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id stringlengths 22 22 | source stringclasses 1
value | image imagewidth (px) 1.6k 1.6k | caption stringlengths 181 581 |
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nuscenes_caption_00000 | nuscenes | A city bus is photographed close-up from the side, its lower panel wrapped in a navy-blue advertisement featuring a smiling graduate in cap and gown alongside the text "Next Stop, Master's Degree" and the university's web address "snhu.edu," with "Online" and "On Campus" listed as study options beneath. Above the ad, t... | |
nuscenes_caption_00001 | nuscenes | Outside a modern brick office building, a blue shipping-container-style entrance archway is marked with a circular "23" logo, while a matching container to the right bears an "Autodesk" sign, identifying the tenant. To the left, a cafe storefront is labeled "Fare Well" beneath a round clock, and wooden decking, benches... | |
nuscenes_caption_00002 | nuscenes | A white box truck is parked on a city street beside brick buildings, its side panel decorated in green script advertising "Sid Wainer & Son," a company "Established" in "1914" that is "Celebrating 100 Years." Below, it reads "Specialty Produce, Specialty Foods & Fine Artisanal Cheese," "A HACCP Certified Company," "Han... | |
nuscenes_caption_00003 | nuscenes | In a paved lot behind a weathered warehouse with boarded windows, a white "Ryder" box truck labeled "Truck Rental & Leasing" is parked next to a sedan, while a white van beside it is marked "Southie shuttle." An orange traffic barrier separates the two vehicles, and dumpsters sit against the fenced lot in the backgroun... | |
nuscenes_caption_00004 | nuscenes | A close-up view of a decorated team bus shows a promotional graphic reading "Post a photo of this bus with #NCAALAXBUS for your chance to win prizes!" alongside small Twitter and Instagram icons, layered over a faded photographic collage of athletes in the bus's blue and orange livery. | |
nuscenes_caption_00005 | nuscenes | Two white delivery trucks are backed up to each other at a loading dock, connecting via coiled air and electrical hoses. The near truck is marked "United States Postal Service" in blue and red lettering, while the trailer it's coupling to displays a "136" placard and a caution sticker, with a person's arm visible reach... | |
nuscenes_caption_00006 | nuscenes | A gravel construction yard is fenced off with a sign reading "Gate 2, Skanska" mounted on the chain-link entrance. Inside, a compact CAT skid-steer loader and a larger CAT wheel loader sit parked near shipping-container offices, one bearing a small "Flush" sign for a portable restroom, with high-rise apartment building... | |
nuscenes_caption_00007 | nuscenes | A close-up of a white Eversource Energy utility truck shows its "ENERGY" logo above a long white "MH RESCUE POLE" mounted along the side, and warning labels reading "Not A Storage Compartment, Garage Use Only" posted on the equipment doors below. | |
nuscenes_caption_00008 | nuscenes | A black SUV and a white utility van are parked along a brick-fronted city street beneath a red "Smoke Shop" sign. The van's side panel reads "The Power of Performance," listing "Boston, MA" and a phone number "617.474.0500," along with services "Electrical, Structured Cabling, Security," while a road bike leans against... | |
nuscenes_caption_00009 | nuscenes | A massive blue mobile crane, marked "RICA 200" and stamped with "USDOT 343050," dominates the foreground of an open-air construction site, its outrigger beam labeled "Safety First." Steel framing for a multi-story building rises behind it, alongside a flatbed trailer labeled "2016" and a wooden crate marked "Easton." | |
nuscenes_caption_00010 | nuscenes | A construction hoarding wraps a city sidewalk, displaying historical Boston tourism panels: one dated "1634" points to "Boston Common," "2.2 Miles" away, and another dated "1660" highlights the "Old Granary Burying Ground," "2.5 Miles" away, illustrated with an old gravestone carving. Parked cars and a chain-link fence... | |
nuscenes_caption_00011 | nuscenes | A gray construction barrier fence surrounds a rising steel-and-glass office building, hung with project banners: a yellow sign reads "Financing provided by East Boston Savings Bank" (abbreviated "EBSB"), alongside developer logos for "Related Beal" and "Consigli," and a white sign for "Innovation Square" noting its "12... | |
nuscenes_caption_00012 | nuscenes | Looking down a Boston street lined with brick buildings including the "Residence Inn," a white "Ryder" truck ("Ryder.com... Ever better.") is parked at a crosswalk while a green traffic light hangs overhead. Street signage includes a blue "I-93" shield with a "No Turn on Red" placard, and pedestrians and a delivery van... | |
nuscenes_caption_00013 | nuscenes | On a brick-building street corner marked by a green "Congress ST" sign, a red bicycle is locked to a post posted with transit and "Tow Zone, No Parking" signs. Gold lettering above the doorway identifies the "Giuffre's Building" at "355" and "359," with a black sedan and "No Turn on Red" sign visible nearby. | |
nuscenes_caption_00014 | nuscenes | A close-up of a white Eversource Energy truck shows its logo and the label "Tunnel Truck" printed on the driver's door, parked along a riverside street with brick buildings, leafless trees, and a bridge visible in the background under an overcast sky. | |
