should start driving into the intersection."], "answer_index": 3}
{"token": "2f9920d08ad837d73dd44789849eabe6", "waymo_split": "test", "type": "image", "frame_index": 82, "question": "Is lane change possible? Which is safer between deceleration and lane change?", "category": "Safety-critical Planning", "options": ["A. Lane change not possible. Currently at a stop, so deceleration is also not possible.", "B. Sufficient distance from the car in front, lane change possible. Gradual deceleration is safer.", "C. Space on the right, lane change possible. Deceleration is safer.", "D. Left merge is complete, lane change possible. Reducing speed first is safer."], "answer_index": 0}
{"token": "2f9920d08ad837d73dd44789849eabe6", "waymo_split": "test", "type": "image", "frame_index": 82, "question": "What are the new exposure risk candidates in the following interval?", "category": "Safety-critical Prediction", "options": ["A. Falling rocks", "B. Falling", "C. Slipping", "D. None"], "answer_index": 3}
{"token": "2f9920d08ad837d73dd44789849eabe6", "waymo_split": "test", "type": "image", "frame_index": 82, "question": "Where is the area that hides danger in the current frame?", "category": "Uncertainty", "options": ["A. Behind a large truck in front", "B. Behind the right roadside tree", "C. Behind a parked van on the left", "D. None"], "answer_index": 3}
{"token": "2f9920d08ad837d73dd44789849eabe6", "waymo_split": "test", "type": "image", "frame_index": 82, "question": "What is the safest choice when approaching a yellow signal: stop or proceed?", "category": "Special Event", "options": ["A. Proceed if there are no pedestrians (straight on a residential road)", "B. Indeterminate situation due to lack of signals (one-lane alley)", "C. Proceed while slowing down is safer (two-lane road with traffic in both directions)", "D. Come to a complete stop at the stop line (intersection with signals)"], "answer_index": 1}
{"token": "2f9920d08ad837d73dd44789849eabe6", "waymo_split": "test", "type": "image", "frame_index": 82, "question": "What is the method to avoid the blind spot next to a large vehicle?", "category": "Special Event", "options": ["A. Pass closely to the right of the large vehicle", "B. Unable to judge due to the absence of a large vehicle", "C. Drive alongside at the speed of the large bus", "D. Accelerate and overtake within the blind spot"], "answer_index": 1}
{"token": "2f9920d08ad837d73dd44789849eabe6", "waymo_split": "test", "type": "image", "frame_index": 82, "question": "Who is responsible in a safety-critical situation? What is the cause?", "category": "Safety-critical scene Understanding", "options": ["A. The person riding the electric scooter attempted to cross the road diagonally from the left sidewalk.", "B. A person and a bicycle emerged from the left sidewalk and tried to cross to the right.", "C. A man suddenly stepped down from the right sidewalk onto the road, blocking the vehicle's progress.", "D. A person and a dog emerged from the right sidewalk and tried to cross to the left."], "answer_index": 3}
{"token": "2f9920d08ad837d73dd44789849eabe6", "waymo_split": "test", "type": "image", "frame_index": 125, "question": "Based on the current appearance of the person/vehicle (two-wheeled), how are they trying to move?", "category": "Normal Perception & Prediction", "options": ["A. Trying to go straight.", "B. In a stopped state.", "C. Trying to turn right.", "D. Preparing to turn left."], "answer_index": 1}
{"token": "2f9920d08ad837d73dd44789849eabe6", "waymo_split": "test", "type": "image", "frame_index": 125, "question": "Which of the following is correct as an Image Caption from a Safety-critical Frame perspective?", "category": "Safety-critical scene caption", "options": ["A. A person and a dog who just started crossing from the right sidewalk of the intersection. The vehicle is moving slowly and entering the intersection.", "B. A person and a dog who have completed crossing to the left sidewalk of the intersection. The vehicle is also currently stopped before entering the intersection.", "C. A child and a pet waiting on the opposite sidewalk of the intersection. The vehicle is moving straight without stopping.", "D. A bicycle crossing the center of the intersection is visible. The vehicle is also passing through slowly in accordance with the signal."], "answer_index": 1}
{"token": "2f9920d08ad837d73dd44789849eabe6", "waymo_split": "test", "type": "image", "frame_index": 125, "question": "What are the behavior restrictions in school zones/congested areas?", "category": "Special Event", "options": ["A. Must stop as is. (before entering the intersection)", "B. Right turns are allowed. (while waiting at a signal)", "C. Can pass at a slow speed. (if there are no pedestrians)", "D. Can enter inside the intersection. (secure space first)"], "answer_index": 0}
{"token": "2f9920d08ad837d73dd44789849eabe6", "waymo_split": "test", "type": "image", "frame_index": 125, "question": "Which of the following is correct as an Image Caption from the perspective of a Normal Frame?", "category": "Normal scene caption", "options": ["A. A vehicle that has stopped in its current lane before entering the intersection. There is a STOP sign on the right. A vehicle is present directly in front, traveling left and right through the intersection. A person and a dog who have completed crossing the road from the right sidewalk to the left sidewalk are visible on the left sidewalk.", "B. A vehicle that has stopped just beyond the stop line before the intersection. There is a yield sign on the right. Two vehicles are visible traveling left and right through the intersection. A person and a dog who were trying to cross from the left sidewalk to the right are waiting at the edge of the left sidewalk.", "C. A vehicle that has stopped in the right turn lane in front of the intersection. The STOP sign is not visible, only the traffic light is present. One vehicle is coming straight toward us from directly in front. A person and a dog are staying on the right sidewalk, and the left sidewalk is empty.", "D. A vehicle that is approaching the intersection while slowing down. There is a STOP sign on the left. No vehicles are visible passing through the intersection left and right. A person and a dog are stepping down from the right sidewalk and are in the process of crossing the center line."], "answer_index": 0}
{"token": "2f9920d08ad837d73dd44789849eabe6", "waymo_split": "test", "type": "image", "frame_index": 125, "question": "What is your plan for yielding when an ambulance/fire truck approaches?", "category": "Special Event", "options": ["A. Move to the left lane and stop (with sufficient distance between vehicles)", "B. Currently unable to yield (because the road is a narrow alley)", "C. Yield immediately to the right (with plenty of space on the shoulder)", "D. Plan to yield at the next intersection (with a wide view ahead)"], "answer_index": 1}
{"token": "2f9920d08ad837d73dd44789849eabe6", "waymo_split": "test", "type": "image", "frame_index": 125, "question": "What is the classification of the scene?", "category": "Normal scene Understanding", "options": ["A. First lane of a highway entrance ramp", "B. First lane of an unpaved rural road", "C. First lane of a residential alley", "D. Second lane of an urban arterial road"], "answer_index": 2}
{"token": "2f9920d08ad837d73dd44789849eabe6", "waymo_split": "test", "type": "image", "frame_index": 125, "question": "Which of the following is a correct description of traffic density?", "category": "Normal scene Understanding", "options": ["A. Fast, multiple vehicles", "B. Fast, no vehicles", "C. Slow, no vehicles", "D. Slow, many vehicles"], "answer_index": 1}
{"token": "2f9920d08ad837d73dd44789849eabe6", "waymo_split": "test", "type": "image", "frame_index": 125, "question": "Which of the following is a correct description of the environment?", "category": "Normal scene Understanding", "options": ["A. Dawn, fog", "B. Evening, cloudy", "C. Day, clear", "D. Night, shower"], "answer_index": 2}
{"token": "2f9920d08ad837d73dd44789849eabe6", "waymo_split": "test", "type": "image", "frame_index": 125, "question": "Which of the following is a correct description of traffic signals?", "category": "Traffic Signal", "options": ["A. STOP sign on the right side ahead", "B. YIELD sign on the left side ahead", "C. Crosswalk on the road ahead", "D. Red traffic light above ahead"], "answer_index": 0}
{"token": "2f9920d08ad837d73dd44789849eabe6", "waymo_split": "test", "type": "image", "frame_index": 125, "question": "What is the description of a non-safety-critical object?", "category": "Normal Perception & Prediction", "options": ["A. In front, there is a T-intersection and a YIELD sign, a blue mailbox is placed on the right turn lane shoulder, vehicles are seen traveling from left to right at the intersection, and there are only a few low trees far to the left in the block.", "B. In front, there is a crosswalk and a speed limit sign of 30, a yellow construction sign is set up next to the median, there are no vehicles approaching directly from the intersection, and only streetlights are lined up far to the right in the block.", "C. In front, there is an intersection and a STOP sign. A trash can is located on the shoulder of the left turn lane. Vehicles are present traveling from right to left at the intersection. There are large trees far to the right in the block.", "D. In front, there is a narrow alley entrance and a one-way sign, a bicycle rack is installed on the shoulder of the straight lane, one vehicle is seen turning right at the intersection, and only a long fence is lined up far to the right in the block."], "answer_index": 2}
{"token": "2f9920d08ad837d73dd44789849eabe6", "waymo_split": "test", "type": "image", "frame_index": 125, "question": "Is there a blind spot in your field of vision?", "category": "Uncertainty", "options": ["A. No blind spot", "B. There is a blind spot", "C. There is a left blind spot", "D. Right field obstruction"], "answer_index": 0}
{"token": "2f9920d08ad837d73dd44789849eabe6", "waymo_split": "test", "type": "image", "frame_index": 125, "question": "What is a safety-critical object?", "category": "Safety-critical Perception", "options": ["A. A person and a dog who have completed crossing the left sidewalk", "B. A person and a dog waiting in front of the left sidewalk", "C. A person and a dog running across the central sidewalk", "D. A person and a dog who have started crossing the right sidewalk"], "answer_index": 0}
{"token": "2f9920d08ad837d73dd44789849eabe6", "waymo_split": "test", "type": "image", "frame_index": 125, "question": "What is the answer regarding parked vehicles on the shoulder, the presence of a center line, and whether Ego crosses the center line?", "category": "Normal Perception & Prediction", "options": ["A. A parked passenger car briefly stopped on the shoulder. The center line is solid, and Ego slightly crosses it.", "B. A truck parked on the shoulder. The center line is dashed.", "C. No parked vehicles on the shoulder. No center line.", "D. There is a parked vehicle on the shoulder. There is also a center line."], "answer_index": 2}
{"token": "2f9920d08ad837d73dd44789849eabe6", "waymo_split": "test", "type": "image", "frame_index": 125, "question": "Are there any other safety-critical objects besides the first safety-critical object? If so, how would they move?", "category": "Safety-critical Prediction", "options": ["A. A bus crossing the lane from the right (from right to left)", "B. Pedestrians crossing the crosswalk straight ahead (from left to right)", "C. Vehicles driving through the intersection straight ahead (from left to right, or from right to left)", "D. A motorcycle approaching quickly from behind (from back to front)"], "answer_index": 2}
{"token": "2f9920d08ad837d73dd44789849eabe6", "waymo_split": "test", "type": "image", "frame_index": 125, "question": "How do you think a safety-critical object will move?", "category": "Safety-critical Prediction", "options": ["A. I will continue to drive on the right lane.", "B. I will continue to walk on the right sidewalk.", "C. I will continue to walk on the left sidewalk.", "D. I will slowly continue to move on the bicycle lane."], "answer_index": 2}
{"token": "2f9920d08ad837d73dd44789849eabe6", "waymo_split": "test", "type": "image", "frame_index": 125, "question": "How should I drive to resolve the first risk while also addressing the second risk?", "category": "Safety-critical Planning", "options": ["A. I must maintain speed and go straight to pass through the intersection without interruption.", "B. I should pay attention to the movements of the vehicles and proceed slowly to enter the intersection.", "C. I should check only the vehicles on the right and make a left turn first.", "D. I should turn on my turn signal and enter the intersection without stopping."], "answer_index": 1}
{"token": "2f9920d08ad837d73dd44789849eabe6", "waymo_split": "test", "type": "image", "frame_index": 125, "question": "What should I do to drive safely?", "category": "Safety-critical Planning", "options": ["A. Just keep going while watching the flow of traffic behind at the intersection.", "B. Just glance to the right and start immediately.", "C. Now resume driving while checking the vehicles ahead at the intersection.", "D. Increase speed before the signal changes to pass through the intersection first."], "answer_index": 2}
{"token": "2f9920d08ad837d73dd44789849eabe6", "waymo_split": "test", "type": "image", "frame_index": 125, "question": "What is the correlation in safety-critical situations?", "category": "Safety-critical scene Understanding", "options": ["A. Car - Two-wheeler", "B. Car - Person", "C. Car - Car", "D. Two-wheeler - Person"], "answer_index": 1}
{"token": "2f9920d08ad837d73dd44789849eabe6", "waymo_split": "test", "type": "image", "frame_index": 125, "question": "What is the safest choice just before entering a yellow signal: stop or proceed?", "category": "Special Event", "options": ["A. Avoid the situation by turning right (frequent yellow light on a main road)", "B. Stopping is correct (intersection in front of a busy shopping area)", "C. It's impossible to judge due to no signal (one-lane alley)", "D. Slowing down to proceed is safer (short distance to the car behind in a two-lane road)"], "answer_index": 2}
{"token": "2f9920d08ad837d73dd44789849eabe6", "waymo_split": "test", "type": "image", "frame_index": 125, "question": "What are the new exposure risk candidates in the following section?", "category": "Safety-critical Prediction", "options": ["A. None", "B. Falling rocks", "C. Slipping", "D. Flooding"], "answer_index": 0}
{"token": "2f9920d08ad837d73dd44789849eabe6", "waymo_split": "test", "type": "image", "frame_index": 125, "question": "Who is responsible in a safety-critical situation? What is the cause?", "category": "Safety-critical scene Understanding", "options": ["A. The cyclist suddenly entered the road from the left sidewalk and attempted to cross to the right, causing the situation. They are currently stopped in front of the median, so the danger still remains.", "B. The vehicle turning right ignored the pedestrian signal and entered, causing the situation. The vehicle is currently stuck in the intersection, leading to ongoing congestion.", "C. The electric scooter attempted to join the road illegally from the right alley, causing the situation. They failed to merge and are currently blocking the flow of other vehicles at the edge of the road.", "D. A person and a dog suddenly came out from the right sidewalk and tried to cross to the left, causing the situation. They have now completed the crossing, so the problem is almost resolved."], "answer_index": 3}
{"token": "2f9920d08ad837d73dd44789849eabe6", "waymo_split": "test", "type": "image", "frame_index": 125, "question": "Where is the area that hides danger in the current frame?", "category": "Uncertainty", "options": ["A. None", "B. Left A-pillar", "C. Behind the parked vehicle on the right", "D. Behind the bus in front"], "answer_index": 0}
{"token": "2f9920d08ad837d73dd44789849eabe6", "waymo_split": "test", "type": "image", "frame_index": 125, "question": "What is the method to avoid the blind spot next to a large vehicle?", "category": "Special Event", "options": ["A. Unable to judge as passengers are getting on and off the bus", "B. Unable to judge as the right lane is blocked", "C. Unable to judge as there is no large vehicle", "D. Unable to judge as there is a large vehicle on the left"], "answer_index": 2}
{"token": "2f9920d08ad837d73dd44789849eabe6", "waymo_split": "test", "type": "image", "frame_index": 125, "question": "What potential situations could arise in the current scenario?", "category": "Counterfactual", "options": ["A. If a vehicle moving from left to right at the intersection ahead stops near the stop line and blocks the entry to the intersection, my vehicle will also give up proceeding and temporarily stop close to the right edge.", "B. If a vehicle moving from right to left at the intersection ahead suddenly makes a right turn and enters my vehicle's lane, my vehicle will also delay entering the intersection to avoid a collision and change to the left lane.", "C. If a vehicle moving from right to left at the intersection ahead drives to the left and clears the entry to the intersection, my vehicle will also enter the intersection to go straight, turn left, or turn right.", "D. If a left turn signal comes on at the intersection ahead and the waiting vehicles for a left turn move and fill the center of the intersection, my vehicle will also wait at its current position for the next signal instead of going straight or turning right."], "answer_index": 2}
{"token": "300ba7bb9117701cb92c7064a06650a3", "waymo_split": "test", "type": "video", "frame_index": null, "question": "Where is the safety-critical situation in the video?", "category": "Temporal Grounding", "options": ["A. 1/4", "B. 3/4", "C. 2/4", "D. 4/4"], "answer_index": 3}
{"token": "300ba7bb9117701cb92c7064a06650a3", "waymo_split": "test", "type": "video", "frame_index": null, "question": "What are the classifications of scenes?", "category": "Normal scene Understanding", "options": ["A. City", "B. Unpaved", "C. Highway", "D. Residential area"], "answer_index": 0}
{"token": "300ba7bb9117701cb92c7064a06650a3", "waymo_split": "test", "type": "video", "frame_index": null, "question": "Which of the following is a correct description of road alignment?", "category": "Normal Perception & Prediction", "options": ["A. Right turn", "B. Straight", "C. Left turn", "D. Overtaking"], "answer_index": 1}
{"token": "300ba7bb9117701cb92c7064a06650a3", "waymo_split": "test", "type": "video", "frame_index": null, "question": "Which of the following is a correct description of traffic density?", "category": "Normal scene Understanding", "options": ["A. Moderate speed, no surrounding vehicles. No incline.", "B. Slightly fast speed, one or two surrounding vehicles. Gentle downhill.", "C. Fast speed, few surrounding vehicles. Gentle uphill.", "D. Slow speed, several surrounding vehicles. Gentle downhill."], "answer_index": 0}
{"token": "300ba7bb9117701cb92c7064a06650a3", "waymo_split": "test", "type": "video", "frame_index": null, "question": "Is there a special situation?", "category": "Special Event", "options": ["A. A private car driving slowly on a gentle rural road in the early morning", "B. A private car going straight on a wide two-lane road in clear daylight", "C. A private car driving on a narrow one-lane road at night", "D. A private car turning left at a quiet intersection around sunset"], "answer_index": 2}
