#001 · VOLUME 1
Children retrieving a stray football
儿童在道路外踢球；球滚入道路，儿童短暂进入取回后立即离开，并继续在道路外踢球。
47 s · 4 critical actors · revision 12
Scene approved · 4 updated rehearsals
MARSAD / LONG-TAIL SCENE REVIEW
82 full-scene rehearsals
Human verification before image generationReview every remaining entry in the consolidated 87-scenario catalog. Each fresh GPT-6 plan is built as a complete 47-second Higgsfield scene on a NAVSIM environment. The five earlier scenarios and their 250 selected image samples remain available.
82 / 82Inspected rehearsals
47 secondsPer scene · −7 to +40 s
0New image generation requests
250Earlier selected image samples
Open a scene, play or scrub its full timeline, and check the critical action, posture, facing and relative positions. Each page includes camera views, current speeds, rendered checkpoints and untouched NAVSIM context photos. Reply with the scene IDs to approve or revise. Image generation and training remain closed for these 82 scenes.
#003 · VOLUME 1
Full-width eastbound parade
前方有游行队伍占据整条道路，游行队伍有多辆车和多个人，人跟随着车辆向东移动
47 s · 15 critical actors · revision 2
Awaiting human scene approval
#004 · VOLUME 1
Roadside performer with standing and pacing spectators
前方有街头艺人在路边表演聚集人群，部分行人站立或来回走动
47 s · 9 critical actors · revision 2
Awaiting human scene approval
#005 · VOLUME 1
Ambulance crew attending a fainted person
有一个人晕倒，前方有医护人员从一辆救护车上下来，携带担架和医疗设备，前往晕倒的人附近进行紧急救治，周围有行人停留围观
47 s · 8 critical actors · revision 2
Awaiting human scene approval
#007 · VOLUME 1
Officer alternates pedestrian and vehicle passage
前方有警察站在路口中央，通过手势组织行人通行并指挥交通，行人与车辆在指挥下交替通过
47 s · 9 critical actors · revision 2
Awaiting human scene approval
#008 · VOLUME 1
Low-speed two-car collision with resident onlookers
前方两辆车发碰撞，周围有多个居民围观，堵塞道路
47 s · 8 critical actors · revision 2
Awaiting human scene approval
#009 · VOLUME 1
Ten spectators slowly queue toward a southern venue entrance
前方有十个左右的观众在道路上排队等候进场，观众从南到北延伸排成一排，以非常缓慢的速度向南边的场馆入口移动
47 s · 11 critical actors · revision 2
Awaiting human scene approval
#010 · VOLUME 1
Municipal crew moves among access covers and cable runs
前方有市政人员正在道路上检修多个井盖和电缆，在不同的井盖和线缆之间来回移动，周围摆放少量锥桶
47 s · 11 critical actors · revision 3
Awaiting human scene approval
#011 · VOLUME 1
Scattered roadside dance
前方有多名居民在道路边跳广场舞，队形分散，部分动作幅度较大(prompt要尽量简短)
47 s · 6 critical actors · revision 1
Awaiting human scene approval
#012 · VOLUME 1
Two scooters and a backward pickup
前方两名儿童滑着滑板车横穿马路，其中一人停下回头捡物，另一人继续前行
47 s · 3 critical actors · revision 1
Awaiting human scene approval
#013 · VOLUME 1
Phone distraction and an unexpected stop
前方有行人低头专注于手机，对周围环境感知不足，可能会突然变向或停步。
47 s · 2 critical actors · revision 1
Awaiting human scene approval
#014 · VOLUME 1
Headphones and an unresponsive straight crossing
前方有行人佩戴着降噪耳机，听不到车辆靠近的警示音，径直走入车道。
47 s · 2 critical actors · revision 1
Awaiting human scene approval
#016 · VOLUME 1
Child breaks free during a roadside reprimand
前方有家长在路边训斥孩子，孩子情绪激动突然跑开，挣脱大人的手冲向马路。
47 s · 2 critical actors · revision 1
Awaiting human scene approval
#017 · VOLUME 1
Unleashed dog chases a startled cat into the lane
前方有人在路边遛狗，狗未拴绳或绳子过长，突然追逐其他动物或行人而窜入车道。
47 s · 3 critical actors · revision 1
Awaiting human scene approval