nuscenes_caption_00015 | nuscenes | A white "Aggregate Industries" truck is parked on a city street, its cab door printed with the company's triangular logo, "Boston, MA," a contact number "1-877-440-0139," a height clearance warning "HT 12'6"," and its registration "USDOT 313941," with brick buildings in the background. | |
nuscenes_caption_00016 | nuscenes | A bright yellow "No Pedestrian Crossing, Use Crosswalk" sign is mounted on a chain-link fence in front of a brick office building, with orange traffic barrels, parked cars, and trees visible through the fencing. | |
nuscenes_caption_00017 | nuscenes | A black "UPS" tractor-trailer marked "UPS Freight" drives along a city street past a modern glass-and-stone building, whose storefront windows display red "Laugh" signage (repeated twice) advertising a comedy venue, with young street trees and a fire hydrant lining the sidewalk. | |
nuscenes_caption_00018 | nuscenes | An MBTA public bus, numbered "0579" and marked with a "Height 10'-6"" clearance warning, carries an advertisement for the "Greater Boston Food Bank" reading "We're Endin[g Hunger]" along its upper panel. In the background, a modern glass building under construction and a rendering banner for a new development stand bes... | |
nuscenes_caption_00019 | nuscenes | A white cargo van's rear doors are printed with an orange geometric logo and the address "651 Day Hill Road, Windsor, CT 06095," its license plate reading "7373-CE," parked in a covered lot beside a dark sedan and a brick building visible through the tinted windows. | |
nuscenes_caption_00020 | nuscenes | A close-up of a charter bus's blue-and-orange livery advertises the "2018 Men's Lacrosse Championships" held in "Boston," decorated with lacrosse stick graphics and a shield emblem. | |
nuscenes_caption_00021 | nuscenes | On a city sidewalk, a solar-powered trash bin is printed with the tagline "This self-compacting waste bin? Powered by the sun. The idea? Powered by Jim Poss MBA'03," while a "No Turn on Red" sign is posted on a nearby pole and a pedestrian in a blue shirt walks past a brick building. | |
nuscenes_caption_00022 | nuscenes | A construction hoarding displays historical Boston tourism graphics: an image dated "1908" references the "[F]itzgerald Kennedy Greenway," a photo of the "Make Way for Ducklings" statue is dated "1987" and located "2.6 Miles" away, and a fountain photo dated "1969" marks the "New England Aquarium," with a "Continuum" l... | |
nuscenes_caption_00023 | nuscenes | A construction hoarding panel shows a sepia photograph of the "Hayden Planetarium" dome, captioned "1951, Museum of Science, 3.2 Miles," beside a neighboring panel dated "1940" for the "Hatch Memorial[ Shell]," "3.7 Miles" away, mounted along a city sidewalk. | |
nuscenes_caption_00024 | nuscenes | A white "FedEx Ground" delivery truck, numbered "202557" and marked "DS Ground Service, Inc.," is parked outside a loading dock with its rear roll-door open, "FedEx" logos on the cab door and box, beneath a building marked with the number "51." | |
nuscenes_caption_00025 | nuscenes | A red-brown construction barrier lines a city sidewalk, hung with safety signs: "Hard Hats, Eye Protection and Safety Vests Required," "All Visitors Must Sign In At Field Office," "Caution, Construction Personnel Only," and "24HR Emergency Suffolk Contact, 617-445-3500," all bearing the "Suffolk" logo. Above the barrie... | |
nuscenes_caption_00026 | nuscenes | An "XPO" tractor-trailer truck turns onto "Drydock Ave" near a "Gate 3, Skanska" construction entrance, where a fence sign reads "2 Dry Dock Ave" and another notes "You are entering an Injury-Free Environment, Safety: A way of life," with a concrete barrier stenciled "Frenca" in the foreground and a tan industrial buil... | |
nuscenes_caption_00027 | nuscenes | On a brick street corner, the gold-lettered "Giuffre's Building" sign above numbers "355" and "359" marks an entryway where pedestrians pass by, including a woman with curly hair carrying a shopping bag, near a "No Turn on Red" sign at the corner. | |
nuscenes_caption_00028 | nuscenes | Behind a red construction barrier posted with "Caution, Construction Personnel Only," "Hard Hats, Eye Protection and Safety Vests Required," and "24HR Emergency Suffolk Contact, 617-445-3500" signs, a yellow excavator marked "J. Derenzo Co." lifts its boom above the fence line. A red "BFD Command Post" sign and a "Hyat... | |
nuscenes_caption_00029 | nuscenes | A construction site along a city street is screened off with an orange mesh barrier hung with a row of four white-and-red signs branded Suffolk: "CAUTION, CONSTRUCTION PERSONNEL ONLY," "24HR EMERGENCY SUFFOLK CONTACT 617-445-3500," "EMERGENCY RESPONDER ADDRESS 295 NORTHERN AVE," and "NO DELIVERIES THROUGH THIS GATE." B... | |
nuscenes_caption_00030 | nuscenes | Beneath a highway overpass, a white SUV drives past a parking garage entrance marked with a blue "P" sign and a "DO NOT ENTER" placard above the ramp, plus a small "Seaport" directional plaque on a pillar. A black iron fence lines the sidewalk in the foreground, and a partly visible yellow sign reading "PE... C... B...... | |