{"token": "300ba7bb9117701cb92c7064a06650a3", "waymo_split": "test", "type": "video", "frame_index": null, "question": "What is correct regarding Video Summary from the perspective of Safety-critical Scene?", "category": "Safety-critical scene caption", "options": ["A. As the vehicle leaves the narrow road and stops in front of the intersection, a bicycle appears from the right sidewalk but turns right towards the intersection and moves along the same sidewalk. The vehicle stops to yield to oncoming traffic and proceeds straight after the bicycle passes. The bicycle does not cross the roadway in front of the vehicle to the left sidewalk.", "B. As the vehicle is about to exit the narrow road, the intersection comes into view, and a bicycle appears from the left sidewalk. The bicycle seems to pause for a moment to look around while intending to go straight along the same sidewalk. The vehicle enters the intersection at a slow speed, and the bicycle has not yet crossed.", "C. As the vehicle is about to exit the narrow road, the intersection comes into view, and a bicycle appears from the right sidewalk. At this time, it is heading towards the left sidewalk, intending to cross the roadway in front of the vehicle using the crosswalk. The vehicle also stops before entering the intersection. The bicycle continues to move, crossing in front of the vehicle to the left sidewalk.", "D. Just before the intersection, the right sidewalk at the end of the narrow road is quiet, while an electric scooter approaches straight along the roadway. The vehicle enters the intersection without stopping and passes through, with the scooter following in the same direction. There is no movement indicating crossing to the sidewalk using the crosswalk."], "answer_index": 2}
{"token": "300ba7bb9117701cb92c7064a06650a3", "waymo_split": "test", "type": "video", "frame_index": null, "question": "What is the answer regarding the presence of parked vehicles on the shoulder, the presence of a center line, and whether Ego has crossed the center line?", "category": "Normal Perception & Prediction", "options": ["A. There is a parked vehicle on the shoulder. There is no center line.", "B. There is no parked vehicle on the shoulder. There is no center line.", "C. There is no parked vehicle on the shoulder. There is a center line.", "D. There is a parked vehicle on the shoulder. There is a center line."], "answer_index": 1}
{"token": "300ba7bb9117701cb92c7064a06650a3", "waymo_split": "test", "type": "video", "frame_index": null, "question": "Which of the following is a correct description of traffic signals?", "category": "Traffic Signal", "options": ["A. Road sign (left turn only), yield sign opposite the intersection", "B. Traffic light (yellow flashing), no parking sign at the entrance of the intersection", "C. Traffic light (green), speed limit sign on the left side of the intersection", "D. Traffic light (red), directional sign on the right side of the intersection"], "answer_index": 3}
{"token": "300ba7bb9117701cb92c7064a06650a3", "waymo_split": "test", "type": "video", "frame_index": null, "question": "Which of the following is a correct description of the environment?", "category": "Normal scene Understanding", "options": ["A. At sunset. The glow of the sunset and reflections on the road", "B. Cloudy day. Natural light with clouds and the light from signs", "C. Foggy morning. Diffused light and reflections from building glass", "D. Night. The lights of a car and streetlights"], "answer_index": 3}
{"token": "300ba7bb9117701cb92c7064a06650a3", "waymo_split": "test", "type": "video", "frame_index": null, "question": "Are there any blind spots in your field of vision?", "category": "Uncertainty", "options": ["A. Blind spot on the left and right sidewalks and lanes just before entering the intersection", "B. Blind spot on the left sidewalk and left lane immediately after making a right turn", "C. Blind spot in the center of the lane ahead immediately after passing through the intersection", "D. Blind spot on the right sidewalk and right lane just before entering the intersection"], "answer_index": 0}
{"token": "300ba7bb9117701cb92c7064a06650a3", "waymo_split": "test", "type": "video", "frame_index": null, "question": "What is a safety-critical object?", "category": "Safety-critical Perception", "options": ["A. A motorcycle that cut in from the left lane", "B. A scooter approaching from the rear lane", "C. A car that entered from the front intersection", "D. A bicycle that appeared from the right sidewalk"], "answer_index": 3}
{"token": "300ba7bb9117701cb92c7064a06650a3", "waymo_split": "test", "type": "video", "frame_index": null, "question": "Summary of Ego (own vehicle) behavior before a safety-critical situation", "category": "Normal scene Understanding", "options": ["A. Was accelerating just before entering the intersection while making a right turn", "B. Was stopped in front of the crosswalk before the intersection while going straight", "C. Was decelerating until just before entering the intersection while going straight", "D. Was maintaining speed while approaching the intersection after changing to the left turn lane"], "answer_index": 2}
{"token": "300ba7bb9117701cb92c7064a06650a3", "waymo_split": "test", "type": "video", "frame_index": null, "question": "What is the correlation in safety-critical situations?", "category": "Safety-critical scene Understanding", "options": ["A. Car - Pedestrian", "B. Car - Motorcycle", "C. Car - Bicycle", "D. Bicycle - Pedestrian"], "answer_index": 2}
{"token": "300ba7bb9117701cb92c7064a06650a3", "waymo_split": "test", "type": "video", "frame_index": null, "question": "Who is responsible in a safety-critical situation? What is the cause?", "category": "Safety-critical scene Understanding", "options": ["A. A pedestrian, who appeared from the left and moved to the right, obstructing the vehicle's entry into the intersection by jaywalking.", "B. A bicycle, which appeared from the right and moved to the left, crossing and preventing the vehicle's entry into the intersection.", "C. A passenger car, which turned right from the left alley and violated the signal, cutting into the lane and blocking the vehicle's entry into the intersection.", "D. An electric scooter, which suddenly entered the lane near the stop line ahead, crossing left and right and obstructing the vehicle's progress."], "answer_index": 1}
{"token": "300ba7bb9117701cb92c7064a06650a3", "waymo_split": "test", "type": "video", "frame_index": null, "question": "If the vehicle acted this way, what situation might have occurred?", "category": "Counterfactual", "options": ["A. If the vehicle changed to the left lane, it maintained a safe distance from adjacent lane vehicles.", "B. If the vehicle ignored and went straight, it collided with a safety-critical object.", "C. If the vehicle slowed down and stopped, it waited in front of the safety-critical object.", "D. If the vehicle chose to turn right, it proceeded through the intersection."], "answer_index": 1}
{"token": "300ba7bb9117701cb92c7064a06650a3", "waymo_split": "test", "type": "video", "frame_index": null, "question": "How did the safety-critical object move and how did the ego vehicle behave?", "category": "Safety-critical scene Understanding", "options": ["A. Crossed diagonally from the right sidewalk to the roadway. The ego vehicle passed through the intersection according to the signal.", "B. Merged into the left lane and drove along the edge of the road. The ego vehicle stopped in the middle of the intersection.", "C. Crossed through the crosswalk on the left sidewalk. The ego vehicle stopped before entering the intersection.", "D. Moved in the direction of travel along the front lane. The ego vehicle only slowed down and did not stop."], "answer_index": 2}
{"token": "300ba7bb9117701cb92c7064a06650a3", "waymo_split": "test", "type": "image", "frame_index": 28, "question": "Based on the current appearance of the person/vehicle (two-wheeled), how do you intend to move?", "category": "Normal Perception & Prediction", "options": ["A. Proceed straight on a single-lane road", "B. Enter the right turn lane", "C. Change to a two-lane road", "D. Wait for the left turn signal"], "answer_index": 0}
{"token": "300ba7bb9117701cb92c7064a06650a3", "waymo_split": "test", "type": "image", "frame_index": 28, "question": "Which of the following is correct as an Image Caption from the perspective of a Normal Frame?", "category": "Normal scene caption", "options": ["A. On a dark night, a car is driving on a narrow one-lane road. On the left, there are sidewalks and a row of warehouse buildings. On the right, an overpass and the space beneath it are blocked by a fence. Streetlights are present occasionally. In front, an intersection and a traffic light can be seen (red light).", "B. In the early evening, a car is moving slowly down a narrow alley. On the left, there are residential fences and parked cars lined up. On the right, there is a small warehouse and an open vacant lot, with no fence visible. There are almost no streetlights, and only the headlights illuminate the road. In front, a one-way sign and a dead-end sign can be seen.", "C. Around sunset, a car is slowly driving on a two-lane road. On the left, cafes and small shops are sparsely visible. On the right, low houses and street parking areas are connected. There are almost no streetlights, and the lights from shop signs illuminate the surroundings. In front, a T-intersection and a traffic light can be seen (green light).", "D. On a rainy night, a car is driving on a four-lane road with a central divider. On the left, a park with dense trees and a bus stop are connected. On the right, there is a commercial area and buildings with glass facades. Streetlights are dense, making the road generally bright. In front, an overpass begins, and a merging lane sign can be seen."], "answer_index": 0}
{"token": "300ba7bb9117701cb92c7064a06650a3", "waymo_split": "test", "type": "image", "frame_index": 28, "question": "What is the plan for yielding when an ambulance/fire truck approaches?", "category": "Special Event", "options": ["A. Yield by turning on emergency lights and slowing down", "B. Yield by pulling over to the right shoulder", "C. Yield by stopping in the center of the intersection", "D. Yield by pulling over to the left shoulder"], "answer_index": 1}
{"token": "300ba7bb9117701cb92c7064a06650a3", "waymo_split": "test", "type": "image", "frame_index": 28, "question": "Which of the following is a correct description of traffic density?", "category": "Normal scene Understanding", "options": ["A. No surrounding vehicles", "B. Many vehicles in front and behind", "C. Crowded lanes on the left and right", "D. A few nearby vehicles"], "answer_index": 0}
{"token": "300ba7bb9117701cb92c7064a06650a3", "waymo_split": "test", "type": "image", "frame_index": 28, "question": "What are the behavior restrictions in school zones/congested areas?", "category": "Special Event", "options": ["A. Must go fast", "B. Must drive slowly", "C. Must honk", "D. Can overtake"], "answer_index": 1}
{"token": "300ba7bb9117701cb92c7064a06650a3", "waymo_split": "test", "type": "image", "frame_index": 28, "question": "Which of the following is a correct description of traffic signals?", "category": "Traffic Signal", "options": ["A. Side of the traffic light", "B. Front of the sign", "C. Front of the traffic light", "D. Back of the traffic light"], "answer_index": 2}
{"token": "300ba7bb9117701cb92c7064a06650a3", "waymo_split": "test", "type": "image", "frame_index": 28, "question": "What is the classification of the scene?", "category": "Normal scene Understanding", "options": ["A. One-way alley in a residential area", "B. Single-lane alley in the city", "C. Narrow back road on the outskirts of the city", "D. Two-lane road with traffic in both directions in the city"], "answer_index": 1}
{"token": "300ba7bb9117701cb92c7064a06650a3", "waymo_split": "test", "type": "image", "frame_index": 28, "question": "What is the description of a non-safety-critical object?", "category": "Normal Perception & Prediction", "options": ["A. Left side public parking lot. Right side convenience store sign, crosswalk, and bollard. Straight ahead roundabout and circular flower bed. Distantly visible transmission tower and flashing warning light.", "B. Left side warehouse. Right side streetlight and overpass, fence. Straight ahead intersection and traffic light. Distantly visible high-rise building and lights.", "C. Left side gas station. Right side bus stop and pedestrian overpass, railing. Straight ahead Y-junction and signpost. Distantly visible low residential area and sign lights.", "D. Left side cargo truck loading area. Right side underpass entrance and street trees, soundproof wall. Straight ahead alley with elevation change and stop sign. Distantly visible factory chimney and smoke."], "answer_index": 1}
{"token": "300ba7bb9117701cb92c7064a06650a3", "waymo_split": "test", "type": "image", "frame_index": 28, "question": "Which of the following is a correct description of the environment?", "category": "Normal scene Understanding", "options": ["A. Clear daylight lighting is natural light, window reflection light", "B. Night lighting is car headlights, streetlights", "C. Early morning lighting is cloudy natural light, traffic lights", "D. Dusk lighting is sunset light, store signs"], "answer_index": 1}
{"token": "300ba7bb9117701cb92c7064a06650a3", "waymo_split": "test", "type": "image", "frame_index": 28, "question": "What is the answer regarding the presence of parked vehicles on the shoulder, the presence of a center line, and whether Ego has crossed the center line?", "category": "Normal Perception & Prediction", "options": ["A. There is a parked vehicle on the shoulder. There is a center line.", "B. There is no parked vehicle on the shoulder. There is a center line.", "C. There is no parked vehicle on the shoulder. There is no center line.", "D. There is a parked vehicle on the shoulder. There is no center line."], "answer_index": 2}
{"token": "300ba7bb9117701cb92c7064a06650a3", "waymo_split": "test", "type": "image", "frame_index": 28, "question": "How do you think a safety-critical object will move?", "category": "Safety-critical Prediction", "options": ["A. there is a safety-critical object", "B. safety-critical object stops in front", "C. approaches from the left of the safety-critical object", "D. there is no safety-critical object"], "answer_index": 3}
{"token": "300ba7bb9117701cb92c7064a06650a3", "waymo_split": "test", "type": "image", "frame_index": 28, "question": "Is there any other safety-critical object besides the first safety-critical object? If so, how will it be moved?", "category": "Safety-critical Prediction", "options": ["A. There is a first aid kit: move towards the aisle", "B. There are no more safety-critical objects", "C. There is a fire extinguisher: move slightly to the left", "D. There is an oxygen tank: move slowly to the back"], "answer_index": 1}
{"token": "300ba7bb9117701cb92c7064a06650a3", "waymo_split": "test", "type": "image", "frame_index": 28, "question": "What is a safety-critical object?", "category": "Safety-critical Perception", "options": ["A. safety-critical-object: a vehicle that suddenly stopped in the right lane", "B. safety-critical-object: one pedestrian ahead", "C. safety-critical-object: a bicycle approaching from the left", "D. no safety-critical-object"], "answer_index": 3}
{"token": "300ba7bb9117701cb92c7064a06650a3", "waymo_split": "test", "type": "image", "frame_index": 28, "question": "How should I drive to address the first risk while also addressing the second risk?", "category": "Safety-critical Planning", "options": ["A. Slow down for the next pedestrian safety-critical-object", "B. No next safety-critical-object", "C. Avoid the next right-side safety-critical-object", "D. Stop for the next intersection safety-critical-object"], "answer_index": 1}
{"token": "300ba7bb9117701cb92c7064a06650a3", "waymo_split": "test", "type": "image", "frame_index": 28, "question": "Is lane change possible? Which is safer between slowing down and changing lanes?", "category": "Safety-critical Planning", "options": ["A. There is space in the right lane, changing lanes is safer", "B. Lane change to the left is possible, changing lanes is safer", "C. Lane change is possible, only changing to the left is safe", "D. Lane change is not possible, slowing down is safer"], "answer_index": 3}
{"token": "300ba7bb9117701cb92c7064a06650a3", "waymo_split": "test", "type": "image", "frame_index": 28, "question": "Where is the area that hides danger in the current frame?", "category": "Uncertainty", "options": ["A. No such area", "B. Behind the left A-pillar", "C. Square in front of the hood", "D. Lower right shadow"], "answer_index": 0}
{"token": "300ba7bb9117701cb92c7064a06650a3", "waymo_split": "test", "type": "image", "frame_index": 28, "question": "What is the method to avoid the blind spot next to a large vehicle?", "category": "Special Event", "options": ["A. Merge in front of the large vehicle and detour", "B. Stay close to the right side of the truck and pass quickly", "C. Stay in the bus's blind spot and proceed slowly", "D. Unable to judge as there is no large vehicle"], "answer_index": 3}
{"token": "300ba7bb9117701cb92c7064a06650a3", "waymo_split": "test", "type": "image", "frame_index": 28, "question": "What are the new risk candidates that will be exposed in the following section?", "category": "Safety-critical Prediction", "options": ["A. None", "B. Pedestrian sudden appearance", "C. Right-side fall", "D. Falling rocks ahead"], "answer_index": 0}
{"token": "300ba7bb9117701cb92c7064a06650a3", "waymo_split": "test", "type": "image", "frame_index": 53, "question": "Which of the following is correct as an Image Caption from the perspective of Normal Frame?", "category": "Normal scene caption", "options": ["A. On a rainy night, a car is driving on a road with a central divider. On the left, there are high-rise apartment complexes, and on the right, there are commercial buildings and a convenience store. In front, a blue guide sign is visible as the tunnel entrance approaches. The tail lamp reflections stretch long on the wet road. The traffic light is not visible.", "B. On a dark night, a car is driving on a narrow one-lane road. On the left, there are sidewalks and a row of warehouse buildings. On the right, the overpass and the space beneath it are blocked by a fence. In front, a vehicle is stopped under the right overpass, and the vehicle's headlights are visible. Streetlights are present occasionally. In front, an intersection and a traffic light are visible (red signal).", "C. In the early evening, a car is driving along a wide one-way lane. On the left, parked cars are lined up, and on the right, there are low-rise houses and a playground. In front, the interior lights of a bus stopped at a bus stop are visible. Streetlights are densely lit. The intersection signal is yellow flashing.", "D. On a bright day, a car is driving on a two-lane road with traffic in both directions. On the left, there are cafes and small shops lined up. On the right, a river and a metal guardrail continue. In front, there is a crosswalk with a pedestrian signal lit in the center of the road. Instead of streetlights, there are sparse trees and signs. The traffic light in front is green."], "answer_index": 1}
{"token": "300ba7bb9117701cb92c7064a06650a3", "waymo_split": "test", "type": "image", "frame_index": 53, "question": "Based on the current appearance of the person/vehicle (two-wheeled), how do you intend to move?", "category": "Normal Perception & Prediction", "options": ["A. Make a U-turn at the intersection", "B. Turn right on a two-lane road", "C. Turn left on a one-lane road", "D. Go straight on a one-lane road"], "answer_index": 3}
