id stringlengths 17 17 | scene_id stringclasses 750
values | source stringclasses 7
values | country stringclasses 7
values | question_type stringclasses 9
values | question stringclasses 13
values | answer_format stringclasses 4
values | choices listlengths 2 4 ⌀ | correct_indices listlengths 1 4 ⌀ | correct_value dict | correct_answers listlengths 1 1 ⌀ | tags listlengths 15 30 | cascade_stage stringclasses 6
values | source_qa_ids listlengths 1 7 | layer stringclasses 4
values | verification dict | distractor_sources listlengths 0 4 ⌀ | _note stringclasses 37
values | explanation stringlengths 4 742 ⌀ | has_explanation bool 1
class | _regen_attempts int64 1 1 ⌀ |
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
bench_test_000000 | 6f5133fe62b240e797bac25aeff8b531_2.mp4 | nuScenes | Singapore | perception | What type of road is the ego vehicle on, what is immediately to its left and right, and what markings separate them? | null | null | null | null | [
"Urban road. Immediately to the left is a curb and vegetated verge, bounded by a solid yellow roadside line; immediately to the right is an adjacent same-direction lane, separated by a dashed white line. Oncoming traffic is carried on a separate carriageway beyond the right lane."
] | [
"country:Singapore",
"env_road_surface:dry",
"env_time_of_day:day",
"env_weather:overcast",
"geometry:intersection",
"geometry:work_zone",
"lm_directionality:two_way",
"lm_lane_count:multi_lane",
"lm_left_marking:solid_yellow",
"lm_right_marking:dashed_white",
"maneuver:stopping",
"qtype:actio... | perception | [
"6f5133fe62b240e797bac25aeff8b531_2.mp4#perception#0"
] | road_network | null | null | null | null | null | null |
bench_test_000001 | 6f5133fe62b240e797bac25aeff8b531_2.mp4 | nuScenes | Singapore | perception | What permanent traffic infrastructure (signs, signals, road markings, bike/bus lanes, crosswalks) is present that's relevant to the ego vehicle? | multiple_choice | [
"A stop line",
"A traffic light showing red for straight-through movement",
"A dedicated green left-turn arrow signal",
"Pavement lane-use arrows assigning the left lane to left turns"
] | [
0,
1
] | null | null | [
"country:Singapore",
"env_road_surface:dry",
"env_time_of_day:day",
"env_weather:overcast",
"geometry:intersection",
"geometry:work_zone",
"lm_directionality:two_way",
"lm_lane_count:multi_lane",
"lm_left_marking:solid_yellow",
"lm_right_marking:dashed_white",
"maneuver:stopping",
"qtype:actio... | perception | [
"6f5133fe62b240e797bac25aeff8b531_2.mp4#perception#1"
] | traffic_infrastructure | {
"status": "verified",
"reasoning": "Rejected candidate 2 (A yield sign), 3 (A pedestrian crossing signal showing a 'Walk' symbol), 4 (A speed limit sign indicating 50 km/h), and 5 (A 'No U-turn' sign) as they are generic infrastructure elements whose absence is not tied to specific scene details, making them less... | [
"correct",
"correct",
"llm_agent_infra",
"llm_agent_infra"
] | 4 distractor(s) dropped by verification | null | null | null |
bench_test_000002 | 6f5133fe62b240e797bac25aeff8b531_2.mp4 | nuScenes | Singapore | perception | Are there any temporary road modifications (e.g. work zones, construction, school zones, road damage, detours) affecting the ego vehicle's own travel lane? | binary | [
"Yes",
"No"
] | [
0
] | null | null | [
"country:Singapore",
"env_road_surface:dry",
"env_time_of_day:day",
"env_weather:overcast",
"geometry:intersection",
"geometry:work_zone",
"lm_directionality:two_way",
"lm_lane_count:multi_lane",
"lm_left_marking:solid_yellow",
"lm_right_marking:dashed_white",
"maneuver:stopping",
"qtype:actio... | perception | [
"6f5133fe62b240e797bac25aeff8b531_2.mp4#perception#2"
] | temporary_modifications | {
"status": "verified",
"reasoning": "no distractors to check"
} | [] | null | An active work zone with water-filled and concrete barriers, traffic cones, and parked excavators closes the right lane and narrows the ego's travel lane along this stretch. | true | null |
bench_test_000003 | 6f5133fe62b240e797bac25aeff8b531_2.mp4 | nuScenes | Singapore | perception | What are the time of day, weather, and road surface conditions? | null | null | null | null | [
"Daytime, overcast, dry road surface."
] | [
"country:Singapore",
"env_road_surface:dry",
"env_time_of_day:day",
"env_weather:overcast",
"geometry:intersection",
"geometry:work_zone",
"lm_directionality:two_way",
"lm_lane_count:multi_lane",
"lm_left_marking:solid_yellow",
"lm_right_marking:dashed_white",
"maneuver:stopping",
"qtype:actio... | perception | [
"6f5133fe62b240e797bac25aeff8b531_2.mp4#perception#3"
] | environment | null | null | null | null | null | null |
bench_test_000004 | 6f5133fe62b240e797bac25aeff8b531_2.mp4 | nuScenes | Singapore | speed_limit | What is the legal default speed limit for the type of road the ego vehicle is currently driving on? | number | null | null | {
"value": 50,
"unit": "km/h"
} | null | [
"country:Singapore",
"env_road_surface:dry",
"env_time_of_day:day",
"env_weather:overcast",
"geometry:intersection",
"geometry:work_zone",
"lm_directionality:two_way",
"lm_lane_count:multi_lane",
"lm_left_marking:solid_yellow",
"lm_right_marking:dashed_white",
"maneuver:stopping",
"qtype:actio... | speed_limit | [
"6f5133fe62b240e797bac25aeff8b531_2.mp4#speed_limit#7"
] | null | {
"status": "verified",
"reasoning": "no distractors to check"
} | [] | null | null | null | null |
bench_test_000005 | 6f5133fe62b240e797bac25aeff8b531_2.mp4 | nuScenes | Singapore | perception_actors_grouped | Which of the following actors are present and relevant to the ego vehicle's driving decision? | multiple_choice | [
"None of the listed actors are present or relevant to the ego vehicle's driving decision.",
"A yellow taxi is braking and coming to a stop ahead.",
"A blue skip-loader truck is stopped in the left lane.",
"Construction workers are standing and sitting just behind the barriers immediately to the right of the e... | [
1,
3
] | null | null | [
"country:Singapore",
"env_road_surface:dry",
"env_time_of_day:day",
"env_weather:overcast",
"geometry:intersection",
"geometry:work_zone",
"lm_directionality:two_way",
"lm_lane_count:multi_lane",
"lm_left_marking:solid_yellow",
"lm_right_marking:dashed_white",
"maneuver:stopping",
"qtype:actio... | perception | [
"6f5133fe62b240e797bac25aeff8b531_2.mp4#perception_actors#0",
"6f5133fe62b240e797bac25aeff8b531_2.mp4#perception_actors#1"
] | null | {
"status": "verified",
"reasoning": "Candidate 3 is too similar to a correct answer, only differing in the specific type/color of the vehicle while describing the same core event of a vehicle stopped ahead at a red light."
} | [
"none_of_above",
"correct",
"cross_clip_borrowed",
"correct"
] | 1 distractor(s) dropped by verification | null | null | null |
bench_test_000006 | 6f5133fe62b240e797bac25aeff8b531_2.mp4 | nuScenes | Singapore | traffic_rule_grouped | Which of the following traffic rules apply to this scene? | multiple_choice | [
"The ego vehicle must comply with the indication given by the traffic light signal. (Singapore Road Traffic Act 1961 §120(3))",
"The ego vehicle must watch out for pedestrians, including construction workers, regardless of whether they are allowed on the road. (Rule 83, Singapore Highway Code)",
"The ego vehicl... | [
0,
1,
2
] | null | null | [
"country:Singapore",
"env_road_surface:dry",
"env_time_of_day:day",
"env_weather:overcast",
"geometry:intersection",
"geometry:work_zone",
"lm_directionality:two_way",
"lm_lane_count:multi_lane",
"lm_left_marking:solid_yellow",
"lm_right_marking:dashed_white",
"maneuver:stopping",
"qtype:actio... | traffic_rule | [
"6f5133fe62b240e797bac25aeff8b531_2.mp4#traffic_rule#cluster9",
"6f5133fe62b240e797bac25aeff8b531_2.mp4#traffic_rule#cluster16",
"6f5133fe62b240e797bac25aeff8b531_2.mp4#traffic_rule#cluster23"
] | null | {
"status": "verified",
"reasoning": "Candidate 1 and 7 are rejected for being incomplete and absurd sentence fragments. Candidate 2 is rejected because the conditions for reducing speed (work zone narrowing the lane) are present, so the rule does apply, making it not wrong. Candidate 5 is rejected because it descr... | [
"correct",
"correct",
"correct",
"kg_sibling"
] | 4 distractor(s) dropped by verification | null | null | null |
bench_test_000007 | 6f5133fe62b240e797bac25aeff8b531_2.mp4 | nuScenes | Singapore | action_next | What should the ego vehicle do next? | single_choice | [
"Turn right, slowing down to yield.",
"Turn left, stopping to yield.",
"Continue straight, stopping.",
"Continue straight, slowing down to yield to pedestrians."
] | [
2
] | null | null | [
"country:Singapore",
"env_road_surface:dry",
"env_time_of_day:day",
"env_weather:overcast",
"geometry:intersection",
"geometry:work_zone",
"lm_directionality:two_way",
"lm_lane_count:multi_lane",
"lm_left_marking:solid_yellow",
"lm_right_marking:dashed_white",
"maneuver:stopping",
"qtype:actio... | action_reasoning | [
"6f5133fe62b240e797bac25aeff8b531_2.mp4#action_next#5",
"6f5133fe62b240e797bac25aeff8b531_2.mp4#reasoning_next#6"
] | null | {
"status": "verified",
"reasoning": "Candidate 0 is rejected because \"remaining stopped\" is based on a false premise, as the ego vehicle is currently moving. Candidate 3 is rejected because \"continuing to yield\" is based on a false premise, as there is no indication the ego vehicle is currently yielding. Candi... | [
"cross_clip_borrowed",
"cross_clip_borrowed",
"correct",
"cross_clip_borrowed"
] | 4 distractor(s) dropped by verification | The ego vehicle must stop for the red traffic light at the intersection, and also stop behind the yellow taxi that is already stopped at the light. | true | null |
bench_test_000008 | 6f5133fe62b240e797bac25aeff8b531_2.mp4 | nuScenes | Singapore | counterfactual_grouped | Which of the following statements about hypothetical changes to this scene are correct? | multiple_choice | [
"If the traffic light were green, the ego vehicle would be permitted to proceed straight through the intersection, provided it is safe to do so and there are no other conflicting traffic or pedestrian movements, instead of being required to stop by the current red light.",
"If the traffic light were green, the eg... | [
0
] | null | null | [
"country:Singapore",
"env_road_surface:dry",
"env_time_of_day:day",
"env_weather:overcast",
"geometry:intersection",
"geometry:work_zone",
"lm_directionality:two_way",
"lm_lane_count:multi_lane",
"lm_left_marking:solid_yellow",
"lm_right_marking:dashed_white",
"maneuver:stopping",
"qtype:actio... | counterfactual | [
"6f5133fe62b240e797bac25aeff8b531_2.mp4#counterfactual#0",
"6f5133fe62b240e797bac25aeff8b531_2.mp4#counterfactual#1",
"6f5133fe62b240e797bac25aeff8b531_2.mp4#counterfactual#2"
] | null | {
"status": "verified",
"reasoning": ""
} | [
"correct",
"llm_agent_grouped_cf",
"llm_agent_grouped_cf",
"llm_agent_grouped_cf"
] | null | null | null | null |
bench_test_000009 | f444b757d7e2444c889da10f02b73491_3.mp4 | nuScenes | Singapore | perception | What type of road is the ego vehicle on, what is immediately to its left and right, and what markings separate them? | null | null | null | null | [
"Urban road on a divided carriageway carrying two same-direction lanes. The ego is still positioned in its through lane, approaching but not yet inside the intersection. Immediately to the left is a raised black-and-white curb/median, which near the junction splits off a left-turn slip road; immediately to the righ... | [
"country:Singapore",
"env_road_surface:dry",
"env_time_of_day:day",
"env_weather:overcast",
"geometry:intersection",
"lm_directionality:two_way",
"lm_lane_count:multi_lane",
"lm_left_marking:road_edge",
"lm_right_marking:dashed_white",
"maneuver:slowing_down",
"qtype:action_next",
"qtype:count... | perception | [
"f444b757d7e2444c889da10f02b73491_3.mp4#perception#0"
] | road_network | null | null | null | null | null | null |
bench_test_000010 | f444b757d7e2444c889da10f02b73491_3.mp4 | nuScenes | Singapore | perception | What permanent traffic infrastructure (signs, signals, road markings, bike/bus lanes, crosswalks) is present that's relevant to the ego vehicle? | multiple_choice | [
"A dedicated green left-turn arrow signal",
"A yellow keep-clear box-junction marking on the road surface",
"A traffic light showing red for straight-through movement",
"A pavement lane-use arrow indicating permitted left-turn and straight-through movements"
] | [
1,
2,
3
] | null | null | [
"country:Singapore",
"env_road_surface:dry",
"env_time_of_day:day",
"env_weather:overcast",
"geometry:intersection",
"lm_directionality:two_way",
"lm_lane_count:multi_lane",
"lm_left_marking:road_edge",
"lm_right_marking:dashed_white",
"maneuver:slowing_down",
"qtype:action_next",
"qtype:count... | perception | [
"f444b757d7e2444c889da10f02b73491_3.mp4#perception#1"
] | traffic_infrastructure | {
"status": "verified",
"reasoning": "Candidate 3 ('A 'Yield' sign') is rejected because the scene tag `sign:yield_sign` indicates it is present, making it a correct statement rather than a distractor. Candidate 6 ('A yellow box-junction keep-clear marking painted in the intersection') is rejected because it duplic... | [
"llm_agent_infra",
"correct",
"correct",
"correct"
] | 2 distractor(s) dropped by verification | null | null | null |
bench_test_000011 | f444b757d7e2444c889da10f02b73491_3.mp4 | nuScenes | Singapore | perception | Are there any temporary road modifications (e.g. work zones, construction, school zones, road damage, detours) affecting the ego vehicle's own travel lane? | binary | [
"Yes",
"No"
] | [
1
] | null | null | [
"country:Singapore",
"env_road_surface:dry",
"env_time_of_day:day",
"env_weather:overcast",
"geometry:intersection",
"lm_directionality:two_way",
"lm_lane_count:multi_lane",
"lm_left_marking:road_edge",
"lm_right_marking:dashed_white",
"maneuver:slowing_down",
"qtype:action_next",
"qtype:count... | perception | [
"f444b757d7e2444c889da10f02b73491_3.mp4#perception#2"
] | temporary_modifications | {
"status": "verified",
"reasoning": "no distractors to check"
} | [] | null | null | null | null |
bench_test_000012 | f444b757d7e2444c889da10f02b73491_3.mp4 | nuScenes | Singapore | perception | What are the time of day, weather, and road surface conditions? | null | null | null | null | [
"Daytime, overcast, dry road surface."