nuscenes_caption_00031 | nuscenes | A black sedan waits at a traffic light on a bridge under gray, overcast skies as a white-and-green Enterprise box truck idles in the next lane, its side panel branded "enterprise truck rental." Pedestrians cross in the background near tall streetlamps, an American flag flies atop a building, and multi-story parking str... | |
nuscenes_caption_00032 | nuscenes | A white utility van with a roof-mounted ladder rack is parked outside a dim industrial building, its side panel advertising "Duggan Mechanical Services, Plumbing Services, Since 1891" beside a green shamrock logo. Bold black text lists the company's offerings: Heating, Refrigeration, Air Conditioning, and Plumbing. The... | |
nuscenes_caption_00033 | nuscenes | Close-up of a dark blue refrigerated tractor-trailer, its trailer stenciled with a large fish emblem above the white website text "enorthseafood.com," while the tractor cab carries the fleet number "627" and a "TriPac Evolution" refrigeration-unit sticker. Chrome wheels, Goodyear tires, and rows of rivets run along the... | |
nuscenes_caption_00034 | nuscenes | A row of large construction hoarding panels wraps a downtown sidewalk, printed with historic Boston imagery; one panel reads "1634, BOSTON COMMON, 2.2 MILES" beside a sepia photo of a columned pavilion, while an adjacent panel is labeled "ROUND." A tall concrete structure and clear blue sky rise behind the barrier, wit... | |
nuscenes_caption_00035 | nuscenes | A public transit bus marked with the MBTA "T" logo displays a Greater Boston Food Bank advertisement along its side reading "When the cupboard is bare, we stock it," paired with a photo of a parent and child and text noting the charity fights hunger "across Eastern Massachusetts." Passengers are visible seated behind t... | |
nuscenes_caption_00036 | nuscenes | A white delivery van for "Tonbean Coffee Company" is parked on a city street, its rear doors printed with the slogan "for a truly revolutionary cup!" and the toll-free number "1-800-HIT-BREW." Behind it, a construction zone with concrete barriers, orange traffic cones, and caution tape sits in front of a row of weather... | |
nuscenes_caption_00037 | nuscenes | Pedestrians walk along a plaza in front of the glass-fronted "Harbor Place" building, its entrance marked "South Entry" above sliding doors, with a yellow pedestrian-crossing sign posted nearby. A "Donuts" storefront sign is visible to the left, an "ATM" sign is mounted on the building's right side, and a silver sedan ... | |
nuscenes_caption_00038 | nuscenes | A yellow mobile crane labeled "S&A Cranes, 617-269-6600, Boston, MA" and marked "GMK 5275" looms over a chain-link fence behind a construction site barrier. The orange mesh barricade is hung with Suffolk-branded signs reading "EMERGENCY RESPONDER ADDRESS 295 NORTHERN AVE" and "NO DELIVERIES THROUGH THIS GATE," with hig... | |
nuscenes_caption_00039 | nuscenes | A pedestrian carrying tote bags and a backpack walks along a sidewalk past a large blue banner reading "...ING EDGE LAB SPACE" stretched behind a tree and a red parking-meter-style call box. A yellow school bus and industrial crane structures are visible across the street, with a stop sign and utility pole further back... | |
nuscenes_caption_00040 | nuscenes | A row of historic-themed hoarding panels lines a Boston sidewalk beneath large loft windows; one small placard reads "STANDPIPE" near a fire connection, while adjacent panels advertise "1797, USS CONSTITUTION, 3.4 MILES" with an image of tall ship masts, and "1742, FANEUIL HALL, 2.2 MILES" showing the building's cupola... | |
nuscenes_caption_00041 | nuscenes | Inside a parking garage, a white van's rear door is printed with the address "651 Day Hill Road, Windsor, CT 06095" above a Connecticut license plate. Beside it, a dark blue Toyota Corolla with a visible "COROLLA" badge and partial plate is parked nose to tail with another dark sedan beneath the garage's low steel ceil... | |
nuscenes_caption_00042 | nuscenes | An Xfinity-branded promotional van is parked on a city street, its side wrapped in a large silver "xfinity" logo and the tagline "the future of awesome," alongside imagery for the NBC show "Parenthood" and assorted nature photos including a shark and a hummingbird. An orange traffic cone and a brick building with dark ... | |
nuscenes_caption_00043 | nuscenes | A "NO TURN ON RED" traffic sign stands on a sidewalk pole beside a small harborwalk banner, overlooking a waterfront lined with a metal railing. Boston's downtown skyline of glass towers and historic brick warehouses rises across the harbor, with two pedestrians strolling along the promenade and a red-roofed pavilion b... | |
nuscenes_caption_00044 | nuscenes | A white "Cummins Northeast" service van, marked with the phone number "781-329-1750" and website "cumminsnortheast.com," is parked outside a brick building numbered "343" that has a roll-up garage door and glass storefront. A white sedan is parked in front, with a parking meter standing on the sidewalk between the two ... | |
nuscenes_caption_00045 | nuscenes | A row of four dark garage bay doors along a warehouse building is numbered "25," "26," "27," and "28" in bold black lettering above each entrance. Reflected puddles line the empty parking area in front, with diagonal yellow parking lines painted across the cracked asphalt under an overcast sky. | |