{"token": "300ba7bb9117701cb92c7064a06650a3", "waymo_split": "test", "type": "image", "frame_index": 28, "question": "What is the safest choice when approaching a yellow signal: stop or proceed?", "category": "Special Event", "options": ["A. The current signal is close ahead, so proceeding is safe.", "B. The current signal is at the end of the left intersection, so stopping is unnecessary.", "C. The current signal is far ahead, making it impossible to judge.", "D. The current signal is for the right lane, which is unrelated to us."], "answer_index": 2}
{"token": "300ba7bb9117701cb92c7064a06650a3", "waymo_split": "test", "type": "image", "frame_index": 53, "question": "Which of the following is a correct description of traffic density?", "category": "Normal scene Understanding", "options": ["A. No surrounding vehicles", "B. Vehicles densely packed in adjacent lanes", "C. Many vehicles, slow speed", "D. Few surrounding vehicles"], "answer_index": 0}
{"token": "300ba7bb9117701cb92c7064a06650a3", "waymo_split": "test", "type": "image", "frame_index": 53, "question": "What is the plan for yielding when an ambulance/fire truck approaches?", "category": "Special Event", "options": ["A. Yield by pulling over to the left shoulder", "B. Yield by pulling over to the right shoulder", "C. Yield by stopping in the center of the lane", "D. Yield after driving to the intersection"], "answer_index": 1}
{"token": "300ba7bb9117701cb92c7064a06650a3", "waymo_split": "test", "type": "image", "frame_index": 53, "question": "What is the classification of the scene?", "category": "Normal scene Understanding", "options": ["A. First-class alley in a residential area", "B. Second-class road in the city center", "C. First-class alley in the city", "D. Second-class alley in the city"], "answer_index": 2}
{"token": "300ba7bb9117701cb92c7064a06650a3", "waymo_split": "test", "type": "image", "frame_index": 53, "question": "What are the behavior restrictions in school zones/congested areas?", "category": "Special Event", "options": ["A. Must turn on high beams", "B. Must drive slowly", "C. Must pass quickly", "D. Must honk the horn"], "answer_index": 1}
{"token": "300ba7bb9117701cb92c7064a06650a3", "waymo_split": "test", "type": "image", "frame_index": 53, "question": "Which of the following is a correct description of traffic signals?", "category": "Traffic Signal", "options": ["A. Side of the sign", "B. Front of the traffic light", "C. Back of the traffic light", "D. Close to the road marking"], "answer_index": 1}
{"token": "300ba7bb9117701cb92c7064a06650a3", "waymo_split": "test", "type": "image", "frame_index": 53, "question": "Which of the following descriptions about the environment is correct?", "category": "Normal scene Understanding", "options": ["A. Bright midday lighting is strong sunlight, reflected light from glass walls, and a white shade towards the park.", "B. Dusk lighting is an orange sunset, neon signs from shops, and the light from signs spreading from low-rise shops in the distance.", "C. Rainy afternoon lighting is the reflection from wet pavement, shop sign lights, and only the traffic lights at the intersection are clear in the distance.", "D. At night, the lighting comes from car headlights and streetlights, with lights coming from high-rise buildings in the distance."], "answer_index": 3}
{"token": "300ba7bb9117701cb92c7064a06650a3", "waymo_split": "test", "type": "image", "frame_index": 53, "question": "What is the description of a non-safety-critical object?", "category": "Normal Perception & Prediction", "options": ["A. Left side gas station and car wash. Right side small park with benches and street trees. Front rotary, roundabout sign. Distant mountain slopes and faint streetlight glow. Near the right underground passage entrance, a bicycle and rear light.", "B. Left side large shopping mall entrance. Right side railroad crossing with barrier and warning lights. Front tunnel entrance, speed limit sign. Distant port cranes and ship lights. Pedestrians with umbrellas on the right crosswalk.", "C. Left side warehouse. Right side streetlights and overpass, fence. Front intersection, traffic lights. Distant high-rise buildings and lights. Vehicles and headlights under the right overpass.", "D. Left side low-rise commercial area with sign lights. Right side riverside walkway with railing and street trees. Front bicycle path sign under the bridge. Distant communication tower's aviation obstruction lights. Bus waiting next to the right bus stop."], "answer_index": 2}
{"token": "300ba7bb9117701cb92c7064a06650a3", "waymo_split": "test", "type": "image", "frame_index": 53, "question": "What is a safety-critical object?", "category": "Safety-critical Perception", "options": ["A. no safety-critical object", "B. emergency power cut-off relay", "C. collision detection sensor module", "D. main brake actuator"], "answer_index": 0}
{"token": "300ba7bb9117701cb92c7064a06650a3", "waymo_split": "test", "type": "image", "frame_index": 53, "question": "What is the answer regarding the parked vehicle on the shoulder, the presence of a center line, and whether Ego crosses the center line?", "category": "Normal Perception & Prediction", "options": ["A. No parked vehicle on the shoulder. There is a center line.", "B. Two consecutive parked vehicles on the shoulder. There is a center line.", "C. No parked vehicle on the shoulder. No center line.", "D. One parked vehicle on the shoulder. No center line."], "answer_index": 2}
{"token": "300ba7bb9117701cb92c7064a06650a3", "waymo_split": "test", "type": "image", "frame_index": 53, "question": "Are there any safety-critical objects other than the first safety-critical object? If so, how will you move?", "category": "Safety-critical Prediction", "options": ["A. No next safety-critical object", "B. Next safety-critical object present: emergency exit sign, detour to the right edge", "C. Next safety-critical object present: construction barrier, move diagonally to the left", "D. Next safety-critical object present: fire hydrant, avoid to the left"], "answer_index": 0}
{"token": "300ba7bb9117701cb92c7064a06650a3", "waymo_split": "test", "type": "image", "frame_index": 53, "question": "How do you think safety-critical objects will be moved?", "category": "Safety-critical Prediction", "options": ["A. there is a safety-critical object", "B. there is no safety-critical area", "C. there is a safety-critical vehicle", "D. there is no safety-critical object"], "answer_index": 3}
{"token": "300ba7bb9117701cb92c7064a06650a3", "waymo_split": "test", "type": "image", "frame_index": 53, "question": "How should I drive to address the first risk while also addressing the second risk?", "category": "Safety-critical Planning", "options": ["A. Next safety-critical-object is a stopped vehicle ahead", "B. Next safety-critical-object is a pedestrian approaching from the right", "C. Next safety-critical-object is merging into the left lane", "D. Next safety-critical-object is none"], "answer_index": 3}
{"token": "300ba7bb9117701cb92c7064a06650a3", "waymo_split": "test", "type": "image", "frame_index": 53, "question": "Where is the area that hides danger by being obscured in the current frame?", "category": "Uncertainty", "options": ["A. No such area", "B. Behind the front barrier", "C. Behind the left bus", "D. Next to the right truck"], "answer_index": 0}
{"token": "300ba7bb9117701cb92c7064a06650a3", "waymo_split": "test", "type": "image", "frame_index": 53, "question": "What is the method to avoid the blind spot next to a large vehicle?", "category": "Special Event", "options": ["A. Maintain a blind spot behind the large vehicle", "B. Cannot judge because there is no large vehicle", "C. Pass through the left blind spot of the large vehicle", "D. Overtake by staying close to the right side of the large vehicle"], "answer_index": 1}
{"token": "300ba7bb9117701cb92c7064a06650a3", "waymo_split": "test", "type": "image", "frame_index": 53, "question": "Is lane changing possible? Which is safer between slowing down and changing lanes?", "category": "Safety-critical Planning", "options": ["A. Lane changing is possible, changing lanes is safer than slowing down", "B. Left lane changing is possible, changing lanes is safer", "C. Lane changing is not possible, slowing down is safer", "D. Lane changing is possible, changing lanes is safer"], "answer_index": 2}
{"token": "300ba7bb9117701cb92c7064a06650a3", "waymo_split": "test", "type": "image", "frame_index": 53, "question": "What are the new exposure risk candidates in the following section?", "category": "Safety-critical Prediction", "options": ["A. Falling rocks", "B. None", "C. Jaywalking pedestrians", "D. Wrong-way vehicles"], "answer_index": 1}
{"token": "300ba7bb9117701cb92c7064a06650a3", "waymo_split": "test", "type": "image", "frame_index": 81, "question": "What is the plan for yielding when an ambulance/fire truck approaches?", "category": "Special Event", "options": ["A. Pull over to the right shoulder and yield", "B. Pull over to the left shoulder and yield", "C. Turn on hazard lights and slow down to yield", "D. Pull over towards the center line and stop"], "answer_index": 0}
{"token": "300ba7bb9117701cb92c7064a06650a3", "waymo_split": "test", "type": "image", "frame_index": 81, "question": "Which of the following is a correct description of traffic density?", "category": "Normal scene Understanding", "options": ["A. No surrounding vehicles", "B. One surrounding vehicle", "C. One vehicle behind", "D. Two surrounding vehicles"], "answer_index": 1}
{"token": "300ba7bb9117701cb92c7064a06650a3", "waymo_split": "test", "type": "image", "frame_index": 81, "question": "Based on the current appearance of the person/vehicle (two-wheeled), how do you intend to move?", "category": "Normal Perception & Prediction", "options": ["A. Right turn on a single-lane road", "B. Left turn on a two-lane road", "C. Go straight on a single-lane road", "D. Go straight on a two-lane road"], "answer_index": 2}
{"token": "300ba7bb9117701cb92c7064a06650a3", "waymo_split": "test", "type": "image", "frame_index": 81, "question": "What are the behavior restrictions in school zones/congested areas?", "category": "Special Event", "options": ["A. Overtaking is allowed", "B. Horns can be used frequently", "C. Maintain speed", "D. Must drive slowly"], "answer_index": 3}
{"token": "300ba7bb9117701cb92c7064a06650a3", "waymo_split": "test", "type": "image", "frame_index": 81, "question": "Which of the following is a correct description of traffic signals?", "category": "Traffic Signal", "options": ["A. In front of the traffic light", "B. In front of the sign", "C. Behind the traffic light", "D. On the side of the traffic light"], "answer_index": 0}
{"token": "300ba7bb9117701cb92c7064a06650a3", "waymo_split": "test", "type": "image", "frame_index": 81, "question": "What is the classification of the scene?", "category": "Normal scene Understanding", "options": ["A. First-class alley in the city", "B. Second-class alley in the city", "C. Pedestrian-only alley in the city center", "D. First-class side road in a residential area"], "answer_index": 0}
{"token": "300ba7bb9117701cb92c7064a06650a3", "waymo_split": "test", "type": "image", "frame_index": 81, "question": "What is the answer regarding parked vehicles on the shoulder, the presence of a center line, and whether Ego crosses the center line?", "category": "Normal Perception & Prediction", "options": ["A. No parked vehicles on the shoulder. There is a center line.", "B. No parked vehicles on the shoulder. No center line.", "C. There is a parked vehicle on the shoulder. Solid center line.", "D. One parked vehicle on the shoulder. Dashed center line."], "answer_index": 1}
{"token": "300ba7bb9117701cb92c7064a06650a3", "waymo_split": "test", "type": "image", "frame_index": 81, "question": "Which of the following descriptions about the environment is correct?", "category": "Normal scene Understanding", "options": ["A. Clear midday, the lighting is direct sunlight and reflections from glass walls, with the distant park fountain shimmering in the light.", "B. Early morning, the lighting is soft dawn sunlight and convenience store signs, with orange light seeping from the windows of low-rise residential areas in the distance.", "C. Night. The lighting is from car headlights and streetlights. In the distance, lights are coming from high-rise buildings.", "D. At sunset, the lighting is from a red sunset and neon signs of shops, with the taillights of vehicles on a bridge in the distance."], "answer_index": 2}
{"token": "300ba7bb9117701cb92c7064a06650a3", "waymo_split": "test", "type": "image", "frame_index": 81, "question": "What is a safety-critical object?", "category": "Safety-critical Perception", "options": ["A. Emergency stop button module", "B. No safety-critical object", "C. Brake control module", "D. Safety interlock switch"], "answer_index": 1}
{"token": "300ba7bb9117701cb92c7064a06650a3", "waymo_split": "test", "type": "image", "frame_index": 81, "question": "Are there any safety-critical objects other than the first safety-critical object? If so, how will you move?", "category": "Safety-critical Prediction", "options": ["A. No more safety-critical objects", "B. Check the next safety-critical object, wait to reverse", "C. Detect the next safety-critical object, avoid forward", "D. There is a next safety-critical object, bypass to the left"], "answer_index": 0}
{"token": "300ba7bb9117701cb92c7064a06650a3", "waymo_split": "test", "type": "image", "frame_index": 81, "question": "How should I drive to address the first risk while also addressing the second risk?", "category": "Safety-critical Planning", "options": ["A. To the left of the next safety-critical object", "B. In front of the next safety-critical object", "C. No next safety-critical object", "D. Next safety-critical object is a pedestrian"], "answer_index": 2}
{"token": "300ba7bb9117701cb92c7064a06650a3", "waymo_split": "test", "type": "image", "frame_index": 81, "question": "Where is the area that hides danger in the current frame?", "category": "Uncertainty", "options": ["A. Beyond the right SUV", "B. Behind the left truck", "C. No such area", "D. Behind the corner of the intersection"], "answer_index": 2}
{"token": "300ba7bb9117701cb92c7064a06650a3", "waymo_split": "test", "type": "image", "frame_index": 81, "question": "What are the new exposure risk candidates in the following interval?", "category": "Safety-critical Prediction", "options": ["A. Falling objects", "B. Electric shock", "C. Falling", "D. None"], "answer_index": 3}
{"token": "300ba7bb9117701cb92c7064a06650a3", "waymo_split": "test", "type": "image", "frame_index": 81, "question": "What is the safer choice just before entering a yellow signal: stop or proceed?", "category": "Special Event", "options": ["A. It is impossible to determine if the current signal is red.", "B. The current signal is yellow, so slow down and proceed.", "C. The current signal is green, so continue as is.", "D. It is safer to proceed as you are close to the stop line."], "answer_index": 0}
{"token": "300ba7bb9117701cb92c7064a06650a3", "waymo_split": "test", "type": "image", "frame_index": 81, "question": "Is lane changing possible? Which is safer between deceleration and lane changing?", "category": "Safety-critical Planning", "options": ["A. Lane changing allowed, merging left is safer", "B. Lane changing recommended, accelerating is safer", "C. Lane changing possible, changing to the right is safer", "D. Lane changing not allowed, deceleration is safer"], "answer_index": 3}
{"token": "300ba7bb9117701cb92c7064a06650a3", "waymo_split": "test", "type": "image", "frame_index": 125, "question": "Which of the following is correct as an Image Caption from a Safety-critical Frame perspective?", "category": "Safety-critical scene caption", "options": ["A. A bicycle coming from the right sidewalk is moving straight alongside the right lane. (Only the handle is slightly visible) The vehicle is accelerating and is expected to exit the intersection before the signal changes.", "B. A bicycle that appeared from the right sidewalk is traveling towards the left sidewalk. (Only part of the bicycle's body is visible). The vehicle is currently decelerating and is expected to stop before entering the intersection.", "C. A bicycle coming down from the left sidewalk is crossing towards the right sidewalk. (The entire bicycle is clearly visible) The vehicle is expected to maintain speed and pass through the intersection.", "D. A pedestrian is starting to cross from the right sidewalk. (The bicycle is not visible) The vehicle has already crossed the stop line and entered the intersection."], "answer_index": 1}
{"token": "300ba7bb9117701cb92c7064a06650a3", "waymo_split": "test", "type": "image", "frame_index": 125, "question": "What are the behavior restrictions in school zones/congested areas?", "category": "Special Event", "options": ["A. Must accelerate", "B. Must honk", "C. Must overtake on the left", "D. Must drive slowly"], "answer_index": 3}
{"token": "300ba7bb9117701cb92c7064a06650a3", "waymo_split": "test", "type": "image", "frame_index": 125, "question": "Based on the current appearance of the person/vehicle (two-wheeled), how are they trying to move?", "category": "Normal Perception & Prediction", "options": ["A. Accelerating to go straight through the intersection", "B. Decelerating and getting closer to the intersection", "C. Moving to the right edge and trying to stop temporarily", "D. Moving to the left lane and preparing to turn left"], "answer_index": 1}
{"token": "300ba7bb9117701cb92c7064a06650a3", "waymo_split": "test", "type": "image", "frame_index": 125, "question": "What is the plan for yielding when an ambulance/fire truck approaches?", "category": "Special Event", "options": ["A. Pull over to the right shoulder and yield", "B. Drive with only the hazard lights on", "C. Pull over to the left shoulder and yield", "D. Stop in the center of the intersection and yield"], "answer_index": 0}
{"token": "300ba7bb9117701cb92c7064a06650a3", "waymo_split": "test", "type": "image", "frame_index": 125, "question": "What is the classification of the scene?", "category": "Normal scene Understanding", "options": ["A. Residential area", "B. City", "C. Highway", "D. Unpaved"], "answer_index": 1}
{"token": "300ba7bb9117701cb92c7064a06650a3", "waymo_split": "test", "type": "image", "frame_index": 125, "question": "What is the description of non-safety-critical objects?", "category": "Normal Perception & Prediction", "options": ["A. Left side convenience store and banner. Right side subway exit, elevator, railing, bicycle rack. Front narrow alley, mural, uphill. Construction site barrier and work lights across the intersection.", "B. Left side gas station entrance. Right side park fence and bench, utility pole, flower bed. Front rotary, circular flower bed, right turn sign. Low-rise houses and dark alley across the intersection.", "C. Left side cafe exterior. Right side bus stop and billboard, street trees, safety fence. Front T-junction, guide sign, bus-only lane. Low-rise commercial buildings and sign lights across the intersection.", "D. Left side warehouse. Right side streetlight and overpass, pillar, fence. Front intersection, traffic light, crosswalk. High-rise building and lights across the intersection."], "answer_index": 3}
{"token": "300ba7bb9117701cb92c7064a06650a3", "waymo_split": "test", "type": "image", "frame_index": 125, "question": "Which of the following is a correct description of traffic density?", "category": "Normal scene Understanding", "options": ["A. Few surrounding vehicles. Fast", "B. No surrounding vehicles. Slow", "C. Many vehicles on the left and right. Fast", "D. Vehicles in front and behind. Slow"], "answer_index": 1}
