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. JPEG compression. B. Motion blur. C. Color quant. D. Saturate",7    "answer": "C. Color quant",8    "tag": [9      010    ],11    "image_path": {12      "CAM_FRONT": "./ColorQuant/CAM_FRONT/n008-2018-08-30-15-52-26-0400__CAM_FRONT__1535658934012637.jpg",13      "CAM_FRONT_LEFT": "./ColorQuant/CAM_FRONT_LEFT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_LEFT__1535658934004799.jpg",14      "CAM_FRONT_RIGHT": "./ColorQuant/CAM_FRONT_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_RIGHT__1535658934020482.jpg",15      "CAM_BACK": "./ColorQuant/CAM_BACK/n008-2018-08-30-15-52-26-0400__CAM_BACK__1535658934037558.jpg",16      "CAM_BACK_LEFT": "./ColorQuant/CAM_BACK_LEFT/n008-2018-08-30-15-52-26-0400__CAM_BACK_LEFT__1535658934047405.jpg",17      "CAM_BACK_RIGHT": "./ColorQuant/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 color quantization effect? 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": "./ColorQuant/CAM_FRONT/n008-2018-08-30-15-52-26-0400__CAM_FRONT__1535658934012637.jpg",31      "CAM_FRONT_LEFT": "./ColorQuant/CAM_FRONT_LEFT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_LEFT__1535658934004799.jpg",32      "CAM_FRONT_RIGHT": "./ColorQuant/CAM_FRONT_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_RIGHT__1535658934020482.jpg",33      "CAM_BACK": "./ColorQuant/CAM_BACK/n008-2018-08-30-15-52-26-0400__CAM_BACK__1535658934037558.jpg",34      "CAM_BACK_LEFT": "./ColorQuant/CAM_BACK_LEFT/n008-2018-08-30-15-52-26-0400__CAM_BACK_LEFT__1535658934047405.jpg",35      "CAM_BACK_RIGHT": "./ColorQuant/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 the color quantization effect? 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, and the color quantization does not affect its movement status.",44    "tag": [45      046    ],47    "image_path": {48      "CAM_FRONT": "./ColorQuant/CAM_FRONT/n008-2018-08-30-15-52-26-0400__CAM_FRONT__1535658934012637.jpg",49      "CAM_FRONT_LEFT": "./ColorQuant/CAM_FRONT_LEFT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_LEFT__1535658934004799.jpg",50      "CAM_FRONT_RIGHT": "./ColorQuant/CAM_FRONT_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_RIGHT__1535658934020482.jpg",51      "CAM_BACK": "./ColorQuant/CAM_BACK/n008-2018-08-30-15-52-26-0400__CAM_BACK__1535658934037558.jpg",52      "CAM_BACK_LEFT": "./ColorQuant/CAM_BACK_LEFT/n008-2018-08-30-15-52-26-0400__CAM_BACK_LEFT__1535658934047405.jpg",53      "CAM_BACK_RIGHT": "./ColorQuant/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 color quantization? 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": "./ColorQuant/CAM_FRONT/n008-2018-08-30-15-52-26-0400__CAM_FRONT__1535658934012637.jpg",67      "CAM_FRONT_LEFT": "./ColorQuant/CAM_FRONT_LEFT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_LEFT__1535658934004799.jpg",68      "CAM_FRONT_RIGHT": "./ColorQuant/CAM_FRONT_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_RIGHT__1535658934020482.jpg",69      "CAM_BACK": "./ColorQuant/CAM_BACK/n008-2018-08-30-15-52-26-0400__CAM_BACK__1535658934037558.jpg",70      "CAM_BACK_LEFT": "./ColorQuant/CAM_BACK_LEFT/n008-2018-08-30-15-52-26-0400__CAM_BACK_LEFT__1535658934047405.jpg",71      "CAM_BACK_RIGHT": "./ColorQuant/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 the color quantization effect?",79    "answer": "No, Explanation: The object is a gray sedan, not a traffic sign or road barrier, and the color quantization does not