nuscenes_caption_00046 | nuscenes | Behind a chain-link fence and concrete barrier, a "ROAD CLOSED" sign is posted near an aerial boom lift and construction equipment branded "French," with city high-rises visible in the distance under heavy gray clouds. A "NO PARKING" notice and a "DANGER" sign are also mounted along the fence further back, marking off ... | |
nuscenes_caption_00047 | nuscenes | The rear of a large blue charter bus is emblazoned with graphics for the "2018 NCAA LACROSSE CHAMPIONSHIPS" at Gillette Stadium, with fleet number "6742" visible near the taillights. The bus is parked in a lot beside several SUVs under a clear sky, with rows of trees and a striped crosswalk marking a nearby intersectio... | |
nuscenes_caption_00048 | nuscenes | A Massachusetts State Police cruiser, numbered "1869" and marked with the state police shield on its door, is parked in a fenced industrial lot beside a leafy tree. In the background, a building bears a partial sign reading "Sta... Seafo... Inc." with rooftop ventilation equipment, and chain-link fencing topped with ba... | |
nuscenes_caption_00049 | nuscenes | An orange aerial boom lift labeled "ULTRA BOOM" is parked on a city sidewalk beside a large historical display panel captioned "JAMESTOWN" and "2008, ROSE FITZGERALD KENNEDY GREENWAY, 1.6 MILES," showing an image of fountains among city buildings. Orange traffic cones line the street, and a worker in a black shirt walk... | |
nuscenes_caption_00050 | nuscenes | A glass MBTA bus shelter numbered "337" stands along Northern Avenue, displaying a route "INFORMATION" map and system diagram on its wall. Nearby, wooden park benches sit beneath shading pine trees in front of a brick building, with a trash can and sign post completing the quiet streetside scene. | |
nuscenes_caption_00051 | nuscenes | An older man in a white shirt and khaki pants walks along a sidewalk carrying a red bag, passing the brick corner of a Worcester Polytechnic Institute building marked "WPI" and address numbers "303" beside a Starbucks logo sign. Several cars, including a black SUV, are parked along the building's side entrance under ov... | |
nuscenes_caption_00052 | nuscenes | Historic hoarding banners run along a Boston sidewalk beneath a building's tall windows; one panel reads "1798, MASSACHUSETTS STATE HOUSE, 3.0 MILES" showing the golden-domed capitol, while the neighboring panel reads "1797, USS CONSTITUTION, 3.4 MILES" with an image of the ship's rigging. A metal roll-up door and whit... | |
nuscenes_caption_00053 | nuscenes | Diners sit outside a glass-fronted "wagamama" restaurant, its illuminated sign mounted high on the building and repeated on a small sidewalk sign near a stainless trash can and cafe barriers. A black Audi with a New York plate is parked in the foreground, its hood reflecting the restaurant's mirrored name, while a fami... | |
nuscenes_caption_00054 | nuscenes | A red-and-white "GATE C, CONSTRUCTION PERSONNEL ONLY" sign is mounted on an orange mesh construction barrier along a city sidewalk, backed by a chain-link fence and a tall crane arm rising in the hazy distance. High-rise residential towers loom over the site under a bright but overcast sky, with orange traffic cones ma... | |
nuscenes_caption_00055 | nuscenes | Vehicles are parked bumper to bumper in a dim parking garage; a gray SUV displays an oval "NEH" sticker on its rear hatch, while a white van beside it is marked "Factory, A Division of Tride..., 888-622-4857." A light blue shipping-container-style structure and steel ceiling beams frame the tightly packed garage level. | |
nuscenes_caption_00056 | nuscenes | Historic-themed construction hoarding lines a Boston street, its panels captioned "1723, OLD NORTH CHURCH" showing a statue and church steeple, flanked by partial text for Faneuil Hall and "1713, OLD STATE HOUSE." A red pickup truck is parked at the curb between two of the illustrated panels near a loading dock, with a... | |
nuscenes_caption_00057 | nuscenes | A large wayfinding sign for "THE INTERNATIONAL CARGO CENTER OF NE" lists directions to "Harbor Street," "Truck Court," "West Entry," "South Entry," "Public Parking," "Cruise Terminal," "Bronstein Center," and "88 Black Falcon," standing beside a row of yellow and black bollards. A black sedan is parked near the industr... | |
nuscenes_caption_00058 | nuscenes | A modern glass-and-concrete building entrance marked 'World Trade Ctr' rises behind a row of orange-and-white traffic barrels and concrete Jersey barriers. A red banner attached to a construction fence reads 'SIDEWALK CLOSED AHEAD,' warning pedestrians of the work zone. Sunlight glares across the plaza's revolving door... | |
nuscenes_caption_00059 | nuscenes | A gray building entrance topped by a curved awning reading 'Drydock Center' opens onto a sidewalk beside a large wayfinding panel labeled '1837 Boston Public Garden 2.6 Miles.' Louvered metal panels and a 'No Parking' sign line the facade, with two white bollards guarding the entryway. A manhole cover marked 'Boston' s... | |
nuscenes_caption_00060 | nuscenes | Behind a chain-link fence, a construction site sprawls beneath a hazy sky with scaffolding, cranes, and workers in the distance. Orange safety banners posted along the fence display Suffolk-branded warning placards reading 'HARD HATS, EYE PROTECTION AND SAFETY VESTS REQUIRED,' 'CAUTION — CONSTRUCTION PERSONNEL ONLY,' a... | |