#018 · VOLUME 1
Agitated phone caller drifts into the traffic corridor
前方有人在路边打电话激烈争吵，情绪激动，可能会有突然的、无意识的肢体动作或走位。
47 s · 2 critical actors · revision 1
Awaiting human scene approval
#019 · VOLUME 1
Recently alighted pupils dart around a stopped school bus
前方校车停靠在路边，一群学童从车上下来后，在车前或车后突然窜出。
47 s · 6 critical actors · revision 1
Awaiting human scene approval
#020 · VOLUME 1
Eastbound sidewalk chase with backpack retrieval
一群孩子在路边的人行道上追逐打闹，整体向东移动，有一个孩子在一段时间之后发现掉落的背包，回头捡起来再继续回到其他孩子中。
47 s · 5 critical actors · revision 1
Awaiting human scene approval
#021 · VOLUME 1
Child retrieves a rolling ball from the road center
前方有儿童在捡拾滚到马路中央的皮球或玩具。
47 s · 2 critical actors · revision 1
Awaiting human scene approval
#022 · VOLUME 1
Three teenage shared-bike riders in eastbound pursuit
前方三名青少年骑着共享单车，一名青少年径直往东骑行，另外两名青少年不断追赶
47 s · 3 critical actors · revision 1
Awaiting human scene approval
#023 · VOLUME 1
Unsteady adult wavering between sidewalk and roadway
前方有醉酒者步履蹒跚，在机动车道与人行道之间摇摆不定。
47 s · 2 critical actors · revision 1
Awaiting human scene approval
#024 · VOLUME 1
Slow recycling cart with an obstructed forward view
前方有拾荒者推着满载回收物的小车，车上物品堆积过高，遮挡其视线，且行进缓慢。
47 s · 5 critical actors · revision 1
Awaiting human scene approval
#025 · VOLUME 1
Sudden collapse with bystander assistance and ambulance crew
前方有人突发疾病（如癫痫、心脏病），瘫倒在路边或道路上，周围有多个路人正在尝试施救。
47 s · 7 critical actors · revision 1
Awaiting human scene approval
#026 · VOLUME 1
Tricycle courier parks and runs north with a parcel
前方有快递员骑着电动三轮车沿着道路右侧向东行驶，然后停在路边，自己抱着电动三轮车上的包裹跑步向北横穿马路去派送快件。
47 s · 3 critical actors · revision 2
Awaiting human scene approval
#027 · VOLUME 1
Hurried food courier weaving through creeping eastbound traffic
前方有外卖配送员为了抢时间，在车流中高速向东穿行，如果遇到被车辆挡住，会频繁绕行。
47 s · 5 critical actors · revision 1
Awaiting human scene approval
#028 · VOLUME 1
Half-crouched road-marking worker overlooking rear traffic
前方有施工人员在道路上进行划线作业，身体半蹲，专注于工作而忽略了后方来车。
47 s · 6 critical actors · revision 1
Awaiting human scene approval
#029 · VOLUME 1
Traffic officers document an accident and direct following traffic
前方有交警在处理交通事故，围绕事故车辆进行勘查、拍照，并指挥疏导后方车辆。
47 s · 8 critical actors · revision 1
Awaiting human scene approval
#030 · VOLUME 2
Roadway salesperson visits four queued cars from east to west
前方有推销人员在道路上从东往西依次对各个车辆进行推销
47 s · 6 critical actors · revision 3
Awaiting human scene approval
#031 · VOLUME 2
Roadside questioning becomes a brief plainclothes foot pursuit
前方有便衣警察在路边对可疑人员进行盘问，相关人员突然逃跑，警察进行追捕，场面变得混乱。
47 s · 4 critical actors · revision 2
Awaiting human scene approval
#032 · VOLUME 2
Two drivers confront each other between stopped cars
前方有两名司机在路怒症驱使下，下车在马路中央发生口角甚至肢体冲突。
47 s · 4 critical actors · revision 3
Awaiting human scene approval
#033 · VOLUME 2
Eastbound breakdown followed by warning-triangle placement
前方有向东行驶的车辆爆胎或抛锚，驾驶员下车并取出车上的三角警示牌，向西走几米前往车后放置三角警示牌，然后在车旁焦急地打电话。
47 s · 4 critical actors · revision 3
Awaiting human scene approval
#035 · VOLUME 2
Three-car wedding procession with walking relatives
前方有婚礼车队，有三辆车排成一列向东缓慢行驶，每辆车后面有两三个亲友跟随该车一起移动
47 s · 15 critical actors · revision 2
Awaiting human scene approval
#036 · VOLUME 2
Eastbound marathon runners at different paces
前方有马拉松比赛，运动员从西向东沿道路右侧跑步，有的快有的慢。