{"token": "300ba7bb9117701cb92c7064a06650a3", "waymo_split": "test", "type": "image", "frame_index": 125, "question": "Which of the following descriptions about the environment is correct?", "category": "Normal scene Understanding", "options": ["A. Night. The lighting comes from car headlights, streetlights, and the lights from buildings across the intersection.", "B. Clear daytime. The lighting comes from natural light, vehicle brake lights, and the red light of the pedestrian signal in the center island of the intersection.", "C. Rainy dawn. The lighting comes from streetlights and neon signs, and the light reflected on the crosswalk sign at the intersection.", "D. Dusk. The lighting comes from the glow of the sunset and store signs, and the reflected light from the glass windows of buildings on the same side of the intersection."], "answer_index": 0}
{"token": "300ba7bb9117701cb92c7064a06650a3", "waymo_split": "test", "type": "image", "frame_index": 125, "question": "Which of the following is a correct description of traffic signals?", "category": "Traffic Signal", "options": ["A. Traffic light in front, signaling to the vehicle with a red light. Road and direction guide signs in front.", "B. Pedestrian traffic light in front, indicating pedestrian crossing with a blue light. Construction area guide sign on the right.", "C. Top left traffic light, indicating a left turn with a left turn arrow. Bus lane markings on the road ahead.", "D. Traffic light in front, guiding the vehicle to proceed with a green light. Speed limit sign on the right in front."], "answer_index": 0}
{"token": "300ba7bb9117701cb92c7064a06650a3", "waymo_split": "test", "type": "image", "frame_index": 125, "question": "What is a safety-critical object?", "category": "Safety-critical Perception", "options": ["A. A motorcycle entering the right shoulder", "B. A pedestrian stopped at the crosswalk in front", "C. A bicycle appearing from the right sidewalk", "D. A passenger car moving slowly in the left lane"], "answer_index": 2}
{"token": "300ba7bb9117701cb92c7064a06650a3", "waymo_split": "test", "type": "image", "frame_index": 125, "question": "What is the answer regarding the presence of parked vehicles on the shoulder, the presence of a center line, and whether Ego has crossed the center line?", "category": "Normal Perception & Prediction", "options": ["A. There is a parked vehicle on the shoulder. There is a center line.", "B. There is one parked vehicle on the shoulder. There is a center line.", "C. There are no parked vehicles on the shoulder. There is no center line.", "D. There is a parked vehicle on the shoulder. There is no center line."], "answer_index": 2}
{"token": "300ba7bb9117701cb92c7064a06650a3", "waymo_split": "test", "type": "image", "frame_index": 125, "question": "How do you think a safety-critical object will move?", "category": "Safety-critical Prediction", "options": ["A. It seems like it will move along the bike path on a front-facing bicycle.", "B. It seems like it will cross using the overpass on the right sidewalk.", "C. It seems like it will cross through the crosswalk on the left sidewalk.", "D. It seems like it will merge into the lane on the left and go straight."], "answer_index": 2}
{"token": "300ba7bb9117701cb92c7064a06650a3", "waymo_split": "test", "type": "image", "frame_index": 125, "question": "Is lane change possible? Which is safer between slowing down and changing lanes?", "category": "Safety-critical Planning", "options": ["A. It is possible to move to the right lane, changing lanes is safer", "B. Lane change is possible, changing lanes is safer", "C. It is possible to change to the left lane, changing lanes is safer", "D. Lane change is not possible, slowing down is safer"], "answer_index": 3}
{"token": "300ba7bb9117701cb92c7064a06650a3", "waymo_split": "test", "type": "image", "frame_index": 125, "question": "What should I do to drive safely?", "category": "Safety-critical Planning", "options": ["A. If there is no signal, the vehicle should honk and proceed.", "B. The vehicle should stop after checking the surroundings beyond the stop line.", "C. The vehicle should slow down and stop just before the crosswalk.", "D. The vehicle should stop on the crosswalk and then start again."], "answer_index": 2}
{"token": "300ba7bb9117701cb92c7064a06650a3", "waymo_split": "test", "type": "image", "frame_index": 125, "question": "Is there any safety-critical object other than the first safety-critical object? If so, how will you move?", "category": "Safety-critical Prediction", "options": ["A. There is a next safety-critical object, proceed slowly while staying close to the right edge.", "B. There is a next safety-critical object, reduce speed and pass straight through.", "C. Next safety-critical object detected, stop briefly and slightly evade to the left.", "D. There is no next safety-critical object."], "answer_index": 3}
{"token": "300ba7bb9117701cb92c7064a06650a3", "waymo_split": "test", "type": "image", "frame_index": 125, "question": "What is the correlation in safety-critical situations?", "category": "Safety-critical scene Understanding", "options": ["A. Two-wheeler - Pedestrian", "B. Vehicle - Motorcycle", "C. Vehicle - Bicycle", "D. Vehicle - Pedestrian"], "answer_index": 2}
{"token": "300ba7bb9117701cb92c7064a06650a3", "waymo_split": "test", "type": "image", "frame_index": 125, "question": "How should I drive to resolve the first risk while also addressing the second risk?", "category": "Safety-critical Planning", "options": ["A. Avoid the left safety-critical object", "B. Stop at the first safety-critical object", "C. Slow down at the next safety-critical object", "D. No next safety-critical object"], "answer_index": 3}
{"token": "300ba7bb9117701cb92c7064a06650a3", "waymo_split": "test", "type": "image", "frame_index": 125, "question": "What is the safest choice just before entering a yellow signal: stop vs. proceed?", "category": "Special Event", "options": ["A. Ensure visibility at the intersection, maintain speed", "B. Approaching signal change, proceed slowly", "C. Currently at a red signal, unable to judge", "D. Braking distance is secured, stop immediately"], "answer_index": 2}
{"token": "300ba7bb9117701cb92c7064a06650a3", "waymo_split": "test", "type": "image", "frame_index": 125, "question": "Who is responsible in a safety-critical situation? What is the cause?", "category": "Safety-critical scene Understanding", "options": ["A. The cause was a pedestrian suddenly entering the roadway by crossing the center line, while my vehicle was proceeding straight through the intersection on a green light.", "B. The cause was a bicycle appearing in the right blind spot. My vehicle was already slowing down to stop before entering the intersection on a red light.", "C. The cause was a passenger car in the left lane changing lanes abruptly without signaling. My vehicle was driving within the speed limit and had the right of way.", "D. The cause was a motorcycle approaching in the wrong direction and crossing the stop line. My vehicle was slowly entering the intersection on a right turn signal."], "answer_index": 1}
{"token": "300ba7bb9117701cb92c7064a06650a3", "waymo_split": "test", "type": "image", "frame_index": 125, "question": "Where is the area that is hidden and conceals danger in the current frame?", "category": "Uncertainty", "options": ["A. Sidewalk hidden by buildings or pillars on the left and right", "B. Merge lane hidden by a truck parked in front", "C. Bicycle lane hidden by a construction barrier on the left", "D. Entrance to the crosswalk hidden by a bus parked on the right"], "answer_index": 0}
{"token": "300ba7bb9117701cb92c7064a06650a3", "waymo_split": "test", "type": "image", "frame_index": 125, "question": "What are the new potential hazards that may be exposed in the following area?", "category": "Safety-critical Prediction", "options": ["A. A motorcycle coming in the wrong direction from the left alley", "B. A passenger car approaching from the opposite lane while crossing the center line", "C. A bus hastily merging into the lane from the right stop", "D. A person that may appear on the sidewalk obscured by buildings or poles on either side"], "answer_index": 3}
{"token": "300ba7bb9117701cb92c7064a06650a3", "waymo_split": "test", "type": "image", "frame_index": 125, "question": "What situation might occur if the vehicle acted this way?", "category": "Counterfactual", "options": ["A. If the vehicle accelerates while turning right, there is a risk of contact when a motorcycle cuts in at the center of the lane.", "B. If the vehicle accelerates straight, there is a risk of collision when a bicycle crosses on the left sidewalk.", "C. If the vehicle makes a sudden stop, there is a risk of collision when the bicycle in front swerves to the right sidewalk.", "D. If the vehicle slows down while turning left, there is a risk of collision when a pedestrian enters from the right sidewalk."], "answer_index": 1}
{"token": "300ba7bb9117701cb92c7064a06650a3", "waymo_split": "test", "type": "image", "frame_index": 125, "question": "What is the guideline for the vehicle's behavior based on the actions of a safety-critical object?", "category": "Safety-critical Planning", "options": ["A. If a bicycle turns right and enters the lane next to the vehicle through the roadway, the vehicle must maintain its speed and go first.", "B. If a bicycle turns left and approaches the vehicle's side through the roadway, the vehicle must make an emergency stop.", "C. If a bicycle turns left and approaches the vehicle's side through the roadway, the vehicle must gradually slow down and pass.", "D. If a bicycle turns left and approaches the vehicle's side through the roadway, the vehicle must immediately change lanes to avoid."], "answer_index": 1}
{"token": "300ba7bb9117701cb92c7064a06650a3", "waymo_split": "test", "type": "image", "frame_index": 125, "question": "What is the method to avoid the blind spot next to a large vehicle?", "category": "Special Event", "options": ["A. Proceed closely behind the large vehicle", "B. Pass on the right side of the large vehicle", "C. Quickly pass to the left of the large vehicle", "D. Unable to judge as there is no large vehicle"], "answer_index": 3}
{"token": "300ba7bb9117701cb92c7064a06650a3", "waymo_split": "test", "type": "image", "frame_index": 125, "question": "What potential situations could occur in the current scenario?", "category": "Counterfactual", "options": ["A. The bicycle will come down from the right sidewalk to the right roadway and merge into the straight lane.", "B. The bicycle will cross from the right sidewalk to the left sidewalk through the crosswalk and continue straight to cross the roadway.", "C. The pedestrian will cross from the right sidewalk to the left sidewalk at the crosswalk according to the signal.", "D. The bicycle will cross from the left sidewalk to the right sidewalk through the crosswalk and continue straight to cross the roadway."], "answer_index": 1}
{"token": "300ba7bb9117701cb92c7064a06650a3", "waymo_split": "test", "type": "image", "frame_index": 148, "question": "What is correct as an Image Caption from the perspective of Safety-critical Frame?", "category": "Safety-critical scene caption", "options": ["A. A motorcycle (with a person riding) is currently driving just past the crosswalk in the left lane.", "B. Two pedestrians are seen crossing the crosswalk from left to right. The vehicle is currently moving slowly and approaching the crosswalk.", "C. A bicycle (with a person riding) is crossing the crosswalk from right to left. The vehicle is currently stopped in front of the crosswalk.", "D. A bicycle (unmanned) is waiting in front of the crosswalk from right to left. The vehicle is currently passing through the intersection."], "answer_index": 2}
{"token": "300ba7bb9117701cb92c7064a06650a3", "waymo_split": "test", "type": "image", "frame_index": 148, "question": "Based on the current appearance of the person/vehicle (two-wheeled), how do you intend to move?", "category": "Normal Perception & Prediction", "options": ["A. Pass through the intersection with straight acceleration", "B. Enter slowly with a right turn", "C. Enter the intersection with a left turn", "D. Maintain a stop before entering the intersection"], "answer_index": 3}
{"token": "300ba7bb9117701cb92c7064a06650a3", "waymo_split": "test", "type": "image", "frame_index": 148, "question": "What is the plan for yielding when an ambulance/fire truck approaches?", "category": "Special Event", "options": ["A. Maintain the current stop position (difficult to yield)", "B. Turn on emergency lights and proceed slowly to the right edge (waiting on the side)", "C. Increase speed to pass the intersection first (securing the lane)", "D. Change to the left lane and proceed (encouraging overtaking)"], "answer_index": 0}
{"token": "300ba7bb9117701cb92c7064a06650a3", "waymo_split": "test", "type": "image", "frame_index": 148, "question": "What are the behavior restrictions in school zones/congested areas?", "category": "Special Event", "options": ["A. Must drive slowly", "B. Must turn on high beams", "C. Must overtake", "D. Must increase speed"], "answer_index": 0}
{"token": "300ba7bb9117701cb92c7064a06650a3", "waymo_split": "test", "type": "image", "frame_index": 148, "question": "What are the classifications of scenes?", "category": "Normal scene Understanding", "options": ["A. Residential area, side road", "B. Highway, interchange", "C. Unpaved, rural road", "D. City, intersection"], "answer_index": 3}
{"token": "300ba7bb9117701cb92c7064a06650a3", "waymo_split": "test", "type": "image", "frame_index": 148, "question": "Which of the following descriptions about the environment is correct?", "category": "Normal scene Understanding", "options": ["A. Midday / Lighting is strong sunlight, body reflection / Sunlight bouncing off the glass of the building across the street", "B. Night. Lighting is from car headlights, streetlights. Light coming from buildings across the intersection", "C. Cloudy afternoon / Lighting is cloudy natural light, no neon signs / Light faintly spreading on the wet pavement", "D. Dusk / Lighting is from a low sunset, shop signs are mostly off / Shadows at the intersection are elongated"], "answer_index": 1}
{"token": "300ba7bb9117701cb92c7064a06650a3", "waymo_split": "test", "type": "image", "frame_index": 148, "question": "Which of the following is a correct description of traffic signals?", "category": "Traffic Signal", "options": ["A. Traffic light in front, green signal. Dedicated left turn arrow on the road.", "B. Traffic light on the left, green signal. No parking sign on the left.", "C. Traffic light in front, red signal. Road and direction guide sign in front.", "D. Traffic light on the right, yellow flashing. Speed limit 50 sign in front."], "answer_index": 2}
{"token": "300ba7bb9117701cb92c7064a06650a3", "waymo_split": "test", "type": "image", "frame_index": 148, "question": "Is there a blind spot in your field of vision?", "category": "Uncertainty", "options": ["A. The entry lane obscured by the trees on the right is a blind spot.", "B. The narrow bicycle lane behind the central divider is a blind spot.", "C. Part of the roadway behind the parked truck on the right is a blind spot.", "D. The narrow sidewalk obscured by the building on the left is a blind spot."], "answer_index": 3}
{"token": "300ba7bb9117701cb92c7064a06650a3", "waymo_split": "test", "type": "image", "frame_index": 148, "question": "How do you think safety-critical objects should be moved?", "category": "Safety-critical Prediction", "options": ["A. Follow the bike lane", "B. Go back on the road", "C. Go up on the sidewalk", "D. Cross the crosswalk"], "answer_index": 3}
{"token": "300ba7bb9117701cb92c7064a06650a3", "waymo_split": "test", "type": "image", "frame_index": 148, "question": "Is there any safety-critical object other than the first safety-critical object? If so, how will you move?", "category": "Safety-critical Prediction", "options": ["A. There is a next safety-critical object, pause and pass on the left", "B. There is a next safety-critical object, change to the right lane", "C. There is a next safety-critical object, slow down and avoid by going straight", "D. There is no next safety-critical object"], "answer_index": 3}
{"token": "300ba7bb9117701cb92c7064a06650a3", "waymo_split": "test", "type": "image", "frame_index": 148, "question": "How should I drive to resolve the first risk while also addressing the second risk?", "category": "Safety-critical Planning", "options": ["A. No next safety-critical object", "B. Slow down and pass on the left of the next safety-critical object", "C. Stop in front of the stop line at the next safety-critical object", "D. Avoid the next safety-critical object by moving to the right lane"], "answer_index": 0}
{"token": "300ba7bb9117701cb92c7064a06650a3", "waymo_split": "test", "type": "image", "frame_index": 148, "question": "What should I do to drive safely?", "category": "Safety-critical Planning", "options": ["A. Proceed after slightly crossing the stop line to secure visibility (observe the intersection situation and pass when there's an opportunity)", "B. Alert others with the horn and enter first (bicycles yield when they notice, so pass quickly)", "C. Maintain a stopped position until the bicycle has completely passed. (It is obvious to remain stopped since the signal is already red)", "D. Pass slowly while maintaining distance from the bicycle (to avoid disrupting the flow, it's better to move a little)"], "answer_index": 2}
{"token": "300ba7bb9117701cb92c7064a06650a3", "waymo_split": "test", "type": "image", "frame_index": 148, "question": "What is a safety-critical object?", "category": "Safety-critical Perception", "options": ["A. A bicycle currently crossing the crosswalk right in front.", "B. A pedestrian currently waiting in front of the crosswalk on the opposite side.", "C. A gray sedan currently merging slightly into the adjacent lane.", "D. An electric scooter currently standing at the right edge of the road."], "answer_index": 0}
{"token": "300ba7bb9117701cb92c7064a06650a3", "waymo_split": "test", "type": "image", "frame_index": 148, "question": "What is the correlation in safety-critical situations?", "category": "Safety-critical scene Understanding", "options": ["A. Vehicle - Pedestrian", "B. Vehicle - Bicycle", "C. Two-wheeler - Vehicle", "D. Pedestrian - Two-wheeler"], "answer_index": 1}
{"token": "300ba7bb9117701cb92c7064a06650a3", "waymo_split": "test", "type": "image", "frame_index": 148, "question": "Is lane change possible? Which is safer between deceleration and lane change?", "category": "Safety-critical Planning", "options": ["A. Lane change possible (avoid to the left). Deceleration is safer (can reduce speed)", "B. Lane change possible. Acceleration is safer", "C. Lane change possible (recommended to the right). Lane change is safer (ample space behind)", "D. Lane change not possible. Deceleration not possible (already stopped)"], "answer_index": 3}
{"token": "300ba7bb9117701cb92c7064a06650a3", "waymo_split": "test", "type": "image", "frame_index": 148, "question": "What is the safest choice when approaching a yellow signal: stop vs. proceed?", "category": "Special Event", "options": ["A. The intersection is clear, safe to proceed", "B. Insufficient stopping distance, prioritize proceeding", "C. Currently at a red signal, unable to judge", "D. Currently at a yellow signal, slow down and proceed"], "answer_index": 2}
{"token": "300ba7bb9117701cb92c7064a06650a3", "waymo_split": "test", "type": "image", "frame_index": 148, "question": "What are the potential new exposure risks in the following area?", "category": "Safety-critical Prediction", "options": ["A. A motorcycle that can squeeze through the central divider opening.", "B. A vehicle that can suddenly enter from the right parking lot exit.", "C. A bicycle that can emerge from the blind spot at the corner of the alley ahead.", "D. A person that can appear on the narrow sidewalk obscured by the building on the left."], "answer_index": 3}