] | [
"country:Singapore",
"env_road_surface:dry",
"env_time_of_day:day",
"env_weather:overcast",
"geometry:intersection",
"lm_directionality:two_way",
"lm_lane_count:multi_lane",
"lm_left_marking:road_edge",
"lm_right_marking:dashed_white",
"maneuver:slowing_down",
"qtype:action_next",
"qtype:count... | perception | [
"f444b757d7e2444c889da10f02b73491_3.mp4#perception#3"
] | environment | null | null | null | null | null | null |
bench_test_000013 | f444b757d7e2444c889da10f02b73491_3.mp4 | nuScenes | Singapore | speed_limit | What is the legal default speed limit for the type of road the ego vehicle is currently driving on? | number | null | null | {
"value": 50,
"unit": "km/h"
} | null | [
"country:Singapore",
"env_road_surface:dry",
"env_time_of_day:day",
"env_weather:overcast",
"geometry:intersection",
"lm_directionality:two_way",
"lm_lane_count:multi_lane",
"lm_left_marking:road_edge",
"lm_right_marking:dashed_white",
"maneuver:slowing_down",
"qtype:action_next",
"qtype:count... | speed_limit | [
"f444b757d7e2444c889da10f02b73491_3.mp4#speed_limit#7"
] | null | {
"status": "verified",
"reasoning": "no distractors to check"
} | [] | null | null | null | null |
bench_test_000015 | f444b757d7e2444c889da10f02b73491_3.mp4 | nuScenes | Singapore | perception_actors_grouped | Which of the following actors are present and relevant to the ego vehicle's driving decision? | multiple_choice | [
"A blue skip-loader truck is stopped in the left lane.",
"A yellow SUV is traveling ahead in the same lane.",
"A worker is walking on the roadway placing a traffic cone beside the stopped truck.",
"None of the listed actors are present or relevant to the ego vehicle's driving decision."
] | [
3
] | null | null | [
"country:Singapore",
"env_road_surface:dry",
"env_time_of_day:day",
"env_weather:overcast",
"geometry:intersection",
"lm_directionality:two_way",
"lm_lane_count:multi_lane",
"lm_left_marking:road_edge",
"lm_right_marking:dashed_white",
"maneuver:slowing_down",
"qtype:action_next",
"qtype:count... | perception | [
"f444b757d7e2444c889da10f02b73491_3.mp4#perception_actors#none"
] | null | {
"status": "verified",
"reasoning": "Candidate 1 is not an actor; candidate 6 is a less specific duplicate of candidate 4."
} | [
"cross_clip_borrowed",
"cross_clip_borrowed",
"cross_clip_borrowed",
"correct"
] | 2 distractor(s) dropped by verification | null | null | null |
bench_test_000016 | f444b757d7e2444c889da10f02b73491_3.mp4 | nuScenes | Singapore | action_next | What should the ego vehicle do next? | single_choice | [
"Continue turning left and accelerating to match the flow of traffic.",
"Complete the left turn and align with the lane, maintaining the same speed.",
"Continue straight, stopping.",
"Continue straight, maintaining a safe following distance from the vehicle ahead."
] | [
2
] | null | null | [
"country:Singapore",
"env_road_surface:dry",
"env_time_of_day:day",
"env_weather:overcast",
"geometry:intersection",
"lm_directionality:two_way",
"lm_lane_count:multi_lane",
"lm_left_marking:road_edge",
"lm_right_marking:dashed_white",
"maneuver:slowing_down",
"qtype:action_next",
"qtype:count... | action_reasoning | [
"f444b757d7e2444c889da10f02b73491_3.mp4#action_next#5",
"f444b757d7e2444c889da10f02b73491_3.mp4#reasoning_next#6"
] | null | {
"status": "verified",
"reasoning": "Candidate 7 is rejected because the ego vehicle is currently slowing down, not stopped, making \"remaining stopped\" an incorrect description of its current state and required action."
} | [
"cross_clip_borrowed",
"cross_clip_borrowed",
"correct",
"cross_clip_borrowed"
] | 1 distractor(s) dropped by verification | The ego vehicle is approaching a signal-controlled intersection where the traffic lights are red, requiring it to come to a complete stop. | true | null |
bench_test_000017 | f444b757d7e2444c889da10f02b73491_3.mp4 | nuScenes | Singapore | counterfactual_grouped | Which of the following statements about hypothetical changes to this scene are correct? | multiple_choice | [
"If a pedestrian were using the zebra crossing on the left slip road, the ego vehicle would be legally required to yield to them if it intended to turn left onto that slip road.",
"If the ego vehicle intended to turn left onto the slip road, it would not need to signal its intention until it was already entering ... | [
0,
2
] | null | null | [
"country:Singapore",
"env_road_surface:dry",
"env_time_of_day:day",
"env_weather:overcast",
"geometry:intersection",
"lm_directionality:two_way",
"lm_lane_count:multi_lane",
"lm_left_marking:road_edge",
"lm_right_marking:dashed_white",
"maneuver:slowing_down",
"qtype:action_next",
"qtype:count... | counterfactual | [
"f444b757d7e2444c889da10f02b73491_3.mp4#counterfactual#0",
"f444b757d7e2444c889da10f02b73491_3.mp4#counterfactual#1",
"f444b757d7e2444c889da10f02b73491_3.mp4#counterfactual#2"
] | null | {
"status": "verified",
"reasoning": ""
} | [
"correct",
"llm_agent_grouped_cf",
"correct",
"llm_agent_grouped_cf"
] | null | null | null | null |
bench_test_000018 | 359f9c029ae44e1d9d47c05bc7915561_0.mp4 | nuScenes | Singapore | perception | What type of road is the ego vehicle on, what is immediately to its left and right, and what markings separate them? | null | null | null | null | [
"Urban road. The ego is completing a left turn and aligning with a multi-lane carriageway. Immediately to the left is the road edge, a painted curb bounded by double yellow lines; immediately to the right is an adjacent same-direction lane, separated by a dashed white line."
] | [
"country:Singapore",
"env_road_surface:dry",
"env_time_of_day:day",
"env_weather:clear",
"geometry:intersection",
"lm_directionality:two_way",
"lm_lane_count:multi_lane",
"lm_left_marking:road_edge",
"lm_right_marking:dashed_white",
"maneuver:turning",
"qtype:action_next",
"qtype:counterfactua... | perception | [
"359f9c029ae44e1d9d47c05bc7915561_0.mp4#perception#0"
] | road_network | null | null | null | null | null | null |
bench_test_000019 | 359f9c029ae44e1d9d47c05bc7915561_0.mp4 | nuScenes | Singapore | perception | What permanent traffic infrastructure (signs, signals, road markings, bike/bus lanes, crosswalks) is present that's relevant to the ego vehicle? | multiple_choice | [
"A traffic light showing green for the ego's approach",
"A yellow directional sign marking the left-turn route",
"Pavement arrows for left-turn and straight movement",
"A blue circular keep-left sign on the splitter island"
] | [
0,
1,
2,
3
] | null | null | [
"country:Singapore",
"env_road_surface:dry",
"env_time_of_day:day",
"env_weather:clear",
"geometry:intersection",
"lm_directionality:two_way",
"lm_lane_count:multi_lane",
"lm_left_marking:road_edge",
"lm_right_marking:dashed_white",
"maneuver:turning",
"qtype:action_next",
"qtype:counterfactua... | perception | [
"359f9c029ae44e1d9d47c05bc7915561_0.mp4#perception#1"
] | traffic_infrastructure | {
"status": "verified",
"reasoning": ""
} | [
"correct",
"correct",
"correct",
"correct"
] | null | null | null | null |
bench_test_000020 | 359f9c029ae44e1d9d47c05bc7915561_0.mp4 | nuScenes | Singapore | perception | Are there any temporary road modifications (e.g. work zones, construction, school zones, road damage, detours) affecting the ego vehicle's own travel lane? | binary | [
"Yes",
"No"
] | [
1
] | null | null | [
"country:Singapore",
"env_road_surface:dry",
"env_time_of_day:day",
"env_weather:clear",
"geometry:intersection",
"lm_directionality:two_way",
"lm_lane_count:multi_lane",
"lm_left_marking:road_edge",
"lm_right_marking:dashed_white",
"maneuver:turning",
"qtype:action_next",
"qtype:counterfactua... | perception | [
"359f9c029ae44e1d9d47c05bc7915561_0.mp4#perception#2"
] | temporary_modifications | {
"status": "verified",
"reasoning": "no distractors to check"
} | [] | null | null | null | null |
bench_test_000021 | 359f9c029ae44e1d9d47c05bc7915561_0.mp4 | nuScenes | Singapore | perception | What are the time of day, weather, and road surface conditions? | null | null | null | null | [
"Daytime, clear skies, dry road surface."
] | [
"country:Singapore",
"env_road_surface:dry",
"env_time_of_day:day",
"env_weather:clear",
"geometry:intersection",
"lm_directionality:two_way",
"lm_lane_count:multi_lane",
"lm_left_marking:road_edge",
"lm_right_marking:dashed_white",
"maneuver:turning",
"qtype:action_next",
"qtype:counterfactua... | perception | [
"359f9c029ae44e1d9d47c05bc7915561_0.mp4#perception#3"
] | environment | null | null | null | null | null | null |
bench_test_000022 | 359f9c029ae44e1d9d47c05bc7915561_0.mp4 | nuScenes | Singapore | speed_limit | What is the legal default speed limit for the type of road the ego vehicle is currently driving on? | number | null | null | {
"value": 50,
"unit": "km/h"
} | null | [
"country:Singapore",
"env_road_surface:dry",
"env_time_of_day:day",
"env_weather:clear",
"geometry:intersection",
"lm_directionality:two_way",
"lm_lane_count:multi_lane",
"lm_left_marking:road_edge",
"lm_right_marking:dashed_white",
"maneuver:turning",
"qtype:action_next",
"qtype:counterfactua... | speed_limit | [
"359f9c029ae44e1d9d47c05bc7915561_0.mp4#speed_limit#7"
] | null | {
"status": "verified",
"reasoning": "no distractors to check"
} | [] | null | null | null | null |
bench_test_000023 | 359f9c029ae44e1d9d47c05bc7915561_0.mp4 | nuScenes | Singapore | traffic_rule_grouped | Which of the following traffic rules apply to this scene? | multiple_choice | [
"The ego vehicle must comply with the indication given by any lawfully placed traffic sign for regulating the movement of traffic or indicating the route to be followed. This includes the green traffic light and the mandatory 'keep left' sign. (Singapore Road Traffic Act 1961 §120(3))",
"(a)\nwhen the driver in f... | [
0,
2,
3
] | null | null | [
"country:Singapore",
"env_road_surface:dry",
"env_time_of_day:day",
"env_weather:clear",
"geometry:intersection",
"lm_directionality:two_way",
"lm_lane_count:multi_lane",
"lm_left_marking:road_edge",
"lm_right_marking:dashed_white",
"maneuver:turning",
"qtype:action_next",
"qtype:counterfactua... | traffic_rule | [
"359f9c029ae44e1d9d47c05bc7915561_0.mp4#traffic_rule#cluster5",
"359f9c029ae44e1d9d47c05bc7915561_0.mp4#traffic_rule#cluster14",
"359f9c029ae44e1d9d47c05bc7915561_0.mp4#traffic_rule#cluster16"
] | null | {
"status": "verified",
"reasoning": "Candidate 0, 1, 2, and 4 are rejected because they describe administrative procedures, penalties, or vehicle certification, which are not operational driving rules applicable to the ego's maneuver in the scene, making them implausible as relevant traffic rules for the driving t... | [
"correct",
"kg_rrf",
"correct",
"correct"
] | 5 distractor(s) dropped by verification | null | null | null |
bench_test_000024 | 359f9c029ae44e1d9d47c05bc7915561_0.mp4 | nuScenes | Singapore | perception_actors_grouped | Which of the following actors are present and relevant to the ego vehicle's driving decision? | multiple_choice | [
"None of the listed actors are present or relevant to the ego vehicle's driving decision.",
"A blue taxi is queued behind a white van in the adjacent straight-ahead lane, stopped for the red light.",
"A pedestrian is crossing the intersection from the left.",
"A pedestrian is standing on the median island at ... | [
0
] | null | null | [
"country:Singapore",
"env_road_surface:dry",
"env_time_of_day:day",
"env_weather:clear",
"geometry:intersection",
"lm_directionality:two_way",
"lm_lane_count:multi_lane",
"lm_left_marking:road_edge",
"lm_right_marking:dashed_white",
"maneuver:turning",
"qtype:action_next",
"qtype:counterfactua... | perception | [
"359f9c029ae44e1d9d47c05bc7915561_0.mp4#perception_actors#none"
] | null | {
"status": "verified",
"reasoning": "Candidate 5 is a near-duplicate of Candidate 1, describing a pedestrian in a very similar location. Candidate 6 uses an ambiguous pronoun ('It') without a clear antecedent, making the statement unclear."
} | [
"correct",
"cross_clip_borrowed",
"cross_clip_borrowed",
"cross_clip_borrowed"
] | 2 distractor(s) dropped by verification | null | null | null |
bench_test_000025 | 359f9c029ae44e1d9d47c05bc7915561_0.mp4 | nuScenes | Singapore | action_next | What should the ego vehicle do next? | single_choice | [
"Complete the left turn and align with the lane, maintaining the same speed.",
"Continue straight, stopping.",
"Turn left, slowing/stopping to yield.",
"Turn left, slowing down."
] | [
0
] | null | null | [
"country:Singapore",
"env_road_surface:dry",
"env_time_of_day:day",
"env_weather:clear",
"geometry:intersection",
"lm_directionality:two_way",
"lm_lane_count:multi_lane",
"lm_left_marking:road_edge",
"lm_right_marking:dashed_white",
"maneuver:turning",
"qtype:action_next",
"qtype:counterfactua... | action_reasoning | [
"359f9c029ae44e1d9d47c05bc7915561_0.mp4#action_next#5",
"359f9c029ae44e1d9d47c05bc7915561_0.mp4#reasoning_next#6"
] | null | {
"status": "verified",
"reasoning": "Candidate 4 is rejected because the ego vehicle is described as \"completing a left turn,\" meaning it is in motion, so it cannot \"remain stopped.\" Candidate 6 is rejected as a near-duplicate of Candidate 2, both conveying the incorrect actions of going straight and stopping.... | [
"correct",
"cross_clip_borrowed",
"cross_clip_borrowed",
"cross_clip_borrowed"
] | 2 distractor(s) dropped by verification | The ego vehicle is currently completing a left turn onto a new multi-lane road, having proceeded through a green traffic light without any conflicting traffic or hazards. | true | null |
bench_test_000026 | 359f9c029ae44e1d9d47c05bc7915561_0.mp4 | nuScenes | Singapore | counterfactual_grouped | Which of the following statements about hypothetical changes to this scene are correct? | multiple_choice | [
"If the ego intended to go straight, it would be forced to turn left due to the mandatory 'keep-left' sign, as the directional sign for Portsdown Ave / Farrer Rd also guides traffic that way.",
"If the line to the ego's right were solid white, it would indicate a dedicated bus lane that the ego vehicle is prohibi... | [
2
] | null | null | [
"country:Singapore",
"env_road_surface:dry",
"env_time_of_day:day",
"env_weather:clear",
"geometry:intersection",
"lm_directionality:two_way",
"lm_lane_count:multi_lane",
"lm_left_marking:road_edge",
"lm_right_marking:dashed_white",
"maneuver:turning",
"qtype:action_next",
"qtype:counterfactua... | counterfactual | [
"359f9c029ae44e1d9d47c05bc7915561_0.mp4#counterfactual#0",
"359f9c029ae44e1d9d47c05bc7915561_0.mp4#counterfactual#1",
"359f9c029ae44e1d9d47c05bc7915561_0.mp4#counterfactual#2"
] | null | {
"status": "verified",
"reasoning": ""
} | [
"llm_agent_grouped_cf",
"llm_agent_grouped_cf",
"correct",
"llm_agent_grouped_cf"
] | null | null | null | null |
bench_test_000027 | 2f56eb47c64f43df8902d9f88aa8a019_0.mp4 | nuScenes | Singapore | perception | What type of road is the ego vehicle on, what is immediately to its left and right, and what markings separate them? | null | null | null | null | [
"Urban road through a business/industrial park. The ego travels in the left lane. Immediately to its left is the road edge/curb; immediately to its right is an adjacent same-direction lane, separated by a single solid white line. No opposing-traffic lane is adjacent on either side, so traffic here flows one way."