47 s · 7 critical actors · revision 1
Awaiting human scene approval
#037 · VOLUME 2
Post-event crowd surges from a frontage exit
前方有大型活动（如音乐节、体育赛事）结束，大量人群在短时间内从出口涌出，蔓延至周边道路。
47 s · 21 critical actors · revision 1
Awaiting human scene approval
#038 · VOLUME 2
Slow eastbound protest with a shared banner and placards
前方有多个抗议者，手持横幅和标语，缓慢向东移动
47 s · 12 critical actors · revision 2
Awaiting human scene approval
#039 · VOLUME 2
Small crowd scatters in an uncoordinated panic
前方发生小规模骚乱或恐慌，人群四散奔逃，方向混乱
47 s · 9 critical actors · revision 1
Awaiting human scene approval
#040 · VOLUME 2
Congested bicycle-share station spills users into the traffic lane
前方共享单车停放点拥堵，一群人聚集扫码、搬车，导致人员溢出到机动车道
47 s · 15 critical actors · revision 1
Awaiting human scene approval
#041 · VOLUME 2
Shoulder-carried long pipe sweeps into the adjacent lane
前方行人肩扛超长管材或竹梯，物体长度远超身体宽度，转身时物体扫过相邻车道
47 s · 2 critical actors · revision 1
Awaiting human scene approval
#042 · VOLUME 2
Half-road grain drying with a seated guardian
前方有人占据半幅路面晾晒农作物（如谷物），并坐在路中间看守
47 s · 7 critical actors · revision 1
Awaiting human scene approval
#043 · VOLUME 2
Eastbound pilgrimage with a palanquin and repeated kneeling
前方有宗教朝圣队伍向东行进，一个朝圣者用轿子运送圣像，其他几个朝圣者，行走与停下来跪拜不断交替进行
47 s · 7 critical actors · revision 2
Awaiting human scene approval
#044 · VOLUME 2
Film crew operating a lane camera amid connected cables
前方有电影或广告拍摄团队，摄影师在车道上取景，周围有大量设备线缆
47 s · 22 critical actors · revision 1
Awaiting human scene approval
#045 · VOLUME 2
Military convoy with a maintained exclusion perimeter
前方有军车车队通过，有士兵在车队外围持枪警戒，禁止车辆行人靠近
47 s · 12 critical actors · revision 1
Awaiting human scene approval
#046 · VOLUME 2
Child repeatedly weaves a small scooter into the roadway
儿童骑小型滑板车在人行道与机动车道间来回穿插
47 s · 2 critical actors · revision 1
Awaiting human scene approval
#047 · VOLUME 2
Courier repeatedly crosses a bicycle lane for parcel deliveries
快递员在非机动车道频繁横穿取件送件
47 s · 7 critical actors · revision 1
Awaiting human scene approval
#048 · VOLUME 2
Red-light pedestrian leader followed by four others
一名行人闯红灯后，后方多名行人陆续跟随横穿马路
47 s · 7 critical actors · revision 1
Awaiting human scene approval
#049 · VOLUME 2
A successful traffic-gap crossing prompts immediate imitation
有人从车流间隙穿行成功，其他行人迅速模仿同样路径
47 s · 8 critical actors · revision 1
Awaiting human scene approval
#050 · VOLUME 2
A pedestrian suddenly runs across the lane for a departing bus
行人发现即将错过公交车，突然冲入车道横穿
47 s · 2 critical actors · revision 1
Awaiting human scene approval
#051 · VOLUME 2
A depleted shared electric bicycle is dragged into the travel lane
共享电动车电量耗尽，被骑行者拖行进入车道
47 s · 2 critical actors · revision 1
Awaiting human scene approval
#052 · VOLUME 2
A minor roadside bumper contact attracts a lane-blocking crowd
路边发生轻微事故，围观人群占据行车空间
47 s · 10 critical actors · revision 1
Awaiting human scene approval
#053 · VOLUME 2
Promotion crowd lingering beside an intersection
临时促销活动吸引人群滞留在路口附近
47 s · 9 critical actors · revision 2
Awaiting human scene approval
#054 · VOLUME 2
Brief folk observance occupying the roadway
宗教或民俗活动短时占用道路通行空间
47 s · 9 critical actors · revision 2
Awaiting human scene approval
#055 · VOLUME 2
Four occupied buses with passengers threading between them