nuscenes_caption_00061 | nuscenes | A weathered brick industrial building with a zigzagging fire-escape staircase stands beside a patch of grass and a tall green chain-link enclosure topped with utility pipes. A yellow directional sign at the curb lists destinations including 'Kennedy Ave,' 'Seafood Way,' 'Bernstein Center,' 'Black Falcon Cruise Terminal... | |
nuscenes_caption_00062 | nuscenes | A demolition site is enclosed by a chain-link fence bearing a green 'WOOD & WIRE FENCE CO INC' sign advertising temporary fencing at '1-888-966-3947, servicing all of New England.' Beyond the fence, piles of gray rubble and debris surround excavators and a CAT loader, while a white 'DANGER — CONSTRUCTION SITE — NO TRES... | |
nuscenes_caption_00063 | nuscenes | At a city street corner, tall interstate route markers for '93' and '90' are mounted above a green airport symbol and a blue left-arrow sign on a traffic pole. A row of dark SUVs and pickups is parked along the curb in front of a tan high-rise apartment building, while a sleek glass office building with double entry do... | |
nuscenes_caption_00064 | nuscenes | Beneath an overpass, a blue directional sign reads 'SOUTH BOSTON WATERFRONT TRANSPORTATION CENTER' with a parking icon and arrow pointing right. A city bus numbered '1127' idles in the roadway ahead of a charter coach and a silver SUV, while a yellow sign on the left-hand fence instructs 'PEDESTRIANS CROSS AT ... ONLY.... | |
nuscenes_caption_00065 | nuscenes | A white Emerald van advertising 'Laundry & Dry Cleaning,' 'Delivered right to your door!' and the number '617-327-4342' along with 'EMERALDdrycleaners.com' is parked along a tree-lined street. Behind it rises the 'Pier 4' apartment building, its dark signage reading 'PIER 4 APARTMENTS — LEASING CENTER.' Potted greenery... | |
nuscenes_caption_00066 | nuscenes | A row of dark garage bays in a converted industrial warehouse is numbered '31,' '32,' '33,' and '34' above white archways, with tall multi-pane windows set into the black paneled doors. Two SUVs, a black Jeep and another dark vehicle, are parked in the empty lot in front, their license plates blurred, under an overcast... | |
nuscenes_caption_00067 | nuscenes | The 'Drydock Center' entrance, marked by a curved dark awning, sits beside a large illustrated wayfinding display split into two panels: one reading '1837 — BOSTON PUBLIC GARDEN — 2.6 MILES' with an engraving of an equestrian statue, and the other reading '1826 — QUINCY MARKET' showing a columned market building. A bla... | |
nuscenes_caption_00068 | nuscenes | A cream-colored refrigerated box truck for 'PAUL W. MARKS CO., INC.' is parked on a brick-lined city street, its cab marked with the number '107824,' 'USDOT 331591,' and 'GVW 26,000.' The trailer displays phone numbers '(617) 389-4120' and '(800) 462-0025' beneath an 'HACCP CERTIFIED' label and a 'Supra' refrigeration ... | |
nuscenes_caption_00069 | nuscenes | A tan box truck for 'W.B. MASON — PRODUCTS FOR THE WORKPLACE — SINCE 1898' turns through a city intersection, its side panel listing 'WWW.WBMASON.COM • 1-888-926-2766' along with 'Keurig Preferred Partner' and 'Boston Red Sox Official Office Supplier' logos. Several sedans wait near the curved brick building behind it ... | |
nuscenes_caption_00070 | nuscenes | A converted brick warehouse facade shows numbered garage bays '19,' '20,' '21,' and '22' above dark paneled doors with small window grids. A black pickup truck, a silver SUV, and a black Volkswagen sedan are parked in marked spaces along the curb, their plates blurred, on an overcast day. | |
nuscenes_caption_00071 | nuscenes | A blue-and-white sign zip-tied to a chain-link fence reads 'SKANSKA — Have you done your pre-task plan today?' overlooking a construction area screened by dark mesh fabric. A tall beige residential high-rise looms in the background under a clear sky, with construction equipment faintly visible through the fence behind ... | |
nuscenes_caption_00072 | nuscenes | A city street lined with brick buildings is busy with traffic, including a white box truck ahead reading 'Sid Wainer & Son — Specialty Produce, Specialty Foods & Fine Artisanal Cheese,' noting it was 'Established 1914' and 'Handpicked From the World's Finest Farms.' A delivery truck marked '02148M0003' drives down the ... | |
nuscenes_caption_00073 | nuscenes | A white service pickup truck marked 'T-4' is parked near a chain-link fence topped with barbed wire, its door displaying a 'DOCK & DOOR' logo and its side panel listing services: 'Loading Dock Equipment,' 'High Speed & Industrial Doors,' 'Large HVLS Ceiling Fans,' 'Sectional Doors,' and ending with '...Needs!' A tan of... | |
nuscenes_caption_00074 | nuscenes | A blue South Boston Waterfront wayfinding sign points visitors toward the 'Concert Pavilion,' 'Marine Industrial Park & Cruise Terminal' straight ahead, 'Fish Pier' to the left, and 'BCEC – Convention Center' and 'Conley Terminal' to the right. Along the empty street, a green 'I-90' shield sign stands near a building b... | |
