STRIDE / statistics /scenario_overview.json
Lieqi-Liu's picture
Upload folder using huggingface_hub (part 5)
a54c173 verified
Raw History Blame Contribute Delete
7.95 kB
{
"scenario_order": [
"Pedestrian",
"Cut-ins",
"Intersection",
"Foreign object / debris",
"Special vehicles",
"Multi-lane maneuvers",
"Cyclist",
"Construction"
],
"dataset_denominators": {
"nuScenes_tagged_clips": 577,
"Waymo_E2E_tagged_clips": 335
},
"task_families": [
"Scene context",
"Spatial perception",
"Spatial understanding",
"Temporal memory",
"Temporal extrapolation",
"Trajectory"
],
"family_clip_denominators": {
"Scene context": 167,
"Spatial perception": 317,
"Spatial understanding": 150,
"Temporal memory": 278,
"Temporal extrapolation": 278,
"Trajectory": 363
},
"family_count_matrix": [
[
43,
107,
81,
89,
72,
146
],
[
6,
13,
0,
20,
24,
8
],
[
52,
91,
53,
85,
55,
122
],
[
13,
38,
9,
32,
34,
28
],
[
30,
78,
69,
73,
53,
102
],
[
18,
22,
16,
18,
28,
31
],
[
27,
56,
21,
40,
34,
58
],
[
17,
41,
21,
40,
43,
58
]
],
"family_percentage_matrix": [
[
25.748502994011975,
33.753943217665615,
54.0,
32.014388489208635,
25.899280575539567,
40.22038567493113
],
[
3.592814371257485,
4.100946372239748,
0.0,
7.194244604316546,
8.633093525179856,
2.203856749311295
],
[
31.137724550898202,
28.706624605678233,
35.333333333333336,
30.575539568345324,
19.784172661870503,
33.608815426997246
],
[
7.7844311377245505,
11.987381703470032,
6.0,
11.510791366906474,
12.23021582733813,
7.7134986225895315
],
[
17.964071856287426,
24.605678233438486,
46.0,
26.258992805755394,
19.06474820143885,
28.09917355371901
],
[
10.778443113772456,
6.94006309148265,
10.666666666666666,
6.474820143884892,
10.071942446043165,
8.539944903581267
],
[
16.167664670658684,
17.665615141955836,
14.0,
14.388489208633093,
12.23021582733813,
15.977961432506888
],
[
10.179640718562874,
12.933753943217665,
14.0,
14.388489208633093,
15.467625899280575,
15.977961432506888
]
],
"multi_label": true,
"rows": [
{
"scenario_type": "Pedestrian",
"nuscenes_clip_count": 327,
"nuscenes_clip_percent": 56.6724,
"waymo_clip_count": 39,
"waymo_clip_percent": 11.6418,
"scene_context_count": 43,
"scene_context_percent": 25.7485,
"spatial_perception_count": 107,
"spatial_perception_percent": 33.7539,
"spatial_understanding_count": 81,
"spatial_understanding_percent": 54.0,
"temporal_memory_count": 89,
"temporal_memory_percent": 32.0144,
"temporal_extrapolation_count": 72,
"temporal_extrapolation_percent": 25.8993,
"trajectory_count": 146,
"trajectory_percent": 40.2204
},
{
"scenario_type": "Cut-ins",
"nuscenes_clip_count": 0,
"nuscenes_clip_percent": 0.0,
"waymo_clip_count": 19,
"waymo_clip_percent": 5.6716,
"scene_context_count": 6,
"scene_context_percent": 3.5928,
"spatial_perception_count": 13,
"spatial_perception_percent": 4.1009,
"spatial_understanding_count": 0,
"spatial_understanding_percent": 0.0,
"temporal_memory_count": 20,
"temporal_memory_percent": 7.1942,
"temporal_extrapolation_count": 24,
"temporal_extrapolation_percent": 8.6331,
"trajectory_count": 8,
"trajectory_percent": 2.2039
},
{
"scenario_type": "Intersection",
"nuscenes_clip_count": 214,
"nuscenes_clip_percent": 37.0884,
"waymo_clip_count": 73,
"waymo_clip_percent": 21.791,