] | [
"country:Singapore",
"env_road_surface:dry",
"env_time_of_day:day",
"env_weather:clear",
"lm_directionality:one_way",
"lm_lane_count:multi_lane",
"lm_left_marking:road_edge",
"lm_right_marking:solid_white_single",
"qtype:action_next",
"qtype:counterfactual",
"qtype:perception",
"qtype:percepti... | perception | [
"2f56eb47c64f43df8902d9f88aa8a019_0.mp4#perception#0"
] | road_network | null | null | null | null | null | null |
bench_test_000028 | 2f56eb47c64f43df8902d9f88aa8a019_0.mp4 | nuScenes | Singapore | perception | What permanent traffic infrastructure (signs, signals, road markings, bike/bus lanes, crosswalks) is present that's relevant to the ego vehicle? | multiple_choice | [
"Pavement lane-use arrows assigning the left lane to left turns",
"A dedicated green left-turn arrow signal",
"None of the listed infrastructure is present.",
"A traffic light showing green for straight-through movement"
] | [
2
] | null | null | [
"country:Singapore",
"env_road_surface:dry",
"env_time_of_day:day",
"env_weather:clear",
"lm_directionality:one_way",
"lm_lane_count:multi_lane",
"lm_left_marking:road_edge",
"lm_right_marking:solid_white_single",
"qtype:action_next",
"qtype:counterfactual",
"qtype:perception",
"qtype:percepti... | perception | [
"2f56eb47c64f43df8902d9f88aa8a019_0.mp4#perception#1"
] | traffic_infrastructure | {
"status": "verified",
"reasoning": ""
} | [
"llm_agent_infra",
"llm_agent_infra",
"correct",
"llm_agent_infra"
] | null | null | null | null |
bench_test_000029 | 2f56eb47c64f43df8902d9f88aa8a019_0.mp4 | nuScenes | Singapore | perception | Are there any temporary road modifications (e.g. work zones, construction, school zones, road damage, detours) affecting the ego vehicle's own travel lane? | binary | [
"Yes",
"No"
] | [
1
] | null | null | [
"country:Singapore",
"env_road_surface:dry",
"env_time_of_day:day",
"env_weather:clear",
"lm_directionality:one_way",
"lm_lane_count:multi_lane",
"lm_left_marking:road_edge",
"lm_right_marking:solid_white_single",
"qtype:action_next",
"qtype:counterfactual",
"qtype:perception",
"qtype:percepti... | perception | [
"2f56eb47c64f43df8902d9f88aa8a019_0.mp4#perception#2"
] | temporary_modifications | {
"status": "verified",
"reasoning": "no distractors to check"
} | [] | null | null | null | null |
bench_test_000030 | 2f56eb47c64f43df8902d9f88aa8a019_0.mp4 | nuScenes | Singapore | perception | What are the time of day, weather, and road surface conditions? | null | null | null | null | [
"Daytime, clear skies and strong sunlight, dry road surface."
] | [
"country:Singapore",
"env_road_surface:dry",
"env_time_of_day:day",
"env_weather:clear",
"lm_directionality:one_way",
"lm_lane_count:multi_lane",
"lm_left_marking:road_edge",
"lm_right_marking:solid_white_single",
"qtype:action_next",
"qtype:counterfactual",
"qtype:perception",
"qtype:percepti... | perception | [
"2f56eb47c64f43df8902d9f88aa8a019_0.mp4#perception#3"
] | environment | null | null | null | null | null | null |
bench_test_000031 | 2f56eb47c64f43df8902d9f88aa8a019_0.mp4 | nuScenes | Singapore | speed_limit | What is the legal default speed limit for the type of road the ego vehicle is currently driving on? | number | null | null | {
"value": 50,
"unit": "km/h"
} | null | [
"country:Singapore",
"env_road_surface:dry",
"env_time_of_day:day",
"env_weather:clear",
"lm_directionality:one_way",
"lm_lane_count:multi_lane",
"lm_left_marking:road_edge",
"lm_right_marking:solid_white_single",
"qtype:action_next",
"qtype:counterfactual",
"qtype:perception",
"qtype:percepti... | speed_limit | [
"2f56eb47c64f43df8902d9f88aa8a019_0.mp4#speed_limit#7"
] | null | {
"status": "verified",
"reasoning": "no distractors to check"
} | [] | null | null | null | null |
bench_test_000032 | 2f56eb47c64f43df8902d9f88aa8a019_0.mp4 | nuScenes | Singapore | perception_actors_grouped | Which of the following actors are present and relevant to the ego vehicle's driving decision? | multiple_choice | [
"A line of work trucks is stopped along the left side of the ego's lane.",
"Workers in high-visibility vests are standing at the left roadside beside the stopped work truck, close to the travel lane.",
"A white flatbed work truck is stopped at the left edge of the ego's lane, with a second parked flatbed truck ... | [
1,
2,
3
] | null | null | [
"country:Singapore",
"env_road_surface:dry",
"env_time_of_day:day",
"env_weather:clear",
"lm_directionality:one_way",
"lm_lane_count:multi_lane",
"lm_left_marking:road_edge",
"lm_right_marking:solid_white_single",
"qtype:action_next",
"qtype:counterfactual",
"qtype:perception",
"qtype:percepti... | perception | [
"2f56eb47c64f43df8902d9f88aa8a019_0.mp4#perception_actors#0",
"2f56eb47c64f43df8902d9f88aa8a019_0.mp4#perception_actors#1",
"2f56eb47c64f43df8902d9f88aa8a019_0.mp4#perception_actors#2"
] | null | {
"status": "verified",
"reasoning": ""
} | [
"cross_clip_borrowed",
"correct",
"correct",
"correct"
] | null | null | null | null |
bench_test_000033 | 2f56eb47c64f43df8902d9f88aa8a019_0.mp4 | nuScenes | Singapore | traffic_rule_grouped | Which of the following traffic rules apply to this scene? | multiple_choice | [
"(a)\nIf you are going straight across the junction, you must give way to traffic\ngoing straight from the right.\n \n(b)\nIf you are turning right, you must give way to traffic going from all\ndirections. You must also give way to traffic turning right... | [
1,
2
] | null | null | [
"country:Singapore",
"env_road_surface:dry",
"env_time_of_day:day",
"env_weather:clear",
"lm_directionality:one_way",
"lm_lane_count:multi_lane",
"lm_left_marking:road_edge",
"lm_right_marking:solid_white_single",
"qtype:action_next",
"qtype:counterfactual",
"qtype:perception",
"qtype:percepti... | traffic_rule | [
"2f56eb47c64f43df8902d9f88aa8a019_0.mp4#traffic_rule#cluster2",
"2f56eb47c64f43df8902d9f88aa8a019_0.mp4#traffic_rule#cluster9"
] | null | {
"status": "verified",
"reasoning": "Candidate 6 was rejected because the scene description implies a lane change is necessary to maneuver around the obstruction, making the rule about signaling applicable and thus not wrong. Candidate 7 was rejected because the scene is an urban road (built-up area) and contains ... | [
"kg_sibling",
"correct",
"correct",
"kg_sibling"
] | 2 distractor(s) dropped by verification | null | null | null |
bench_test_000034 | 2f56eb47c64f43df8902d9f88aa8a019_0.mp4 | nuScenes | Singapore | action_next | What should the ego vehicle do next? | single_choice | [
"Continue straight, following the road's left curve, maintaining a slow speed.",
"Continue following the right curve, slowing down.",
"Continue straight, slowing down to maneuver around the stopped truck and workers.",
"Complete passing the stopped truck and worker, then return to the left lane, maintaining t... | [
2
] | null | null | [
"country:Singapore",
"env_road_surface:dry",
"env_time_of_day:day",
"env_weather:clear",
"lm_directionality:one_way",
"lm_lane_count:multi_lane",
"lm_left_marking:road_edge",
"lm_right_marking:solid_white_single",
"qtype:action_next",
"qtype:counterfactual",
"qtype:perception",
"qtype:percepti... | action_reasoning | [
"2f56eb47c64f43df8902d9f88aa8a019_0.mp4#action_next#5",
"2f56eb47c64f43df8902d9f88aa8a019_0.mp4#reasoning_next#6"
] | null | {
"status": "verified",
"reasoning": "Candidate 1 is an incomplete restatement of the correct answer, omitting the crucial maneuvering action. Candidate 3 is factually incorrect about the obstruction (sedan vs. truck/workers) and the required direction of travel (turning right vs. continuing straight). Candidate 4 ... | [
"cross_clip_borrowed",
"cross_clip_borrowed",
"correct",
"cross_clip_borrowed"
] | 5 distractor(s) dropped by verification | The ego vehicle must slow down and maneuver to safely pass the stopped work truck and workers at the left edge of the road, as its current lane is obstructed and traffic rules require caution when passing parked vehicles and pedestrians near obstructions. | true | null |
bench_test_000035 | 2f56eb47c64f43df8902d9f88aa8a019_0.mp4 | nuScenes | Singapore | counterfactual_grouped | Which of the following statements about hypothetical changes to this scene are correct? | multiple_choice | [
"If the white work truck were not present and the lane line were dashed, the ego could immediately change lanes to the right without needing to slow down, and it would still be able to maintain its current speed.",
"If the workers were not present and the lane line were dashed, the ego could simply merge into the... | [
2,
3
] | null | null | [
"country:Singapore",
"env_road_surface:dry",
"env_time_of_day:day",
"env_weather:clear",
"lm_directionality:one_way",
"lm_lane_count:multi_lane",
"lm_left_marking:road_edge",
"lm_right_marking:solid_white_single",
"qtype:action_next",
"qtype:counterfactual",
"qtype:perception",
"qtype:percepti... | counterfactual | [
"2f56eb47c64f43df8902d9f88aa8a019_0.mp4#counterfactual#0",
"2f56eb47c64f43df8902d9f88aa8a019_0.mp4#counterfactual#1",
"2f56eb47c64f43df8902d9f88aa8a019_0.mp4#counterfactual#2"
] | null | {
"status": "verified",
"reasoning": "Candidate 4 is a true statement about the scene if the condition were met, and therefore cannot serve as a distractor."
} | [
"llm_agent_grouped_cf",
"llm_agent_grouped_cf",
"correct",
"correct"
] | 1 distractor(s) dropped by verification | null | null | null |
bench_test_000036 | 8758419c03ab47a59ea6d6620176f3a3_0.mp4 | nuScenes | Singapore | perception | What type of road is the ego vehicle on, what is immediately to its left and right, and what markings separate them? | null | null | null | null | [
"Urban road with one travel lane per direction. Immediately to the left is the curbed roadway edge with a drain, bounded by a solid white edge line; immediately to the right is the oncoming lane, separated by a solid white centre line that becomes zigzag white lines at the crossing approach."
] | [
"country:Singapore",
"env_road_surface:dry",
"env_time_of_day:day",
"env_weather:clear",
"geometry:crosswalk",
"geometry:curve",
"geometry:school_zone",
"lm_directionality:two_way",
"lm_lane_count:single_lane",
"lm_left_marking:road_edge",
"lm_right_marking:solid_white_single",
"maneuver:slowi... | perception | [
"8758419c03ab47a59ea6d6620176f3a3_0.mp4#perception#0"
] | road_network | null | null | null | null | null | null |
bench_test_000037 | 8758419c03ab47a59ea6d6620176f3a3_0.mp4 | nuScenes | Singapore | perception | What permanent traffic infrastructure (signs, signals, road markings, bike/bus lanes, crosswalks) is present that's relevant to the ego vehicle? | multiple_choice | [
"A Belisha beacon",
"A zebra crossing",
"A raised brick-paved speed table in the ego lane",
"A 'Pedestrians use crossing' sign at the right"
] | [
0,
1,
2,
3
] | null | null | [
"country:Singapore",
"env_road_surface:dry",
"env_time_of_day:day",
"env_weather:clear",
"geometry:crosswalk",
"geometry:curve",
"geometry:school_zone",
"lm_directionality:two_way",
"lm_lane_count:single_lane",
"lm_left_marking:road_edge",
"lm_right_marking:solid_white_single",
"maneuver:slowi... | perception | [
"8758419c03ab47a59ea6d6620176f3a3_0.mp4#perception#1"
] | traffic_infrastructure | {
"status": "verified",
"reasoning": ""
} | [
"correct",
"correct",
"correct",
"correct"
] | 1 correct answer(s) dropped to fit fixed total=4 | null | null | null |
bench_test_000038 | 8758419c03ab47a59ea6d6620176f3a3_0.mp4 | nuScenes | Singapore | perception | Are there any temporary road modifications (e.g. work zones, construction, school zones, road damage, detours) affecting the ego vehicle's own travel lane? | binary | [
"Yes",
"No"
] | [
1
] | null | null | [
"country:Singapore",
"env_road_surface:dry",
"env_time_of_day:day",
"env_weather:clear",
"geometry:crosswalk",
"geometry:curve",
"geometry:school_zone",
"lm_directionality:two_way",
"lm_lane_count:single_lane",
"lm_left_marking:road_edge",
"lm_right_marking:solid_white_single",
"maneuver:slowi... | perception | [
"8758419c03ab47a59ea6d6620176f3a3_0.mp4#perception#2"
] | temporary_modifications | {
"status": "verified",
"reasoning": "no distractors to check"
} | [] | null | null | null | null |
bench_test_000039 | 8758419c03ab47a59ea6d6620176f3a3_0.mp4 | nuScenes | Singapore | perception | What are the time of day, weather, and road surface conditions? | null | null | null | null | [
"Daytime, clear weather, dry road surface."
] | [
"country:Singapore",
"env_road_surface:dry",
"env_time_of_day:day",
"env_weather:clear",
"geometry:crosswalk",
"geometry:curve",
"geometry:school_zone",
"lm_directionality:two_way",
"lm_lane_count:single_lane",
"lm_left_marking:road_edge",
"lm_right_marking:solid_white_single",
"maneuver:slowi... | perception | [
"8758419c03ab47a59ea6d6620176f3a3_0.mp4#perception#3"
] | environment | null | null | null | null | null | null |
bench_test_000040 | 8758419c03ab47a59ea6d6620176f3a3_0.mp4 | nuScenes | Singapore | speed_limit | What is the legal default speed limit for the type of road the ego vehicle is currently driving on? | number | null | null | {
"value": 40,
"unit": "km/h"
} | null | [
"country:Singapore",
"env_road_surface:dry",
"env_time_of_day:day",
"env_weather:clear",
"geometry:crosswalk",
"geometry:curve",
"geometry:school_zone",
"lm_directionality:two_way",
"lm_lane_count:single_lane",
"lm_left_marking:road_edge",
"lm_right_marking:solid_white_single",
"maneuver:slowi... | speed_limit | [
"8758419c03ab47a59ea6d6620176f3a3_0.mp4#speed_limit#7"
] | null | {
"status": "verified",
"reasoning": "no distractors to check"
} | [] | null | null | null | null |
bench_test_000041 | 8758419c03ab47a59ea6d6620176f3a3_0.mp4 | nuScenes | Singapore | perception_actors_grouped | Which of the following actors are present and relevant to the ego vehicle's driving decision? | multiple_choice | [
"A white box truck is parked stationary on the opposite side.",
"None of the listed actors are present or relevant to the ego vehicle's driving decision.",
"Workers are sitting and standing at the right road edge.",
"An oncoming box truck is holding near the middle of the narrow carriageway."
