LinYC2024/benchDrive

1[2  {3    "scene_token": "da41ecbc644b4915b84bb732e35ebf8c",4    "frame_token": "7e4c3282bc2a4402b5d1d6705f9eb844",5    "question_type": "robust_qas",6    "question": "What is the current type of corruption?: A. Bit error. B. Rain. C. Bright. D. Sensor failure",7    "answer": "C. Bright",8    "tag": [9      010    ],11    "image_path": {12      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-08-30-15-52-26-0400__CAM_FRONT__1535658934012637.jpg",13      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_LEFT__1535658934004799.jpg",14      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_RIGHT__1535658934020482.jpg",15      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-08-30-15-52-26-0400__CAM_BACK__1535658934037558.jpg",16      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-08-30-15-52-26-0400__CAM_BACK_LEFT__1535658934047405.jpg",17      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_BACK_RIGHT__1535658934028113.jpg"18    }19  },20  {21    "scene_token": "da41ecbc644b4915b84bb732e35ebf8c",22    "frame_token": "7e4c3282bc2a4402b5d1d6705f9eb844",23    "question_type": "robust_qas",24    "question": "What are the important objects in the current scene considering the brightness? Those objects will be considered for the future reasoning and driving decision.",25    "answer": "There is a gray sedan to the back of the ego vehicle, a gray sedan to the front of the ego vehicle, and a black SUV to the front of the ego vehicle. The IDs of these objects are <c1,CAM_BACK,0.5073,0.5778>, <c2,CAM_FRONT,0.4886,0.5481>, and <c3,CAM_FRONT,0.6058,0.5769>.",26    "tag": [27      228    ],29    "image_path": {30      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-08-30-15-52-26-0400__CAM_FRONT__1535658934012637.jpg",31      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_LEFT__1535658934004799.jpg",32      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_RIGHT__1535658934020482.jpg",33      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-08-30-15-52-26-0400__CAM_BACK__1535658934037558.jpg",34      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-08-30-15-52-26-0400__CAM_BACK_LEFT__1535658934047405.jpg",35      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_BACK_RIGHT__1535658934028113.jpg"36    }37  },38  {39    "scene_token": "da41ecbc644b4915b84bb732e35ebf8c",40    "frame_token": "7e4c3282bc2a4402b5d1d6705f9eb844",41    "question_type": "robust_qas",42    "question": "What is the moving status of object <c1,CAM_BACK,0.5073,0.5778> under bright conditions? Please select the correct answer from the following options: A. Going ahead. B. Turn left. C. Turn right.",43    "answer": "A, Explanation: The object is a gray sedan moving ahead.",44    "tag": [45      046    ],47    "image_path": {48      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-08-30-15-52-26-0400__CAM_FRONT__1535658934012637.jpg",49      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_LEFT__1535658934004799.jpg",50      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_RIGHT__1535658934020482.jpg",51      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-08-30-15-52-26-0400__CAM_BACK__1535658934037558.jpg",52      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-08-30-15-52-26-0400__CAM_BACK_LEFT__1535658934047405.jpg",53      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_BACK_RIGHT__1535658934028113.jpg"54    }55  },56  {57    "scene_token": "da41ecbc644b4915b84bb732e35ebf8c",58    "frame_token": "7e4c3282bc2a4402b5d1d6705f9eb844",59    "question_type": "robust_qas",60    "question": "What object should the ego vehicle notice first when the ego vehicle is getting to the next possible location under bright conditions? What is the state of the object that is first noticed by the ego vehicle and what action should the ego vehicle take? What object should the ego vehicle notice second when the ego vehicle is getting to the next possible location? What is the state of the object perceived by the ego vehicle as second and what action should the ego vehicle take? What object should the ego vehicle notice third? What is the state of the object perceived by the ego vehicle as third and what action should the ego vehicle take?",61    "answer": "Firstly, notice that black SUV at front camera. The object is stationary, so the ego vehicle should continue ahead at the same speed. Secondly, notice that gray sedan at front camera. The object is stationary, so the ego vehicle should continue ahead at the same speed. Thirdly, notice that gray sedan at back camera. The object is moving ahead, so the ego vehicle should continue ahead at the same speed.",62    "tag": [63      364    ],65    "image_path": {66      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-08-30-15-52-26-0400__CAM_FRONT__1535658934012637.jpg",67      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_LEFT__1535658934004799.jpg",68      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_RIGHT__1535658934020482.jpg",69      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-08-30-15-52-26-0400__CAM_BACK__1535658934037558.jpg",70      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-08-30-15-52-26-0400__CAM_BACK_LEFT__1535658934047405.jpg",71      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_BACK_RIGHT__1535658934028113.jpg"72    }73  },74  {75    "scene_token": "da41ecbc644b4915b84bb732e35ebf8c",76    "frame_token": "7e4c3282bc2a4402b5d1d6705f9eb844",77    "question_type": "robust_qas",78    "question": "Is <c1,CAM_BACK,0.5073,0.5778> a traffic sign or a road barrier under bright conditions?",79    "answer": "No, Explanation: The object is a gray sedan, not a traffic sign or road barrier.",80    "tag": [81      082    ],83    "image_path": {84      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-08-30-15-52-26-0400__CAM_FRONT__1535658934012637.jpg",85      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_LEFT__1535658934004799.jpg",86      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_RIGHT__1535658934020482.jpg",87      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-08-30-15-52-26-0400__CAM_BACK__1535658934037558.jpg",88      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-08-30-15-52-26-0400__CAM_BACK_LEFT__1535658934047405.jpg",89      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_BACK_RIGHT__1535658934028113.jpg"90    }91  },92  {93    "scene_token": "da41ecbc644b4915b84bb732e35ebf8c",94    "frame_token": "7e4c3282bc2a4402b5d1d6705f9eb844",95    "question_type": "robust_qas",96    "question": "What actions could the ego vehicle take based on <c1,CAM_BACK,0.5073,0.5778> under bright conditions? Why take this action and what's the probability?",97    "answer": "The action is to keep going at the same speed. The reason is that there is no safety issue, and the probability is high.",98    "tag": [99      1100    ],101    "image_path": {102      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-08-30-15-52-26-0400__CAM_FRONT__1535658934012637.jpg",103      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_LEFT__1535658934004799.jpg",104      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_RIGHT__1535658934020482.jpg",105      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-08-30-15-52-26-0400__CAM_BACK__1535658934037558.jpg",106      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-08-30-15-52-26-0400__CAM_BACK_LEFT__1535658934047405.jpg",107      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_BACK_RIGHT__1535658934028113.jpg"108    }109  },110  {111    "scene_token": "da41ecbc644b4915b84bb732e35ebf8c",112    "frame_token": "7e4c3282bc2a4402b5d1d6705f9eb844",113    "question_type": "robust_qas",114    "question": "In this scenario with brightness, what are safe actions to take for the ego vehicle?",115    "answer": "Keep going at the same speed, accelerate, and continue ahead.",116    "tag": [117      1118    ],119    "image_path": {120      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-08-30-15-52-26-0400__CAM_FRONT__1535658934012637.jpg",121      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_LEFT__1535658934004799.jpg",122      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_RIGHT__1535658934020482.jpg",123      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-08-30-15-52-26-0400__CAM_BACK__1535658934037558.jpg",124      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-08-30-15-52-26-0400__CAM_BACK_LEFT__1535658934047405.jpg",125      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_BACK_RIGHT__1535658934028113.jpg"126    }127  },128  {129    "scene_token": "da41ecbc644b4915b84bb732e35ebf8c",130    "frame_token": "7e4c3282bc2a4402b5d1d6705f9eb844",131    "question_type": "robust_qas",132    "question": "Describe the current environment under brightness. Include both general description and key objects and their positions.",133    "answer": "The scene is affected by bright conditions, making it challenging to perceive details. The road is straight with a warehouse on the right side. A gray sedan is positioned at the back of the ego vehicle at coordinates <c1,CAM_BACK,0.5073,0.5778>. In front, there is another gray sedan at <c2,CAM_FRONT,0.4886,0.5481> and a black SUV at <c3,CAM_FRONT,0.6058,0.5769>. The brightness may obscure some details, but the vehicles are clearly visible.",134    "tag": [135      4136    ],137    "image_path": {138      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-08-30-15-52-26-0400__CAM_FRONT__1535658934012637.jpg",139      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_LEFT__1535658934004799.jpg",140      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_RIGHT__1535658934020482.jpg",141      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-08-30-15-52-26-0400__CAM_BACK__1535658934037558.jpg",142      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-08-30-15-52-26-0400__CAM_BACK_LEFT__1535658934047405.jpg",143      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_BACK_RIGHT__1535658934028113.jpg"144    }145  },146  {147    "scene_token": "ab6eea0e06c84f70be411a9d36636a7a",148    "frame_token": "2d493b2677f84ca190bb6c205899251a",149    "question_type": "robust_qas",150    "question": "What is the current type of corruption?: A. Snow. B. Fog. C. Bright. D. Zoom blur",151    "answer": "C. Bright",152    "tag": [153      0154    ],155    "image_path": {156      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-05-21-11-06-59-0400__CAM_FRONT__1526915624362465.jpg",157      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_LEFT__1526915624354917.jpg",158      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_RIGHT__1526915624369956.jpg",159      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-05-21-11-06-59-0400__CAM_BACK__1526915624387570.jpg",160      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-05-21-11-06-59-0400__CAM_BACK_LEFT__1526915624397295.jpg",161      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_BACK_RIGHT__1526915624377813.jpg"162    }163  },164  {165    "scene_token": "ab6eea0e06c84f70be411a9d36636a7a",166    "frame_token": "2d493b2677f84ca190bb6c205899251a",167    "question_type": "robust_qas",168    "question": "What is the moving status of object <c2,CAM_FRONT_RIGHT,0.8911,0.4620> under bright conditions? Please select the correct answer from the following options: A. Turn right. B. Turn left. C. Going ahead.",169    "answer": "C, Explanation: The object is a white truck moving ahead, unaffected by the brightness.",170    "tag": [171      0172    ],173    "image_path": {174      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-05-21-11-06-59-0400__CAM_FRONT__1526915624362465.jpg",175      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_LEFT__1526915624354917.jpg",176      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_RIGHT__1526915624369956.jpg",177      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-05-21-11-06-59-0400__CAM_BACK__1526915624387570.jpg",178      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-05-21-11-06-59-0400__CAM_BACK_LEFT__1526915624397295.jpg",179      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_BACK_RIGHT__1526915624377813.jpg"180    }181  },182  {183    "scene_token": "ab6eea0e06c84f70be411a9d36636a7a",184    "frame_token": "2d493b2677f84ca190bb6c205899251a",185    "question_type": "robust_qas",186    "question": "What are the important objects in the current scene under bright conditions? Those objects will be considered for the future reasoning and driving decision.",187    "answer": "There is a black pickup truck to the back of the ego vehicle, a white truck to the front right of the ego vehicle, a yellow truck to the front of the ego vehicle, and a black SUV to the back of the ego vehicle. The IDs of these objects are <c1,CAM_BACK,0.5364,0.4806>, <c2,CAM_FRONT_RIGHT,0.8911,0.4620>, <c3,CAM_FRONT,0.2911,0.4630>, and <c4,CAM_BACK,0.7927,0.5056>.",188    "tag": [189      2190    ],191    "image_path": {192      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-05-21-11-06-59-0400__CAM_FRONT__1526915624362465.jpg",193      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_LEFT__1526915624354917.jpg",194      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_RIGHT__1526915624369956.jpg",195      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-05-21-11-06-59-0400__CAM_BACK__1526915624387570.jpg",196      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-05-21-11-06-59-0400__CAM_BACK_LEFT__1526915624397295.jpg",197      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_BACK_RIGHT__1526915624377813.jpg"198    }199  },200  {201    "scene_token": "ab6eea0e06c84f70be411a9d36636a7a",202    "frame_token": "2d493b2677f84ca190bb6c205899251a",203    "question_type": "robust_qas",204    "question": "Is <c1,CAM_BACK,0.5364,0.4806> a traffic sign or a road barrier under bright conditions?",205    "answer": "No, Explanation: The object is a black pickup truck, not a traffic sign or road barrier.",206    "tag": [207      0208    ],209    "image_path": {210      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-05-21-11-06-59-0400__CAM_FRONT__1526915624362465.jpg",211      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_LEFT__1526915624354917.jpg",212      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_RIGHT__1526915624369956.jpg",213      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-05-21-11-06-59-0400__CAM_BACK__1526915624387570.jpg",214      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-05-21-11-06-59-0400__CAM_BACK_LEFT__1526915624397295.jpg",215      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_BACK_RIGHT__1526915624377813.jpg"216    }217  },218  {219    "scene_token": "ab6eea0e06c84f70be411a9d36636a7a",220    "frame_token": "2d493b2677f84ca190bb6c205899251a",221    "question_type": "robust_qas",222    "question": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_BACK,0.5364,0.4806> under bright conditions?",223    "answer": "Back up.",224    "tag": [225      1226    ],227    "image_path": {228      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-05-21-11-06-59-0400__CAM_FRONT__1526915624362465.jpg",229      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_LEFT__1526915624354917.jpg",230      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_RIGHT__1526915624369956.jpg",231      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-05-21-11-06-59-0400__CAM_BACK__1526915624387570.jpg",232      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-05-21-11-06-59-0400__CAM_BACK_LEFT__1526915624397295.jpg",233      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_BACK_RIGHT__1526915624377813.jpg"234    }235  },236  {237    "scene_token": "ab6eea0e06c84f70be411a9d36636a7a",238    "frame_token": "2d493b2677f84ca190bb6c205899251a",239    "question_type": "robust_qas",240    "question": "In this bright scenario, what are safe actions to take for the ego vehicle?",241    "answer": "Keep going at the same speed, accelerate and go ahead, brake gently to a stop, decelerate gradually without braking, slightly offset to the left, change to the left lane, turn left.",242    "tag": [243      1244    ],245    "image_path": {246      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-05-21-11-06-59-0400__CAM_FRONT__1526915624362465.jpg",247      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_LEFT__1526915624354917.jpg",248      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_RIGHT__1526915624369956.jpg",249      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-05-21-11-06-59-0400__CAM_BACK__1526915624387570.jpg",250      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-05-21-11-06-59-0400__CAM_BACK_LEFT__1526915624397295.jpg",251      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_BACK_RIGHT__1526915624377813.jpg"252    }253  },254  {255    "scene_token": "ab6eea0e06c84f70be411a9d36636a7a",256    "frame_token": "2d493b2677f84ca190bb6c205899251a",257    "question_type": "robust_qas",258    "question": "Describe the current environment under bright conditions. Include both general description and key objects and their positions.",259    "answer": "The scene is brightly lit, affecting visibility slightly. To the back of the ego vehicle, there is a stationary black pickup truck (<c1,CAM_BACK,0.5364,0.4806>). A white truck is moving to the front right (<c2,CAM_FRONT_RIGHT,0.8911,0.4620>). Directly in front, a yellow truck is stationary (<c3,CAM_FRONT,0.2911,0.4630>). A black SUV is moving behind the ego vehicle (<c4,CAM_BACK,0.7927,0.5056>). The brightness may cause glare, but key objects are identifiable.",260    "tag": [261      4262    ],263    "image_path": {264      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-05-21-11-06-59-0400__CAM_FRONT__1526915624362465.jpg",265      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_LEFT__1526915624354917.jpg",266      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_RIGHT__1526915624369956.jpg",267      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-05-21-11-06-59-0400__CAM_BACK__1526915624387570.jpg",268      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-05-21-11-06-59-0400__CAM_BACK_LEFT__1526915624397295.jpg",269      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_BACK_RIGHT__1526915624377813.jpg"270    }271  },272  {273    "scene_token": "08be42eb2186411d8e2201225329f1c6",274    "frame_token": "818a1bd7b7394194a85163c8d95958a9",275    "question_type": "robust_qas",276    "question": "What is the current type of corruption?: A. Sensor failure. B. Bright. C. Motion blur. D. Bit error",277    "answer": "B. Bright",278    "tag": [279      0280    ],281    "image_path": {282      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-09-18-13-10-39-0400__CAM_FRONT__1537290858162404.jpg",283      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_LEFT__1537290858154799.jpg",284      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_RIGHT__1537290858170482.jpg",285      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-09-18-13-10-39-0400__CAM_BACK__1537290858187559.jpg",286      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-09-18-13-10-39-0400__CAM_BACK_LEFT__1537290858197405.jpg",287      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_BACK_RIGHT__1537290858178113.jpg"288    }289  },290  {291    "scene_token": "08be42eb2186411d8e2201225329f1c6",292    "frame_token": "818a1bd7b7394194a85163c8d95958a9",293    "question_type": "robust_qas",294    "question": "What are the important objects in the current scene considering the brightness? Those objects will be considered for the future reasoning and driving decision.",295    "answer": "There is a black small sedan to the back of the ego vehicle, a black SUV to the back left of the ego vehicle, and a black small car to the front left of the ego vehicle. The IDs of these objects are <c1,CAM_BACK,0.7380,0.5926>, <c2,CAM_BACK_LEFT,0.1906,0.6426>, and <c3,CAM_FRONT_LEFT,0.7547,0.5703>.",296    "tag": [297      2298    ],299    "image_path": {300      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-09-18-13-10-39-0400__CAM_FRONT__1537290858162404.jpg",301      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_LEFT__1537290858154799.jpg",302      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_RIGHT__1537290858170482.jpg",303      