nuscenes_caption_00075 | nuscenes | A tan DHL delivery van, marked 'YOUR SPECIALISTS IN INTERNATIONAL... SINCE 1969' with the number '314070' and '1-800-CALL-DHL,' is parked beside a blue Jeep Wrangler and a white 'Griffin Reid Mechanical' van advertising refrigeration and heating services. Behind them, a brick storefront numbered '330' sits next to a Du... | |
nuscenes_caption_00076 | nuscenes | A white 'DANA'S MOVING SERVICE' box truck, numbered '2' and listing '617-243-0008, NEWTON, MA' along with a 'US DOT 394...' marking, is parked at a curb under a cloudy sky. In the lot across the street, a 'CITY LINE' refrigerated trailer sits parked among other trucks near a low industrial warehouse. | |
nuscenes_caption_00077 | nuscenes | A white 'Herc Rentals' shipping container and generator unit sits behind a construction fence draped with dark banners reading 'NEMA BOSTON.' A weathered cardboard 'DANGER — NO TRESPASSING' sign and a laminated 'NO SMOKING — SMOKING WITHIN FENCE WILL RESULT IN DISMISSAL FROM PROJECT' notice are zip-tied to the chain-li... | |
nuscenes_caption_00078 | nuscenes | Construction hoarding along a city street displays banners reading '...RESIDENCE' and 'VISIONARY SEAPORT HOMES, WHERE DREAMS EMBARK,' alongside a white placard marked '399 CONGRESS ST — MADE IN BOSTON.' A white box truck and a dark sedan approach under a pedestrian bridge as storm clouds gather overhead, with a traffic... | |
nuscenes_caption_00079 | nuscenes | A large brown shipping container, marked with the Triton logo and identification numbers 'TLLU 449902 3 4561' and 'ECH40052' on its rear doors, is hauled by a tractor-trailer through a downtown intersection. A white sedan waits at the light in the foreground while a gray minivan and other cars queue ahead near modern g... | |
nuscenes_caption_00080 | nuscenes | A close-up view of a white trailer's side panel shows large lettering reading '...SEY' and 'PHILAD...,' fragments of a trucking company's name or route referencing New Jersey and Philadelphia, set against a dark green stripe running the length of the panel. Scuff marks and rivet lines mark the aluminum siding above the... | |
nuscenes_caption_00081 | nuscenes | A dark blue Toyota Corolla is parked in a covered garage lined with decorative wall panels and metal railings, its rear badge reading 'COROLLA.' A white van beside it displays partial address lettering, '...ay Hill Road' and '...or, CT 06095,' referencing a Connecticut location, with a Connecticut license plate visible... | |
nuscenes_caption_00082 | nuscenes | A tan CAT 950K wheel loader, numbered '166,' sits beside a 'ROAD CLOSED' sign blocking a double-yellow-lined street. Behind it, the tan brick facade of 'Stavis Seafoods, Inc.' bears its logo above a doorway marked '7 Chan...,' with a silver sedan parked near a 'No Parking' sign and an orange traffic cone on the sidewal... | |
nuscenes_caption_00083 | nuscenes | The entrance to a multi-level parking garage shows two lanes marked '6'10" CLEARANCE' in red lettering above the ramps, with ticket dispensers and a striped traffic-arm barrier. A dark sign beside the booth reads 'CREDIT CARD PAYMENT ONLY FACILITY,' accepting major cards, while a crosswalk leads pedestrians past the ga... | |
nuscenes_caption_00084 | nuscenes | A black Honda SUV with a handicap placard and an out-of-state plate is parked near a metal railing overlooking a street-level view of a building under construction. A sign on the pole beside it reads 'NO PARKING — SNOW EMERGENCY' and 'NO PARKING — STREET CLEANING, TUE THURS SAT 12:01AM–7AM,' with a red car parked just ... | |
nuscenes_caption_00085 | nuscenes | A white industrial building shows garage bays numbered '37' and '38' above dark roll-up doors, with a red fire hydrant and gas meter along the sidewalk. A 'ONE WAY' arrow sign paired with a no-left-turn symbol stands at the corner, overlooking an empty striped parking lot in the foreground. | |
nuscenes_caption_00086 | nuscenes | An empty paved road curves past construction fencing toward a red octagonal 'STOP' sign posted above a placard reading 'GATE 3.' A tall construction crane looms over nearby mid-rise buildings in the hazy distance, while a lone car drives along the far curve of the road under an overcast, sun-bleached sky. | |
nuscenes_caption_00087 | nuscenes | A glass-and-metal bus shelter sits on a city sidewalk, its overhead awning labeled 'NORTHERN AVENUE' and a posted transit map marked 'INFORMATION' mounted between its rails. Behind the shelter, stacked kegs and pallets are visible through a wrought-iron fence leading to a brewery complex, with a large silver tank and a... | |
nuscenes_caption_00088 | nuscenes | Two semi trucks are parked close together in a lot. In the foreground, a green-and-tan cab shows its USDOT and carrier registration stenciled on the door: 'USDOT 55815', 'CTQ M-313975', and 'ILLCC 32949 MC-CPR', with a partial 'TRANSP' logo and spare tire mounted at the front. Through the gap between trailers, another ... | |
nuscenes_caption_00089 | nuscenes | A white box truck marked 'HACCP CERTIFIED' with its checkmark logo is parked beside a brick apartment building with a zigzagging fire escape. A dark Jeep Wrangler and a black sedan sit parked further down the alley, while a blue parking sign reading 'P PARK 20' with a 'DAY' notice is mounted on the corner of a pale stu... | |
