{ "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 } ] }