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-09-18-13-10-39-0400__CAM_BACK__1537290858187559.jpg",304      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-09-18-13-10-39-0400__CAM_BACK_LEFT__1537290858197405.jpg",305      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_BACK_RIGHT__1537290858178113.jpg"306    }307  },308  {309    "scene_token": "08be42eb2186411d8e2201225329f1c6",310    "frame_token": "818a1bd7b7394194a85163c8d95958a9",311    "question_type": "robust_qas",312    "question": "What is the moving status of object <c1,CAM_BACK,0.7380,0.5926> considering the brightness? Please select the correct answer from the following options: A. Turn right. B. Turn left. C. Going ahead.",313    "answer": "C, Explanation: The object is a black small sedan that is moving ahead.",314    "tag": [315      0316    ],317    "image_path": {318      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-09-18-13-10-39-0400__CAM_FRONT__1537290858162404.jpg",319      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_LEFT__1537290858154799.jpg",320      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_RIGHT__1537290858170482.jpg",321      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-09-18-13-10-39-0400__CAM_BACK__1537290858187559.jpg",322      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-09-18-13-10-39-0400__CAM_BACK_LEFT__1537290858197405.jpg",323      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_BACK_RIGHT__1537290858178113.jpg"324    }325  },326  {327    "scene_token": "08be42eb2186411d8e2201225329f1c6",328    "frame_token": "818a1bd7b7394194a85163c8d95958a9",329    "question_type": "robust_qas",330    "question": "Is <c1,CAM_BACK,0.7380,0.5926> a traffic sign or a road barrier considering the brightness?",331    "answer": "No, Explanation: The object is a black small sedan, not a traffic sign or road barrier.",332    "tag": [333      0334    ],335    "image_path": {336      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-09-18-13-10-39-0400__CAM_FRONT__1537290858162404.jpg",337      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_LEFT__1537290858154799.jpg",338      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_RIGHT__1537290858170482.jpg",339      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-09-18-13-10-39-0400__CAM_BACK__1537290858187559.jpg",340      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-09-18-13-10-39-0400__CAM_BACK_LEFT__1537290858197405.jpg",341      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_BACK_RIGHT__1537290858178113.jpg"342    }343  },344  {345    "scene_token": "08be42eb2186411d8e2201225329f1c6",346    "frame_token": "818a1bd7b7394194a85163c8d95958a9",347    "question_type": "robust_qas",348    "question": "What object should the ego vehicle notice first when the ego vehicle is getting to the next possible location considering the brightness? What is the state of the object that is first noticed by the ego vehicle and what action should the ego vehicle take? What object should the ego vehicle notice second when the ego vehicle is getting to the next possible location? What is the state of the object perceived by the ego vehicle as second and what action should the ego vehicle take? What object should the ego vehicle notice third? What is the state of the object perceived by the ego vehicle as third and what action should the ego vehicle take?",349    "answer": "Firstly, notice that black small car at left camera. The object is stationary, so the ego vehicle should turn left. Secondly, notice that black small sedan at back camera. The object is going ahead, so the ego vehicle should turn left. Thirdly, notice that black SUV at left rear camera. The object is stationary, so the ego vehicle should turn left.",350    "tag": [351      3352    ],353    "image_path": {354      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-09-18-13-10-39-0400__CAM_FRONT__1537290858162404.jpg",355      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_LEFT__1537290858154799.jpg",356      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_RIGHT__1537290858170482.jpg",357      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-09-18-13-10-39-0400__CAM_BACK__1537290858187559.jpg",358      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-09-18-13-10-39-0400__CAM_BACK_LEFT__1537290858197405.jpg",359      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_BACK_RIGHT__1537290858178113.jpg"360    }361  },362  {363    "scene_token": "08be42eb2186411d8e2201225329f1c6",364    "frame_token": "818a1bd7b7394194a85163c8d95958a9",365    "question_type": "robust_qas",366    "question": "In this scenario with brightness, what are safe actions to take for the ego vehicle?",367    "answer": "Turn left, decelerate gradually without braking.",368    "tag": [369      1370    ],371    "image_path": {372      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-09-18-13-10-39-0400__CAM_FRONT__1537290858162404.jpg",373      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_LEFT__1537290858154799.jpg",374      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_RIGHT__1537290858170482.jpg",375      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-09-18-13-10-39-0400__CAM_BACK__1537290858187559.jpg",376      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-09-18-13-10-39-0400__CAM_BACK_LEFT__1537290858197405.jpg",377      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_BACK_RIGHT__1537290858178113.jpg"378    }379  },380  {381    "scene_token": "08be42eb2186411d8e2201225329f1c6",382    "frame_token": "818a1bd7b7394194a85163c8d95958a9",383    "question_type": "robust_qas",384    "question": "What actions could the ego vehicle take based on <c1,CAM_BACK,0.7380,0.5926> considering the brightness? Why take this action and what's the probability?",385    "answer": "The action is to turn left. The reason is that there is no safety issue, which is high.",386    "tag": [387      1388    ],389    "image_path": {390      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-09-18-13-10-39-0400__CAM_FRONT__1537290858162404.jpg",391      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_LEFT__1537290858154799.jpg",392      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_RIGHT__1537290858170482.jpg",393      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-09-18-13-10-39-0400__CAM_BACK__1537290858187559.jpg",394      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-09-18-13-10-39-0400__CAM_BACK_LEFT__1537290858197405.jpg",395      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_BACK_RIGHT__1537290858178113.jpg"396    }397  },398  {399    "scene_token": "08be42eb2186411d8e2201225329f1c6",400    "frame_token": "818a1bd7b7394194a85163c8d95958a9",401    "question_type": "robust_qas",402    "question": "Describe the current environment under brightness. Include both general description and key objects and their positions.",403    "answer": "The scene is affected by brightness, making visibility challenging. To the back of the ego vehicle, there is a black small sedan moving ahead, identified at coordinates <c1,CAM_BACK,0.7380,0.5926>. To the back left, a black SUV is stationary at <c2,CAM_BACK_LEFT,0.1906,0.6426>. To the front left, a black small car is stationary at <c3,CAM_FRONT_LEFT,0.7547,0.5703>. The road appears wet, and the surroundings include buildings and vegetation, partially obscured by the brightness.",404    "tag": [405      4406    ],407    "image_path": {408      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-09-18-13-10-39-0400__CAM_FRONT__1537290858162404.jpg",409      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_LEFT__1537290858154799.jpg",410      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_RIGHT__1537290858170482.jpg",411      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-09-18-13-10-39-0400__CAM_BACK__1537290858187559.jpg",412      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-09-18-13-10-39-0400__CAM_BACK_LEFT__1537290858197405.jpg",413      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_BACK_RIGHT__1537290858178113.jpg"414    }415  },416  {417    "scene_token": "08be42eb2186411d8e2201225329f1c6",418    "frame_token": "cc0114d0a58a49548f5bac6786851a08",419    "question_type": "robust_qas",420    "question": "What is the current type of corruption?: A. JPEG compression. B. Color quant. C. Fog. D. Bright",421    "answer": "D. Bright",422    "tag": [423      0424    ],425    "image_path": {426      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-09-18-13-10-39-0400__CAM_FRONT__1537290861262404.jpg",427      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_LEFT__1537290861254799.jpg",428      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_RIGHT__1537290861270482.jpg",429      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-09-18-13-10-39-0400__CAM_BACK__1537290861287773.jpg",430      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-09-18-13-10-39-0400__CAM_BACK_LEFT__1537290861297405.jpg",431      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_BACK_RIGHT__1537290861278113.jpg"432    }433  },434  {435    "scene_token": "08be42eb2186411d8e2201225329f1c6",436    "frame_token": "cc0114d0a58a49548f5bac6786851a08",437    "question_type": "robust_qas",438    "question": "What are the important objects in the current scene considering the brightness? Those objects will be considered for the future reasoning and driving decision.",439    "answer": "There is a black car to the back of the ego vehicle, a black sedan to the front of the ego vehicle, a silver white pickup truck to the front left of the ego vehicle, a black sedan car to the front left of the ego vehicle, a black SUV to the front right of the ego vehicle, and a black sedan to the front left of the ego vehicle. The IDs of these objects are <c1,CAM_BACK,0.8026,0.6222>, <c2,CAM_FRONT,0.8359,0.6167>, <c3,CAM_FRONT_LEFT,0.6120,0.6083>, <c4,CAM_FRONT_LEFT,0.8489,0.5852>, <c5,CAM_FRONT_RIGHT,0.2016,0.7249>, and <c6,CAM_FRONT_LEFT,0.2318,0.7176>.",440    "tag": [441      2442    ],443    "image_path": {444      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-09-18-13-10-39-0400__CAM_FRONT__1537290861262404.jpg",445      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_LEFT__1537290861254799.jpg",446      