前方公交站台有多辆公交车同时停靠，每辆车都载有多名乘客，行人下车之后在公交车之间穿梭
47 s · 21 critical actors · revision 1
Awaiting human scene approval
#057 · VOLUME 2
Event discharge fanning out from a south-side exit
前方大型活动散场，人群从道路南侧的出口处涌出，行走方向不一致，有西、西北、北方、东北、东等
47 s · 18 critical actors · revision 1
Awaiting human scene approval
#058 · VOLUME 2
Minor scrape with both drivers talking in the lane
前方车辆发生轻微剐蹭，双方驾驶员站在车道内交谈
47 s · 6 critical actors · revision 2
Awaiting human scene approval
#059 · VOLUME 3
Pedestrians recover goods around an overturned vendor cart
前方路口摊贩车侧翻，多个货品散落在周围，周围的行人帮忙捡拾起来放在摊贩车上
47 s · 7 critical actors · revision 2
Awaiting human scene approval
#060 · VOLUME 3
Fallen electric-bicycle rider with bystanders and ambulance crew
前方电动车倒地，骑电动车的人受伤躺在电动车旁，周围行人停留查看情况
47 s · 7 critical actors · revision 3
Awaiting human scene approval
#061 · VOLUME 3
Student crossing splits when two stop to tie shoelaces
前方路口一群学生结伴横穿马路，其中几人突然停下系鞋带，导致队伍断裂
47 s · 6 critical actors · revision 3
Awaiting human scene approval
#062 · VOLUME 3
Four pedestrians cross abreast with strollers and shopping carts
前方多名行人推着婴儿车和购物车并排过马路
47 s · 8 critical actors · revision 3
Awaiting human scene approval
#063 · VOLUME 3
Single-file emergence through a construction barrier gap
前方多名行人从路边施工围挡缺口鱼贯而出
47 s · 7 critical actors · revision 3
Awaiting human scene approval
#064 · VOLUME 3
Bus passengers circulate around both ends during a stop
前方公交车靠站上下客，多名乘客从车头和车尾同时绕行
47 s · 7 critical actors · revision 7
Awaiting human scene approval
#065 · VOLUME 3
Cyclist with a wide rear-mounted advertising panel
前方骑行者后座绑有宽幅广告牌，占据额外横向空间
47 s · 2 critical actors · revision 3
Awaiting human scene approval
#066 · VOLUME 3
Overwide cardboard tricycle with repeated shedding and collection
环卫工人推着满载废旧纸壳的超宽三轮车，纸壳向两侧溢出严重并不断有碎片掉落，后方随行人员在车道内捡拾
47 s · 9 critical actors · revision 4
Awaiting human scene approval
#067 · VOLUME 3
Open rear hatch with a long unmarked aluminum load
前方有车辆后备箱盖敞开运输超长物品（如家具、铝合金窗框），物品末端伸出车尾很长一段距离，且无任何警示标志
47 s · 5 critical actors · revision 7
Awaiting human scene approval
#068 · VOLUME 3
Sightseeing bus with tourists emerging around both ends
前方观光巴士在景点前临时停车上下客，大量游客在车头、车尾突然出现并聚集拍照
47 s · 13 critical actors · revision 4
Awaiting human scene approval
#069 · VOLUME 3
Evening market pack-up with sales continuing during cart crossings
前方是晚上收摊时段，摊主们用小推车将货架推过马路，同时有顾客仍在询价购买
47 s · 11 critical actors · revision 4
Awaiting human scene approval
#070 · VOLUME 3
West-to-east runners collecting water and spilling into the lane
道路一侧设有临时补给站，大批跑步者从补给站西侧向补给站跑动，到达补给站之后领取水瓶，然后继续向东跑步，部分人员溢出到车道上
47 s · 22 critical actors · revision 4
Awaiting human scene approval
#071 · VOLUME 3
Three wide-canopy snack carts gather abreast at the junction
多个推着宽大遮阳棚的小吃车（如煎饼车、水果摊）在路口并排聚集
47 s · 6 critical actors · revision 4
Awaiting human scene approval
#072 · VOLUME 3
Two right-side trucks with workers walking back and forth between them
前方有两辆货车停靠在道路右侧，有两个工人在两个货车之间来回走动
47 s · 4 critical actors · revision 5
Awaiting human scene approval
#073 · VOLUME 3
Roadside promotion with drifting balloons and sudden retrieval runs
前方道路一侧有小型庆典/促销活动，人群聚集，部分气球/装饰物飘入车道，有行人为了捡拾突然闯入车道
47 s · 11 critical actors · revision 5
Awaiting human scene approval
#074 · VOLUME 3