{"token": "300ba7bb9117701cb92c7064a06650a3", "waymo_split": "test", "type": "image", "frame_index": 148, "question": "What is the method to avoid the blind spot next to a large vehicle?", "category": "Special Event", "options": ["A. Enter by only looking at the side mirror", "B. Drive close to the large vehicle", "C. Unable to judge due to the absence of a large vehicle", "D. Quickly pass through the blind spot"], "answer_index": 2}
{"token": "300ba7bb9117701cb92c7064a06650a3", "waymo_split": "test", "type": "image", "frame_index": 148, "question": "Where is the area that is hidden and conceals danger in the current frame?", "category": "Uncertainty", "options": ["A. The opposite lane merge area hidden by the central divider", "B. The sidewalk behind the bus stop hidden in front", "C. The short crosswalk hidden by the right lane of vehicles", "D. The narrow sidewalk hidden by the building on the left"], "answer_index": 3}
{"token": "300ba7bb9117701cb92c7064a06650a3", "waymo_split": "test", "type": "image", "frame_index": 148, "question": "Who is responsible in a safety-critical situation? What is the cause?", "category": "Safety-critical scene Understanding", "options": ["A. The cause is that the pedestrian suddenly jumped out from outside the left crosswalk, while my vehicle was maintaining speed in accordance with the green signal and passing through the intersection.", "B. The cause is that a bicycle appeared in the right blind spot. My vehicle was already slowing down to stop in accordance with the red signal before entering the intersection.", "C. The cause is that a motorcycle overtook from the rear right while encroaching on the lane. My vehicle was supposed to enter slowly in accordance with the left turn signal.", "D. The cause is the sudden braking of the vehicle in front and the failure to turn on the hazard lights. My vehicle accelerated upon seeing the yellow signal and continued to enter the intersection."], "answer_index": 1}
{"token": "300ba7bb9117701cb92c7064a06650a3", "waymo_split": "test", "type": "image", "frame_index": 148, "question": "What situation might occur if the self-driving car behaved like this?", "category": "Counterfactual", "options": ["A. If the self-driving car suddenly reverses, there is a risk of contact with pedestrians.", "B. If the self-driving car suddenly changes lanes, there is a risk of contact with motorcycles.", "C. If the self-driving car suddenly brakes, there is a risk of collision with the car behind.", "D. If the self-driving car suddenly accelerates, there is a risk of collision with bicycles."], "answer_index": 3}
{"token": "301102408e3be146b02a002d287854e6", "waymo_split": "test", "type": "video", "frame_index": null, "question": "Is there a special situation?", "category": "Special Event", "options": ["A. While the school bus is stopped", "B. Narrowing of the lane due to construction cones", "C. Emergency vehicle approaching", "D. None"], "answer_index": 3}
{"token": "301102408e3be146b02a002d287854e6", "waymo_split": "test", "type": "video", "frame_index": null, "question": "What is the classification of the scene?", "category": "Normal scene Understanding", "options": ["A. Highway entrance", "B. Unpaved intersection", "C. City intersection", "D. Residential alley"], "answer_index": 2}
{"token": "301102408e3be146b02a002d287854e6", "waymo_split": "test", "type": "video", "frame_index": null, "question": "Where is the safety-critical situation in the video?", "category": "Temporal Grounding", "options": ["A. 1/4", "B. 2/4", "C. 3/4", "D. 4/4"], "answer_index": 3}
{"token": "301102408e3be146b02a002d287854e6", "waymo_split": "test", "type": "video", "frame_index": null, "question": "Which of the following is a correct description of road alignment?", "category": "Normal Perception & Prediction", "options": ["A. Intersection (the vehicle has a non-protected left turn)", "B. Roundabout (the vehicle has a right turn)", "C. Crossroad (the vehicle goes straight)", "D. T-junction (the vehicle has a left turn)"], "answer_index": 2}
{"token": "301102408e3be146b02a002d287854e6", "waymo_split": "test", "type": "video", "frame_index": null, "question": "Which of the following is a correct description of traffic density?", "category": "Normal scene Understanding", "options": ["A. Fast. The straight section before the intersection has enough space on flat ground.", "B. Fast. The road turning left at the intersection ahead is downhill.", "C. Slow. The road going straight at the intersection ahead is uphill.", "D. Fast. There are almost no surrounding vehicles, so the flow is unobstructed."], "answer_index": 2}
{"token": "301102408e3be146b02a002d287854e6", "waymo_split": "test", "type": "video", "frame_index": null, "question": "Which of the following is a correct description of the environment?", "category": "Normal scene Understanding", "options": ["A. Morning, fog", "B. Night, clear", "C. Day, cloudy", "D. Evening, rain"], "answer_index": 2}
{"token": "301102408e3be146b02a002d287854e6", "waymo_split": "test", "type": "video", "frame_index": null, "question": "Is there a blind spot in your field of vision?", "category": "Uncertainty", "options": ["A. Slightly present", "B. Present", "C. On the left", "D. None"], "answer_index": 3}
{"token": "301102408e3be146b02a002d287854e6", "waymo_split": "test", "type": "video", "frame_index": null, "question": "What is the description of a non-safety-critical object?", "category": "Normal Perception & Prediction", "options": ["A. Traffic lights and road signs at an intersection. Numerous parked vehicles on the shoulders of each road at the intersection. Residential areas exist at each corner block. A vehicle is stopped behind my car, trying to follow it.", "B. A flower bed and a small sculpture in the center median of a rotary. Shops are lined up on both sides of a T-shaped junction. Signs for cafes and convenience stores are visible at each corner. A bicycle is briefly stopped in the right lane ahead of my car.", "C. An entrance sign and directional guidance for an underpass under an overpass. Office buildings and a parking tower are located at each corner. Several people are waiting at the bus stop. A delivery motorcycle is stopped with its turn signal on in front of my car.", "D. Instead of a crosswalk, there are signs for a pedestrian overpass and stairs. Electric scooter racks are continuously placed along the edge of the lane. The intersection is surrounded by a small park and tree-lined streets. An empty taxi is slowly moving in the left lane of my car."], "answer_index": 0}
{"token": "301102408e3be146b02a002d287854e6", "waymo_split": "test", "type": "video", "frame_index": null, "question": "Which of the following is a correct description of traffic signals?", "category": "Traffic Signal", "options": ["A. One-way sign and center line", "B. Intersection traffic lights and crosswalk", "C. Four-way traffic lights and bicycle crossing", "D. Roundabout sign and right turn only lane"], "answer_index": 1}
{"token": "301102408e3be146b02a002d287854e6", "waymo_split": "test", "type": "video", "frame_index": null, "question": "What is the answer regarding parked vehicles on the shoulder, the presence of a center line, and whether Ego crosses the center line?", "category": "Normal Perception & Prediction", "options": ["A. There are no parked vehicles on the shoulder, and the center line is clearly marked.", "B. There is a parked vehicle on the shoulder only on one approach to the intersection.", "C. There are parked vehicles on the shoulder along each road at the intersection.", "D. There are parked vehicles near the center line, but Ego does not cross the center line."], "answer_index": 2}
{"token": "301102408e3be146b02a002d287854e6", "waymo_split": "test", "type": "video", "frame_index": null, "question": "What is a safety-critical object?", "category": "Safety-critical Perception", "options": ["A. A vehicle traveling at a constant speed in the left lane", "B. A pedestrian waiting for the signal in front of a crosswalk", "C. A vehicle that has started moving from a parked position on the right shoulder", "D. A vehicle that is parked and stationary on the right shoulder"], "answer_index": 2}
{"token": "301102408e3be146b02a002d287854e6", "waymo_split": "test", "type": "video", "frame_index": null, "question": "What is the correlation in safety-critical situations?", "category": "Safety-critical scene Understanding", "options": ["A. Car-Car", "B. Car-Two-wheeler", "C. Person-Two-wheeler", "D. Car-Person"], "answer_index": 0}
{"token": "301102408e3be146b02a002d287854e6", "waymo_split": "test", "type": "video", "frame_index": null, "question": "How did the safety-critical object move and how did the ego vehicle behave?", "category": "Safety-critical scene Understanding", "options": ["A. Exited from the shoulder parking and started driving on the second lane of a three-lane road. The ego vehicle also drives into the first lane of the opposite road at the intersection where it changes from the fourth lane to the third lane.", "B. Exited from the shoulder parking and started driving on the third lane of a three-lane road. The ego vehicle also aligns from the fourth lane to the third lane at the intersection and continues to the second lane of the opposite road.", "C. Made a U-turn from the shoulder and merged into the first lane of the opposite three-lane road. The ego vehicle maintains the fourth lane, goes straight through the intersection, and moves into the third lane of the same direction.", "D. Turned right from the shoulder parking point and entered the adjacent side road. The ego vehicle also turns left at the intersection and drives into the second lane of the opposite road."], "answer_index": 0}
{"token": "301102408e3be146b02a002d287854e6", "waymo_split": "test", "type": "video", "frame_index": null, "question": "Summary of Ego (own vehicle) behavior before a safety-critical situation", "category": "Normal scene Understanding", "options": ["A. Proceed straight through the intersection", "B. Come to a stop before the intersection", "C. Make a right turn at the intersection", "D. Make a left turn entering the intersection"], "answer_index": 0}
{"token": "301102408e3be146b02a002d287854e6", "waymo_split": "test", "type": "video", "frame_index": null, "question": "What situation might have occurred if the vehicle acted this way?", "category": "Counterfactual", "options": ["A. If the other vehicle changed lanes to the right, collision prevention", "B. If the vehicle changed lanes to the left, smooth traffic", "C. If the vehicle changed lanes to the right, collision risk", "D. If the vehicle slowed down in the right lane, safe distance secured"], "answer_index": 2}
{"token": "301102408e3be146b02a002d287854e6", "waymo_split": "test", "type": "video", "frame_index": null, "question": "Who is responsible in a safety-critical situation? What is the cause?", "category": "Safety-critical scene Understanding", "options": ["A. It is the responsibility of the vehicle on the right. My vehicle was going straight on the priority road, and the vehicle on the right suddenly merged into the main lane from the shoulder, creating a collision risk.", "B. The cause is the failure to obey traffic signals. My vehicle hurriedly passed through the intersection on a yellow light, and the vehicle on the right also started after crossing the stop line, obscuring each other's visibility and increasing the risk of collision.", "C. It is the responsibility of my vehicle. My vehicle made a wide left turn and encroached into the opposite lane, while the vehicle on the right was already continuing to drive normally in its lane, making it difficult to avoid.", "D. Both should be cautious. My vehicle is in the process of entering the next block road at the intersection, and the vehicle on the right is in the process of ending its shoulder parking and starting to drive, so there is a risk of collision."], "answer_index": 3}
{"token": "301102408e3be146b02a002d287854e6", "waymo_split": "test", "type": "image", "frame_index": 10, "question": "Based on the current appearance of the person/vehicle (two-wheeled), how are they trying to move?", "category": "Normal Perception & Prediction", "options": ["A. Entering a right turn", "B. Crossing as a pedestrian", "C. Proceeding straight", "D. Waiting at a signal"], "answer_index": 3}
{"token": "301102408e3be146b02a002d287854e6", "waymo_split": "test", "type": "image", "frame_index": 10, "question": "What is correct as an Image Caption from the perspective of Normal Frame?", "category": "Normal scene caption", "options": ["A. At the yellow light before the intersection, the vehicle is slowing down before the stop line. Currently using 3 out of 4 lanes. The vehicle behind is trying to change lanes to the right to pass first.", "B. At the red light at the intersection, the vehicle is waiting for the signal. Currently using 2 out of 4 lanes. A vehicle behind is also waiting for the signal, intending to follow the vehicle in front.", "C. At the green light at the intersection, the vehicle is proceeding in the right turn lane. Currently using all 4 lanes. A bus is following behind and is slowing down as it approaches the stop.", "D. At the blue light at the intersection, the vehicle is moving slowly while passing through. Currently using 1 out of 4 lanes. The vehicle behind has turned on its turn signal to move into the left turn lane."], "answer_index": 1}
{"token": "301102408e3be146b02a002d287854e6", "waymo_split": "test", "type": "image", "frame_index": 10, "question": "Which of the following is a correct description of traffic density?", "category": "Normal scene Understanding", "options": ["A. No surrounding vehicles", "B. Many surrounding vehicles", "C. Many slow-moving vehicles", "D. Few surrounding vehicles"], "answer_index": 0}
{"token": "301102408e3be146b02a002d287854e6", "waymo_split": "test", "type": "image", "frame_index": 10, "question": "What are the classifications of scenes?", "category": "Normal scene Understanding", "options": ["A. Highway, entrance and exit ramp", "B. City, intersection", "C. Unpaved, curved road", "D. Residential area, T-junction"], "answer_index": 1}
{"token": "301102408e3be146b02a002d287854e6", "waymo_split": "test", "type": "image", "frame_index": 10, "question": "What is the plan for yielding when an ambulance/fire truck approaches?", "category": "Special Event", "options": ["A. Move to the right and proceed", "B. Maintain speed and pass", "C. Use the horn to warn", "D. Stop and yield"], "answer_index": 3}
{"token": "301102408e3be146b02a002d287854e6", "waymo_split": "test", "type": "image", "frame_index": 10, "question": "Which of the following is a correct description of the environment?", "category": "Normal scene Understanding", "options": ["A. Evening, rain", "B. Morning, fog", "C. Afternoon, cloudy", "D. Night, clear"], "answer_index": 2}
{"token": "301102408e3be146b02a002d287854e6", "waymo_split": "test", "type": "image", "frame_index": 10, "question": "Is there a blind spot in your field of vision?", "category": "Uncertainty", "options": ["A. There is one on the right", "B. There is some", "C. There is none", "D. There is one"], "answer_index": 2}
{"token": "301102408e3be146b02a002d287854e6", "waymo_split": "test", "type": "image", "frame_index": 10, "question": "What is the answer regarding parked vehicles on the shoulder, the presence of a central line, and whether Ego crosses the central line?", "category": "Normal Perception & Prediction", "options": ["A. There are many parked vehicles on the shoulder on each road. There is no central line, but there is a central separation area (with trees planted).", "B. Parked vehicles on the shoulder are hardly visible. There is a single central line in both directions, and Ego occasionally slightly crosses the central line.", "C. There are rarely one or two parked vehicles on the shoulder. There is no central divider, only a dashed central line, and Ego maintains its position within the lane.", "D. Parked vehicles on the shoulder are sporadic in specific sections. The yellow double central line is clear, and Ego does not cross the central line."], "answer_index": 0}
{"token": "301102408e3be146b02a002d287854e6", "waymo_split": "test", "type": "image", "frame_index": 10, "question": "How do you think a safety-critical object will move?", "category": "Safety-critical Prediction", "options": ["A. No such object", "B. Wobbling side to side", "C. Moving in a straight line", "D. Gradually rising"], "answer_index": 0}
{"token": "301102408e3be146b02a002d287854e6", "waymo_split": "test", "type": "image", "frame_index": 10, "question": "What is the description of a non-safety-critical object?", "category": "Normal Perception & Prediction", "options": ["A. There are many parked vehicles on the shoulder at the intersection angle. There are streetlights and signs on the right. There are traffic lights and a crosswalk at the intersection. In front, the road entering the intersection has a wide space with trees planted in the center instead of a central line.", "B. The installation of construction fences near the intersection has narrowed the passageway, with a utility pole and bus stop on the right. There is no crosswalk at the intersection, and only a low metal guardrail separator is present in the center of the opposite entry road.", "C. Illegal parking vehicles are rare at the intersection angle, with many empty spaces. There are no commercial signs or trees on the right. The intersection only has a no-protected left turn sign, and there is no pedestrian signal. The center of the road directly across has only a yellow double line.", "D. There are almost no parked vehicles on the shoulder at the intersection. There are streetlights and signs on the left, and there are only lane guidance lines at the intersection without traffic lights. The road entering directly across has only a simple central line marked without a central divider."], "answer_index": 0}
{"token": "301102408e3be146b02a002d287854e6", "waymo_split": "test", "type": "image", "frame_index": 10, "question": "What is a safety-critical object?", "category": "Safety-critical Perception", "options": ["A. Brake system", "B. Emergency stop button", "C. Power switch", "D. None"], "answer_index": 3}
{"token": "301102408e3be146b02a002d287854e6", "waymo_split": "test", "type": "image", "frame_index": 10, "question": "Are there any safety-critical objects other than the first safety-critical object? If so, how will you move?", "category": "Safety-critical Prediction", "options": ["A. None", "B. Yes: Detour to the right to avoid pedestrians in front", "C. Yes: Move the high-pressure gas cylinder on the left to the rear to create distance", "D. Yes: Change to the left lane while avoiding the car in front"], "answer_index": 0}
{"token": "301102408e3be146b02a002d287854e6", "waymo_split": "test", "type": "image", "frame_index": 10, "question": "How should I drive to address the first risk while also addressing the second risk?", "category": "Safety-critical Planning", "options": ["A. There is no second safety-critical object", "B. There is a second safety-critical pedestrian", "C. There is a second safety-critical object", "D. There is a safety-critical object on the left side"], "answer_index": 0}
{"token": "301102408e3be146b02a002d287854e6", "waymo_split": "test", "type": "image", "frame_index": 10, "question": "Is lane changing possible? Which is safer between slowing down and changing lanes?", "category": "Safety-critical Planning", "options": ["A. Currently prioritizing slowing down (moving slowly)", "B. Prioritizing left lane change (slowing down simultaneously)", "C. Currently both are not possible (at a standstill)", "D. Right lane change possible (no need to slow down)"], "answer_index": 2}