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_RIGHT__1537290861270482.jpg",447      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-09-18-13-10-39-0400__CAM_BACK__1537290861287773.jpg",448      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-09-18-13-10-39-0400__CAM_BACK_LEFT__1537290861297405.jpg",449      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_BACK_RIGHT__1537290861278113.jpg"450    }451  },452  {453    "scene_token": "08be42eb2186411d8e2201225329f1c6",454    "frame_token": "cc0114d0a58a49548f5bac6786851a08",455    "question_type": "robust_qas",456    "question": "What is the moving status of object <c1,CAM_BACK,0.8026,0.6222> considering the brightness? Please select the correct answer from the following options: A. Turn left. B. Turn right. C. Going ahead.",457    "answer": "A, Explanation: The object is a black car moving in the scene.",458    "tag": [459      0460    ],461    "image_path": {462      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-09-18-13-10-39-0400__CAM_FRONT__1537290861262404.jpg",463      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_LEFT__1537290861254799.jpg",464      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_RIGHT__1537290861270482.jpg",465      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-09-18-13-10-39-0400__CAM_BACK__1537290861287773.jpg",466      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-09-18-13-10-39-0400__CAM_BACK_LEFT__1537290861297405.jpg",467      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_BACK_RIGHT__1537290861278113.jpg"468    }469  },470  {471    "scene_token": "08be42eb2186411d8e2201225329f1c6",472    "frame_token": "cc0114d0a58a49548f5bac6786851a08",473    "question_type": "robust_qas",474    "question": "Is <c1,CAM_BACK,0.8026,0.6222> a traffic sign or a road barrier considering the brightness?",475    "answer": "No, Explanation: The object is a black car, not a traffic sign or road barrier.",476    "tag": [477      0478    ],479    "image_path": {480      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-09-18-13-10-39-0400__CAM_FRONT__1537290861262404.jpg",481      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_LEFT__1537290861254799.jpg",482      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_RIGHT__1537290861270482.jpg",483      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-09-18-13-10-39-0400__CAM_BACK__1537290861287773.jpg",484      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-09-18-13-10-39-0400__CAM_BACK_LEFT__1537290861297405.jpg",485      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_BACK_RIGHT__1537290861278113.jpg"486    }487  },488  {489    "scene_token": "08be42eb2186411d8e2201225329f1c6",490    "frame_token": "cc0114d0a58a49548f5bac6786851a08",491    "question_type": "robust_qas",492    "question": "In this scenario with brightness, what are safe actions to take for the ego vehicle?",493    "answer": "Keep going at the same speed, decelerate gradually without braking.",494    "tag": [495      1496    ],497    "image_path": {498      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-09-18-13-10-39-0400__CAM_FRONT__1537290861262404.jpg",499      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_LEFT__1537290861254799.jpg",500      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_RIGHT__1537290861270482.jpg",501      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-09-18-13-10-39-0400__CAM_BACK__1537290861287773.jpg",502      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-09-18-13-10-39-0400__CAM_BACK_LEFT__1537290861297405.jpg",503      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_BACK_RIGHT__1537290861278113.jpg"504    }505  },506  {507    "scene_token": "08be42eb2186411d8e2201225329f1c6",508    "frame_token": "cc0114d0a58a49548f5bac6786851a08",509    "question_type": "robust_qas",510    "question": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_BACK,0.8026,0.6222> considering the brightness?",511    "answer": "Back up.",512    "tag": [513      1514    ],515    "image_path": {516      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-09-18-13-10-39-0400__CAM_FRONT__1537290861262404.jpg",517      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_LEFT__1537290861254799.jpg",518      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_RIGHT__1537290861270482.jpg",519      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-09-18-13-10-39-0400__CAM_BACK__1537290861287773.jpg",520      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-09-18-13-10-39-0400__CAM_BACK_LEFT__1537290861297405.jpg",521      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_BACK_RIGHT__1537290861278113.jpg"522    }523  },524  {525    "scene_token": "08be42eb2186411d8e2201225329f1c6",526    "frame_token": "cc0114d0a58a49548f5bac6786851a08",527    "question_type": "robust_qas",528    "question": "Describe the current environment under brightness. Include both general description and key objects and their positions.",529    "answer": "The scene is affected by brightness, making visibility challenging. The road is lined with parked cars on both sides, and the surface appears wet. A black car is moving behind the ego vehicle at coordinates <c1,CAM_BACK,0.8026,0.6222>. In front, there is a stationary black sedan at <c2,CAM_FRONT,0.8359,0.6167>. To the front left, a silver white pickup truck is parked at <c3,CAM_FRONT_LEFT,0.6120,0.6083>, alongside another black sedan at <c4,CAM_FRONT_LEFT,0.8489,0.5852>. On the front right, a black SUV is stationary at <c5,CAM_FRONT_RIGHT,0.2016,0.7249>, and another black sedan is at <c6,CAM_FRONT_LEFT,0.2318,0.7176>. The brightness affects the clarity of these objects.",530    "tag": [531      4532    ],533    "image_path": {534      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-09-18-13-10-39-0400__CAM_FRONT__1537290861262404.jpg",535      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_LEFT__1537290861254799.jpg",536      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_RIGHT__1537290861270482.jpg",537      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-09-18-13-10-39-0400__CAM_BACK__1537290861287773.jpg",538      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-09-18-13-10-39-0400__CAM_BACK_LEFT__1537290861297405.jpg",539      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_BACK_RIGHT__1537290861278113.jpg"540    }541  },542  {543    "scene_token": "d033fb0d79ea42b9a356fa5162172598",544    "frame_token": "36b3908ee5e64c4883a5a4b8980f5238",545    "question_type": "robust_qas",546    "question": "What is the current type of corruption?: A. Rain. B. Dark. C. Color quant. D. Bright",547    "answer": "D. Bright",548    "tag": [549      0550    ],551    "image_path": {552      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-09-18-14-54-39-0400__CAM_FRONT__1537297248762404.jpg",553      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_LEFT__1537297248754799.jpg",554      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_RIGHT__1537297248770482.jpg",555      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-09-18-14-54-39-0400__CAM_BACK__1537297248787558.jpg",556      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-09-18-14-54-39-0400__CAM_BACK_LEFT__1537297248797405.jpg",557      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_BACK_RIGHT__1537297248778113.jpg"558    }559  },560  {561    "scene_token": "d033fb0d79ea42b9a356fa5162172598",562    "frame_token": "36b3908ee5e64c4883a5a4b8980f5238",563    "question_type": "robust_qas",564    "question": "What are the important objects in the current scene considering the brightness? Those objects will be considered for the future reasoning and driving decision.",565    "answer": "There is a black SUV to the back of the ego vehicle, a white car to the front of the ego vehicle, a yellow bus to the back of the ego vehicle, and a black car to the front right of the ego vehicle. The IDs of these objects are <c1,CAM_BACK,0.6261,0.6806>, <c2,CAM_FRONT,0.0427,0.6028>, <c3,CAM_BACK,0.0089,0.4870>, and <c4,CAM_FRONT_RIGHT,0.1594,0.5953>.",566    "tag": [567      2568    ],569    "image_path": {570      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-09-18-14-54-39-0400__CAM_FRONT__1537297248762404.jpg",571      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_LEFT__1537297248754799.jpg",572      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_RIGHT__1537297248770482.jpg",573      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-09-18-14-54-39-0400__CAM_BACK__1537297248787558.jpg",574      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-09-18-14-54-39-0400__CAM_BACK_LEFT__1537297248797405.jpg",575      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_BACK_RIGHT__1537297248778113.jpg"576    }577  },578  {579    "scene_token": "d033fb0d79ea42b9a356fa5162172598",580    "frame_token": "36b3908ee5e64c4883a5a4b8980f5238",581    "question_type": "robust_qas",582    "question": "What is the moving status of object <c1,CAM_BACK,0.6261,0.6806> considering the brightness? Please select the correct answer from the following options: A. Going ahead. B. Turn left. C. Turn right.",583    "answer": "A, Explanation: The object is a black SUV moving ahead, and the brightness does not affect its movement status.",584    "tag": [585      0586    ],587    "image_path": {588      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-09-18-14-54-39-0400__CAM_FRONT__1537297248762404.jpg",589      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_LEFT__1537297248754799.jpg",590      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_RIGHT__1537297248770482.jpg",591      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-09-18-14-54-39-0400__CAM_BACK__1537297248787558.jpg",592      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-09-18-14-54-39-0400__CAM_BACK_LEFT__1537297248797405.jpg",593      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_BACK_RIGHT__1537297248778113.jpg"594    }595  },596  {597    "scene_token": "d033fb0d79ea42b9a356fa5162172598",598    "frame_token": "36b3908ee5e64c4883a5a4b8980f5238",599    "question_type": "robust_qas",600    "question": "Is <c1,CAM_BACK,0.6261,0.6806> a traffic sign or a road barrier considering the brightness?",601    "answer": "No, Explanation: The object is a black SUV, not a traffic sign or road barrier, and brightness does not change its identity.",602    "tag": [603      0604    ],605    "image_path": {606      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-09-18-14-54-39-0400__CAM_FRONT__1537297248762404.jpg",607      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_LEFT__1537297248754799.jpg",608      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_RIGHT__1537297248770482.jpg",609      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-09-18-14-54-39-0400__CAM_BACK__1537297248787558.jpg",610      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-09-18-14-54-39-0400__CAM_BACK_LEFT__1537297248797405.jpg",611      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_BACK_RIGHT__1537297248778113.jpg"612    }613  },614  {615    "scene_token": "d033fb0d79ea42b9a356fa5162172598",616    "frame_token": "36b3908ee5e64c4883a5a4b8980f5238",617    "question_type": "robust_qas",618    "question": "What actions could the ego vehicle take based on <c1,CAM_BACK,0.6261,0.6806> considering the brightness? Why take this action and what's the probability?",619    "answer": "The action is to turn left because the object has little reference value for the ego vehicle, with a high probability.",620    "tag": [621      1622    ],623    "image_path": {624      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-09-18-14-54-39-0400__CAM_FRONT__1537297248762404.jpg",625      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_LEFT__1537297248754799.jpg",626      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_RIGHT__1537297248770482.jpg",627      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-09-18-14-54-39-0400__CAM_BACK__1537297248787558.jpg",628      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-09-18-14-54-39-0400__CAM_BACK_LEFT__1537297248797405.jpg",629      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_BACK_RIGHT__1537297248778113.jpg"630    }631  },632  {633    "scene_token": "d033fb0d79ea42b9a356fa5162172598",634    "frame_token": "36b3908ee5e64c4883a5a4b8980f5238",635    "question_type": "robust_qas",636    "question": "In this scenario with brightness, what are safe actions to take for the ego vehicle?",637    "answer": "Keep going at the same speed and turn left.",638    "tag": [639      1640    ],641    "image_path": {642      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-09-18-14-54-39-0400__CAM_FRONT__1537297248762404.jpg",643      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_LEFT__1537297248754799.jpg",644      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_RIGHT__1537297248770482.jpg",645      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-09-18-14-54-39-0400__CAM_BACK__1537297248787558.jpg",646      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-09-18-14-54-39-0400__CAM_BACK_LEFT__1537297248797405.jpg",647      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_BACK_RIGHT__1537297248778113.jpg"648    }649  },650  {651    "scene_token": "d033fb0d79ea42b9a356fa5162172598",652    "frame_token": "36b3908ee5e64c4883a5a4b8980f5238",653    "question_type": "robust_qas",654    "question": "Describe the current environment under brightness. Include both general description and key objects and their positions.",655    "answer": "The scene is affected by high brightness, making visibility challenging. To the back of the ego vehicle, there is a moving black SUV at coordinates <c1,CAM_BACK,0.6261,0.6806>. In front, a stationary white car is positioned at <c2,CAM_FRONT,0.0427,0.6028>. Another stationary vehicle, a yellow bus, is located at <c3,CAM_BACK,0.0089,0.4870>. Additionally, a stationary black car is at the front right at <c4,CAM_FRONT_RIGHT,0.1594,0.5953>. The brightness affects the clarity of these objects, but their positions remain identifiable.",656    "tag": [657      4658    ],659    "image_path": {660      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-09-18-14-54-39-0400__CAM_FRONT__1537297248762404.jpg",661      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_LEFT__1537297248754799.jpg",662      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_RIGHT__1537297248770482.jpg",663      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-09-18-14-54-39-0400__CAM_BACK__1537297248787558.jpg",664      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-09-18-14-54-39-0400__CAM_BACK_LEFT__1537297248797405.jpg",665      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_BACK_RIGHT__1537297248778113.jpg"666    }667  },668  {669    "scene_token": "bc4fd5a05a004333b9411754630f4cba",670    "frame_token": "f317f943545d4e3086bf375c93ff8dff",671    "question_type": "robust_qas",672    "question": "What is the current type of corruption?: A. Fog. B. Bright. C. Motion blur. D. Saturate",673    "answer": "B. Bright",674    "tag": [675      0676    ],677    "image_path": {678      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-05-21-11-06-59-0400__CAM_FRONT__1526915264912465.jpg",679      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_LEFT__1526915264904917.jpg",680      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_RIGHT__1526915264919956.jpg",681      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-05-21-11-06-59-0400__CAM_BACK__1526915264937570.jpg",682      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-05-21-11-06-59-0400__CAM_BACK_LEFT__1526915264947478.jpg",683      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_BACK_RIGHT__1526915264927813.jpg"684    }685  },686  {687    "scene_token": "bc4fd5a05a004333b9411754630f4cba",688    "frame_token": "f317f943545d4e3086bf375c93ff8dff",689    "question_type": "robust_qas",690    "question": "What is the moving status of object <c1,CAM_FRONT_LEFT,0.5172,0.5481> under bright conditions? Please select the correct answer from the following options: A. Going ahead. B. Turn left. C. Turn right.",691    "answer": "A, Explanation: The object is a brown Jeep moving ahead, unaffected by brightness.",692    "tag": [693      0694    ],695    "image_path": {696      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-05-21-11-06-59-0400__CAM_FRONT__1526915264912465.jpg",697      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_LEFT__1526915264904917.jpg",698      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_RIGHT__1526915264919956.jpg",699      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-05-21-11-06-59-0400__CAM_BACK__1526915264937570.jpg",700      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-05-21-11-06-59-0400__CAM_BACK_LEFT__1526915264947478.jpg",701      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_BACK_RIGHT__1526915264927813.jpg"702    }703  },704  {705    "scene_token": "bc4fd5a05a004333b9411754630f4cba",706    "frame_token": "f317f943545d4e3086bf375c93ff8dff",707    "question_type": "robust_qas",708    "question": "What are the important objects in the current scene under bright conditions? Those objects will be considered for the future reasoning and driving decision.",709    "answer": "There is a brown Jeep to the front left of the ego vehicle, a white van to the front of the ego vehicle, and a black sedan to the front right of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT_LEFT,0.5172,0.5481>, <c2,CAM_FRONT,0.5583,0.5074>, and <c3,CAM_FRONT_RIGHT,0.3747,0.7290>.",710    "tag": [711      2712    ],713    "image_path": {714      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-05-21-11-06-59-0400__CAM_FRONT__1526915264912465.jpg",715      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_LEFT__1526915264904917.jpg",716      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_RIGHT__1526915264919956.jpg",717      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-05-21-11-06-59-0400__CAM_BACK__1526915264937570.jpg",718      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-05-21-11-06-59-0400__CAM_BACK_LEFT__1526915264947478.jpg",719      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_BACK_RIGHT__1526915264927813.jpg"720    }721  },722  {723    "scene_token": "bc4fd5a05a004333b9411754630f4cba",724    "frame_token": "f317f943545d4e3086bf375c93ff8dff",725    "question_type": "robust_qas",726    "question": "What object should the ego vehicle notice first when the ego vehicle is getting to the next possible location under bright conditions? What is the state of the object that is first noticed by the ego vehicle and what action should the ego vehicle take? What object should the ego vehicle notice second when the ego vehicle is getting to the next possible location? What is the state of the object perceived by the ego vehicle as second and what action should the ego vehicle take? What object should the ego vehicle notice third? What is the state of the object perceived by the ego vehicle as third and what action should the ego vehicle take?",727    "answer": "Firstly, notice that black sedan at right camera. The object is stationary, so the ego vehicle should turn left. Secondly, notice that brown jeep at left camera. The object is moving forward, so the ego vehicle should turn left. Thirdly, notice that white van at front camera. The object is stationary, so the ego vehicle should turn left.",728    "tag": [729      3730    ],731    "image_path": {732      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-05-21-11-06-59-0400__CAM_FRONT__1526915264912465.jpg",733      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_LEFT__1526915264904917.jpg",734      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_RIGHT__1526915264919956.jpg",735      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-05-21-11-06-59-0400__CAM_BACK__1526915264937570.jpg",736      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-05-21-11-06-59-0400__CAM_BACK_LEFT__1526915264947478.jpg",737      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_BACK_RIGHT__1526915264927813.jpg"738    }739  },740  {741    "scene_token": "bc4fd5a05a004333b9411754630f4cba",742    "frame_token": "f317f943545d4e3086bf375c93ff8dff",743    "question_type": "robust_qas",744    "question": "Is <c1,CAM_FRONT_LEFT,0.5172,0.5481> a traffic sign or a road barrier under bright conditions?",745    "answer": "No, Explanation: The object is a brown Jeep, not a traffic sign or road barrier.",746    "tag": [747      0748    ],749    "image_path": {750      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-05-21-11-06-59-0400__CAM_FRONT__1526915264912465.jpg",751      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_LEFT__1526915264904917.jpg",752      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_RIGHT__1526915264919956.jpg",753      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-05-21-11-06-59-0400__CAM_BACK__1526915264937570.jpg",754      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-05-21-11-06-59-0400__CAM_BACK_LEFT__1526915264947478.jpg",755      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_BACK_RIGHT__1526915264927813.jpg"756    }757  },758  {759    "scene_token": "bc4fd5a05a004333b9411754630f4cba",760    "frame_token": "f317f943545d4e3086bf375c93ff8dff",761    "question_type": "robust_qas",762    "question": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT_LEFT,0.5172,0.5481> under bright conditions?",763    "answer": "Moderate left turn.",764    "tag": [765      1766    ],767    "image_path": {768      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-05-21-11-06-59-0400__CAM_FRONT__1526915264912465.jpg",769      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_LEFT__1526915264904917.jpg",770      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_RIGHT__1526915264919956.jpg",771      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-05-21-11-06-59-0400__CAM_BACK__1526915264937570.jpg",772      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-05-21-11-06-59-0400__CAM_BACK_LEFT__1526915264947478.jpg",773      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_BACK_RIGHT__1526915264927813.jpg"774    }775  },776  {777    "scene_token": "bc4fd5a05a004333b9411754630f4cba",778    "frame_token": "f317f943545d4e3086bf375c93ff8dff",779    "question_type": "robust_qas",780    "question": "What actions could the ego vehicle take based on <c1,CAM_FRONT_LEFT,0.5172,0.5481> under bright conditions? Why take this action and what's the probability?",781    "answer": "The action is to keep going at the same speed. The reason is that there is no safety issue. The probability is high.",782    "tag": [783      1784    ],785    "image_path": {786      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-05-21-11-06-59-0400__CAM_FRONT__1526915264912465.jpg",787      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_LEFT__1526915264904917.jpg",788      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_RIGHT__1526915264919956.jpg",789      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-05-21-11-06-59-0400__CAM_BACK__1526915264937570.jpg",790      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-05-21-11-06-59-0400__CAM_BACK_LEFT__1526915264947478.jpg",791      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_BACK_RIGHT__1526915264927813.jpg"792    }793  },794  {795    "scene_token": "bc4fd5a05a004333b9411754630f4cba",796    "frame_token": "f317f943545d4e3086bf375c93ff8dff",797    "question_type": "robust_qas",798    "question": "Describe the current environment under bright conditions. Include both general description and key objects and their positions.",799    "answer": "The scene is brightly lit, making it challenging to discern details. A brown Jeep is moving ahead at coordinates <c1,CAM_FRONT_LEFT,0.5172,0.5481>. A white van is stationary in front of the ego vehicle at <c2,CAM_FRONT,0.5583,0.5074>. A black sedan is stationary to the front right at <c3,CAM_FRONT_RIGHT,0.3747,0.7290>. The brightness affects visibility, but key objects remain identifiable.",800    "tag": [801      4802    ],803    "image_path": {804      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-05-21-11-06-59-0400__CAM_FRONT__1526915264912465.jpg",805      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_LEFT__1526915264904917.jpg",806      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_RIGHT__1526915264919956.jpg",807      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-05-21-11-06-59-0400__CAM_BACK__1526915264937570.jpg",808      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-05-21-11-06-59-0400__CAM_BACK_LEFT__1526915264947478.jpg",809      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_BACK_RIGHT__1526915264927813.jpg"810    }811  },812  {813    "scene_token": "c6da5920d2bc459bb3bc51ee6b9fdd7e",814    "frame_token": "378b6469011f452daf80371beb17c5aa",815    "question_type": "robust_qas",816    "question": "What is the current type of corruption?: A. Motion blur. B. Bright. C. JPEG compression. D. Snow",817    "answer": "B. Bright",818    "tag": [819      0820    ],821    "image_path": {822      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535729415412404.jpg",823      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535729415404799.jpg",824      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535729415420482.jpg",825      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535729415437558.jpg",826      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535729415447405.jpg",827      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_BACK_RIGHT__1535729415428113.jpg"828    }829  },830  {831    "scene_token": "c6da5920d2bc459bb3bc51ee6b9fdd7e",832    "frame_token": "378b6469011f452daf80371beb17c5aa",833    "question_type": "robust_qas",834    "question": "What are the important objects in the current scene considering the brightness? Those objects will be considered for the future reasoning and driving decision.",835    "answer": "There is a white truck to the front of the ego vehicle, a white bus to the back of the ego vehicle, a white pickup truck to the front of the ego vehicle, a golden car to the back right of the ego vehicle, a black sedan to the back left of the ego vehicle, and a no right turn to the front right of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT,0.4089,0.5102>, <c2,CAM_BACK,0.5505,0.5453>, <c3,CAM_FRONT,0.6245,0.5496>, <c4,CAM_BACK_RIGHT,0.7442,0.6880>, <c5,CAM_BACK_LEFT,0.6891,0.6713>, and <c6,CAM_FRONT_RIGHT,0.0739,0.5237>.",836    "tag": [837      2838    ],839    "image_path": {840      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535729415412404.jpg",841      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535729415404799.jpg",842      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535729415420482.jpg",843      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535729415437558.jpg",844      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535729415447405.jpg",845      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_BACK_RIGHT__1535729415428113.jpg"846    }847  },848  {849    "scene_token": "c6da5920d2bc459bb3bc51ee6b9fdd7e",850    "frame_token": "378b6469011f452daf80371beb17c5aa",851    "question_type": "robust_qas",852    "question": "What is the moving status of object <c1,CAM_FRONT,0.4089,0.5102> under bright conditions? Please select the correct answer from the following options: A. Turn right. B. Going ahead. C. Turn left.",853    "answer": "B, Explanation: The object is a white truck moving ahead, unaffected by brightness.",854    "tag": [855      0856    ],857    "image_path": {858      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535729415412404.jpg",859      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535729415404799.jpg",860      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535729415420482.jpg",861      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535729415437558.jpg",862      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535729415447405.jpg",863      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_BACK_RIGHT__1535729415428113.jpg"864    }865  },866  {867    "scene_token": "c6da5920d2bc459bb3bc51ee6b9fdd7e",868    "frame_token": "378b6469011f452daf80371beb17c5aa",869    "question_type": "robust_qas",870    "question": "Is <c1,CAM_FRONT,0.4089,0.5102> a traffic sign or a road barrier in bright conditions?",871    "answer": "No, Explanation: The object is a white truck, not a traffic sign or road barrier.",872    "tag": [873      0874    ],875    "image_path": {876      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535729415412404.jpg",877      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535729415404799.jpg",878      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535729415420482.jpg",879      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535729415437558.jpg",880      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535729415447405.jpg",881      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_BACK_RIGHT__1535729415428113.jpg"882    }883  },884  {885    "scene_token": "c6da5920d2bc459bb3bc51ee6b9fdd7e",886    "frame_token": "378b6469011f452daf80371beb17c5aa",887    "question_type": "robust_qas",888    "question": "In this scenario with increased brightness, what are safe actions to take for the ego vehicle?",889    "answer": "Accelerate and proceed.",890    "tag": [891      1892    ],893    "image_path": {894      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535729415412404.jpg",895      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535729415404799.jpg",896      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535729415420482.jpg",897      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535729415437558.jpg",898      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535729415447405.jpg",899      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_BACK_RIGHT__1535729415428113.jpg"900    }901  },902  {903    "scene_token": "c6da5920d2bc459bb3bc51ee6b9fdd7e",904    "frame_token": "378b6469011f452daf80371beb17c5aa",905    "question_type": "robust_qas",906    "question": "What actions could the ego vehicle take based on <c1,CAM_FRONT,0.4089,0.5102> under bright conditions? Why take this action and what's the probability?",907    "answer": "The action is to decelerate gradually without braking. The reason for taking this action is to avoid a collision, which has a