Slow sprinkler truck working in the road center
前方有洒水车在道路中央低速作业
47 s · 5 critical actors · revision 5
Awaiting human scene approval
#075 · VOLUME 3
Long-bodied truck proceeding with surrounding traffic
前方有大型货车正在行驶，货车车身较长
47 s · 4 critical actors · revision 5
Awaiting human scene approval
#076 · VOLUME 3
Delivery couriers load parked motorcycles and depart east
前方道路右侧停放了多辆摩托车，有几个外卖骑手提着外卖从南边的大厦出来骑摩托车，然后向东行驶
47 s · 10 critical actors · revision 8
Awaiting human scene approval
#077 · VOLUME 3
Shared bicycles block the sidewalk and force an eastbound detour
前方有接近十辆共享单车，朝向各不相同，多名行人从西向东行走时被挡住，被迫绕行进入车道(共享单车的able_to_block_human应设为true)
47 s · 13 critical actors · revision 5
Awaiting human scene approval
#078 · VOLUME 3
Handler guides five ducks from south to north
前方有人在公路上驱赶多只鸭子、羊或牛，从南向北横穿马路
47 s · 6 critical actors · revision 6
Awaiting human scene approval
#079 · VOLUME 3
Three startled deer scatter and leave a continuing road hazard
前方有多只鹿或野猪闯入城市道路，受惊后奔跑轨迹混乱
47 s · 3 critical actors · revision 6
Awaiting human scene approval
#080 · VOLUME 3
Owner attempts to free a dog trapped within a road divider
前方有宠物猫狗被困在道路中央隔离栏中，主人从道路南侧试图过马路前往营救
47 s · 5 critical actors · revision 6
Awaiting human scene approval
#081 · VOLUME 3
Peaceful sit-in halts a livestock truck and nearby traffic
前方有动物保护者拦截运载牲畜的车辆，静坐或躺在车辆前方抗议
47 s · 10 critical actors · revision 6
Awaiting human scene approval
#082 · VOLUME 3
Phone call followed by sustained ambulance care
叫救护车(有一个人晕倒的人，有一个行人，行人拨打救护车，然后救护车上的医疗人员下车并取出车上的医疗设备，走晕倒的人身上进行持续不断的救治)
47 s · 8 critical actors · revision 8
Awaiting human scene approval
#083 · VOLUME 3
Four vehicles with repeated opposing lateral weaves
前方有几辆车，喜欢左右变道(prompt：你是一辆像是喝了酒的人开的车，喜欢不停地左右变道)
47 s · 4 critical actors · revision 6
Awaiting human scene approval
#084 · VOLUME 3
Right-edge stop for sixteen seconds, then rejoin
前方有几辆车，到最右侧道路停车然后继续(prompt：你是一辆车，你开到最右侧道路上之后，停车，过十几秒又启动继续行驶)
47 s · 4 critical actors · revision 7
Awaiting human scene approval
#085 · VOLUME 3
Four-vehicle staged intersection negotiation
多车场景
47 s · 4 critical actors · revision 7
Awaiting human scene approval
#086 · VOLUME 3
Four-vehicle police pursuit ending in an unresolved traffic hold
多车场景，警车追捕
47 s · 4 critical actors · revision 7
Awaiting human scene approval
#087 · VOLUME 3
Four civilian vehicles choosing different longitudinal tracks
多车场景，随意选择车道
47 s · 4 critical actors · revision 7
Awaiting human scene approval
What this phase contains
These are 82 scenario rehearsals across four reused NAVSIM environments, not 82 independent real-world recordings. The source contributes semantic descriptions only; no upstream nuPlan geometry is reused. When native background traffic conflicts with new critical actors, its clear counterfactual holding positions are documented. Approximate geometry is acceptable; behavior and relationships are the review target.
All scene data, models, scripts and source-context photos are hosted with these review sites. The viewer does not depend on a local server or a GPU machine. Higgsfield links open a workspace’s latest revision. The hosted viewer uses each scene’s pinned revision; shared workspaces may have advanced to a later catalog scene.