] | [
3
] | null | null | [
"country:Singapore",
"env_road_surface:dry",
"env_time_of_day:day",
"env_weather:clear",
"geometry:crosswalk",
"geometry:curve",
"geometry:school_zone",
"lm_directionality:two_way",
"lm_lane_count:single_lane",
"lm_left_marking:road_edge",
"lm_right_marking:solid_white_single",
"maneuver:slowi... | perception | [
"8758419c03ab47a59ea6d6620176f3a3_0.mp4#perception_actors#0"
] | null | {
"status": "verified",
"reasoning": ""
} | [
"cross_clip_borrowed",
"none_of_above",
"cross_clip_borrowed",
"correct"
] | null | null | null | null |
bench_test_000042 | 8758419c03ab47a59ea6d6620176f3a3_0.mp4 | nuScenes | Singapore | traffic_rule_grouped | Which of the following traffic rules apply to this scene? | multiple_choice | [
"The speed of all motor vehicles travelling along any road or part of a road in a school zone must not exceed the speed of 40 kilometres per hour if the traffic sign indicating the beginning of the school zone is used. (section 2, Singapore Road Traffic (Speed Limits) Notification)",
"A driver must automatically ... | [
0,
1,
3
] | null | null | [
"country:Singapore",
"env_road_surface:dry",
"env_time_of_day:day",
"env_weather:clear",
"geometry:crosswalk",
"geometry:curve",
"geometry:school_zone",
"lm_directionality:two_way",
"lm_lane_count:single_lane",
"lm_left_marking:road_edge",
"lm_right_marking:solid_white_single",
"maneuver:slowi... | traffic_rule | [
"8758419c03ab47a59ea6d6620176f3a3_0.mp4#traffic_rule#cluster1",
"8758419c03ab47a59ea6d6620176f3a3_0.mp4#traffic_rule#cluster14",
"8758419c03ab47a59ea6d6620176f3a3_0.mp4#traffic_rule#cluster15"
] | null | {
"status": "verified",
"reasoning": "Candidate 2 is an incomplete and nonsensical fragment; Candidate 5 is too general and not specifically triggered by the scene's unique elements; Candidate 6 is an incomplete and nonsensical fragment."
} | [
"correct",
"correct",
"kg_sibling",
"correct"
] | 3 distractor(s) dropped by verification | null | null | null |
bench_test_000043 | 8758419c03ab47a59ea6d6620176f3a3_0.mp4 | nuScenes | Singapore | action_next | What should the ego vehicle do next? | single_choice | [
"Continue straight, slowing down to yield.",
"Continue following the gentle left curve of the road, slowing down.",
"Continue straight, maintaining the same speed.",
"Continue straight, slowing down."
] | [
1
] | null | null | [
"country:Singapore",
"env_road_surface:dry",
"env_time_of_day:day",
"env_weather:clear",
"geometry:crosswalk",
"geometry:curve",
"geometry:school_zone",
"lm_directionality:two_way",
"lm_lane_count:single_lane",
"lm_left_marking:road_edge",
"lm_right_marking:solid_white_single",
"maneuver:slowi... | action_reasoning | [
"8758419c03ab47a59ea6d6620176f3a3_0.mp4#action_next#5",
"8758419c03ab47a59ea6d6620176f3a3_0.mp4#reasoning_next#6"
] | null | {
"status": "verified",
"reasoning": "Candidate 2 is rejected because its error of \"maintaining a cautious speed\" is redundant with candidate 1's \"maintaining the same speed\" when the ego should be slowing down, and it shares the \"continue straight\" error with other candidates. Candidate 4 is rejected for the... | [
"cross_clip_borrowed",
"correct",
"cross_clip_borrowed",
"cross_clip_borrowed"
] | 2 distractor(s) dropped by verification | The ego vehicle is approaching a zebra crossing and a raised speed table, and an oncoming truck is encroaching on the narrow carriageway, all requiring a reduced speed for safe navigation as per traffic rules. | true | null |
bench_test_000044 | 8758419c03ab47a59ea6d6620176f3a3_0.mp4 | nuScenes | Singapore | counterfactual_grouped | Which of the following statements about hypothetical changes to this scene are correct? | multiple_choice | [
"If a pedestrian were using the zebra crossing, the ego vehicle would be legally obligated to stop and give way to the pedestrian.",
"If the oncoming box truck were not present, the ego vehicle would still need to reduce speed due to the narrow, curving road and the approaching zebra crossing and speed table, but... | [
0,
1
] | null | null | [
"country:Singapore",
"env_road_surface:dry",
"env_time_of_day:day",
"env_weather:clear",
"geometry:crosswalk",
"geometry:curve",
"geometry:school_zone",
"lm_directionality:two_way",
"lm_lane_count:single_lane",
"lm_left_marking:road_edge",
"lm_right_marking:solid_white_single",
"maneuver:slowi... | counterfactual | [
"8758419c03ab47a59ea6d6620176f3a3_0.mp4#counterfactual#0",
"8758419c03ab47a59ea6d6620176f3a3_0.mp4#counterfactual#1",
"8758419c03ab47a59ea6d6620176f3a3_0.mp4#counterfactual#2"
] | null | {
"status": "verified",
"reasoning": ""
} | [
"correct",
"correct",
"llm_agent_grouped_cf",
"llm_agent_grouped_cf"
] | null | null | null | null |
bench_test_000045 | 798e8504b4364d378270333a349ef508_1.mp4 | nuScenes | Singapore | perception | What type of road is the ego vehicle on, what is immediately to its left and right, and what markings separate them? | null | null | null | null | [
"Urban road approaching a large signalized intersection. Immediately to the left is a second same-direction lane, separated by a solid white line near the stop line and dashed further back; immediately to the right is a right-turn slip lane, separated by a solid white line and a painted island strip."
] | [
"country:Singapore",
"env_road_surface:dry",
"env_time_of_day:day",
"env_weather:clear",
"geometry:intersection",
"geometry:work_zone",
"lm_directionality:two_way",
"lm_lane_count:multi_lane",
"lm_left_marking:solid_white_single",
"lm_right_marking:solid_white_single",
"maneuver:stopping",
"qt... | perception | [
"798e8504b4364d378270333a349ef508_1.mp4#perception#0"
] | road_network | null | null | null | null | null | null |
bench_test_000046 | 798e8504b4364d378270333a349ef508_1.mp4 | nuScenes | Singapore | perception | What permanent traffic infrastructure (signs, signals, road markings, bike/bus lanes, crosswalks) is present that's relevant to the ego vehicle? | multiple_choice | [
"A traffic light showing red for the ego's direction",
"A white stop line at the intersection",
"Directional arrows on the right slip lane",
"A 'SLOW' pavement marking on the right slip lane"
] | [
0,
1,
2,
3
] | null | null | [
"country:Singapore",
"env_road_surface:dry",
"env_time_of_day:day",
"env_weather:clear",
"geometry:intersection",
"geometry:work_zone",
"lm_directionality:two_way",
"lm_lane_count:multi_lane",
"lm_left_marking:solid_white_single",
"lm_right_marking:solid_white_single",
"maneuver:stopping",
"qt... | perception | [
"798e8504b4364d378270333a349ef508_1.mp4#perception#1"
] | traffic_infrastructure | {
"status": "verified",
"reasoning": "Candidate 6 is a near-duplicate of a correct answer, just less specific."
} | [
"correct",
"correct",
"correct",
"correct"
] | 1 distractor(s) dropped by verification; 1 correct answer(s) dropped to fit fixed total=4 | null | null | null |
bench_test_000047 | 798e8504b4364d378270333a349ef508_1.mp4 | nuScenes | Singapore | perception | Are there any temporary road modifications (e.g. work zones, construction, school zones, road damage, detours) affecting the ego vehicle's own travel lane? | binary | [
"Yes",
"No"
] | [
1
] | null | null | [
"country:Singapore",
"env_road_surface:dry",
"env_time_of_day:day",
"env_weather:clear",
"geometry:intersection",
"geometry:work_zone",
"lm_directionality:two_way",
"lm_lane_count:multi_lane",
"lm_left_marking:solid_white_single",
"lm_right_marking:solid_white_single",
"maneuver:stopping",
"qt... | perception | [
"798e8504b4364d378270333a349ef508_1.mp4#perception#2"
] | temporary_modifications | {
"status": "verified",
"reasoning": "no distractors to check"
} | [] | null | null | null | null |
bench_test_000048 | 798e8504b4364d378270333a349ef508_1.mp4 | nuScenes | Singapore | perception | What are the time of day, weather, and road surface conditions? | null | null | null | null | [
"Daytime, clear weather, dry road surface."
] | [
"country:Singapore",
"env_road_surface:dry",
"env_time_of_day:day",
"env_weather:clear",
"geometry:intersection",
"geometry:work_zone",
"lm_directionality:two_way",
"lm_lane_count:multi_lane",
"lm_left_marking:solid_white_single",
"lm_right_marking:solid_white_single",
"maneuver:stopping",
"qt... | perception | [
"798e8504b4364d378270333a349ef508_1.mp4#perception#3"
] | environment | null | null | null | null | null | null |
bench_test_000049 | 798e8504b4364d378270333a349ef508_1.mp4 | nuScenes | Singapore | speed_limit | What is the legal default speed limit for the type of road the ego vehicle is currently driving on? | number | null | null | {
"value": 50,
"unit": "km/h"
} | null | [
"country:Singapore",
"env_road_surface:dry",
"env_time_of_day:day",
"env_weather:clear",
"geometry:intersection",
"geometry:work_zone",
"lm_directionality:two_way",
"lm_lane_count:multi_lane",
"lm_left_marking:solid_white_single",
"lm_right_marking:solid_white_single",
"maneuver:stopping",
"qt... | speed_limit | [
"798e8504b4364d378270333a349ef508_1.mp4#speed_limit#7"
] | null | {
"status": "verified",
"reasoning": "no distractors to check"
} | [] | null | null | null | null |
bench_test_000050 | 798e8504b4364d378270333a349ef508_1.mp4 | nuScenes | Singapore | perception_actors_grouped | Which of the following actors are present and relevant to the ego vehicle's driving decision? | multiple_choice | [
"Two pedestrians are standing at the left-side crosswalk.",
"A three-wheeled delivery scooter is closing in from behind in the left lane.",
"A pedestrian is standing at the corner of the channelizing island beside the zebra crosswalk.",
"A silver van is stopped at the stop line in the left lane."
] | [
1,
3
] | null | null | [
"country:Singapore",
"env_road_surface:dry",
"env_time_of_day:day",
"env_weather:clear",
"geometry:intersection",
"geometry:work_zone",
"lm_directionality:two_way",
"lm_lane_count:multi_lane",
"lm_left_marking:solid_white_single",
"lm_right_marking:solid_white_single",
"maneuver:stopping",
"qt... | perception | [
"798e8504b4364d378270333a349ef508_1.mp4#perception_actors#0",
"798e8504b4364d378270333a349ef508_1.mp4#perception_actors#1"
] | null | {
"status": "verified",
"reasoning": ""
} | [
"cross_clip_borrowed",
"correct",
"cross_clip_borrowed",
"correct"
] | null | null | null | null |
bench_test_000051 | 798e8504b4364d378270333a349ef508_1.mp4 | nuScenes | Singapore | traffic_rule_grouped | Which of the following traffic rules apply to this scene? | multiple_choice | [
"(a)\nwhen the driver in front has signalled his intention to turn right, in which\ncase you can overtake him on his left;\n(b)\nwhen you are filtering to the left before a junction; or\n(c)\nwhen there is slow-moving congested traffic and the vehicles on your right\nare moving more slowly than your vehicle. (Rule ... | [
1
] | null | null | [
"country:Singapore",
"env_road_surface:dry",
"env_time_of_day:day",
"env_weather:clear",
"geometry:intersection",
"geometry:work_zone",
"lm_directionality:two_way",
"lm_lane_count:multi_lane",
"lm_left_marking:solid_white_single",
"lm_right_marking:solid_white_single",
"maneuver:stopping",
"qt... | traffic_rule | [
"798e8504b4364d378270333a349ef508_1.mp4#traffic_rule#cluster4"
] | null | {
"status": "verified",
"reasoning": "Candidate 1 is rejected for being irrelevant and absurd, discussing bridge weight limits which are not present or implied in the scene. Candidate 2 is rejected for being irrelevant and absurd, discussing vehicle immobilization due to warrants of arrest which are not present or ... | [
"kg_sibling+rrf",
"correct",
"kg_sibling+rrf",
"kg_sibling+rrf"
] | 3 distractor(s) dropped by verification | null | null | null |
bench_test_000052 | 798e8504b4364d378270333a349ef508_1.mp4 | nuScenes | Singapore | action_next | What should the ego vehicle do next? | single_choice | [
"Maneuver to the right within the lane, and stop.",
"Continue straight, remaining stopped.",
"Proceed straight or turn right, stopping.",
"Turn left, continuing to yield."
] | [
1
] | null | null | [
"country:Singapore",
"env_road_surface:dry",
"env_time_of_day:day",
"env_weather:clear",
"geometry:intersection",
"geometry:work_zone",
"lm_directionality:two_way",
"lm_lane_count:multi_lane",
"lm_left_marking:solid_white_single",
"lm_right_marking:solid_white_single",
"maneuver:stopping",
"qt... | action_reasoning | [
"798e8504b4364d378270333a349ef508_1.mp4#action_next#5",
"798e8504b4364d378270333a349ef508_1.mp4#reasoning_next#6"
] | null | {
"status": "verified",
"reasoning": "Candidate 0 and 1 are not wrong; they describe the correct state of remaining stopped at the current position, which is consistent with the correct answer. Candidate 5 is a duplicate of candidate 0."