high probability.",908    "tag": [909      1910    ],911    "image_path": {912      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535729415412404.jpg",913      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535729415404799.jpg",914      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535729415420482.jpg",915      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535729415437558.jpg",916      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535729415447405.jpg",917      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_BACK_RIGHT__1535729415428113.jpg"918    }919  },920  {921    "scene_token": "c6da5920d2bc459bb3bc51ee6b9fdd7e",922    "frame_token": "378b6469011f452daf80371beb17c5aa",923    "question_type": "robust_qas",924    "question": "Describe the current environment under brightness. Include both general description and key objects and their positions.",925    "answer": "The scene is brightly lit, affecting visibility slightly. A white truck is moving ahead in front of the ego vehicle, positioned at coordinates <c1,CAM_FRONT,0.4089,0.5102>. Behind the ego vehicle, a white bus is also moving, located at <c2,CAM_BACK,0.5505,0.5453>. To the front, a white pickup truck is moving at <c3,CAM_FRONT,0.6245,0.5496>. Stationary vehicles include a golden car at <c4,CAM_BACK_RIGHT,0.7442,0.6880> and a black sedan at <c5,CAM_BACK_LEFT,0.6891,0.6713>. A 'no right turn' sign is visible at <c6,CAM_FRONT_RIGHT,0.0739,0.5237>.",926    "tag": [927      4928    ],929    "image_path": {930      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535729415412404.jpg",931      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535729415404799.jpg",932      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535729415420482.jpg",933      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535729415437558.jpg",934      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535729415447405.jpg",935      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_BACK_RIGHT__1535729415428113.jpg"936    }937  },938  {939    "scene_token": "c6da5920d2bc459bb3bc51ee6b9fdd7e",940    "frame_token": "344756cb198944cea21f886bd859136b",941    "question_type": "robust_qas",942    "question": "What is the current type of corruption?: A. Snow. B. Bright. C. JPEG compression. D. Zoom blur",943    "answer": "B. Bright",944    "tag": [945      0946    ],947    "image_path": {948      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535729398362404.jpg",949      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535729398354799.jpg",950      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535729398370482.jpg",951      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535729398387558.jpg",952      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535729398397405.jpg",953      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_BACK_RIGHT__1535729398378117.jpg"954    }955  },956  {957    "scene_token": "c6da5920d2bc459bb3bc51ee6b9fdd7e",958    "frame_token": "344756cb198944cea21f886bd859136b",959    "question_type": "robust_qas",960    "question": "What is the moving status of object <c1,CAM_FRONT_RIGHT,0.6999,0.7006> considering the brightness? Please select the correct answer from the following options: A. Turn right. B. Going ahead. C. Turn left.",961    "answer": "A, Explanation: The object is a black SUV moving to the right.",962    "tag": [963      0964    ],965    "image_path": {966      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535729398362404.jpg",967      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535729398354799.jpg",968      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535729398370482.jpg",969      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535729398387558.jpg",970      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535729398397405.jpg",971      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_BACK_RIGHT__1535729398378117.jpg"972    }973  },974  {975    "scene_token": "c6da5920d2bc459bb3bc51ee6b9fdd7e",976    "frame_token": "344756cb198944cea21f886bd859136b",977    "question_type": "robust_qas",978    "question": "What are the important objects in the current scene under bright conditions? Those objects will be considered for future reasoning and driving decisions.",979    "answer": "There is a black SUV to the front right of the ego vehicle, a black car to the front right of the ego vehicle, a white truck to the front of the ego vehicle, a white bus to the back of the ego vehicle, a black sedan to the front of the ego vehicle, and a green light to the front of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT_RIGHT,0.6999,0.7006>, <c2,CAM_FRONT_RIGHT,0.2199,0.6148>, <c3,CAM_FRONT,0.3266,0.5370>, <c4,CAM_BACK,0.4442,0.5436>, <c5,CAM_FRONT,0.1609,0.6491>, and <c6,CAM_FRONT,0.5766,0.3392>.",980    "tag": [981      2982    ],983    "image_path": {984      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535729398362404.jpg",985      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535729398354799.jpg",986      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535729398370482.jpg",987      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535729398387558.jpg",988      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535729398397405.jpg",989      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_BACK_RIGHT__1535729398378117.jpg"990    }991  },992  {993    "scene_token": "c6da5920d2bc459bb3bc51ee6b9fdd7e",994    "frame_token": "344756cb198944cea21f886bd859136b",995    "question_type": "robust_qas",996    "question": "Is <c1,CAM_FRONT_RIGHT,0.6999,0.7006> a traffic sign or a road barrier under bright conditions?",997    "answer": "No, Explanation: The object is a black SUV, not a traffic sign or road barrier.",998    "tag": [999      01000    ],1001    "image_path": {1002      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535729398362404.jpg",1003      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535729398354799.jpg",1004      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535729398370482.jpg",1005      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535729398387558.jpg",1006      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535729398397405.jpg",1007      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_BACK_RIGHT__1535729398378117.jpg"1008    }1009  },1010  {1011    "scene_token": "c6da5920d2bc459bb3bc51ee6b9fdd7e",1012    "frame_token": "344756cb198944cea21f886bd859136b",1013    "question_type": "robust_qas",1014    "question": "In this bright scenario, what are safe actions to take for the ego vehicle?",1015    "answer": "Keep going at the same speed, slightly offset to the left, and slightly offset to the right.",1016    "tag": [1017      11018    ],1019    "image_path": {1020      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535729398362404.jpg",1021      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535729398354799.jpg",1022      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535729398370482.jpg",1023      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535729398387558.jpg",1024      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535729398397405.jpg",1025      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_BACK_RIGHT__1535729398378117.jpg"1026    }1027  },1028  {1029    "scene_token": "c6da5920d2bc459bb3bc51ee6b9fdd7e",1030    "frame_token": "344756cb198944cea21f886bd859136b",1031    "question_type": "robust_qas",1032    "question": "What actions could the ego vehicle take based on <c1,CAM_FRONT_RIGHT,0.6999,0.7006> under bright conditions? Why take this action and what's the probability?",1033    "answer": "The action is to keep going at the same speed because there is no safety issue. The probability is high.",1034    "tag": [1035      11036    ],1037    "image_path": {1038      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535729398362404.jpg",1039      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535729398354799.jpg",1040      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535729398370482.jpg",1041      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535729398387558.jpg",1042      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535729398397405.jpg",1043      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_BACK_RIGHT__1535729398378117.jpg"1044    }1045  },1046  {1047    "scene_token": "c6da5920d2bc459bb3bc51ee6b9fdd7e",1048    "frame_token": "344756cb198944cea21f886bd859136b",1049    "question_type": "robust_qas",1050    "question": "Describe the current environment under brightness. Include both general description and key objects and their positions.",1051    "answer": "The scene is brightly lit, making it challenging to distinguish some details. To the front right, there is a black SUV moving, identified as <c1,CAM_FRONT_RIGHT,0.6999,0.7006>. A black car is also moving in the same direction, labeled <c2,CAM_FRONT_RIGHT,0.2199,0.6148>. Directly ahead, a white truck is moving, marked as <c3,CAM_FRONT,0.3266,0.5370>. Behind, a white bus is moving, identified as <c4,CAM_BACK,0.4442,0.5436>. A black sedan is moving in front, labeled <c5,CAM_FRONT,0.1609,0.6491>. A green light is visible ahead, marked as <c6,CAM_FRONT,0.5766,0.3392>. The brightness affects the visibility of these objects.",1052    "tag": [1053      41054    ],1055    "image_path": {1056      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535729398362404.jpg",1057      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535729398354799.jpg",1058      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535729398370482.jpg",1059      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535729398387558.jpg",1060      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535729398397405.jpg",1061      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_BACK_RIGHT__1535729398378117.jpg"1062    }1063  },1064  {1065    "scene_token": "af128e79b77a4a4b8bfcd997c320b2a9",1066    "frame_token": "73376e2fc5d34c758cc155facd35fffa",1067    "question_type": "robust_qas",1068    "question": "What is the current type of corruption?: A. Snow. B. JPEG compression. C. Bright. D. H256 ABR compression",1069    "answer": "C. Bright",1070    "tag": [1071      01072    ],1073    "image_path": {1074      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-08-02-17-28-51+0800__CAM_FRONT__1533202205612460.jpg",1075      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-08-02-17-28-51+0800__CAM_FRONT_LEFT__1533202205604844.jpg",1076      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-08-02-17-28-51+0800__CAM_FRONT_RIGHT__1533202205620339.jpg",1077      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-08-02-17-28-51+0800__CAM_BACK__1533202205637525.jpg",1078      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-08-02-17-28-51+0800__CAM_BACK_LEFT__1533202205647426.jpg",1079      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-08-02-17-28-51+0800__CAM_BACK_RIGHT__1533202205627893.jpg"1080    }1081  },1082  {1083    "scene_token": "af128e79b77a4a4b8bfcd997c320b2a9",1084    "frame_token": "73376e2fc5d34c758cc155facd35fffa",1085    "question_type": "robust_qas",1086    "question": "What are the important objects in the current scene considering the brightness? Those objects will be considered for the future reasoning and driving decision.",1087    "answer": "There is a black car to the front of the ego vehicle, a silver sedan to the front left of the ego vehicle, and a blue car to the back left of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT,0.4427,0.5389>, <c2,CAM_FRONT_LEFT,0.4088,0.7663>, and <c3,CAM_BACK_LEFT,0.2036,0.7519>.",1088    "tag": [1089      21090    ],1091    "image_path": {1092      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-08-02-17-28-51+0800__CAM_FRONT__1533202205612460.jpg",1093      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-08-02-17-28-51+0800__CAM_FRONT_LEFT__1533202205604844.jpg",1094      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-08-02-17-28-51+0800__CAM_FRONT_RIGHT__1533202205620339.jpg",1095      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-08-02-17-28-51+0800__CAM_BACK__1533202205637525.jpg",1096      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-08-02-17-28-51+0800__CAM_BACK_LEFT__1533202205647426.jpg",1097      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-08-02-17-28-51+0800__CAM_BACK_RIGHT__1533202205627893.jpg"1098    }1099  },1100  {1101    "scene_token": "af128e79b77a4a4b8bfcd997c320b2a9",1102    "frame_token": "73376e2fc5d34c758cc155facd35fffa",1103    "question_type": "robust_qas",1104    "question": "What is the moving status of object <c1,CAM_FRONT,0.4427,0.5389> under bright conditions? Please select the correct answer from the following options: A. Turn left. B. Going ahead. C. Turn right.",1105    "answer": "B, Explanation: The object is a black car moving ahead, unaffected by brightness.",1106    "tag": [1107      01108    ],1109    "image_path": {1110      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-08-02-17-28-51+0800__CAM_FRONT__1533202205612460.jpg",1111      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-08-02-17-28-51+0800__CAM_FRONT_LEFT__1533202205604844.jpg",1112      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-08-02-17-28-51+0800__CAM_FRONT_RIGHT__1533202205620339.jpg",1113      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-08-02-17-28-51+0800__CAM_BACK__1533202205637525.jpg",1114      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-08-02-17-28-51+0800__CAM_BACK_LEFT__1533202205647426.jpg",1115      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-08-02-17-28-51+0800__CAM_BACK_RIGHT__1533202205627893.jpg"1116    }1117  },1118  {1119    "scene_token": "af128e79b77a4a4b8bfcd997c320b2a9",1120    "frame_token": "73376e2fc5d34c758cc155facd35fffa",1121    "question_type": "robust_qas",1122    "question": "What object should the ego vehicle notice first when the ego vehicle is getting to the next possible location under bright conditions? What is the state of the object that is first noticed by the ego vehicle and what action should the ego vehicle take? What object should the ego vehicle notice second when the ego vehicle is getting to the next possible location? What is the state of the object perceived by the ego vehicle as second and what action should the ego vehicle take? What object should the ego vehicle notice third? What is the state of the object perceived by the ego vehicle as third and what action should the ego vehicle take?",1123    "answer": "Firstly, notice that black car at front camera. The object is going ahead, so the ego vehicle should continue going ahead at the same speed. Secondly, notice that silver sedan at left camera. The object is stationary, so the ego vehicle should continue going ahead at the same speed. Thirdly, notice that blue car at left rear camera. The object is stationary, so the ego vehicle should continue going ahead at the same speed.",1124    "tag": [1125      31126    ],1127    "image_path": {1128      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-08-02-17-28-51+0800__CAM_FRONT__1533202205612460.jpg",1129      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-08-02-17-28-51+0800__CAM_FRONT_LEFT__1533202205604844.jpg",1130      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-08-02-17-28-51+0800__CAM_FRONT_RIGHT__1533202205620339.jpg",1131      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-08-02-17-28-51+0800__CAM_BACK__1533202205637525.jpg",1132      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-08-02-17-28-51+0800__CAM_BACK_LEFT__1533202205647426.jpg",1133      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-08-02-17-28-51+0800__CAM_BACK_RIGHT__1533202205627893.jpg"1134    }1135  },1136  {1137    "scene_token": "af128e79b77a4a4b8bfcd997c320b2a9",1138    "frame_token": "73376e2fc5d34c758cc155facd35fffa",1139    "question_type": "robust_qas",1140    "question": "Is <c1,CAM_FRONT,0.4427,0.5389> a traffic sign or a road barrier under bright conditions?",1141    "answer": "No, Explanation: The object is a black car moving ahead, not a traffic sign or road barrier.",1142    "tag": [1143      01144    ],1145    "image_path": {1146      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-08-02-17-28-51+0800__CAM_FRONT__1533202205612460.jpg",1147      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-08-02-17-28-51+0800__CAM_FRONT_LEFT__1533202205604844.jpg",1148      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-08-02-17-28-51+0800__CAM_FRONT_RIGHT__1533202205620339.jpg",1149      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-08-02-17-28-51+0800__CAM_BACK__1533202205637525.jpg",1150      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-08-02-17-28-51+0800__CAM_BACK_LEFT__1533202205647426.jpg",1151      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-08-02-17-28-51+0800__CAM_BACK_RIGHT__1533202205627893.jpg"1152    }1153  },1154  {1155    "scene_token": "af128e79b77a4a4b8bfcd997c320b2a9",1156    "frame_token": "73376e2fc5d34c758cc155facd35fffa",1157    "question_type": "robust_qas",1158    "question": "What actions could the ego vehicle take based on <c1,CAM_FRONT,0.4427,0.5389> considering the brightness? Why take this action and what's the probability?",1159    "answer": "The action is to keep going at the same speed. The reason is that there is no safety issue. The probability is low.",1160    "tag": [1161      11162    ],1163    "image_path": {1164      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-08-02-17-28-51+0800__CAM_FRONT__1533202205612460.jpg",1165      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-08-02-17-28-51+0800__CAM_FRONT_LEFT__1533202205604844.jpg",1166      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-08-02-17-28-51+0800__CAM_FRONT_RIGHT__1533202205620339.jpg",1167      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-08-02-17-28-51+0800__CAM_BACK__1533202205637525.jpg",1168      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-08-02-17-28-51+0800__CAM_BACK_LEFT__1533202205647426.jpg",1169      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-08-02-17-28-51+0800__CAM_BACK_RIGHT__1533202205627893.jpg"1170    }1171  },1172  {1173    "scene_token": "af128e79b77a4a4b8bfcd997c320b2a9",1174    "frame_token": "73376e2fc5d34c758cc155facd35fffa",1175    "question_type": "robust_qas",1176    "question": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT,0.4427,0.5389> under bright conditions?",1177    "answer": "Accelerating and going straight.",1178    "tag": [1179      11180    ],1181    "image_path": {1182      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-08-02-17-28-51+0800__CAM_FRONT__1533202205612460.jpg",1183      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-08-02-17-28-51+0800__CAM_FRONT_LEFT__1533202205604844.jpg",1184      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-08-02-17-28-51+0800__CAM_FRONT_RIGHT__1533202205620339.jpg",1185      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-08-02-17-28-51+0800__CAM_BACK__1533202205637525.jpg",1186      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-08-02-17-28-51+0800__CAM_BACK_LEFT__1533202205647426.jpg",1187      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-08-02-17-28-51+0800__CAM_BACK_RIGHT__1533202205627893.jpg"1188    }1189  },1190  {1191    "scene_token": "af128e79b77a4a4b8bfcd997c320b2a9",1192    "frame_token": "73376e2fc5d34c758cc155facd35fffa",1193    "question_type": "robust_qas",1194    "question": "Describe the current environment under brightness. Include both general description and key objects and their positions.",1195    "answer": "The scene is affected by bright conditions, making it challenging to distinguish details. A black car is moving ahead in the center of the road, identified at coordinates <c1,CAM_FRONT,0.4427,0.5389>. To the front left, a silver sedan is stationary, located at <c2,CAM_FRONT_LEFT,0.4088,0.7663>. Behind to the left, a blue car is also stationary, positioned at <c3,CAM_BACK_LEFT,0.2036,0.7519>. The road is clear, with buildings and trees visible but slightly washed out due to the brightness.",1196    "tag": [1197      41198    ],1199    "image_path": {1200      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-08-02-17-28-51+0800__CAM_FRONT__1533202205612460.jpg",

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