{"token": "301102408e3be146b02a002d287854e6", "waymo_split": "test", "type": "image", "frame_index": 10, "question": "Where is the area that hides danger in the current frame?", "category": "Uncertainty", "options": ["A. Between parked vehicles", "B. Behind the bus on the right", "C. Behind the truck on the left", "D. No such area"], "answer_index": 3}
{"token": "301102408e3be146b02a002d287854e6", "waymo_split": "test", "type": "image", "frame_index": 66, "question": "Based on the current appearance of the person/vehicle (two-wheeled), how are they trying to move?", "category": "Normal Perception & Prediction", "options": ["A. Entering a left turn", "B. Accelerating straight", "C. Stopped waiting for a signal", "D. Proceeding with a right turn"], "answer_index": 2}
{"token": "301102408e3be146b02a002d287854e6", "waymo_split": "test", "type": "image", "frame_index": 66, "question": "Which of the following is correct as an Image Caption from the perspective of a Normal Frame?", "category": "Normal scene caption", "options": ["A. At the intersection with a green light, my car is gradually accelerating. Currently, it is using one of the four lanes. A motorcycle is following closely behind my car, weaving between lanes. Ahead, a taxi that was stopped on the left side of the road across the intersection is trying to merge right, with its wheels turned to the right.", "B. At the intersection with a red light, my car is waiting for the signal. Currently, it is using the second lane of the four lanes. A vehicle behind my car is also waiting for the signal, trying to follow. Ahead, the first vehicle among those parked on the right shoulder across the intersection has finished its maneuver and is trying to turn left into the driving lane, with its wheels turned to the left.", "C. Approaching the intersection with a yellow light, my car is slowing down and trying to stop in front of the stop line. Currently, it is using the fourth lane of the four lanes. There is a gap behind my car with no vehicles closely following. Ahead, a white sedan on the left side of the road across the intersection is preparing to make a U-turn, with its wheels turned sharply to the left.", "D. At the intersection with a red light, my car is waiting for the signal. Currently, it is using the third lane of the four lanes. A city bus is waiting to turn right just behind my car. Ahead, all the parked vehicles on the right shoulder across the intersection are stopped, with only their hazard lights on."], "answer_index": 1}
{"token": "301102408e3be146b02a002d287854e6", "waymo_split": "test", "type": "image", "frame_index": 66, "question": "What is the plan for yielding when an ambulance/fire truck approaches?", "category": "Special Event", "options": ["A. Turn on emergency lights and proceed slowly", "B. Yield after passing the intersection", "C. Maintain slow speed and yield", "D. Stop in place and yield"], "answer_index": 3}
{"token": "301102408e3be146b02a002d287854e6", "waymo_split": "test", "type": "image", "frame_index": 66, "question": "Which of the following is a correct description of traffic density?", "category": "Normal scene Understanding", "options": ["A. No surrounding vehicles", "B. Congestion in left and right lanes", "C. Dense vehicles ahead", "D. Many surrounding vehicles"], "answer_index": 0}
{"token": "301102408e3be146b02a002d287854e6", "waymo_split": "test", "type": "image", "frame_index": 10, "question": "What are the new exposure risk candidates in the following section?", "category": "Safety-critical Prediction", "options": ["A. None", "B. Slip hazard", "C. Rockfall hazard", "D. Flood hazard"], "answer_index": 0}
{"token": "301102408e3be146b02a002d287854e6", "waymo_split": "test", "type": "image", "frame_index": 66, "question": "What are the classifications of scenes?", "category": "Normal scene Understanding", "options": ["A. Highway, interchange", "B. Unpaved, farm road", "C. City, intersection", "D. Residential area, school zone"], "answer_index": 2}
{"token": "301102408e3be146b02a002d287854e6", "waymo_split": "test", "type": "image", "frame_index": 66, "question": "Which of the following is a correct description of the environment?", "category": "Normal scene Understanding", "options": ["A. Night, clear", "B. Morning, fog", "C. Dusk, rain", "D. Day, cloudy"], "answer_index": 3}
{"token": "301102408e3be146b02a002d287854e6", "waymo_split": "test", "type": "image", "frame_index": 66, "question": "What is a safety-critical object?", "category": "Safety-critical Perception", "options": ["A. Brake pedal", "B. None", "C. Gas shut-off valve", "D. Emergency stop button"], "answer_index": 1}
{"token": "301102408e3be146b02a002d287854e6", "waymo_split": "test", "type": "image", "frame_index": 66, "question": "What is the answer regarding parked vehicles on the shoulder, the presence of a center line, and whether Ego crosses the center line?", "category": "Normal Perception & Prediction", "options": ["A. Parked vehicles on the shoulder are sporadically visible in some sections. A dashed center line exists, and Ego enters a left turn while crossing the center line and stopping.", "B. No parked vehicles on the shoulder, and most of the shoulder is empty. There is no center line, no median, and no crossing by Ego.", "C. Many parked vehicles on the shoulder on each road. There is no center line, but there is a central separation area (with trees planted).", "D. Almost no parked vehicles on the shoulder, with one or two occasionally. A double center line exists, and Ego slightly crosses the center line while overtaking."], "answer_index": 2}
{"token": "301102408e3be146b02a002d287854e6", "waymo_split": "test", "type": "image", "frame_index": 66, "question": "Is there a blind spot in your field of vision?", "category": "Uncertainty", "options": ["A. There is one on the left", "B. None", "C. There is one when turning right", "D. Yes, there is"], "answer_index": 1}
{"token": "301102408e3be146b02a002d287854e6", "waymo_split": "test", "type": "image", "frame_index": 66, "question": "How do you think a safety-critical object would move?", "category": "Safety-critical Prediction", "options": ["A. Slowly move to the right", "B. Roll along the ground", "C. Slightly rise upwards", "D. No such object"], "answer_index": 3}
{"token": "301102408e3be146b02a002d287854e6", "waymo_split": "test", "type": "image", "frame_index": 66, "question": "How should I drive to resolve the first risk while also addressing the second risk?", "category": "Safety-critical Planning", "options": ["A. No second safety-critical object", "B. Second bicycle approaching quickly, reduce speed", "C. Second vehicle merging from the right, maintain slow speed", "D. Second is a pedestrian entering, come to a stop"], "answer_index": 0}
{"token": "301102408e3be146b02a002d287854e6", "waymo_split": "test", "type": "image", "frame_index": 66, "question": "Is there any other safety-critical object besides the first safety-critical object? If so, how would you move past it?", "category": "Safety-critical Prediction", "options": ["A. There is a fire extinguisher, go around it 0.5m to the left based on the front.", "B. There is an emergency stop button, pass slowly to the right while maintaining distance from people.", "C. None.", "D. There is a flammable material storage box, slightly lift it with tongs, move back 1m, and align it against the wall."], "answer_index": 2}
{"token": "301102408e3be146b02a002d287854e6", "waymo_split": "test", "type": "image", "frame_index": 66, "question": "Is lane changing possible? Which is safer between slowing down and changing lanes?", "category": "Safety-critical Planning", "options": ["A. Currently prioritizing slowing down (lane keeping recommended)", "B. Currently both are not possible (stationary)", "C. Currently both are possible (slow passing)", "D. Currently lane changing to the right is possible (surroundings are clear)"], "answer_index": 1}
{"token": "301102408e3be146b02a002d287854e6", "waymo_split": "test", "type": "image", "frame_index": 66, "question": "What are the new exposure risk candidates in the following section?", "category": "Safety-critical Prediction", "options": ["A. None", "B. Falling rocks ahead", "C. Left merging vehicles", "D. Construction in the right lane"], "answer_index": 0}
{"token": "301102408e3be146b02a002d287854e6", "waymo_split": "test", "type": "image", "frame_index": 66, "question": "Where is the area that hides danger in the current frame?", "category": "Uncertainty", "options": ["A. Between parked vehicles", "B. Right blind spot of the bus", "C. Behind the left flower bed", "D. No such area"], "answer_index": 3}
{"token": "301102408e3be146b02a002d287854e6", "waymo_split": "test", "type": "image", "frame_index": 66, "question": "What is the method to avoid the blind spot next to a large vehicle?", "category": "Special Event", "options": ["A. Close to the large vehicle", "B. Overtake on the right", "C. No large vehicle. Not applicable", "D. Enter the blind spot"], "answer_index": 2}
{"token": "301102408e3be146b02a002d287854e6", "waymo_split": "test", "type": "image", "frame_index": 90, "question": "What is the plan for yielding when an ambulance/fire truck approaches?", "category": "Special Event", "options": ["A. Proceed slowly as currently done", "B. Stop and yield as currently done", "C. Keep to the right and proceed slowly", "D. Proceed with hazard lights on"], "answer_index": 1}
{"token": "301102408e3be146b02a002d287854e6", "waymo_split": "test", "type": "image", "frame_index": 66, "question": "What potential situations could arise in the current scenario?", "category": "Counterfactual", "options": ["A. One of the parked vehicles on the right shoulder of the road across the intersection is trying to merge into the left lane and start driving.", "B. A motorcycle is trying to squeeze out towards the center line among the vehicles waiting to turn left.", "C. A bus at the left bus stop across the intersection is trying to merge into the first lane without using a turn signal.", "D. A pedestrian waiting at the crosswalk on the right side of the intersection is trying to walk into the lane, ignoring the signal."], "answer_index": 0}
{"token": "301102408e3be146b02a002d287854e6", "waymo_split": "test", "type": "image", "frame_index": 90, "question": "Which of the following is a correct description of traffic density?", "category": "Normal scene Understanding", "options": ["A. Narrow distance between vehicles on the left and right", "B. Many vehicles driving in front and behind", "C. Many vehicles driving in the surrounding area", "D. No vehicles driving in the surrounding area"], "answer_index": 3}
{"token": "301102408e3be146b02a002d287854e6", "waymo_split": "test", "type": "image", "frame_index": 90, "question": "Based on the current appearance of the person/vehicle (two-wheeled), how are they likely to move?", "category": "Normal Perception & Prediction", "options": ["A. Moving slowly, but seems likely to accelerate straight and exit the intersection soon", "B. Staying close to the left lane, likely to turn left at the next signal", "C. Turning on the right blinker, seems likely to pull over to the edge and stop briefly", "D. Stopped, but seems likely to start moving as the signal turns green"], "answer_index": 3}
{"token": "301102408e3be146b02a002d287854e6", "waymo_split": "test", "type": "image", "frame_index": 90, "question": "What are the classifications of scenes?", "category": "Normal scene Understanding", "options": ["A. Highway, merging section", "B. Unpaved, curved road", "C. City, intersection", "D. Residential area, alley"], "answer_index": 2}
{"token": "301102408e3be146b02a002d287854e6", "waymo_split": "test", "type": "image", "frame_index": 90, "question": "Which of the following is a correct description of the environment?", "category": "Normal scene Understanding", "options": ["A. Night, light rain", "B. Day, cloudy", "C. Evening, clear", "D. Dawn, fog"], "answer_index": 1}
{"token": "301102408e3be146b02a002d287854e6", "waymo_split": "test", "type": "image", "frame_index": 90, "question": "What is the description of a non-safety-critical object?", "category": "Normal Perception & Prediction", "options": ["A. There are almost no parked vehicles on the shoulder at the intersection angle. There is a bus stop and a bench on the left. There are no traffic lights at the intersection, and there is a roundabout sign. The center of the road entering straight ahead has only a thin yellow dashed line.", "B. The intersection angle is gentle, and construction materials are piled on the shoulder. Instead of streetlights on the left, there are utility poles lined up. There are no traffic lights at the intersection, and no pedestrian signals. There is a circular flower bed and a fountain in the center of the road across the intersection.", "C. There are many parked vehicles on the shoulder at the intersection angle. There are streetlights and signs on the right. There are traffic lights and crosswalks at the intersection. The road entering straight ahead across the intersection has a wide space in the center where trees are planted, rather than a central line.", "D. It leads to a T-intersection, not an intersection. There are street trees and shop signs on the right. There is no crosswalk at the intersection, only an entrance to an underground passage. The center of the road ahead has a continuous low metal guardrail."], "answer_index": 2}
{"token": "301102408e3be146b02a002d287854e6", "waymo_split": "test", "type": "image", "frame_index": 90, "question": "Which of the following is a correct description of traffic signals?", "category": "Traffic Signal", "options": ["A. Pedestrian signal (red)", "B. Left turn signal (green)", "C. Traffic light (red)", "D. Traffic light (green). Road guide sign attached to the streetlight"], "answer_index": 3}
{"token": "301102408e3be146b02a002d287854e6", "waymo_split": "test", "type": "image", "frame_index": 90, "question": "Is there a blind spot in your field of vision?", "category": "Uncertainty", "options": ["A. Yes", "B. Occasionally", "C. On the left", "D. No"], "answer_index": 3}
{"token": "301102408e3be146b02a002d287854e6", "waymo_split": "test", "type": "image", "frame_index": 90, "question": "What is the answer regarding parked vehicles on the shoulder, the presence of a center line, and whether Ego has crossed the center line?", "category": "Normal Perception & Prediction", "options": ["A. There are almost no parked vehicles on the shoulder, allowing for smooth flow. The center line is a double solid line for two-way traffic. My vehicle slightly crossed the center line while waiting to turn left (in a two-way lane).", "B. There are many parked vehicles on the shoulder on each road. There is no center line, but there is a central separation area (with trees planted). My vehicle does not cross the central area (currently in 2 out of 4 lanes).", "C. There are rarely one or two parked vehicles on the shoulder in some sections. The center line is marked only with a dashed line, and there is no central separation area. My vehicle slightly brushed against the center line while avoiding (currently in 1 out of 2 lanes).", "D. There are almost no visible parked vehicles on the shoulder. The center line is only a yellow solid line, and there is no central barrier. My vehicle briefly crossed the center line while overtaking (in a one-way lane with 2 lanes)."], "answer_index": 1}
{"token": "301102408e3be146b02a002d287854e6", "waymo_split": "test", "type": "image", "frame_index": 90, "question": "What is a safety-critical object?", "category": "Safety-critical Perception", "options": ["A. Main power cut-off switch", "B. Emergency stop button for equipment", "C. None", "D. Vehicle brake system"], "answer_index": 2}
{"token": "301102408e3be146b02a002d287854e6", "waymo_split": "test", "type": "image", "frame_index": 90, "question": "How do you think a safety-critical object will move?", "category": "Safety-critical Prediction", "options": ["A. No such object", "B. Slowly advance to the right", "C. Slightly slide to the left", "D. Rotate in a circle"], "answer_index": 0}
{"token": "301102408e3be146b02a002d287854e6", "waymo_split": "test", "type": "image", "frame_index": 66, "question": "What are the restrictions on behavior in school zones/congested areas?", "category": "Special Event", "options": ["A. Since there are no pedestrians, currently turning right without waiting for a signal", "B. Must drive slowly, but currently maintaining a stop state while waiting for a signal", "C. Priority passage is possible, but currently driving at the speed limit", "D. Even in a school zone, currently changing lanes to maintain flow"], "answer_index": 1}
{"token": "301102408e3be146b02a002d287854e6", "waymo_split": "test", "type": "image", "frame_index": 90, "question": "Are there any other safety-critical objects besides the first safety-critical object? If so, how will you move them?", "category": "Safety-critical Prediction", "options": ["A. There is a high-pressure gas cylinder, secured with a chain and moved to the left safety zone.", "B. There is an oxygen tank, valve closed and moved with a hand cart.", "C. There is a fire extinguisher, check the pin and move with a cart.", "D. None"], "answer_index": 3}
{"token": "301102408e3be146b02a002d287854e6", "waymo_split": "test", "type": "image", "frame_index": 90, "question": "How should I drive to address the first risk while also addressing the second risk?", "category": "Safety-critical Planning", "options": ["A. Safety-critical obstacle in the second lane", "B. Safety-critical pedestrian in the second lane", "C. Safety-critical vehicle approaching in the second lane", "D. No safety-critical object in the second lane"], "answer_index": 3}
{"token": "301102408e3be146b02a002d287854e6", "waymo_split": "test", "type": "image", "frame_index": 90, "question": "Is lane change possible? Which is safer between slowing down and changing lanes?", "category": "Safety-critical Planning", "options": ["A. Left lane change possible (after signaling)", "B. Right lane change prioritized (with space ahead)", "C. Currently neither is possible (at a stop)", "D. Slowing down is safer (maintain slow speed)"], "answer_index": 2}
{"token": "301102408e3be146b02a002d287854e6", "waymo_split": "test", "type": "image", "frame_index": 90, "question": "Where is the area that hides danger in the current frame?", "category": "Uncertainty", "options": ["A. Shadow of the central divider", "B. Behind the street trees on the left sidewalk", "C. No such area", "D. Behind the truck on the right front"], "answer_index": 2}
{"token": "301102408e3be146b02a002d287854e6", "waymo_split": "test", "type": "image", "frame_index": 90, "question": "What is the safest choice just before entering a yellow signal: stop vs proceed?", "category": "Special Event", "options": ["A. Choose to stop as the red light is imminent", "B. Proceed slowly as the yellow light is flashing", "C. Stop for the pedestrian signal", "D. Not applicable as the current signal is green"], "answer_index": 3}
{"token": "301102408e3be146b02a002d287854e6", "waymo_split": "test", "type": "image", "frame_index": 90, "question": "What is the method to avoid the blind spot next to a large vehicle?", "category": "Special Event", "options": ["A. Overtake on the right side for a long distance. Stay in the blind spot.", "B. No large vehicle. Not applicable.", "C. Stay close behind the large vehicle. Merge when there's a gap.", "D. Maintain a low speed next to the large vehicle. Drive parallel slowly."], "answer_index": 1}