nuscenes_caption_00090 | nuscenes | A storefront reading 'FORT POINT MARKET' in bold lettering fronts a warehouse-style building with large windows showing shelves of goods inside. Outside, a white box van, a black Jeep, and another delivery truck are parked along the curb near an orange traffic cone, while a circular blue 'P' parking sign hangs on the b... | |
nuscenes_caption_00091 | nuscenes | A large orange construction sign for 'SUFFOLK' reads 'build smart' with the web address 'suffolk.com' printed beneath the company logo, mounted above a mesh privacy screen and chain-link fence. A portable toilet sits nearby, and in the hazy background a tower crane and a cluster of city high-rises loom under an overcas... | |
nuscenes_caption_00092 | nuscenes | A white refrigerated trailer marked 'MARDER TRAWLING SCALLOP DISTRIBUTORS, New Bedford, MA' with phone number '508-991-3200', height marker 'HGT 13'6"', and 'USDOT 1718050' pulls through a quiet downtown intersection. Ahead, a large 'REEBOK' logo tops a wide office building, and a teal shipping-container structure numb... | |
nuscenes_caption_00093 | nuscenes | An AmQuip crane truck, labeled 'AmQuip THE CRANE PEOPLE' with 'USDOT 1658012' and unit number '107-15', is parked outside a light-colored industrial building beside a folded chain-link security gate and stacked wooden pallets. A tan JLG 'ULTRA BOOM' lift stands to the right, a worker walks between the vehicles, and ora... | |
nuscenes_caption_00094 | nuscenes | A close-up view of a white delivery truck's side panel shows printed text advertising 'MEDICAL/SURGICAL SUPPLIES' along with a contact number '781-828-7772' and a partial address reading '30 North... Canton, M[A]'. A red 'DIESEL' fuel-door label is stenciled near the bottom rail above the truck's fuel tank and rear sus... | |
nuscenes_caption_00095 | nuscenes | A tight shot of a produce delivery trailer displays bold lettering for '...RGANICS' above the tagline '...uality Organically Grown Fresh Food' in dark serif text on a white panel with a green stripe. A yellow 'CAUTION WIDE TURNS' sticker is affixed near the rear wheel well, with the truck's tires and a paved lot visibl... | |
nuscenes_caption_00096 | nuscenes | A close-up of a white freight trailer's side panel reads 'Available Liftgate Service' in large green italic script, running the length of the visible panel. Reflective red and white safety strips line the bottom edge above the trailer's undercarriage and support legs, with a strip of pavement showing beneath. | |
nuscenes_caption_00097 | nuscenes | A seafood delivery trailer for 'SHORELAND Transport' is photographed close-up, its side panel wrapped in appetizing imagery of a whole salmon on ice beside plated fish dishes with lemon wedges and asparagus, accompanied by the tagline '...an to plate in record time.' The trailer's wheel and rear frame rail are visible ... | |
nuscenes_caption_00098 | nuscenes | A red octagonal STOP sign stands in front of a chain-link fence enclosing a construction yard under a cloudy sky, with a dark blue flatbed truck lettered 'SHAUGHNESSY & AHERN, CO. TRUCKMEN & RIGGERS, BOSTON, MA' and 'USDOT 1013267' parked beside it, cab numbered '23'. A white box on the fence reads 'BLANK FOR APPLICATI... | |
nuscenes_caption_00099 | nuscenes | A large construction hoarding displays historical black-and-white photo panels of Boston landmarks, labeled '2008 ROSE FITZGERALD KENNEDY GREENWAY' and '1987 MAKE WAY FOR DUCKLINGS STATUE', alongside an 'AMERICA'S TEST KITCHEN' banner. An orange boom lift marked 'BOOM' is parked to the left in front of a white building... |
nuscenes/referring_expression/referring_expression.json— Referring Expression Comprehensionnuscenes/captioning/captioning.json— Multi-Text Captioningnuscenes/text_object_grounding/text_object_grounding.json— Text–Object Groundingnuscenes/text_region_grounding/text_region_grounding.json— Text–Region Groundingnuscenes/ocr/ocr.json— OCR
Read The Object
Read The Object is the official data release accompanying the paper "Read the Object: A Dataset and Task for Text-Grounded Object Understanding in Real-World Images" (Chowdhury, Park, Le, Chao, Hayat, Porikli, Mahajan — The Ohio State University, Qualcomm AI Research, Boston University, York University, Vector Institute for AI).
Objects in the real world are often distinguished not by visual appearance alone but by the text printed on them — a traffic sign's route number, a jersey number, a product label. The paper introduces text–object grounding: the task of associating a piece of scene text with the exact object instance it appears on, and shows that current object detectors, OCR systems, and vision-language models all struggle at it despite doing well on text recognition or object localization in isolation. The full benchmark combines images from OpenImages V5, MS COCO, and nuScenes (6,000 images, 25,208 referring-expression samples, 34,085 object instances, 137,246 text instances) and defines six complementary tasks: Referring Expression Comprehension, Text–Object Grounding, OCR, Text-Region Grounding, Visual Question Answering, and Multi-Text Captioning.
This repo currently contains only the nuScenes source category of that
benchmark (the OpenImages V5 and COCO portions, plus the VQA and
Captioning tasks, are not yet part of this HF release — more will be
added incrementally). This is benchmark/evaluation data, not a training
split — every config below ships only a test split.