} | [
"cross_clip_borrowed",
"correct",
"cross_clip_borrowed",
"cross_clip_borrowed"
] | 3 distractor(s) dropped by verification | The ego vehicle is at a signalized intersection and must remain stopped at the white stop line because the traffic light for its direction is red. | true | null |
bench_test_000053 | 798e8504b4364d378270333a349ef508_1.mp4 | nuScenes | Singapore | counterfactual_grouped | Which of the following statements about hypothetical changes to this scene are correct? | multiple_choice | [
"If a pedestrian were actively crossing the zebra crosswalk, the ego vehicle would be legally obligated to yield the right-of-way to the pedestrian and stop before the crosswalk, regardless of the traffic light's state.",
"If the traffic light for the ego vehicle's direction were green, the ego vehicle would be r... | [
0,
2,
3
] | null | null | [
"country:Singapore",
"env_road_surface:dry",
"env_time_of_day:day",
"env_weather:clear",
"geometry:intersection",
"geometry:work_zone",
"lm_directionality:two_way",
"lm_lane_count:multi_lane",
"lm_left_marking:solid_white_single",
"lm_right_marking:solid_white_single",
"maneuver:stopping",
"qt... | counterfactual | [
"798e8504b4364d378270333a349ef508_1.mp4#counterfactual#0",
"798e8504b4364d378270333a349ef508_1.mp4#counterfactual#1",
"798e8504b4364d378270333a349ef508_1.mp4#counterfactual#2"
] | null | {
"status": "verified",
"reasoning": ""
} | [
"correct",
"llm_agent_grouped_cf",
"correct",
"correct"
] | null | null | null | null |
bench_test_000054 | 9a81caa3d5134d7f87ee4786ccef68f7_2.mp4 | nuScenes | Singapore | perception | What type of road is the ego vehicle on, what is immediately to its left and right, and what markings separate them? | null | null | null | null | [
"Urban road in a campus-like built-up area; the approach is a one-way two-lane carriageway. The ego is completing a left turn at a junction onto a single-lane side road bounded by black-and-white curbs with no centre marking. Immediately to the left is a curb, marked by double yellow lines; immediately to the right... | [
"country:Singapore",
"env_road_surface:dry",
"env_time_of_day:day",
"env_weather:clear",
"geometry:crosswalk",
"geometry:curve",
"geometry:intersection",
"geometry:uncontrolled_intersection",
"lm_directionality:one_way",
"lm_lane_count:multi_lane",
"lm_left_marking:road_edge",
"lm_right_markin... | perception | [
"9a81caa3d5134d7f87ee4786ccef68f7_2.mp4#perception#0"
] | road_network | null | null | null | null | null | null |
bench_test_000055 | 9a81caa3d5134d7f87ee4786ccef68f7_2.mp4 | nuScenes | Singapore | perception | What permanent traffic infrastructure (signs, signals, road markings, bike/bus lanes, crosswalks) is present that's relevant to the ego vehicle? | multiple_choice | [
"A right-turn arrow painted in the ego's approach lane",
"A 'REDUCE SPEED NOW' advisory sign with a slow/give-way plate",
"A blue pass-either-side sign on the splitter island",
"A zebra crossing on the left slip road"
] | [
0,
1,
2,
3
] | null | null | [
"country:Singapore",
"env_road_surface:dry",
"env_time_of_day:day",
"env_weather:clear",
"geometry:crosswalk",
"geometry:curve",
"geometry:intersection",
"geometry:uncontrolled_intersection",
"lm_directionality:one_way",
"lm_lane_count:multi_lane",
"lm_left_marking:road_edge",
"lm_right_markin... | perception | [
"9a81caa3d5134d7f87ee4786ccef68f7_2.mp4#perception#1"
] | traffic_infrastructure | {
"status": "verified",
"reasoning": "Candidate 6 is a partial restatement of a correct answer, making it a near-duplicate."
} | [
"correct",
"correct",
"correct",
"correct"
] | 1 distractor(s) dropped by verification | null | null | null |
bench_test_000056 | 9a81caa3d5134d7f87ee4786ccef68f7_2.mp4 | nuScenes | Singapore | perception | Are there any temporary road modifications (e.g. work zones, construction, school zones, road damage, detours) affecting the ego vehicle's own travel lane? | binary | [
"Yes",
"No"
] | [
1
] | null | null | [
"country:Singapore",
"env_road_surface:dry",
"env_time_of_day:day",
"env_weather:clear",
"geometry:crosswalk",
"geometry:curve",
"geometry:intersection",
"geometry:uncontrolled_intersection",
"lm_directionality:one_way",
"lm_lane_count:multi_lane",
"lm_left_marking:road_edge",
"lm_right_markin... | perception | [
"9a81caa3d5134d7f87ee4786ccef68f7_2.mp4#perception#2"
] | temporary_modifications | {
"status": "verified",
"reasoning": "no distractors to check"
} | [] | null | null | null | null |
bench_test_000057 | 9a81caa3d5134d7f87ee4786ccef68f7_2.mp4 | nuScenes | Singapore | perception | What are the time of day, weather, and road surface conditions? | null | null | null | null | [
"Daytime, clear weather, dry road surface."
] | [
"country:Singapore",
"env_road_surface:dry",
"env_time_of_day:day",
"env_weather:clear",
"geometry:crosswalk",
"geometry:curve",
"geometry:intersection",
"geometry:uncontrolled_intersection",
"lm_directionality:one_way",
"lm_lane_count:multi_lane",
"lm_left_marking:road_edge",
"lm_right_markin... | perception | [
"9a81caa3d5134d7f87ee4786ccef68f7_2.mp4#perception#3"
] | environment | null | null | null | null | null | null |
bench_test_000058 | 9a81caa3d5134d7f87ee4786ccef68f7_2.mp4 | nuScenes | Singapore | speed_limit | What is the legal default speed limit for the type of road the ego vehicle is currently driving on? | number | null | null | {
"value": 50,
"unit": "km/h"
} | null | [
"country:Singapore",
"env_road_surface:dry",
"env_time_of_day:day",
"env_weather:clear",
"geometry:crosswalk",
"geometry:curve",
"geometry:intersection",
"geometry:uncontrolled_intersection",
"lm_directionality:one_way",
"lm_lane_count:multi_lane",
"lm_left_marking:road_edge",
"lm_right_markin... | speed_limit | [
"9a81caa3d5134d7f87ee4786ccef68f7_2.mp4#speed_limit#7"
] | null | {
"status": "verified",
"reasoning": "no distractors to check"
} | [] | null | null | null | null |
bench_test_000059 | 9a81caa3d5134d7f87ee4786ccef68f7_2.mp4 | nuScenes | Singapore | traffic_rule_grouped | Which of the following traffic rules apply to this scene? | multiple_choice | [
"When approaching a pedestrian crossing, drivers must always be ready to slow down or stop so as to give way to pedestrians, pedal cyclists, riders of power-assisted bicycles or personal mobility devices, and drivers of mobility scooters or motorised wheelchairs. (Rule 79, Singapore Highway Code)",
"vehicles and ... | [
0,
3
] | null | null | [
"country:Singapore",
"env_road_surface:dry",
"env_time_of_day:day",
"env_weather:clear",
"geometry:crosswalk",
"geometry:curve",
"geometry:intersection",
"geometry:uncontrolled_intersection",
"lm_directionality:one_way",
"lm_lane_count:multi_lane",
"lm_left_marking:road_edge",
"lm_right_markin... | traffic_rule | [
"9a81caa3d5134d7f87ee4786ccef68f7_2.mp4#traffic_rule#cluster12",
"9a81caa3d5134d7f87ee4786ccef68f7_2.mp4#traffic_rule#cluster2"
] | null | {
"status": "verified",
"reasoning": "Candidate 6 is a near-duplicate of a correct answer (Rule 75) as its second part describes giving way to pedestrians when turning, which is already covered by the correct answer, just with more specific types of vulnerable road users."
} | [
"correct",
"kg_sibling",
"kg_sibling",
"correct"
] | 1 distractor(s) dropped by verification | null | null | null |
bench_test_000060 | 9a81caa3d5134d7f87ee4786ccef68f7_2.mp4 | nuScenes | Singapore | perception_actors_grouped | Which of the following actors are present and relevant to the ego vehicle's driving decision? | multiple_choice | [
"A pedestrian is stepping onto the right roadside ahead.",
"A box truck is stopped at the curb in the left lane.",
"None of the listed actors are present or relevant to the ego vehicle's driving decision.",
"Two motorcycles are overtaking on the right from behind."
] | [
2
] | null | null | [
"country:Singapore",
"env_road_surface:dry",
"env_time_of_day:day",
"env_weather:clear",
"geometry:crosswalk",
"geometry:curve",
"geometry:intersection",
"geometry:uncontrolled_intersection",
"lm_directionality:one_way",
"lm_lane_count:multi_lane",
"lm_left_marking:road_edge",
"lm_right_markin... | perception | [
"9a81caa3d5134d7f87ee4786ccef68f7_2.mp4#perception_actors#none"
] | null | {
"status": "verified",
"reasoning": ""
} | [
"cross_clip_borrowed",
"cross_clip_borrowed",
"correct",
"cross_clip_borrowed"
] | null | null | null | null |
bench_test_000061 | 9a81caa3d5134d7f87ee4786ccef68f7_2.mp4 | nuScenes | Singapore | action_next | What should the ego vehicle do next? | single_choice | [
"Complete the left turn, maintaining the same speed.",
"Continue in the current lane, following the gentle curve to the right, maintaining the same speed.",
"Turn right, slowing down to yield.",
"Turn left, slowing down to yield to pedestrians."
] | [
0
] | null | null | [
"country:Singapore",
"env_road_surface:dry",
"env_time_of_day:day",
"env_weather:clear",
"geometry:crosswalk",
"geometry:curve",
"geometry:intersection",
"geometry:uncontrolled_intersection",
"lm_directionality:one_way",
"lm_lane_count:multi_lane",
"lm_left_marking:road_edge",
"lm_right_markin... | action_reasoning | [
"9a81caa3d5134d7f87ee4786ccef68f7_2.mp4#action_next#5",
"9a81caa3d5134d7f87ee4786ccef68f7_2.mp4#reasoning_next#6"
] | null | {
"status": "verified",
"reasoning": "Candidate 0 is a less specific version of candidate 2, making it redundant."
} | [
"correct",
"cross_clip_borrowed",
"cross_clip_borrowed",
"cross_clip_borrowed"
] | 1 distractor(s) dropped by verification | The ego vehicle is already in the process of completing a left turn onto a new road, and there are no immediate hazards or traffic requiring it to slow down or stop further. | true | null |
bench_test_000062 | 9a81caa3d5134d7f87ee4786ccef68f7_2.mp4 | nuScenes | Singapore | counterfactual_grouped | Which of the following statements about hypothetical changes to this scene are correct? | multiple_choice | [
"If the ego vehicle had followed the right-turn arrow, it would have been making an illegal maneuver, as the lane is designated for left turns only and a right turn would be a violation.",
"If a pedestrian was actively using the zebra crossing as the ego vehicle began its left turn, the ego vehicle would have bee... | [
1,
2,
3
] | null | null | [
"country:Singapore",
"env_road_surface:dry",
"env_time_of_day:day",
"env_weather:clear",
"geometry:crosswalk",
"geometry:curve",
"geometry:intersection",
"geometry:uncontrolled_intersection",
"lm_directionality:one_way",
"lm_lane_count:multi_lane",
"lm_left_marking:road_edge",
"lm_right_markin... | counterfactual | [
"9a81caa3d5134d7f87ee4786ccef68f7_2.mp4#counterfactual#0",
"9a81caa3d5134d7f87ee4786ccef68f7_2.mp4#counterfactual#1",
"9a81caa3d5134d7f87ee4786ccef68f7_2.mp4#counterfactual#2"
] | null | {
"status": "verified",
"reasoning": ""
} | [
"llm_agent_grouped_cf",
"correct",
"correct",
"correct"
] | null | null | null | null |
bench_test_000063 | 83773bcf46ac486383529098de0542dd_0.mp4 | nuScenes | Singapore | perception | What type of road is the ego vehicle on, what is immediately to its left and right, and what markings separate them? | null | null | null | null | [
"Urban divided road. Immediately to the left is a yellow chevron-hatched channelizing area where the second same-direction lane has ended, bounded by solid yellow lines; immediately to the right is a curb and grass verge separating the ego's carriageway from the opposing carriageway, with no painted line on that si... | [
"country:Singapore",
"env_road_surface:dry",
"env_time_of_day:day",
"env_weather:clear",
"geometry:curve",
"geometry:merge",
"lm_directionality:two_way",
"lm_lane_count:multi_lane",
"lm_left_marking:solid_yellow",
"lm_right_marking:road_edge",
"maneuver:slowing_down",
"qtype:action_next",
"q... | perception | [
"83773bcf46ac486383529098de0542dd_0.mp4#perception#0"
] | road_network | null | null | null | null | null | null |
bench_test_000064 | 83773bcf46ac486383529098de0542dd_0.mp4 | nuScenes | Singapore | perception | What permanent traffic infrastructure (signs, signals, road markings, bike/bus lanes, crosswalks) is present that's relevant to the ego vehicle? | multiple_choice | [
"A MERGE warning sign",
"Yellow chevron hatching channeling traffic out of the ending left lane",
"A left-curve warning sign with a 'REDUCE SPEED NOW' plaque",
"A traffic light showing green for straight-through movement"
] | [
0,
1,
2
] | null | null | [
"country:Singapore",
"env_road_surface:dry",
"env_time_of_day:day",
"env_weather:clear",
"geometry:curve",
"geometry:merge",
"lm_directionality:two_way",
"lm_lane_count:multi_lane",
"lm_left_marking:solid_yellow",
"lm_right_marking:road_edge",
"maneuver:slowing_down",
"qtype:action_next",
"q... | perception | [
"83773bcf46ac486383529098de0542dd_0.mp4#perception#1"
] | traffic_infrastructure | {
"status": "verified",
"reasoning": ""
} | [
"correct",
"correct",
"correct",
"llm_agent_infra"
] | null | null | null | null |
bench_test_000065 | 83773bcf46ac486383529098de0542dd_0.mp4 | nuScenes | Singapore | perception | Are there any temporary road modifications (e.g. work zones, construction, school zones, road damage, detours) affecting the ego vehicle's own travel lane? | binary | [
"Yes",
"No"
] | [
1
] | null | null | [
"country:Singapore",
"env_road_surface:dry",
"env_time_of_day:day",
"env_weather:clear",
"geometry:curve",
"geometry:merge",
"lm_directionality:two_way",
"lm_lane_count:multi_lane",
"lm_left_marking:solid_yellow",
"lm_right_marking:road_edge",
"maneuver:slowing_down",
"qtype:action_next",
"q... | perception | [
"83773bcf46ac486383529098de0542dd_0.mp4#perception#2"
] | temporary_modifications | {
"status": "verified",
"reasoning": "no distractors to check"
} | [] | null | null | null | null |
bench_test_000066 | 83773bcf46ac486383529098de0542dd_0.mp4 | nuScenes | Singapore | perception | What are the time of day, weather, and road surface conditions? | null | null | null | null | [
"Daytime, clear and sunny, dry road surface."
] | [
"country:Singapore",
"env_road_surface:dry",
"env_time_of_day:day",
"env_weather:clear",
"geometry:curve",
"geometry:merge",
"lm_directionality:two_way",
"lm_lane_count:multi_lane",
"lm_left_marking:solid_yellow",
"lm_right_marking:road_edge",
"maneuver:slowing_down",
"qtype:action_next",
"q... | perception | [
"83773bcf46ac486383529098de0542dd_0.mp4#perception#3"
] | environment | null | null | null | null | null | null |
bench_test_000067 | 83773bcf46ac486383529098de0542dd_0.mp4 | nuScenes | Singapore | speed_limit | What is the legal default speed limit for the type of road the ego vehicle is currently driving on? | number | null | null | {
"value": 50,
"unit": "km/h"
} | null | [
"country:Singapore",
"env_road_surface:dry",
"env_time_of_day:day",
"env_weather:clear",
"geometry:curve",
"geometry:merge",
"lm_directionality:two_way",
"lm_lane_count:multi_lane",
"lm_left_marking:solid_yellow",
"lm_right_marking:road_edge",
"maneuver:slowing_down",
"qtype:action_next",
"q... | speed_limit | [
"83773bcf46ac486383529098de0542dd_0.mp4#speed_limit#6"
] | null | {
"status": "verified",
"reasoning": "no distractors to check"
} | [] | null | null | null | null |
bench_test_000068 | 83773bcf46ac486383529098de0542dd_0.mp4 | nuScenes | Singapore | perception_actors_grouped | Which of the following actors are present and relevant to the ego vehicle's driving decision? | multiple_choice | [
"An oncoming box truck is holding near the middle of the narrow carriageway.",
"Several trucks are stopped in the left lane, blocking it.",
"A worker is crouching on the right grass verge at the road edge.",
"A vehicle is traveling ahead in the single continuing lane and slowing for the left curve."