{"token": "301102408e3be146b02a002d287854e6", "waymo_split": "test", "type": "image", "frame_index": 90, "question": "What are the new exposure risk candidates in the following section?", "category": "Safety-critical Prediction", "options": ["A. Rockfall", "B. Icing", "C. Falling objects", "D. None"], "answer_index": 3}
{"token": "301102408e3be146b02a002d287854e6", "waymo_split": "test", "type": "image", "frame_index": 121, "question": "Based on the current appearance of the person/vehicle (two-wheeled), how do you intend to move?", "category": "Normal Perception & Prediction", "options": ["A. Turn right at the intersection", "B. Go straight at the intersection", "C. Turn left at the intersection", "D. Wait to make a U-turn"], "answer_index": 1}
{"token": "301102408e3be146b02a002d287854e6", "waymo_split": "test", "type": "image", "frame_index": 121, "question": "Which of the following is a correct description of traffic density?", "category": "Normal scene Understanding", "options": ["A. One vehicle among the parked cars on the shoulder is about to start moving.", "B. A truck in the opposite lane is trying to enter the shoulder.", "C. A motorcycle from behind is trying to overtake quickly.", "D. All parked vehicles on the shoulder are in a stationary state."], "answer_index": 0}
{"token": "301102408e3be146b02a002d287854e6", "waymo_split": "test", "type": "image", "frame_index": 121, "question": "What are the divisions of a scene?", "category": "Normal scene Understanding", "options": ["A. City, alley", "B. Highway, interchange", "C. City, intersection", "D. Residential area, three-way intersection"], "answer_index": 2}
{"token": "301102408e3be146b02a002d287854e6", "waymo_split": "test", "type": "image", "frame_index": 121, "question": "What is the plan for yielding when an ambulance/fire truck approaches?", "category": "Special Event", "options": ["A. Slow down to give space", "B. Only signal with horn and emergency lights", "C. Accelerate to pass first", "D. Stop in the center of the intersection"], "answer_index": 0}
{"token": "301102408e3be146b02a002d287854e6", "waymo_split": "test", "type": "image", "frame_index": 121, "question": "Which of the following is correct as an Image Caption from the perspective of a Normal Frame?", "category": "Normal scene caption", "options": ["A. The traffic signal at the intersection is green, so the vehicle intends to proceed straight through the intersection and enter the road on the opposite side. Currently, it is in the second lane of four, and as the front changes to three lanes, it plans to enter the first lane of those three. There is a vehicle behind the subject vehicle that intends to follow it, but it is currently at a standstill. In front, on the right side of the road across the intersection, the first parked vehicle in the shoulder is finishing its movement and is attempting to change lanes to the left by turning its wheels left.", "B. The traffic signal at the intersection has turned yellow, and the subject vehicle is slowing down and trying to stop in front of the stop line. It is currently in the third lane of four, and the road ahead narrows to two lanes, planning to enter the outer lane of the right two lanes. The vehicle behind the subject vehicle has turned right and started to proceed first. All parked vehicles in the right shoulder across the intersection are still stopped, and the front vehicle is also stationary with its wheels straight.", "C. The traffic signal at the intersection is green, but the subject vehicle is preparing to turn right after changing lanes to the right due to the pedestrian signal. It is currently in the fourth lane of four, and although the front changes to three lanes, the subject vehicle plans to remain in the rightmost lane. The vehicle behind the subject vehicle is gradually moving forward, narrowing the gap, so it is not at a standstill. The front vehicle in the right shoulder across the intersection is moving closer to the shoulder by pushing its right wheels further in, showing no intention to enter the main lane.", "D. The left turn signal at the intersection has turned on, and the subject vehicle intends to enter the inside of the intersection following the left turn guide line. It is currently in the first lane of four, and after the left turn, it plans to merge into the middle lane of the three-lane road. The vehicle behind the subject vehicle has accelerated first with the signal, increasing the gap. On the left side of the road ahead, a bus that was stopped is slowly moving to the right to get closer to the bus stop."], "answer_index": 0}
{"token": "301102408e3be146b02a002d287854e6", "waymo_split": "test", "type": "image", "frame_index": 121, "question": "Which of the following is a correct description of the environment?", "category": "Normal scene Understanding", "options": ["A. Morning, fog", "B. Night, clear", "C. Dusk, rain", "D. Day, cloudy"], "answer_index": 3}
{"token": "301102408e3be146b02a002d287854e6", "waymo_split": "test", "type": "image", "frame_index": 121, "question": "Which of the following is a correct description of traffic signals?", "category": "Traffic Signal", "options": ["A. A left turn guide line drawn in the center of the lane at the entrance of the intersection (stop line)", "B. A speed limit sign attached to the left traffic light (red)", "C. A green traffic light. A road guide sign attached to the front traffic light", "D. A direction guide sign attached above the traffic light (left turn only)"], "answer_index": 2}
{"token": "301102408e3be146b02a002d287854e6", "waymo_split": "test", "type": "image", "frame_index": 121, "question": "What is the description of a non-safety-critical object?", "category": "Normal Perception & Prediction", "options": ["A. There are many parked vehicles on the roadside at the intersection. There are streetlights and signs on the right. There are traffic lights and a crosswalk at the intersection. In front, the road entering the intersection has a wide area with trees planted in the center (there are also traffic lights in that area).", "B. The roadside at the intersection is marked as a parking area, but there are almost no parked vehicles. Instead of streetlights on the right, there are utility poles and guide signs. Only a flashing yellow signal operates at the intersection, and the crosswalk markings are faint. In the center of the road entering straight ahead, there is a low concrete curb separator.", "C. Delivery motorcycles are temporarily stopped at the roadside at the intersection. There are no signs on the right, and a trash can is installed under the streetlight. There is only a pedestrian traffic light at the intersection, and vehicle signals are obscured by construction. In the center of the road entering straight ahead, only the center line is drawn, and landscaping is not visible.", "D. A few waiting taxis are lined up at the roadside at the intersection. There are street trees and a bus stop sign on the right. There are traffic lights at the intersection, but the crosswalk is connected to an underground passage. In the center of the road entering straight ahead, there is a continuous separator with thin safety poles."], "answer_index": 0}
{"token": "301102408e3be146b02a002d287854e6", "waymo_split": "test", "type": "image", "frame_index": 121, "question": "How do you think a safety-critical object will move?", "category": "Safety-critical Prediction", "options": ["A. It seems like it will change to the second lane out of three and continue straight.", "B. It seems like it will change to the first lane out of three and turn left.", "C. It seems like it will stick to the second lane out of three and exit to the right.", "D. It seems like it will continue straight in the third lane out of three."], "answer_index": 0}
{"token": "301102408e3be146b02a002d287854e6", "waymo_split": "test", "type": "image", "frame_index": 121, "question": "Is there a blind spot in your field of vision?", "category": "Uncertainty", "options": ["A. Only on the left", "B. Yes", "C. No", "D. Yes when turning right"], "answer_index": 2}
{"token": "301102408e3be146b02a002d287854e6", "waymo_split": "test", "type": "image", "frame_index": 121, "question": "What is a safety-critical object?", "category": "Safety-critical Perception", "options": ["A. A taxi's rear door, which was parked on the right side of the road ahead, suddenly opens, and a passenger is attempting to get out by leaning towards the road.", "B. An electric scooter is coming down from the right edge of the sidewalk just before the crosswalk at the intersection ahead, speeding up to pass straight before the signal changes.", "C. The first vehicle in a line of parked cars on the right side of the road across the intersection ahead has finished its run and is trying to turn left to enter the left lane, attempting to change lanes.", "D. A white sedan in the left lane at the entrance of the intersection ahead is urgently moving towards the shoulder with its right turn signal on, attempting to change lanes into the right lane by squeezing between the cars in front."], "answer_index": 2}
{"token": "301102408e3be146b02a002d287854e6", "waymo_split": "test", "type": "image", "frame_index": 121, "question": "What is the answer regarding parked vehicles on the shoulder, the presence of a center line, and whether Ego crosses the center line?", "category": "Normal Perception & Prediction", "options": ["A. There are many parked vehicles on the shoulder directly ahead. There is no center line, but there is a central separation area (with trees planted). My vehicle does not cross the central area.", "B. There are only a few scattered parked vehicles on the left side. The center line continues as a dashed line. My vehicle briefly enters the opposite lane along the dashed line.", "C. There are almost no parked vehicles on the shoulder, just one or two occasionally. The center line is clearly marked (double solid line). My vehicle proceeds without touching the center line.", "D. There are sporadic parked vehicles more on the right side than directly ahead. There is no central divider or green space, only a road center line exists. My vehicle slightly crosses the center line while overtaking."], "answer_index": 0}
{"token": "301102408e3be146b02a002d287854e6", "waymo_split": "test", "type": "image", "frame_index": 121, "question": "What should I do to drive safely?", "category": "Safety-critical Planning", "options": ["A. The vehicle should change to the first lane and drive according to the traffic flow.", "B. The vehicle should move to the third lane and change lanes as necessary.", "C. The vehicle should maintain the second lane without changing lanes and drive slowly. This is because if vehicles in the first and second lanes drive simultaneously, the distance between them may become too narrow, so care should be taken not to encroach on lanes.", "D. The vehicle should alternate between the first and second lanes as needed and adjust speed accordingly."], "answer_index": 2}
{"token": "301102408e3be146b02a002d287854e6", "waymo_split": "test", "type": "image", "frame_index": 121, "question": "Are there any other safety-critical objects besides the first safety-critical object? If so, how will you move?", "category": "Safety-critical Prediction", "options": ["A. None", "B. Yes - step left half a step", "C. Yes - detour 1m to the right in front", "D. Yes - pause and slowly pass to the right"], "answer_index": 0}
{"token": "301102408e3be146b02a002d287854e6", "waymo_split": "test", "type": "image", "frame_index": 121, "question": "How should I drive to resolve the first risk while also addressing the second risk?", "category": "Safety-critical Planning", "options": ["A. No second safety-critical object", "B. Yield to the second safety-critical pedestrian", "C. Avoid the second safety-critical object on the left", "D. Stop in front of the second safety-critical object"], "answer_index": 0}
{"token": "301102408e3be146b02a002d287854e6", "waymo_split": "test", "type": "image", "frame_index": 121, "question": "What is the correlation in safety-critical situations?", "category": "Safety-critical scene Understanding", "options": ["A. Person - Two-wheeler", "B. Car - Car", "C. Car - Two-wheeler", "D. Car - Person"], "answer_index": 1}
{"token": "301102408e3be146b02a002d287854e6", "waymo_split": "test", "type": "image", "frame_index": 121, "question": "Is lane changing possible? Which is safer between slowing down and changing lanes?", "category": "Safety-critical Planning", "options": ["A. Lane changing is possible, changing lanes is safer", "B. Moving to the right lane, changing lanes is safer", "C. Maintaining the lane, maintaining speed is safer", "D. Lane changing is risky, slowing down is safer"], "answer_index": 3}
{"token": "301102408e3be146b02a002d287854e6", "waymo_split": "test", "type": "image", "frame_index": 121, "question": "Where is the area that hides danger in the current frame?", "category": "Uncertainty", "options": ["A. Behind the right front pillar", "B. In the lower left shadow", "C. Behind the front SUV", "D. No such area"], "answer_index": 3}
{"token": "301102408e3be146b02a002d287854e6", "waymo_split": "test", "type": "image", "frame_index": 121, "question": "What are the new exposure risk candidates in the following section?", "category": "Safety-critical Prediction", "options": ["A. None", "B. Falling objects", "C. Slipping", "D. Entanglement"], "answer_index": 0}
{"token": "301102408e3be146b02a002d287854e6", "waymo_split": "test", "type": "image", "frame_index": 121, "question": "What is the safest choice when approaching a yellow signal: stop or proceed?", "category": "Special Event", "options": ["A. Currently green signal, so it does not apply", "B. Proceed as if it is a flashing signal", "C. Turn on the left turn signal and enter", "D. Maintain speed and proceed as is"], "answer_index": 0}
{"token": "301102408e3be146b02a002d287854e6", "waymo_split": "test", "type": "image", "frame_index": 121, "question": "Who is responsible in a safety-critical situation? What is the cause?", "category": "Safety-critical scene Understanding", "options": ["A. Both the fact that my vehicle entered the intersection and that the other vehicle attempted to change lanes are causes.", "B. Both the fact that my vehicle went straight from the right turn lane and that the other vehicle accelerated immediately after the signal are causes.", "C. My vehicle was waiting while stopped, and the other vehicle changed lanes abruptly without signaling at the intersection, so the fault lies with the other vehicle.", "D. My vehicle entered straight from the left turn lane, and the other vehicle was driving at a constant speed according to the signal, so the fault lies with my vehicle."], "answer_index": 0}
{"token": "301102408e3be146b02a002d287854e6", "waymo_split": "test", "type": "image", "frame_index": 121, "question": "Based on the current appearance of the person/vehicle (two-wheeled), how do you intend to move?", "category": "Normal Perception & Prediction", "options": ["A. U-turn at the intersection", "B. Right turn at the intersection", "C. Go straight at the intersection", "D. Left turn at the intersection"], "answer_index": 2}
{"token": "301102408e3be146b02a002d287854e6", "waymo_split": "test", "type": "image", "frame_index": 121, "question": "What is the method to avoid the blind spot next to a large vehicle?", "category": "Special Event", "options": ["A. Pass quickly by staying close to the right", "B. Honk and approach parallel", "C. Overtake immediately from the left blind spot", "D. No large vehicle. Not applicable"], "answer_index": 3}
{"token": "301102408e3be146b02a002d287854e6", "waymo_split": "test", "type": "image", "frame_index": 121, "question": "What are the driving guidelines for your vehicle based on the behavior of a safety-critical object?", "category": "Safety-critical Planning", "options": ["A. If the safety-critical object shows signs of cutting into your lane without signaling from the second lane, your vehicle should maintain speed while clearly indicating intent with the horn and lights, (securing priority).", "B. If the safety-critical object hesitates while switching between the first and second lanes, your vehicle should firmly maintain the center of the lane and narrow the lateral gap to prevent entry, (securing lane control).", "C. If the safety-critical object accelerates suddenly into the first lane and attempts to change lanes twice in quick succession, your vehicle should accelerate to take the lead ahead of this vehicle, (maintaining traffic flow).", "D. If the safety-critical object attempts to change lanes twice in quick succession into the first lane, your vehicle should slow down and proceed cautiously to allow this vehicle to pass ahead, (to avoid collision)."], "answer_index": 3}
{"token": "301102408e3be146b02a002d287854e6", "waymo_split": "test", "type": "image", "frame_index": 121, "question": "What is the plan for yielding when an ambulance/fire truck approaches?", "category": "Special Event", "options": ["A. Accelerate and pass quickly", "B. Slow down and yield space", "C. Maintain speed and pass on the left", "D. Honk to secure the road"], "answer_index": 1}
{"token": "301102408e3be146b02a002d287854e6", "waymo_split": "test", "type": "image", "frame_index": 121, "question": "What are the classifications of scenes?", "category": "Normal scene Understanding", "options": ["A. Highway, interchange entrance", "B. Unpaved, rural road", "C. City, intersection", "D. Residential area, side road"], "answer_index": 2}
{"token": "301102408e3be146b02a002d287854e6", "waymo_split": "test", "type": "image", "frame_index": 121, "question": "Which of the following is a correct description of traffic density?", "category": "Normal scene Understanding", "options": ["A. Vehicles parked on the shoulder are stationary.", "B. One vehicle in the right lane is trying to move to the shoulder.", "C. One vehicle among those parked on the shoulder is about to start driving.", "D. Vehicles in the opposite lane are moving slowly in a line."], "answer_index": 2}
{"token": "301102408e3be146b02a002d287854e6", "waymo_split": "test", "type": "image", "frame_index": 121, "question": "Which of the following is a correct description of the environment?", "category": "Normal scene Understanding", "options": ["A. Day, cloudy", "B. Night, fog", "C. Day, clear", "D. Evening, rain"], "answer_index": 0}
{"token": "301102408e3be146b02a002d287854e6", "waymo_split": "test", "type": "image", "frame_index": 121, "question": "Which of the following is a correct description of traffic signals?", "category": "Traffic Signal", "options": ["A. Pedestrian signal (red) attached to the pole next to the right signal light with a no parking sign", "B. Traffic light (red) with a left turn only sign attached to the left signal light", "C. Traffic light (green) with a road guide sign attached to the front signal light", "D. Traffic light (yellow) with a speed limit sign hanging from the top signal light at the intersection"], "answer_index": 2}
{"token": "301102408e3be146b02a002d287854e6", "waymo_split": "test", "type": "image", "frame_index": 121, "question": "What is the answer regarding parked vehicles on the shoulder, the presence of a center line, and whether Ego crosses the center line?", "category": "Normal Perception & Prediction", "options": ["A. A parked vehicle on the shoulder is stopped at the right edge. There is only a dashed center line without a central separation space. My vehicle crosses the center line to overtake.", "B. The parked vehicle on the shoulder is hardly visible. There is no center line or central separation space on the two-lane road. My vehicle maintains its lane.", "C. There are many parked vehicles on the shoulder directly ahead. It is not a center line, and there is a central separation space (with trees planted). My vehicle does not cross the central area.", "D. A few parked vehicles on the shoulder are visible on the left. A long yellow center line continues (with no central separation). My vehicle slightly crosses the center line while driving."], "answer_index": 2}
