Scene-Graph Embedding; Autonomous Vehicle; Risk Assessment

This dataset is released with our research paper titled “Scene-graph Augmented Data-driven Risk Assessment of Autonomous Vehicle Decisions” (https://arxiv.org/abs/2009.06435). In this paper, we propose a novel data-driven approach that uses scene-graphs as intermediate representations for modeling the subjective risk of driving maneuvers. Our approach includes a Multi-Relation Graph Convolution Network, a Long-Short Term Memory Network, and attention layers.