] | [
3
] | null | null | [
"country:Singapore",
"env_road_surface:dry",
"env_time_of_day:day",
"env_weather:clear",
"geometry:curve",
"geometry:merge",
"lm_directionality:two_way",
"lm_lane_count:multi_lane",
"lm_left_marking:solid_yellow",
"lm_right_marking:road_edge",
"maneuver:slowing_down",
"qtype:action_next",
"q... | perception | [
"83773bcf46ac486383529098de0542dd_0.mp4#perception_actors#0"
] | null | {
"status": "verified",
"reasoning": "Candidate 0 is a more specific restatement of the correct answer; Candidate 3 is a more specific restatement of the correct answer."
} | [
"cross_clip_borrowed",
"cross_clip_borrowed",
"cross_clip_borrowed",
"correct"
] | 2 distractor(s) dropped by verification | null | null | null |
bench_test_000069 | 83773bcf46ac486383529098de0542dd_0.mp4 | nuScenes | Singapore | traffic_rule_grouped | Which of the following traffic rules apply to this scene? | multiple_choice | [
"you safely. Keep a straight course and avoid sudden swerves. (Rule 29, Singapore Highway Code)",
"unless you can see that the road ahead is clear. (Rule 54, Singapore Highway Code)",
"A driver must automatically reduce their speed when approaching a bend or any other obstruction that limits their view. (Rule 4... | [
2
] | null | null | [
"country:Singapore",
"env_road_surface:dry",
"env_time_of_day:day",
"env_weather:clear",
"geometry:curve",
"geometry:merge",
"lm_directionality:two_way",
"lm_lane_count:multi_lane",
"lm_left_marking:solid_yellow",
"lm_right_marking:road_edge",
"maneuver:slowing_down",
"qtype:action_next",
"q... | traffic_rule | [
"83773bcf46ac486383529098de0542dd_0.mp4#traffic_rule#cluster21"
] | null | {
"status": "verified",
"reasoning": "Candidate 0 is too general and does not provide specific guidance relevant to the driving challenge presented by the scene's features (curve, merge, speed reduction). Candidate 1 is about the authority and maintenance of traffic signs, not driver behavior. Candidate 3 describes... | [
"kg_rrf",
"kg_rrf",
"correct",
"kg_rrf"
] | 5 distractor(s) dropped by verification | null | null | null |
bench_test_000070 | 83773bcf46ac486383529098de0542dd_0.mp4 | nuScenes | Singapore | action_next | What should the ego vehicle do next? | single_choice | [
"Continue following the left curve, slowing down.",
"Continue changing lanes to the right, maintaining the same speed.",
"Continue straight, maintaining the same speed.",
"Maintain current position, remaining stopped."
] | [
0
] | null | null | [
"country:Singapore",
"env_road_surface:dry",
"env_time_of_day:day",
"env_weather:clear",
"geometry:curve",
"geometry:merge",
"lm_directionality:two_way",
"lm_lane_count:multi_lane",
"lm_left_marking:solid_yellow",
"lm_right_marking:road_edge",
"maneuver:slowing_down",
"qtype:action_next",
"q... | action_reasoning | [
"83773bcf46ac486383529098de0542dd_0.mp4#action_next#4",
"83773bcf46ac486383529098de0542dd_0.mp4#reasoning_next#5"
] | null | {
"status": "verified",
"reasoning": "Candidate 4 is rejected because it introduces elements (stopped truck, worker, passing, returning to left lane) that are not present in the scene, making it implausible/absurd. Candidate 6 is rejected as it is a near-duplicate of candidate 5, both suggesting continuing straight... | [
"correct",
"cross_clip_borrowed",
"cross_clip_borrowed",
"cross_clip_borrowed"
] | 2 distractor(s) dropped by verification | The ego vehicle must slow down to safely navigate the upcoming left curve, as indicated by the warning sign and road geometry, and to maintain a safe following distance from the lead vehicle which is decelerating. | true | null |
bench_test_000071 | 83773bcf46ac486383529098de0542dd_0.mp4 | nuScenes | Singapore | counterfactual_grouped | Which of the following statements about hypothetical changes to this scene are correct? | multiple_choice | [
"The driver would not be legally required to reduce speed for the curve, as there would be no explicit instruction to do so and the general duty to drive safely would not apply without specific signage.",
"The driver would not need to anticipate a significant reduction in speed for the curve, as the absence of th... | [
3
] | null | null | [
"country:Singapore",
"env_road_surface:dry",
"env_time_of_day:day",
"env_weather:clear",
"geometry:curve",
"geometry:merge",
"lm_directionality:two_way",
"lm_lane_count:multi_lane",
"lm_left_marking:solid_yellow",
"lm_right_marking:road_edge",
"maneuver:slowing_down",
"qtype:action_next",
"q... | counterfactual | [
"83773bcf46ac486383529098de0542dd_0.mp4#counterfactual#0",
"83773bcf46ac486383529098de0542dd_0.mp4#counterfactual#1",
"83773bcf46ac486383529098de0542dd_0.mp4#counterfactual#2"
] | null | {
"status": "verified",
"reasoning": "Candidate 2 is rejected because its use of \"maintain their current speed\" is ambiguous; given the ego vehicle is already slowing down, \"maintaining current speed\" could be interpreted as continuing to slow, which would make the statement not wrong. Candidate 4 is rejected f... | [
"llm_agent_grouped_cf",
"llm_agent_grouped_cf",
"llm_agent_grouped_cf",
"correct"
] | 2 distractor(s) dropped by verification | null | null | null |
bench_test_000072 | 433a14f8dcf5457fb2c4def5c749122a_2.mp4 | nuScenes | Singapore | perception | What type of road is the ego vehicle on, what is immediately to its left and right, and what markings separate them? | null | null | null | null | [
"Urban road. Immediately to the left is the roadway edge, a curb and grass verge, marked by double yellow lines; immediately to the right is a second same-direction lane, separated by a dashed white line. The opposing carriageway is set apart by a grass verge further right."
] | [
"country:Singapore",
"env_road_surface:dry",
"env_time_of_day:day",
"env_weather:clear",
"geometry:intersection",
"lm_directionality:two_way",
"lm_lane_count:multi_lane",
"lm_left_marking:road_edge",
"lm_right_marking:dashed_white",
"maneuver:following_distance",
"qtype:action_next",
"qtype:co... | perception | [
"433a14f8dcf5457fb2c4def5c749122a_2.mp4#perception#0"
] | road_network | null | null | null | null | null | null |
bench_test_000073 | 433a14f8dcf5457fb2c4def5c749122a_2.mp4 | nuScenes | Singapore | perception | What permanent traffic infrastructure (signs, signals, road markings, bike/bus lanes, crosswalks) is present that's relevant to the ego vehicle? | multiple_choice | [
"Pavement arrows marking the left lane for straight or left turns",
"A 'Speed Regulating Strips Ahead' plate",
"Transverse speed-regulating strips",
"A 'SLOW' sign"
] | [
0,
1,
2,
3
] | null | null | [
"country:Singapore",
"env_road_surface:dry",
"env_time_of_day:day",
"env_weather:clear",
"geometry:intersection",
"lm_directionality:two_way",
"lm_lane_count:multi_lane",
"lm_left_marking:road_edge",
"lm_right_marking:dashed_white",
"maneuver:following_distance",
"qtype:action_next",
"qtype:co... | perception | [
"433a14f8dcf5457fb2c4def5c749122a_2.mp4#perception#1"
] | traffic_infrastructure | {
"status": "verified",
"reasoning": "Candidate 6 is not wrong, as white directional turn arrows are present in the ego's lane (as indicated by the correct answers describing arrows for straight/left and straight/right turns), making it a rephrasing of a correct answer."
} | [
"correct",
"correct",
"correct",
"correct"
] | 1 distractor(s) dropped by verification; 2 correct answer(s) dropped to fit fixed total=4 | null | null | null |
bench_test_000074 | 433a14f8dcf5457fb2c4def5c749122a_2.mp4 | nuScenes | Singapore | perception | Are there any temporary road modifications (e.g. work zones, construction, school zones, road damage, detours) affecting the ego vehicle's own travel lane? | binary | [
"Yes",
"No"
] | [
1
] | null | null | [
"country:Singapore",
"env_road_surface:dry",
"env_time_of_day:day",
"env_weather:clear",
"geometry:intersection",
"lm_directionality:two_way",
"lm_lane_count:multi_lane",
"lm_left_marking:road_edge",
"lm_right_marking:dashed_white",
"maneuver:following_distance",
"qtype:action_next",
"qtype:co... | perception | [
"433a14f8dcf5457fb2c4def5c749122a_2.mp4#perception#2"
] | temporary_modifications | {
"status": "verified",
"reasoning": "no distractors to check"
} | [] | null | null | null | null |
bench_test_000075 | 433a14f8dcf5457fb2c4def5c749122a_2.mp4 | nuScenes | Singapore | perception | What are the time of day, weather, and road surface conditions? | null | null | null | null | [
"Daytime, clear weather, dry road surface."
] | [
"country:Singapore",
"env_road_surface:dry",
"env_time_of_day:day",
"env_weather:clear",
"geometry:intersection",
"lm_directionality:two_way",
"lm_lane_count:multi_lane",
"lm_left_marking:road_edge",
"lm_right_marking:dashed_white",
"maneuver:following_distance",
"qtype:action_next",
"qtype:co... | perception | [
"433a14f8dcf5457fb2c4def5c749122a_2.mp4#perception#3"
] | environment | null | null | null | null | null | null |
bench_test_000076 | 433a14f8dcf5457fb2c4def5c749122a_2.mp4 | nuScenes | Singapore | speed_limit | What is the legal default speed limit for the type of road the ego vehicle is currently driving on? | number | null | null | {
"value": 50,
"unit": "km/h"
} | null | [
"country:Singapore",
"env_road_surface:dry",
"env_time_of_day:day",
"env_weather:clear",
"geometry:intersection",
"lm_directionality:two_way",
"lm_lane_count:multi_lane",
"lm_left_marking:road_edge",
"lm_right_marking:dashed_white",
"maneuver:following_distance",
"qtype:action_next",
"qtype:co... | speed_limit | [
"433a14f8dcf5457fb2c4def5c749122a_2.mp4#speed_limit#7"
] | null | {
"status": "verified",
"reasoning": "no distractors to check"
} | [] | null | null | null | null |
bench_test_000077 | 433a14f8dcf5457fb2c4def5c749122a_2.mp4 | nuScenes | Singapore | perception_actors_grouped | Which of the following actors are present and relevant to the ego vehicle's driving decision? | multiple_choice | [
"A worker is crouching on the right grass verge at the road edge.",
"A flagger is holding up a STOP paddle toward the ego.",
"A dark sedan is traveling ahead in the same lane.",
"Construction workers are standing in the work zone immediately beside the ego's lane."
] | [
0,
2
] | null | null | [
"country:Singapore",
"env_road_surface:dry",
"env_time_of_day:day",
"env_weather:clear",
"geometry:intersection",
"lm_directionality:two_way",
"lm_lane_count:multi_lane",
"lm_left_marking:road_edge",
"lm_right_marking:dashed_white",
"maneuver:following_distance",
"qtype:action_next",
"qtype:co... | perception | [
"433a14f8dcf5457fb2c4def5c749122a_2.mp4#perception_actors#0",
"433a14f8dcf5457fb2c4def5c749122a_2.mp4#perception_actors#1"
] | null | {
"status": "verified",
"reasoning": ""
} | [
"correct",
"cross_clip_borrowed",
"correct",
"cross_clip_borrowed"
] | null | null | null | null |
bench_test_000078 | 433a14f8dcf5457fb2c4def5c749122a_2.mp4 | nuScenes | Singapore | traffic_rule_grouped | Which of the following traffic rules apply to this scene? | multiple_choice | [
"The ego vehicle must allow at least one car length for every 16 km/h of its speed to be able to adjust its speed and stop within the space between itself and the vehicle in front. (Rule 67, Singapore Highway Code)",
"(1) Where an accident owing to the presence of a motor vehicle on a road results in damage or in... | [
0,
2
] | null | null | [
"country:Singapore",
"env_road_surface:dry",
"env_time_of_day:day",
"env_weather:clear",
"geometry:intersection",
"lm_directionality:two_way",
"lm_lane_count:multi_lane",
"lm_left_marking:road_edge",
"lm_right_marking:dashed_white",
"maneuver:following_distance",
"qtype:action_next",
"qtype:co... | traffic_rule | [
"433a14f8dcf5457fb2c4def5c749122a_2.mp4#traffic_rule#cluster2",
"433a14f8dcf5457fb2c4def5c749122a_2.mp4#traffic_rule#cluster16"
] | null | {
"status": "verified",
"reasoning": "Candidate 1 is an incomplete sentence and not a plausible rule. Candidates 4 and 6 describe general principles of safe driving (due care, not reckless/dangerous) that always apply to any driving scene, thus they are not wrong to state they apply."
} | [
"correct",
"kg_rrf",
"correct",
"kg_rrf"
] | 3 distractor(s) dropped by verification | null | null | null |
bench_test_000079 | 433a14f8dcf5457fb2c4def5c749122a_2.mp4 | nuScenes | Singapore | action_next | What should the ego vehicle do next? | single_choice | [
"Turn left, slowing/stopping to yield.",
"Turn left, continuing to yield.",
"Maintain current position, remaining stopped.",
"Continue straight, slowing down."