"scene_context_count": 52,
"scene_context_percent": 31.1377,
"spatial_perception_count": 91,
"spatial_perception_percent": 28.7066,
"spatial_understanding_count": 53,
"spatial_understanding_percent": 35.3333,
"temporal_memory_count": 85,
"temporal_memory_percent": 30.5755,
"temporal_extrapolation_count": 55,
"temporal_extrapolation_percent": 19.7842,
"trajectory_count": 122,
"trajectory_percent": 33.6088
},
{
"scenario_type": "Foreign object / debris",
"nuscenes_clip_count": 23,
"nuscenes_clip_percent": 3.9861,
"waymo_clip_count": 54,
"waymo_clip_percent": 16.1194,
"scene_context_count": 13,
"scene_context_percent": 7.7844,
"spatial_perception_count": 38,
"spatial_perception_percent": 11.9874,
"spatial_understanding_count": 9,
"spatial_understanding_percent": 6.0,
"temporal_memory_count": 32,
"temporal_memory_percent": 11.5108,
"temporal_extrapolation_count": 34,
"temporal_extrapolation_percent": 12.2302,
"trajectory_count": 28,
"trajectory_percent": 7.7135
},
{
"scenario_type": "Special vehicles",
"nuscenes_clip_count": 251,
"nuscenes_clip_percent": 43.5009,
"waymo_clip_count": 19,
"waymo_clip_percent": 5.6716,
"scene_context_count": 30,
"scene_context_percent": 17.9641,
"spatial_perception_count": 78,
"spatial_perception_percent": 24.6057,
"spatial_understanding_count": 69,
"spatial_understanding_percent": 46.0,
"temporal_memory_count": 73,
"temporal_memory_percent": 26.259,
"temporal_extrapolation_count": 53,
"temporal_extrapolation_percent": 19.0647,
"trajectory_count": 102,
"trajectory_percent": 28.0992
},
{
"scenario_type": "Multi-lane maneuvers",
"nuscenes_clip_count": 54,
"nuscenes_clip_percent": 9.3588,
"waymo_clip_count": 30,
"waymo_clip_percent": 8.9552,
"scene_context_count": 18,
"scene_context_percent": 10.7784,
"spatial_perception_count": 22,
"spatial_perception_percent": 6.9401,
"spatial_understanding_count": 16,
"spatial_understanding_percent": 10.6667,
"temporal_memory_count": 18,
"temporal_memory_percent": 6.4748,
"temporal_extrapolation_count": 28,
"temporal_extrapolation_percent": 10.0719,
"trajectory_count": 31,
"trajectory_percent": 8.5399
},
{
"scenario_type": "Cyclist",
"nuscenes_clip_count": 81,
"nuscenes_clip_percent": 14.0381,
"waymo_clip_count": 60,
"waymo_clip_percent": 17.9104,
"scene_context_count": 27,
"scene_context_percent": 16.1677,
"spatial_perception_count": 56,
"spatial_perception_percent": 17.6656,
"spatial_understanding_count": 21,
"spatial_understanding_percent": 14.0,
"temporal_memory_count": 40,
"temporal_memory_percent": 14.3885,
"temporal_extrapolation_count": 34,
"temporal_extrapolation_percent": 12.2302,
"trajectory_count": 58,
"trajectory_percent": 15.978
},
{
"scenario_type": "Construction",
"nuscenes_clip_count": 116,
"nuscenes_clip_percent": 20.104,
"waymo_clip_count": 15,
"waymo_clip_percent": 4.4776,
"scene_context_count": 17,
"scene_context_percent": 10.1796,
"spatial_perception_count": 41,
"spatial_perception_percent": 12.9338,
"spatial_understanding_count": 21,
"spatial_understanding_percent": 14.0,
"temporal_memory_count": 40,
"temporal_memory_percent": 14.3885,
"temporal_extrapolation_count": 43,
"temporal_extrapolation_percent": 15.4676,
"trajectory_count": 58,
"trajectory_percent": 15.978
}
]
}