{"token": "301102408e3be146b02a002d287854e6", "waymo_split": "test", "type": "image", "frame_index": 121, "question": "Is there a blind spot in your field of vision?", "category": "Uncertainty", "options": ["A. None", "B. Yes", "C. On the left", "D. Present when turning right"], "answer_index": 0}
{"token": "301102408e3be146b02a002d287854e6", "waymo_split": "test", "type": "image", "frame_index": 121, "question": "How do you think a safety-critical object would move?", "category": "Safety-critical Prediction", "options": ["A. It would likely move to the first lane, wait for the signal, and then turn left.", "B. It would likely change lanes from the second lane to the third lane and turn right.", "C. It would likely change lanes from the third lane to the second lane and drive straight.", "D. It would likely maintain the third lane, increase speed, and overtake."], "answer_index": 2}
{"token": "301102408e3be146b02a002d287854e6", "waymo_split": "test", "type": "image", "frame_index": 121, "question": "What is a safety-critical object?", "category": "Safety-critical Perception", "options": ["A. The first vehicle in the right shoulder parking area on the road ahead, which has completed its run and is attempting to turn left to change lanes to the left driving lane.", "B. The last vehicle among those stopped in the left shoulder of the road after passing the intersection ahead, which has started to slowly move while turning its wheels to the right to merge into the right driving lane and is attempting to change lanes to the right.", "C. A vehicle that has completed a right turn from the right driving lane and is maintaining its position in the right driving lane while accelerating straight, with no intention to change lanes left or right.", "D. The second vehicle in the right shoulder parking area across the intersection, which is maintaining its parked state with only the hazard lights on, with its wheels aligned and waiting, with no attempts to drive or change lanes."], "answer_index": 0}
{"token": "301102408e3be146b02a002d287854e6", "waymo_split": "test", "type": "image", "frame_index": 121, "question": "Are there any other safety-critical objects besides the first safety-critical object? If so, how will you move?", "category": "Safety-critical Prediction", "options": ["A. None", "B. Yes, slowly detour to the left aisle", "C. Yes, reverse and turn left according to the worker's signal", "D. Yes, proceed slowly to the right following the floor markings"], "answer_index": 0}
{"token": "301102408e3be146b02a002d287854e6", "waymo_split": "test", "type": "image", "frame_index": 121, "question": "What should I do to drive safely?", "category": "Safety-critical Planning", "options": ["A. The vehicle should stay in the third lane with hazard lights on and drive slowly (because it makes it easier for the car behind to yield and maintain a safe distance).", "B. The vehicle should maintain its lane in the first lane without changing lanes (because the flow in the second lane can be erratic and more dangerous).", "C. The vehicle should move to the shoulder and continue driving (because the shoulder is empty, reducing the risk of contact during simultaneous driving).", "D. The vehicle should stay in the second lane without changing lanes and drive slowly. This is important because if both the first and second lanes are used simultaneously, the risk of reducing the distance between vehicles increases, so lane violations should be avoided."], "answer_index": 3}
{"token": "301102408e3be146b02a002d287854e6", "waymo_split": "test", "type": "image", "frame_index": 121, "question": "How should I drive to address the first risk while also addressing the second risk?", "category": "Safety-critical Planning", "options": ["A. Pass through the second safety-critical object by decelerating", "B. There is a second safety-critical object", "C. Avoid the second safety-critical object on the left", "D. There is no second safety-critical object"], "answer_index": 3}
{"token": "301102408e3be146b02a002d287854e6", "waymo_split": "test", "type": "image", "frame_index": 121, "question": "What is the correlation in safety-critical situations?", "category": "Safety-critical scene Understanding", "options": ["A. Car-Car", "B. Person-Two-wheeler", "C. Car-Person", "D. Car-Two-wheeler"], "answer_index": 0}
{"token": "301102408e3be146b02a002d287854e6", "waymo_split": "test", "type": "image", "frame_index": 121, "question": "Where is the area that hides danger in the current frame?", "category": "Uncertainty", "options": ["A. Inside the corner", "B. No such area", "C. Behind the left truck", "D. Behind the right bus"], "answer_index": 1}
{"token": "301102408e3be146b02a002d287854e6", "waymo_split": "test", "type": "image", "frame_index": 121, "question": "Is lane changing possible? Which is safer, slowing down or changing lanes?", "category": "Safety-critical Planning", "options": ["A. In traffic situations, changing lanes is safer", "B. Lane changing is possible, changing lanes is safer", "C. No need to slow down, changing lanes is safer", "D. Changing lanes is risky, slowing down is safer"], "answer_index": 3}
{"token": "301102408e3be146b02a002d287854e6", "waymo_split": "test", "type": "image", "frame_index": 121, "question": "Who is responsible in a safety-critical situation? What is the cause?", "category": "Safety-critical scene Understanding", "options": ["A. The other vehicle attempted a U-turn from the left turn lane, and since the vehicle was waiting while maintaining its lane, the attempt to U-turn is the cause.", "B. The other vehicle changed lanes abruptly after crossing the stop line and entered the intersection, while my vehicle was maintaining a straight path, so the fault of the other party is the cause.", "C. My vehicle entered the intersection, and the other vehicle was trying to start driving by changing lanes, so both of these are the cause.", "D. My vehicle pushed into the right lane without signaling, and the other vehicle started moving straight according to the traffic signal, so my vehicle's fault is the cause."], "answer_index": 2}
{"token": "301102408e3be146b02a002d287854e6", "waymo_split": "test", "type": "image", "frame_index": 121, "question": "What is the safest choice just before entering a yellow signal: stop vs proceed?", "category": "Special Event", "options": ["A. Exit by turning right", "B. Accelerate to pass through the intersection", "C. Slow down and stop before the stop line", "D. Currently green signal, not applicable"], "answer_index": 3}
{"token": "301102408e3be146b02a002d287854e6", "waymo_split": "test", "type": "image", "frame_index": 121, "question": "What are the new exposure risk candidates in the following section?", "category": "Safety-critical Prediction", "options": ["A. Left-side falling rocks", "B. Surface slipping", "C. None", "D. Guardrail fall"], "answer_index": 2}
{"token": "301102408e3be146b02a002d287854e6", "waymo_split": "test", "type": "image", "frame_index": 121, "question": "What is the guideline for the behavior of my vehicle based on the actions of a safety-critical object?", "category": "Safety-critical Planning", "options": ["A. If the safety-critical object changes lanes twice in the first lane, my vehicle should allow that vehicle to proceed first to avoid a collision, while decelerating as much as possible.", "B. If the safety-critical object changes lanes twice in the first lane, my vehicle should maintain its current speed while signaling with warning lights and sounds to secure the right of way.", "C. If the safety-critical object enters the first lane from the second lane and drives unsteadily, it is better for my vehicle to change to the right lane, accelerate, and overtake while adjusting speed in front.", "D. If the safety-critical object abruptly changes lanes once from the third lane to the first lane, my vehicle should immediately accelerate to maintain the lead and reduce the gap to prevent that vehicle from re-entering."], "answer_index": 0}
{"token": "301102408e3be146b02a002d287854e6", "waymo_split": "test", "type": "image", "frame_index": 146, "question": "Based on the current appearance of the person/vehicle (two-wheeled), how do they intend to move?", "category": "Normal Perception & Prediction", "options": ["A. Left turn from the first lane of three lanes", "B. Going straight from the first lane of three lanes", "C. Right turn from the third lane of three lanes", "D. Going straight from the second lane of three lanes"], "answer_index": 1}
{"token": "301102408e3be146b02a002d287854e6", "waymo_split": "test", "type": "image", "frame_index": 121, "question": "What is the method to avoid the blind spot next to a large vehicle?", "category": "Special Event", "options": ["A. Overtake on the right", "B. No large vehicle. Not applicable", "C. Tailgate closely", "D. Maintain the blind spot"], "answer_index": 1}
{"token": "301102408e3be146b02a002d287854e6", "waymo_split": "test", "type": "image", "frame_index": 146, "question": "What is the correct Image Caption from the perspective of Safety-critical Frame?", "category": "Safety-critical scene caption", "options": ["A. A vehicle attempting to change from the first lane to the second lane in front has turned off its turn signal and is maintaining its original lane. My vehicle is driving in the same first lane in front of that vehicle. The distance between vehicles is sufficient, so the risk of collision is low.", "B. Vehicles are seen moving slowly in the right third lane ahead due to congestion. My vehicle is driving in the second lane, maintaining speed according to the flow. There seems to be no immediate risk of collision as there is a wide gap with the adjacent lane.", "C. A vehicle is seen changing from the third lane to the second lane ahead. My vehicle is driving in the first lane and is moving slowly behind that vehicle. If that vehicle changes lanes and the distance between it and my vehicle decreases, there is a risk of collision.", "D. A motorcycle is seen entering from the second lane to the first lane ahead. My vehicle is driving in the third lane and is ahead of that motorcycle. Since the lanes are widening, the risk of proximity is low."], "answer_index": 2}
{"token": "301102408e3be146b02a002d287854e6", "waymo_split": "test", "type": "image", "frame_index": 146, "question": "Which of the following is a correct description of traffic density?", "category": "Normal scene Understanding", "options": ["A. One vehicle is on the right", "B. One vehicle is in front", "C. Three vehicles are in front", "D. Two vehicles are on the left"], "answer_index": 1}
{"token": "301102408e3be146b02a002d287854e6", "waymo_split": "test", "type": "image", "frame_index": 146, "question": "What is the plan for yielding when an ambulance/fire truck approaches?", "category": "Special Event", "options": ["A. Yield after entering the intersection", "B. Slow down to give space", "C. Move to the left lane first", "D. Maintain speed to pass"], "answer_index": 1}
{"token": "301102408e3be146b02a002d287854e6", "waymo_split": "test", "type": "image", "frame_index": 146, "question": "What are the divisions of the scene?", "category": "Normal scene Understanding", "options": ["A. City", "B. Highway", "C. Unpaved", "D. Residential area"], "answer_index": 0}
{"token": "301102408e3be146b02a002d287854e6", "waymo_split": "test", "type": "image", "frame_index": 146, "question": "Which of the following is a correct description of the environment?", "category": "Normal scene Understanding", "options": ["A. Day, cloudy", "B. Night, rain", "C. Dusk, cloudy", "D. Day, clear"], "answer_index": 0}
{"token": "301102408e3be146b02a002d287854e6", "waymo_split": "test", "type": "image", "frame_index": 146, "question": "Which of the following is a correct description of traffic signals?", "category": "Traffic Signal", "options": ["A. A sign ahead (speed limit 50)", "B. A traffic light on the right (red)", "C. A pedestrian signal in front (red light)", "D. A traffic light on the left (green)"], "answer_index": 3}
{"token": "301102408e3be146b02a002d287854e6", "waymo_split": "test", "type": "image", "frame_index": 146, "question": "What is the description of a non-safety-critical object?", "category": "Normal Perception & Prediction", "options": ["A. Many parked vehicles on the right side of the road. There is a central separation space with trees planted immediately to the left of my vehicle. There is a traffic light on the left. Buildings are outside the road on the right side ahead.", "B. The right side of the road is a bus-only lane, with no parked vehicles / There is a sidewalk and a bicycle lane immediately to the left of my vehicle / There is a sign on the left / There is an open space on the right side ahead.", "C. A few parked vehicles on the left side of the road / There is a sidewalk with a flower bed immediately to the left of my vehicle / There is a traffic light on the right / There is a small park outside the road on the left ahead.", "D. There are construction barriers and pedestrians on the right / Two-way road without a central divider / There are signs and streetlights on the left / There is an empty lot behind a low wall on the right side ahead."], "answer_index": 0}
{"token": "301102408e3be146b02a002d287854e6", "waymo_split": "test", "type": "image", "frame_index": 146, "question": "Is there a blind spot in your field of vision?", "category": "Uncertainty", "options": ["A. None", "B. Yes", "C. Some", "D. On the right"], "answer_index": 0}
{"token": "301102408e3be146b02a002d287854e6", "waymo_split": "test", "type": "image", "frame_index": 146, "question": "What is the answer regarding parked vehicles on the shoulder, the presence of a center line, and whether Ego crosses the center line?", "category": "Normal Perception & Prediction", "options": ["A. There are many parked vehicles on the shoulder in front. There is no center line, but there is a central separation area (with trees planted). My vehicle does not cross the central area.", "B. There are a few parked vehicles on the left shoulder. There is no central separation area, only the center line is visible. My vehicle does not cross the center line.", "C. There are almost no parked vehicles on the shoulder. There is a center line (yellow solid line). My vehicle slightly crosses the center line.", "D. There are several parked vehicles on the right shoulder. The central separation area is a guardrail instead of a flower bed. My vehicle partially crosses the central area."], "answer_index": 0}
{"token": "301102408e3be146b02a002d287854e6", "waymo_split": "test", "type": "image", "frame_index": 146, "question": "How do you think a safety-critical object will move?", "category": "Safety-critical Prediction", "options": ["A. Planning to change to the left lane and turn left from the first lane out of three lanes.", "B. Planning to maintain the third lane and exit to the right.", "C. Planning to change to the second lane and drive straight.", "D. Planning to maintain the second lane, slow down, and stop at the signal."], "answer_index": 2}
{"token": "301102408e3be146b02a002d287854e6", "waymo_split": "test", "type": "image", "frame_index": 146, "question": "Are there any other safety-critical objects besides the first safety-critical object? If so, how will they be moved?", "category": "Safety-critical Prediction", "options": ["A. None", "B. Move the oxygen tank to the edge of the aisle", "C. Move the AED towards the information desk", "D. Move the fire extinguisher next to the entrance"], "answer_index": 0}
{"token": "301102408e3be146b02a002d287854e6", "waymo_split": "test", "type": "image", "frame_index": 146, "question": "How should I drive to address the first risk while also resolving the second risk?", "category": "Safety-critical Planning", "options": ["A. There is no second safety-critical object", "B. Gradually decelerate compared to the second object", "C. Change to the right lane to avoid the second risk", "D. There is a second safety-critical object"], "answer_index": 0}
{"token": "301102408e3be146b02a002d287854e6", "waymo_split": "test", "type": "image", "frame_index": 146, "question": "What is the correlation in safety-critical situations?", "category": "Safety-critical scene Understanding", "options": ["A. Person - Two-wheeler", "B. Vehicle - Two-wheeler", "C. Vehicle - Person", "D. Vehicle - Vehicle"], "answer_index": 3}
{"token": "301102408e3be146b02a002d287854e6", "waymo_split": "test", "type": "image", "frame_index": 146, "question": "Is lane changing possible? Which is safer, slowing down or changing lanes?", "category": "Safety-critical Planning", "options": ["A. Changing lanes is risky; slowing down is safer.", "B. The rear side is clear; changing lanes is safer.", "C. There is enough space on the left; changing lanes is safer.", "D. There is congestion ahead; changing lanes is safer."], "answer_index": 0}
{"token": "301102408e3be146b02a002d287854e6", "waymo_split": "test", "type": "image", "frame_index": 146, "question": "What are the new exposure risk candidates in the following section?", "category": "Safety-critical Prediction", "options": ["A. Falling rocks", "B. None", "C. Slipping", "D. Flooding"], "answer_index": 1}
{"token": "301102408e3be146b02a002d287854e6", "waymo_split": "test", "type": "image", "frame_index": 146, "question": "Where is the area that hides danger behind the current frame?", "category": "Uncertainty", "options": ["A. Behind the street tree", "B. Behind the car in front", "C. No such area", "D. Right blind spot"], "answer_index": 2}
{"token": "301102408e3be146b02a002d287854e6", "waymo_split": "test", "type": "image", "frame_index": 146, "question": "What is the method to avoid the blind spot next to a large vehicle?", "category": "Special Event", "options": ["A. Maintain distance and pass on the right", "B. Quickly pass on the left of the large vehicle", "C. No large vehicle. Not applicable", "D. Slow down and wait behind the large vehicle"], "answer_index": 2}
{"token": "301102408e3be146b02a002d287854e6", "waymo_split": "test", "type": "image", "frame_index": 146, "question": "What is the safest choice just before entering a yellow signal: stop vs. proceed?", "category": "Special Event", "options": ["A. Currently, the signal is green and I have exited the signal zone, so this does not apply.", "B. Currently, the signal is yellow and I am in the middle of the intersection, so I will accelerate to pass.", "C. The left turn signal is green while the straight signal is yellow, so proceeding is safe.", "D. Currently, the signal is yellow and I am before the stop line, so I will decelerate to stop."], "answer_index": 0}
{"token": "301102408e3be146b02a002d287854e6", "waymo_split": "test", "type": "image", "frame_index": 146, "question": "What situation might occur if the self-driving car behaved like this?", "category": "Counterfactual", "options": ["A. If the self-driving car continues to drive in the acceleration lane without entering the right lane, there is a risk of a side collision with vehicles merging from the ramp.", "B. If the self-driving car suddenly reduces speed while only signaling right, there is a risk of a rear-end collision as following vehicles may become confused and brake suddenly.", "C. If the self-driving car changes to the right lane while driving, there is a risk of colliding with vehicles exiting from the shoulder.", "D. If the self-driving car changes to the left lane while driving, there is a risk of a collision with the median barrier."], "answer_index": 2}