] | [
3
] | null | null | [
"country:Singapore",
"env_road_surface:dry",
"env_time_of_day:day",
"env_weather:clear",
"geometry:intersection",
"lm_directionality:two_way",
"lm_lane_count:multi_lane",
"lm_left_marking:road_edge",
"lm_right_marking:dashed_white",
"maneuver:following_distance",
"qtype:action_next",
"qtype:co... | action_reasoning | [
"433a14f8dcf5457fb2c4def5c749122a_2.mp4#action_next#5",
"433a14f8dcf5457fb2c4def5c749122a_2.mp4#reasoning_next#6"
] | null | {
"status": "verified",
"reasoning": "Candidate 4 is rejected because the ego vehicle is not currently turning left, making the premise 'Complete the left turn' incorrect. Candidate 5 is rejected for the same reason, as the ego vehicle is not currently turning left, making the premise 'Continue turning left' incorr... | [
"cross_clip_borrowed",
"cross_clip_borrowed",
"cross_clip_borrowed",
"correct"
] | 2 distractor(s) dropped by verification | The ego vehicle must slow down to safely navigate the transverse speed-regulating strips directly ahead in its lane and to maintain a safe following distance from the lead vehicle, which will also likely slow for these strips. | true | null |
bench_test_000080 | 433a14f8dcf5457fb2c4def5c749122a_2.mp4 | nuScenes | Singapore | counterfactual_grouped | Which of the following statements about hypothetical changes to this scene are correct? | multiple_choice | [
"If the worker on the right grass verge were not present, the ego vehicle would not have the specific duty of care to allow a margin of safety when passing them, but would still need to slow down for the speed-regulating strips and maintain a safe following distance from the lead vehicle.",
"If the dark sedan ahe... | [
0,
2,
3
] | null | null | [
"country:Singapore",
"env_road_surface:dry",
"env_time_of_day:day",
"env_weather:clear",
"geometry:intersection",
"lm_directionality:two_way",
"lm_lane_count:multi_lane",
"lm_left_marking:road_edge",
"lm_right_marking:dashed_white",
"maneuver:following_distance",
"qtype:action_next",
"qtype:co... | counterfactual | [
"433a14f8dcf5457fb2c4def5c749122a_2.mp4#counterfactual#0",
"433a14f8dcf5457fb2c4def5c749122a_2.mp4#counterfactual#1",
"433a14f8dcf5457fb2c4def5c749122a_2.mp4#counterfactual#2"
] | null | {
"status": "verified",
"reasoning": "Candidate 0 is rejected because if the speed-regulating strips are not present, the 'SLOW' sign, whose purpose is explicitly tied to the strips, would no longer require a speed reduction, making it permissible to accelerate to the speed limit if safe, thus rendering the stateme... | [
"correct",
"llm_agent_grouped_cf",
"correct",
"correct"
] | 1 distractor(s) dropped by verification | null | null | null |
bench_test_000081 | 8b43539a55374b6c8ed60c95a42d63a2_1.mp4 | nuScenes | Singapore | perception | What type of road is the ego vehicle on, what is immediately to its left and right, and what markings separate them? | null | null | null | null | [
"Urban road with two same-direction lanes. The ego is in the left lane. Immediately to the left is the curb/road edge; immediately to the right is an overtaking lane, separated by a solid white line."
] | [
"country:Singapore",
"env_road_surface:dry",
"env_time_of_day:day",
"env_weather:clear",
"geometry:curve",
"geometry:work_zone",
"lm_directionality:one_way",
"lm_lane_count:multi_lane",
"lm_left_marking:road_edge",
"lm_right_marking:solid_white_single",
"maneuver:overtaking",
"qtype:action_nex... | perception | [
"8b43539a55374b6c8ed60c95a42d63a2_1.mp4#perception#0"
] | road_network | null | null | null | null | null | null |
bench_test_000082 | 8b43539a55374b6c8ed60c95a42d63a2_1.mp4 | nuScenes | Singapore | perception | What permanent traffic infrastructure (signs, signals, road markings, bike/bus lanes, crosswalks) is present that's relevant to the ego vehicle? | multiple_choice | [
"None of the listed infrastructure is present.",
"A dedicated green left-turn arrow signal",
"Pavement lane-use arrows assigning the left lane to left turns",
"A traffic light showing green for straight-through movement"
] | [
0
] | null | null | [
"country:Singapore",
"env_road_surface:dry",
"env_time_of_day:day",
"env_weather:clear",
"geometry:curve",
"geometry:work_zone",
"lm_directionality:one_way",
"lm_lane_count:multi_lane",
"lm_left_marking:road_edge",
"lm_right_marking:solid_white_single",
"maneuver:overtaking",
"qtype:action_nex... | perception | [
"8b43539a55374b6c8ed60c95a42d63a2_1.mp4#perception#1"
] | traffic_infrastructure | {
"status": "verified",
"reasoning": ""
} | [
"correct",
"llm_agent_infra",
"llm_agent_infra",
"llm_agent_infra"
] | null | null | null | null |
bench_test_000083 | 8b43539a55374b6c8ed60c95a42d63a2_1.mp4 | nuScenes | Singapore | perception | Are there any temporary road modifications (e.g. work zones, construction, school zones, road damage, detours) affecting the ego vehicle's own travel lane? | binary | [
"Yes",
"No"
] | [
1
] | null | null | [
"country:Singapore",
"env_road_surface:dry",
"env_time_of_day:day",
"env_weather:clear",
"geometry:curve",
"geometry:work_zone",
"lm_directionality:one_way",
"lm_lane_count:multi_lane",
"lm_left_marking:road_edge",
"lm_right_marking:solid_white_single",
"maneuver:overtaking",
"qtype:action_nex... | perception | [
"8b43539a55374b6c8ed60c95a42d63a2_1.mp4#perception#2"
] | temporary_modifications | {
"status": "verified",
"reasoning": "no distractors to check"
} | [] | null | null | null | null |
bench_test_000084 | 8b43539a55374b6c8ed60c95a42d63a2_1.mp4 | nuScenes | Singapore | perception | What are the time of day, weather, and road surface conditions? | null | null | null | null | [
"Daytime, clear skies, dry road surface."
] | [
"country:Singapore",
"env_road_surface:dry",
"env_time_of_day:day",
"env_weather:clear",
"geometry:curve",
"geometry:work_zone",
"lm_directionality:one_way",
"lm_lane_count:multi_lane",
"lm_left_marking:road_edge",
"lm_right_marking:solid_white_single",
"maneuver:overtaking",
"qtype:action_nex... | perception | [
"8b43539a55374b6c8ed60c95a42d63a2_1.mp4#perception#3"
] | environment | null | null | null | null | null | null |
bench_test_000085 | 8b43539a55374b6c8ed60c95a42d63a2_1.mp4 | nuScenes | Singapore | lane_marking | Is the ego vehicle's lane change, merge, or overtaking maneuver permitted given the lane markings here? | single_choice | [
"Permitted",
"Not permitted",
"Cannot be determined"
] | [
0
] | null | null | [
"country:Singapore",
"env_road_surface:dry",
"env_time_of_day:day",
"env_weather:clear",
"geometry:curve",
"geometry:work_zone",
"lm_directionality:one_way",
"lm_lane_count:multi_lane",
"lm_left_marking:road_edge",
"lm_right_marking:solid_white_single",
"maneuver:overtaking",
"qtype:action_nex... | lane_marking | [
"8b43539a55374b6c8ed60c95a42d63a2_1.mp4#lane_marking#4"
] | null | {
"status": "verified",
"reasoning": "Uniform Permitted/Not permitted/Not sayable format, backlog conversion 2026-08-26 (fix_lane_marking_uniform_format.py). Ground truth hand-classified from Phase 2's raw lane_marking QA answer; distractors are fixed closed-vocabulary templates, no LLM verification needed."
} | [
"templated",
"templated"
] | null | The ego vehicle crosses a continuous single white line to its right to overtake a stopped vehicle. This is allowed when the road ahead is clearly visible and clear, which it is. | true | null |
bench_test_000086 | 8b43539a55374b6c8ed60c95a42d63a2_1.mp4 | nuScenes | Singapore | traffic_rule | Do the traffic rules that apply to this scene contradict or override each other? | binary | [
"Yes",
"No"
] | [
0
] | null | null | [
"country:Singapore",
"env_road_surface:dry",
"env_time_of_day:day",
"env_weather:clear",
"geometry:curve",
"geometry:work_zone",
"lm_directionality:one_way",
"lm_lane_count:multi_lane",
"lm_left_marking:road_edge",
"lm_right_marking:solid_white_single",
"maneuver:overtaking",
"qtype:action_nex... | traffic_rule | [
"8b43539a55374b6c8ed60c95a42d63a2_1.mp4#traffic_rule#5"
] | null | {
"status": "verified",
"reasoning": "no distractors to check"
} | [] | null | The Highway Code rule (64a) states that the ego vehicle must not overtake where the road narrows. However, the Lane Marking QA for this clip states that crossing the continuous single white line to overtake a stopped vehicle is permitted when the road ahead is clearly visible and clear. Formally, the Highway Code rule ... | true | null |
bench_test_000087 | 8b43539a55374b6c8ed60c95a42d63a2_1.mp4 | nuScenes | Singapore | speed_limit | What is the legal default speed limit for the type of road the ego vehicle is currently driving on? | number | null | null | {
"value": 50,
"unit": "km/h"
} | null | [
"country:Singapore",
"env_road_surface:dry",
"env_time_of_day:day",
"env_weather:clear",
"geometry:curve",
"geometry:work_zone",
"lm_directionality:one_way",
"lm_lane_count:multi_lane",
"lm_left_marking:road_edge",
"lm_right_marking:solid_white_single",
"maneuver:overtaking",
"qtype:action_nex... | speed_limit | [
"8b43539a55374b6c8ed60c95a42d63a2_1.mp4#speed_limit#8"
] | null | {
"status": "verified",
"reasoning": "no distractors to check"
} | [] | null | null | null | null |
bench_test_000088 | 8b43539a55374b6c8ed60c95a42d63a2_1.mp4 | nuScenes | Singapore | perception_actors_grouped | Which of the following actors are present and relevant to the ego vehicle's driving decision? | multiple_choice | [
"A light truck is stopped in the right lane facing the ego.",
"A line of work trucks is stopped along the left side of the ego's lane.",
"It is traveling ahead in the ego's lane and rounding the right curve.",
"A construction worker is standing on the roadway beside the stopped flatbed at the left edge of the... | [
0,
1,
3
] | null | null | [
"country:Singapore",
"env_road_surface:dry",
"env_time_of_day:day",
"env_weather:clear",
"geometry:curve",
"geometry:work_zone",
"lm_directionality:one_way",
"lm_lane_count:multi_lane",
"lm_left_marking:road_edge",
"lm_right_marking:solid_white_single",
"maneuver:overtaking",
"qtype:action_nex... | perception | [
"8b43539a55374b6c8ed60c95a42d63a2_1.mp4#perception_actors#0",
"8b43539a55374b6c8ed60c95a42d63a2_1.mp4#perception_actors#1",
"8b43539a55374b6c8ed60c95a42d63a2_1.mp4#perception_actors#2"
] | null | {
"status": "verified",
"reasoning": "Candidate 1 is a near-duplicate of a correct answer; Candidate 3 is a near-duplicate of a correct answer."
} | [
"correct",
"correct",
"cross_clip_borrowed",
"correct"
] | 2 distractor(s) dropped by verification | null | null | null |
bench_test_000089 | 8b43539a55374b6c8ed60c95a42d63a2_1.mp4 | nuScenes | Singapore | traffic_rule_grouped | Which of the following traffic rules apply to this scene? | multiple_choice | [
"When driving, the ego vehicle must watch out for pedestrians and allow a margin of safety when passing them. (Rule 83, Singapore Highway Code)",
"(1) Where an accident owing to the presence of a motor vehicle on a road results in damage or injury to any person, vehicle, or structure, the driver must stop and eit... | [
0,
3
] | null | null | [
"country:Singapore",
"env_road_surface:dry",
"env_time_of_day:day",
"env_weather:clear",
"geometry:curve",
"geometry:work_zone",
"lm_directionality:one_way",
"lm_lane_count:multi_lane",
"lm_left_marking:road_edge",
"lm_right_marking:solid_white_single",
"maneuver:overtaking",
"qtype:action_nex... | traffic_rule | [
"8b43539a55374b6c8ed60c95a42d63a2_1.mp4#traffic_rule#cluster20",
"8b43539a55374b6c8ed60c95a42d63a2_1.mp4#traffic_rule#cluster13"
] | null | {
"status": "verified",
"reasoning": "Candidates 1, 2, 3, and 7 are rejected because they describe administrative or legal procedures (driver identification, vehicle seizure, vehicle forfeiture, vehicle inspection) rather than rules governing the ego vehicle's immediate driving conduct in the scene, making them too... | [
"correct",
"kg_sibling+rrf",
"kg_sibling+rrf",
"correct"
] | 4 distractor(s) dropped by verification | null | null | null |
bench_test_000090 | 8b43539a55374b6c8ed60c95a42d63a2_1.mp4 | nuScenes | Singapore | action_next | What should the ego vehicle do next? | single_choice | [
"Complete passing the stopped truck and worker, then return to the left lane, maintaining the same speed.",
"Turn right, slowing down.",
"Continue following the right curve, slowing down.",
"Continue straight, slowing down to maneuver around the stopped truck and workers."
] | [
0
] | null | null | [
"country:Singapore",
"env_road_surface:dry",
"env_time_of_day:day",
"env_weather:clear",
"geometry:curve",
"geometry:work_zone",
"lm_directionality:one_way",
"lm_lane_count:multi_lane",
"lm_left_marking:road_edge",
"lm_right_marking:solid_white_single",
"maneuver:overtaking",
"qtype:action_nex... | action_reasoning | [
"8b43539a55374b6c8ed60c95a42d63a2_1.mp4#action_next#6",
"8b43539a55374b6c8ed60c95a42d63a2_1.mp4#reasoning_next#7"
] | null | {
"status": "verified",
"reasoning": "Candidate 2 is rejected because it contains a logical contradiction ('Continue straight along the curving road'). Candidate 3 is rejected because it contains a logical contradiction ('Continue straight, following the road's left curve') and potentially misidentifies the curve d... | [
"correct",
"cross_clip_borrowed",
"cross_clip_borrowed",
"cross_clip_borrowed"
] | 4 distractor(s) dropped by verification | The ego vehicle is currently passing a stopped truck and a worker on its left, which narrows its lane and required it to shift right, crossing the solid white line. It must complete this maneuver safely, ensuring adequate clearance for the worker, before returning to its original lane position. | true | null |
bench_test_000091 | 8b43539a55374b6c8ed60c95a42d63a2_1.mp4 | nuScenes | Singapore | counterfactual_grouped | Which of the following statements about hypothetical changes to this scene are correct? | multiple_choice | [
"If the flatbed truck were not present, the ego vehicle would not need to shift right or cross the solid white line to overtake, and the traffic rule against overtaking where the road narrows would not apply, allowing the ego to continue in its lane without obstruction.",
"The ego would still be allowed to cross ... | [
0,
3
] | null | null | [
"country:Singapore",
"env_road_surface:dry",
"env_time_of_day:day",
"env_weather:clear",
"geometry:curve",
"geometry:work_zone",
"lm_directionality:one_way",
"lm_lane_count:multi_lane",
"lm_left_marking:road_edge",
"lm_right_marking:solid_white_single",
"maneuver:overtaking",
"qtype:action_nex... | counterfactual | [
"8b43539a55374b6c8ed60c95a42d63a2_1.mp4#counterfactual#0",
"8b43539a55374b6c8ed60c95a42d63a2_1.mp4#counterfactual#1",
"8b43539a55374b6c8ed60c95a42d63a2_1.mp4#counterfactual#2"
] | null | {
"status": "verified",
"reasoning": "Candidate 0 is a true statement, not a distractor. Candidate 4 describes an impossible action (merging behind an oncoming vehicle)."
} | [
"correct",
"llm_agent_grouped_cf",
"llm_agent_grouped_cf",
"correct"
] | 2 distractor(s) dropped by verification | null | null | null |
bench_test_000092 | a8819942e8bb43b6a832c56dfb78cfc6_1.mp4 | nuScenes | US_boston | perception | What type of road is the ego vehicle on, what is immediately to its left and right, and what markings separate them? | null | null | null | null | [
"A private parking-lot/terminal access road. Immediately to the left is an open parking area, separated by a solid white line; immediately to the right is a right-turn lane, separated by a solid white line."