The dataset is organized by source, then by task, so future source additions (e.g. COCO) slot in as sibling folders under the same layout:
read_the_object/
<source>/
images/ clean source images (shared across tasks)
referring_expression/ REC samples: referring_expression.json + images_bbox/
captioning/ Captioning samples: captioning.json
text_object_grounding/ TOG samples: text_object_grounding.json + images_bbox/
text_region_grounding/ TRG samples: text_region_grounding.json + images_bbox/
ocr/ OCR samples: ocr.json + images_bbox/
Each images_bbox/ image is drawn per-sample (red = target object box,
cyan = the specific text box(es) that sample's row refers to) — not every
box in the source image, only the ones relevant to that row. Captioning
has no images_bbox/, since its output is a whole-image caption rather
than a box.
For datasets/Dataset Viewer users, each task is also published as its own
Parquet config (embedded images, test split):
from datasets import load_dataset
ds = load_dataset("act13/read_the_object", "nuscenes_referring_expression", split="test")
| config_name | task | rows |
|---|---|---|
nuscenes_referring_expression |
Referring Expression Comprehension | 1,735 |
nuscenes_captioning |
Multi-Text Captioning | 259 |
nuscenes_text_object_grounding |
Text–Object Grounding | 2,107 |
nuscenes_text_region_grounding |
Text–Region Grounding | 2,140 |
nuscenes_ocr |
OCR | 259 |
nuscenes/referring_expression/referring_expression.json — Referring Expression Comprehension
Given a natural-language expression that includes both text and visual attributes, locate the described object and its text region. One row per referring-expression sample.
| field | type | description |
|---|---|---|
id |
string | unique sample id, e.g. nuscenes_00000 |
source |
string | "nuscenes" |
image |
string | relative path to the clean image |
image_bbox |
string | relative path to the same image with just this sample's box(es) drawn |
category |
string | object category, supercategory.subtype (e.g. vehicle.bus, signage.traffic_sign) |
obj_box |
[x1,y1,x2,y2] |
target object's bounding box, pixel coords |
texts |
[string, ...] |
the scene-text string(s) used to build the expression |
combined_text_box |
[x1,y1,x2,y2] |
bounding box of the text region(s) used (always contained within obj_box) |
ref_expression |
string | the referring expression, e.g. "the bus with 'stop' written on it" |
num_texts_used |
int | how many text instances were combined into this sample |
sample_type |
string | single_text_single_object, multi_text_single_object, or disambiguated_same_category |
attribute |
string (optional) | present only for disambiguated_same_category samples — a distinguishing visual/spatial attribute added because another object of the same category in the same image shares the same text (e.g. "left blue" in "'23' written on left blue gate") |
nuscenes/captioning/captioning.json — Multi-Text Captioning
Generate a caption that jointly describes the objects in the image and the visible text on them. One row per image, 259 total. Captions are 20-100 words, generated by grounding on the same verified object/text annotations as the other tasks, then manually spot-checked against the source images for accuracy.
| field | type | description |
|---|---|---|
id |
string | unique sample id, e.g. nuscenes_caption_00000 |
source |
string | "nuscenes" |
image |
string | relative path to the clean image |
caption |
string | a 20-100 word caption describing the scene and weaving in the visible scene-text |
nuscenes/text_object_grounding/text_object_grounding.json — Text–Object Grounding
Given a text string, find all objects in the image that contain or are
associated with that text. One row per (image, query_text) pair; if the
same text is shared by multiple objects, all of them are listed (and all
highlighted in image_bbox).
| field | type | description |
|---|---|---|
id |
string | unique sample id, e.g. nuscenes_tog_00000 |
source |
string | "nuscenes" |
image |
string | relative path to the clean image |
image_bbox |
string | relative path to the image with the query text box(es) (cyan) and every linked object box (red) drawn |
query_text |
string | the text string being grounded |
categories |
[string, ...] |
category of each object this text is linked to |
obj_boxes |
[[x1,y1,x2,y2], ...] |
box for each entry in categories, same order |
nuscenes/text_region_grounding/text_region_grounding.json — Text–Region Grounding
Given a query text string, localize the corresponding text region(s) in
the image. One row per (image, query_text) pair; if the same text
appears multiple times in the image, every occurrence is listed (and all
highlighted in image_bbox).
| field | type | description |
|---|---|---|
id |
string | unique sample id, e.g. nuscenes_trg_00000 |
source |
string | "nuscenes" |
image |
string | relative path to the clean image |
image_bbox |
string | relative path to the image with every occurrence of the query text boxed (cyan) |
query_text |
string | the text string being localized |
boxes |
[[x1,y1,x2,y2], ...] |
every box where query_text appears in this image |
nuscenes/ocr/ocr.json — OCR
Detect and recognize all visible text regions in the image. One row per
image; image_bbox shows every verified text box in that image.
| field | type | description |
|---|---|---|
id |
string | unique sample id, e.g. nuscenes_ocr_00000 |
source |
string | "nuscenes" |
image |
string | relative path to the clean image |
image_bbox |
string | relative path to the image with all text boxes drawn |
texts |
[string, ...] |
transcription of each text region in the image |
boxes |
[[x1,y1,x2,y2], ...] |
box for each entry in texts, same order |
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