The performance will be calculated at the image level. For the Critical Object Detection task, the performance is measured by Mean Average IoU (mIoU). It is computed by the Intersection over Union (IoU) detection threshold to 0.1, 0.3, and 0.5 (indicating that the overlap between predicted and the critical object ground truth (GT) bounding box observed by the human driver gaze exceeds 10%, 30%, and 50%, respectively). Because of the challenging nature of the data, the final performance will be determined by the equally weighted average of the performances at the three thresholds. The evaluation will focus on the video level only, to stress our focus on understanding the safety-critical driving scenes within dynamic evolution.