] | [
"country:US_boston",
"env_road_surface:dry",
"env_time_of_day:day",
"env_weather:overcast",
"geometry:crosswalk",
"geometry:intersection",
"lm_directionality:two_way",
"lm_lane_count:multi_lane",
"lm_left_marking:solid_white_single",
"lm_right_marking:solid_white_single",
"maneuver:stopping",
... | perception | [
"a8819942e8bb43b6a832c56dfb78cfc6_1.mp4#perception#0"
] | road_network | null | null | null | null | null | null |
bench_test_000093 | a8819942e8bb43b6a832c56dfb78cfc6_1.mp4 | nuScenes | US_boston | perception | What permanent traffic infrastructure (signs, signals, road markings, bike/bus lanes, crosswalks) is present that's relevant to the ego vehicle? | multiple_choice | [
"A straight arrow pavement marking in the ego lane",
"A stop sign on the right",
"An 'ONLY' pavement marking in the ego lane",
"A marked crosswalk across the road"
] | [
0,
1,
2,
3
] | null | null | [
"country:US_boston",
"env_road_surface:dry",
"env_time_of_day:day",
"env_weather:overcast",
"geometry:crosswalk",
"geometry:intersection",
"lm_directionality:two_way",
"lm_lane_count:multi_lane",
"lm_left_marking:solid_white_single",
"lm_right_marking:solid_white_single",
"maneuver:stopping",
... | perception | [
"a8819942e8bb43b6a832c56dfb78cfc6_1.mp4#perception#1"
] | traffic_infrastructure | {
"status": "verified",
"reasoning": ""
} | [
"correct",
"correct",
"correct",
"correct"
] | null | null | null | null |
bench_test_000094 | a8819942e8bb43b6a832c56dfb78cfc6_1.mp4 | nuScenes | US_boston | perception | Are there any temporary road modifications (e.g. work zones, construction, school zones, road damage, detours) affecting the ego vehicle's own travel lane? | binary | [
"Yes",
"No"
] | [
1
] | null | null | [
"country:US_boston",
"env_road_surface:dry",
"env_time_of_day:day",
"env_weather:overcast",
"geometry:crosswalk",
"geometry:intersection",
"lm_directionality:two_way",
"lm_lane_count:multi_lane",
"lm_left_marking:solid_white_single",
"lm_right_marking:solid_white_single",
"maneuver:stopping",
... | perception | [
"a8819942e8bb43b6a832c56dfb78cfc6_1.mp4#perception#2"
] | temporary_modifications | {
"status": "verified",
"reasoning": "no distractors to check"
} | [] | null | null | null | null |
bench_test_000095 | a8819942e8bb43b6a832c56dfb78cfc6_1.mp4 | nuScenes | US_boston | perception | What are the time of day, weather, and road surface conditions? | null | null | null | null | [
"Daytime, overcast skies, dry road surface."
] | [
"country:US_boston",
"env_road_surface:dry",
"env_time_of_day:day",
"env_weather:overcast",
"geometry:crosswalk",
"geometry:intersection",
"lm_directionality:two_way",
"lm_lane_count:multi_lane",
"lm_left_marking:solid_white_single",
"lm_right_marking:solid_white_single",
"maneuver:stopping",
... | perception | [
"a8819942e8bb43b6a832c56dfb78cfc6_1.mp4#perception#3"
] | environment | null | null | null | null | null | null |
bench_test_000096 | a8819942e8bb43b6a832c56dfb78cfc6_1.mp4 | nuScenes | US_boston | speed_limit | What is the legal default speed limit for the type of road the ego vehicle is currently driving on? | number | null | null | {
"value": 10,
"unit": "mph"
} | null | [
"country:US_boston",
"env_road_surface:dry",
"env_time_of_day:day",
"env_weather:overcast",
"geometry:crosswalk",
"geometry:intersection",
"lm_directionality:two_way",
"lm_lane_count:multi_lane",
"lm_left_marking:solid_white_single",
"lm_right_marking:solid_white_single",
"maneuver:stopping",
... | speed_limit | [
"a8819942e8bb43b6a832c56dfb78cfc6_1.mp4#speed_limit#6"
] | null | {
"status": "verified",
"reasoning": "no distractors to check"
} | [] | null | null | null | null |
bench_test_000097 | a8819942e8bb43b6a832c56dfb78cfc6_1.mp4 | nuScenes | US_boston | traffic_rule_grouped | Which of the following traffic rules apply to this scene? | multiple_choice | [
"Within a Fire Lane, within 20 feet of a fire station driveway entrance, or (if posted) within 75 feet opposite that entrance. (Section 1, Boston Traffic Rules)",
"In a marked bike lane, bus lane, or shared bus-bike lane, except to avoid conflict with traffic/pedestrians, in compliance with a police officer/sign,... | [
2
] | null | null | [
"country:US_boston",
"env_road_surface:dry",
"env_time_of_day:day",
"env_weather:overcast",
"geometry:crosswalk",
"geometry:intersection",
"lm_directionality:two_way",
"lm_lane_count:multi_lane",
"lm_left_marking:solid_white_single",
"lm_right_marking:solid_white_single",
"maneuver:stopping",
... | traffic_rule | [
"a8819942e8bb43b6a832c56dfb78cfc6_1.mp4#traffic_rule#cluster1"
] | null | {
"status": "verified",
"reasoning": "Candidate 7 is a correct rule that applies to the scene and is implicitly covered by the correct answer's instruction to stop before the crosswalk, making it not a distractor."
} | [
"kg_rrf",
"kg_rrf",
"correct",
"kg_rrf"
] | 1 distractor(s) dropped by verification | null | null | null |
bench_test_000098 | a8819942e8bb43b6a832c56dfb78cfc6_1.mp4 | nuScenes | US_boston | perception_actors_grouped | Which of the following actors are present and relevant to the ego vehicle's driving decision? | multiple_choice | [
"A silver sedan is stopped ahead at the red light with brake lights on.",
"A pedestrian is walking away along the right side just beyond the barriers, immediately adjacent to the travel lane.",
"None of the listed actors are present or relevant to the ego vehicle's driving decision.",
"Two people in high-visi... | [
2
] | null | null | [
"country:US_boston",
"env_road_surface:dry",
"env_time_of_day:day",
"env_weather:overcast",
"geometry:crosswalk",
"geometry:intersection",
"lm_directionality:two_way",
"lm_lane_count:multi_lane",
"lm_left_marking:solid_white_single",
"lm_right_marking:solid_white_single",
"maneuver:stopping",
... | perception | [
"a8819942e8bb43b6a832c56dfb78cfc6_1.mp4#perception_actors#none"
] | null | {
"status": "verified",
"reasoning": ""
} | [
"cross_clip_borrowed",
"cross_clip_borrowed",
"correct",
"cross_clip_borrowed"
] | null | null | null | null |
bench_test_000099 | a8819942e8bb43b6a832c56dfb78cfc6_1.mp4 | nuScenes | US_boston | action_next | What should the ego vehicle do next? | single_choice | [
"Continue straight, stopping.",
"Continue following the road as it curves right, slowing down.",
"Turn left, stopping to yield.",
"Turn right into the roundabout, maintaining a slow speed."
] | [
0
] | null | null | [
"country:US_boston",
"env_road_surface:dry",
"env_time_of_day:day",
"env_weather:overcast",
"geometry:crosswalk",
"geometry:intersection",
"lm_directionality:two_way",
"lm_lane_count:multi_lane",
"lm_left_marking:solid_white_single",
"lm_right_marking:solid_white_single",
"maneuver:stopping",
... | action_reasoning | [
"a8819942e8bb43b6a832c56dfb78cfc6_1.mp4#action_next#4",
"a8819942e8bb43b6a832c56dfb78cfc6_1.mp4#reasoning_next#5"
] | null | {
"status": "verified",
"reasoning": "Candidate 4 is a near-duplicate of the correct answer, merely rephrasing 'Continue straight' as 'Proceed straight in the current lane'."
} | [
"correct",
"cross_clip_borrowed",
"cross_clip_borrowed",
"cross_clip_borrowed"
] | 1 distractor(s) dropped by verification | The ego vehicle is approaching a stop-controlled intersection with a marked crosswalk and must come to a complete stop as required by the stop sign. | true | null |
bench_test_000100 | a8819942e8bb43b6a832c56dfb78cfc6_1.mp4 | nuScenes | US_boston | counterfactual_grouped | Which of the following statements about hypothetical changes to this scene are correct? | multiple_choice | [
"If another vehicle were approaching the intersection from the intersecting roadway as the ego vehicle arrived, the ego vehicle would still be required to stop completely at the stop line and yield the right-of-way to that vehicle before proceeding.",
"The ego vehicle would only need to slow down and proceed caut... | [
0,
3
] | null | null | [
"country:US_boston",
"env_road_surface:dry",
"env_time_of_day:day",
"env_weather:overcast",
"geometry:crosswalk",
"geometry:intersection",
"lm_directionality:two_way",
"lm_lane_count:multi_lane",
"lm_left_marking:solid_white_single",
"lm_right_marking:solid_white_single",
"maneuver:stopping",
... | counterfactual | [
"a8819942e8bb43b6a832c56dfb78cfc6_1.mp4#counterfactual#0",
"a8819942e8bb43b6a832c56dfb78cfc6_1.mp4#counterfactual#1",
"a8819942e8bb43b6a832c56dfb78cfc6_1.mp4#counterfactual#2"
] | null | {
"status": "verified",
"reasoning": "Candidate 0 is rejected because it is a true statement about traffic rules for an uncontrolled intersection with a pedestrian, making it not a distractor."
} | [
"correct",
"llm_agent_grouped_cf",
"llm_agent_grouped_cf",
"correct"
] | 1 distractor(s) dropped by verification | null | null | null |
End of preview. Expand in Data Studio
TrafficRuleBenchmark
A machine-scorable multiple-choice / open-ended benchmark for evaluating VLMs on traffic-rule reasoning in autonomous driving. 750 clips held out from TrafficRuleVQA — disjoint from its train/validation split — 6,847 items. Text only, no images or video. Produced by Phase 3 of the traffic-rule-vqa pipeline.
Keeping this as a separate package (rather than bundled with the training corpus) is deliberate: the benchmark is meant to stay held out, so it is easy to fetch, checksum and score against without also pulling in the data a model may have been fine-tuned on.
Files
| File | Records | Produced by | Consumed by |
|---|---|---|---|
traffic_rule_vqa_benchmark.json |
6,847 items over 750 clips | Phase 3 (create_benchmark.py) |
Phase 5 |
traffic_rule_vqa_benchmark_clips.jsonl |
750 clips | Phase 1/2 clip corpus, plus the source frames each clip is evaluated on | Phase 5 |
These 750 clips are held out from TrafficRuleVQA's train/validation split (03_benchmark/build_dataset_splits.py in the code repo
performs the 5,960 / 770 / 750 split over all 7,480 QA-corpus clips).
Item schema
Benchmark item (traffic_rule_vqa_benchmark.json, list): id, scene_id, source, country, question_type, question, answer_format,
choices, correct_indices, correct_value, correct_answers, tags, cascade_stage, source_qa_ids, layer.
Items with an explanation half additionally carry has_explanation and explanation. Assembly bookkeeping fields (distractor_sources, verification,
_note, _regen_attempts) appear on some items.
answer_format |
Items | Scoring |
|---|---|---|
null (open-ended) |
1,500 | Scaled BERTScore-F1 (primary); BLEU-4, METEOR, CIDEr, ROUGE-L (secondary) |
multiple_choice |
2,999 | F1 over the selected option set |
single_choice |
942 | exact match |
binary |
768 | exact match |
number |
638 | exact match |
1,011 items are MCQ+E items: a machine-scorable choice plus a free-text explanation scored with BERTScore. cascade_stage groups items for the cascading protocol
(perception 3,750; traffic_rule 768; action_reasoning 915; counterfactual 749; speed_limit 638; lane_marking 27).
Clip records and input frames
traffic_rule_vqa_benchmark_clips.jsonl holds one record per benchmark clip with the fields of the TrafficRuleVQA clip corpus (jurisdiction, ego speed,
position and heading, which the evaluation prompts use) and source_frames, the exact camera frames the evaluation composites are built from:
"source_frames": {
"segment": "<recording id in the source dataset>",
"split": "<source dataset split / package the recording is in>",
"frame_key": "timestamp_us | timestamp_ms | frame_idx",
"frames": [{"<camera>": <timestamp or frame index>, ...}, ...]
}
frames lists the time steps oldest first (10 per clip, 5 for KITScenes); each maps the source dataset's camera names to that camera's frame. The
evaluation code (common/frames.py in the code repository) stitches each time step into a two-row composite. The frames are not
distributed; they come from the source datasets:
source |
segment |
Frame file in the source dataset | Conversion |
|---|---|---|---|
| nuScenes | log name | keyframe blobs: samples/{camera}/{segment}__{camera}__{timestamp_us}.jpg |
none |
| ONCE | sequence id | {split}_{camera}.tar, image {segment}/{camera}/{timestamp_ms}.jpg |
none |
| OpenScene | log name | openscene_metadata_{split}: frame of log {segment} with timestamp = value, its cams[camera].data_path in the openscene_sensor_{split}_camera shards |
none |
| Waymo | segment name | v2.0.1 {split}/camera_image/{segment}.parquet, row with key.camera_name = camera and key.frame_timestamp_micros = value |
none (JPEG bytes as stored) |
| Waymo_E2E | sequence hash | end-to-end camera v1.0.0 val_*.tfrecord-*, record {segment}-{frame_idx:03d}, image of that camera |
none (JPEG bytes as stored) |
| KITScenes | scenario id | KITScenes-LongTail {split}-*.parquet, row with scenario_id = segment, element frame_idx of frames_camera_{camera, lower case} |
longest side resized to 1920 px (LANCZOS), JPEG quality 85 |
| KitMultimodal | sequence id | KITScenes-Multimodal data/{split}/{segment}.tar: {segment}/{camera}/{frame_idx:010d}.jpg |
longest side resized to 1920 px (LANCZOS), JPEG quality 85 |
Camera names are the source datasets' own (e.g. nuScenes CAM_FRONT_LEFT, ONCE cam03, OpenScene CAM_L0, KITScenes-Multimodal camera_ring_front_left).
The frames of the 750 clips total about 8.5 GB, but the source datasets are packaged in large archives: the smallest downloads that contain them are about
670 GB for KITScenes-Multimodal (114 scene archives), 440 GB for OpenScene (74 camera shards), 14 GB for Waymo (row groups of 83 segment files), 13 GB for
ONCE (18 camera archives), 3 GB for KITScenes-LongTail (38 row groups) and 0.2 GB for Waymo E2E (90 records), plus the nuScenes keyframe blobs.
Sources
Same seven source datasets as TrafficRuleVQA (nuScenes, Waymo, Waymo E2E, ONCE, OpenScene, KITScenes, KIT Multimodal);
source values match exactly.
Provenance and quality
Distractors and answer formats were generated and verified by language models grounded in the QA corpus and retrieved traffic-rule text, then spot-checked by the author. Treat this as high-quality silver data, not gold labels. The thesis reports review protocols and observed error rates.
Terms of use
This benchmark contains text derived from driving datasets released under non-commercial or custom terms (nuScenes, Waymo Open Dataset, ONCE, OpenScene, and others). It contains scene identifiers, model-written questions and answer choices, and no sensor data. Before redistributing it, check each source dataset's terms; this repository's MIT licence does not apply to it. Any release should be under terms at least as restrictive as the most restrictive source (non-commercial, research use), with attribution to the original datasets.
sha256sum -c CHECKSUMS.sha256 verifies the files.
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