change its category.",80    "tag": [81      082    ],83    "image_path": {84      "CAM_FRONT": "./ColorQuant/CAM_FRONT/n008-2018-08-30-15-52-26-0400__CAM_FRONT__1535658934012637.jpg",85      "CAM_FRONT_LEFT": "./ColorQuant/CAM_FRONT_LEFT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_LEFT__1535658934004799.jpg",86      "CAM_FRONT_RIGHT": "./ColorQuant/CAM_FRONT_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_RIGHT__1535658934020482.jpg",87      "CAM_BACK": "./ColorQuant/CAM_BACK/n008-2018-08-30-15-52-26-0400__CAM_BACK__1535658934037558.jpg",88      "CAM_BACK_LEFT": "./ColorQuant/CAM_BACK_LEFT/n008-2018-08-30-15-52-26-0400__CAM_BACK_LEFT__1535658934047405.jpg",89      "CAM_BACK_RIGHT": "./ColorQuant/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> considering the color quantization effect? 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": "./ColorQuant/CAM_FRONT/n008-2018-08-30-15-52-26-0400__CAM_FRONT__1535658934012637.jpg",103      "CAM_FRONT_LEFT": "./ColorQuant/CAM_FRONT_LEFT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_LEFT__1535658934004799.jpg",104      "CAM_FRONT_RIGHT": "./ColorQuant/CAM_FRONT_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_RIGHT__1535658934020482.jpg",105      "CAM_BACK": "./ColorQuant/CAM_BACK/n008-2018-08-30-15-52-26-0400__CAM_BACK__1535658934037558.jpg",106      "CAM_BACK_LEFT": "./ColorQuant/CAM_BACK_LEFT/n008-2018-08-30-15-52-26-0400__CAM_BACK_LEFT__1535658934047405.jpg",107      "CAM_BACK_RIGHT": "./ColorQuant/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 color quantization, 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": "./ColorQuant/CAM_FRONT/n008-2018-08-30-15-52-26-0400__CAM_FRONT__1535658934012637.jpg",121      "CAM_FRONT_LEFT": "./ColorQuant/CAM_FRONT_LEFT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_LEFT__1535658934004799.jpg",122      "CAM_FRONT_RIGHT": "./ColorQuant/CAM_FRONT_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_RIGHT__1535658934020482.jpg",123      "CAM_BACK": "./ColorQuant/CAM_BACK/n008-2018-08-30-15-52-26-0400__CAM_BACK__1535658934037558.jpg",124      "CAM_BACK_LEFT": "./ColorQuant/CAM_BACK_LEFT/n008-2018-08-30-15-52-26-0400__CAM_BACK_LEFT__1535658934047405.jpg",125      "CAM_BACK_RIGHT": "./ColorQuant/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 color quantization. Include both general description and key objects and their positions.",133    "answer": "The environment is affected by color quantization, causing a reduction in color detail. Despite this, key objects remain identifiable: a gray sedan is located at the back of the ego vehicle (<c1,CAM_BACK,0.5073,0.5778>), another gray sedan is stationary at the front (<c2,CAM_FRONT,0.4886,0.5481>), and a black SUV is also stationary at the front (<c3,CAM_FRONT,0.6058,0.5769>). The road appears darker, and the sky has a limited color palette, but the overall scene structure is still discernible.",134    "tag": [135      4136    ],137    "image_path": {138      "CAM_FRONT": "./ColorQuant/CAM_FRONT/n008-2018-08-30-15-52-26-0400__CAM_FRONT__1535658934012637.jpg",139      "CAM_FRONT_LEFT": "./ColorQuant/CAM_FRONT_LEFT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_LEFT__1535658934004799.jpg",140      "CAM_FRONT_RIGHT": "./ColorQuant/CAM_FRONT_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_RIGHT__1535658934020482.jpg",141      "CAM_BACK": "./ColorQuant/CAM_BACK/n008-2018-08-30-15-52-26-0400__CAM_BACK__1535658934037558.jpg",142      "CAM_BACK_LEFT": "./ColorQuant/CAM_BACK_LEFT/n008-2018-08-30-15-52-26-0400__CAM_BACK_LEFT__1535658934047405.jpg",143      "CAM_BACK_RIGHT": "./ColorQuant/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. Sensor failure. B. Zoom blur. C. Color quant. D. Dark",151    "answer": "C. Color quant",152    "tag": [153      0154    ],155    "image_path": {156      "CAM_FRONT": "./ColorQuant/CAM_FRONT/n008-2018-05-21-11-06-59-0400__CAM_FRONT__1526915624362465.jpg",157      "CAM_FRONT_LEFT": "./ColorQuant/CAM_FRONT_LEFT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_LEFT__1526915624354917.jpg",158      "CAM_FRONT_RIGHT": "./ColorQuant/CAM_FRONT_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_RIGHT__1526915624369956.jpg",159      "CAM_BACK": "./ColorQuant/CAM_BACK/n008-2018-05-21-11-06-59-0400__CAM_BACK__1526915624387570.jpg",160      "CAM_BACK_LEFT": "./ColorQuant/CAM_BACK_LEFT/n008-2018-05-21-11-06-59-0400__CAM_BACK_LEFT__1526915624397295.jpg",161      "CAM_BACK_RIGHT": "./ColorQuant/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 colorquant corruption? 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, and the colorquant corruption does not affect its trajectory.",170    "tag": [171      0172    ],173    "image_path": {174      "CAM_FRONT": "./ColorQuant/CAM_FRONT/n008-2018-05-21-11-06-59-0400__CAM_FRONT__1526915624362465.jpg",175      "CAM_FRONT_LEFT": "./ColorQuant/CAM_FRONT_LEFT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_LEFT__1526915624354917.jpg",176      "CAM_FRONT_RIGHT": "./ColorQuant/CAM_FRONT_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_RIGHT__1526915624369956.jpg",177      "CAM_BACK": "./ColorQuant/CAM_BACK/n008-2018-05-21-11-06-59-0400__CAM_BACK__1526915624387570.jpg",178      "CAM_BACK_LEFT": "./ColorQuant/CAM_BACK_LEFT/n008-2018-05-21-11-06-59-0400__CAM_BACK_LEFT__1526915624397295.jpg",179      "CAM_BACK_RIGHT": "./ColorQuant/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 colorquant corruption? 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": "./ColorQuant/CAM_FRONT/n008-2018-05-21-11-06-59-0400__CAM_FRONT__1526915624362465.jpg",193      "CAM_FRONT_LEFT": "./ColorQuant/CAM_FRONT_LEFT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_LEFT__1526915624354917.jpg",194      "CAM_FRONT_RIGHT": "./ColorQuant/CAM_FRONT_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_RIGHT__1526915624369956.jpg",195      "CAM_BACK": "./ColorQuant/CAM_BACK/n008-2018-05-21-11-06-59-0400__CAM_BACK__1526915624387570.jpg",196      "CAM_BACK_LEFT": "./ColorQuant/CAM_BACK_LEFT/n008-2018-05-21-11-06-59-0400__CAM_BACK_LEFT__1526915624397295.jpg",197      "CAM_BACK_RIGHT": "./ColorQuant/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 colorquant corruption?",205    "answer": "No, Explanation: The object is a black pickup truck, and the colorquant corruption does not change its classification.",206    "tag": [207      0208    ],209    "image_path": {210      "CAM_FRONT": "./ColorQuant/CAM_FRONT/n008-2018-05-21-11-06-59-0400__CAM_FRONT__1526915624362465.jpg",211      "CAM_FRONT_LEFT": "./ColorQuant/CAM_FRONT_LEFT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_LEFT__1526915624354917.jpg",212      "CAM_FRONT_RIGHT": "./ColorQuant/CAM_FRONT_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_RIGHT__1526915624369956.jpg",213      "CAM_BACK": "./ColorQuant/CAM_BACK/n008-2018-05-21-11-06-59-0400__CAM_BACK__1526915624387570.jpg",214      "CAM_BACK_LEFT": "./ColorQuant/CAM_BACK_LEFT/n008-2018-05-21-11-06-59-0400__CAM_BACK_LEFT__1526915624397295.jpg",215      "CAM_BACK_RIGHT": "./ColorQuant/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 colorquant corruption?",223    "answer": "Back up.",224    "tag": [225      1226    ],227    "image_path": {228      "CAM_FRONT": "./ColorQuant/CAM_FRONT/n008-2018-05-21-11-06-59-0400__CAM_FRONT__1526915624362465.jpg",229      "CAM_FRONT_LEFT": "./ColorQuant/CAM_FRONT_LEFT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_LEFT__1526915624354917.jpg",230      "CAM_FRONT_RIGHT": "./ColorQuant/CAM_FRONT_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_RIGHT__1526915624369956.jpg",231      "CAM_BACK": "./ColorQuant/CAM_BACK/n008-2018-05-21-11-06-59-0400__CAM_BACK__1526915624387570.jpg",232      "CAM_BACK_LEFT": "./ColorQuant/CAM_BACK_LEFT/n008-2018-05-21-11-06-59-0400__CAM_BACK_LEFT__1526915624397295.jpg",233      "CAM_BACK_RIGHT": "./ColorQuant/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 scenario under colorquant corruption, 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": "./ColorQuant/CAM_FRONT/n008-2018-05-21-11-06-59-0400__CAM_FRONT__1526915624362465.jpg",247      "CAM_FRONT_LEFT": "./ColorQuant/CAM_FRONT_LEFT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_LEFT__1526915624354917.jpg",248      "CAM_FRONT_RIGHT": "./ColorQuant/CAM_FRONT_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_RIGHT__1526915624369956.jpg",249      "CAM_BACK": "./ColorQuant/CAM_BACK/n008-2018-05-21-11-06-59-0400__CAM_BACK__1526915624387570.jpg",250      "CAM_BACK_LEFT": "./ColorQuant/CAM_BACK_LEFT/n008-2018-05-21-11-06-59-0400__CAM_BACK_LEFT__1526915624397295.jpg",251      "CAM_BACK_RIGHT": "./ColorQuant/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 colorquant corruption. Include both general description and key objects and their positions.",259    "answer": "The environment is affected by colorquant corruption, which alters the color representation of the scene. Despite this, key objects are identifiable: a black pickup truck is stationary at the back of the ego vehicle with coordinates <c1,CAM_BACK,0.5364,0.4806>. A white truck is moving to the front right with coordinates <c2,CAM_FRONT_RIGHT,0.8911,0.4620>. A yellow truck is stationary in front of the ego vehicle with coordinates <c3,CAM_FRONT,0.2911,0.4630>. A black SUV is moving at the back with coordinates <c4,CAM_BACK,0.7927,0.5056>. The road and surroundings appear distorted due to the colorquant effect, but the layout remains navigable.",260    "tag": [261      4262    ],263    "image_path": {264      "CAM_FRONT": "./ColorQuant/CAM_FRONT/n008-2018-05-21-11-06-59-0400__CAM_FRONT__1526915624362465.jpg",265      "CAM_FRONT_LEFT": "./ColorQuant/CAM_FRONT_LEFT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_LEFT__1526915624354917.jpg",266      "CAM_FRONT_RIGHT": "./ColorQuant/CAM_FRONT_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_RIGHT__1526915624369956.jpg",267      "CAM_BACK": "./ColorQuant/CAM_BACK/n008-2018-05-21-11-06-59-0400__CAM_BACK__1526915624387570.jpg",268      "CAM_BACK_LEFT": "./ColorQuant/CAM_BACK_LEFT/n008-2018-05-21-11-06-59-0400__CAM_BACK_LEFT__1526915624397295.jpg",269      "CAM_BACK_RIGHT": "./ColorQuant/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. Color quant. B. Saturate. C. Rain. D. Zoom blur",277    "answer": "A. Color quant",278    "tag": [279      0280    ],281    "image_path": {282      "CAM_FRONT": "./ColorQuant/CAM_FRONT/n008-2018-09-18-13-10-39-0400__CAM_FRONT__1537290858162404.jpg",283      "CAM_FRONT_LEFT": "./ColorQuant/CAM_FRONT_LEFT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_LEFT__1537290858154799.jpg",284      "CAM_FRONT_RIGHT": "./ColorQuant/CAM_FRONT_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_RIGHT__1537290858170482.jpg",285      "CAM_BACK": "./ColorQuant/CAM_BACK/n008-2018-09-18-13-10-39-0400__CAM_BACK__1537290858187559.jpg",286      "CAM_BACK_LEFT": "./ColorQuant/CAM_BACK_LEFT/n008-2018-09-18-13-10-39-0400__CAM_BACK_LEFT__1537290858197405.jpg",287      "CAM_BACK_RIGHT": "./ColorQuant/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 under colorquant corruption? 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": "./ColorQuant/CAM_FRONT/n008-2018-09-18-13-10-39-0400__CAM_FRONT__1537290858162404.jpg",301      "CAM_FRONT_LEFT": "./ColorQuant/CAM_FRONT_LEFT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_LEFT__1537290858154799.jpg",302      "CAM_FRONT_RIGHT": "./ColorQuant/CAM_FRONT_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_RIGHT__1537290858170482.jpg",303      "CAM_BACK": "./ColorQuant/CAM_BACK/n008-2018-09-18-13-10-39-0400__CAM_BACK__1537290858187559.jpg",304      "CAM_BACK_LEFT": "./ColorQuant/CAM_BACK_LEFT/n008-2018-09-18-13-10-39-0400__CAM_BACK_LEFT__1537290858197405.jpg",305      "CAM_BACK_RIGHT": "./ColorQuant/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> under colorquant corruption? 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 and it is moving ahead.",314    "tag": [315      0316    ],317    "image_path": {318      "CAM_FRONT": "./ColorQuant/CAM_FRONT/n008-2018-09-18-13-10-39-0400__CAM_FRONT__1537290858162404.jpg",319      "CAM_FRONT_LEFT": "./ColorQuant/CAM_FRONT_LEFT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_LEFT__1537290858154799.jpg",320      "CAM_FRONT_RIGHT": "./ColorQuant/CAM_FRONT_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_RIGHT__1537290858170482.jpg",321      "CAM_BACK": "./ColorQuant/CAM_BACK/n008-2018-09-18-13-10-39-0400__CAM_BACK__1537290858187559.jpg",322      "CAM_BACK_LEFT": "./ColorQuant/CAM_BACK_LEFT/n008-2018-09-18-13-10-39-0400__CAM_BACK_LEFT__1537290858197405.jpg",323      "CAM_BACK_RIGHT": "./ColorQuant/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 under colorquant corruption?",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": "./ColorQuant/CAM_FRONT/n008-2018-09-18-13-10-39-0400__CAM_FRONT__1537290858162404.jpg",337      "CAM_FRONT_LEFT": "./ColorQuant/CAM_FRONT_LEFT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_LEFT__1537290858154799.jpg",338      "CAM_FRONT_RIGHT": "./ColorQuant/CAM_FRONT_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_RIGHT__1537290858170482.jpg",339      "CAM_BACK": "./ColorQuant/CAM_BACK/n008-2018-09-18-13-10-39-0400__CAM_BACK__1537290858187559.jpg",340      "CAM_BACK_LEFT": "./ColorQuant/CAM_BACK_LEFT/n008-2018-09-18-13-10-39-0400__CAM_BACK_LEFT__1537290858197405.jpg",341      "CAM_BACK_RIGHT": "./ColorQuant/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 under colorquant corruption? 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": "./ColorQuant/CAM_FRONT/n008-2018-09-18-13-10-39-0400__CAM_FRONT__1537290858162404.jpg",355      "CAM_FRONT_LEFT": "./ColorQuant/CAM_FRONT_LEFT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_LEFT__1537290858154799.jpg",356      "CAM_FRONT_RIGHT": "./ColorQuant/CAM_FRONT_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_RIGHT__1537290858170482.jpg",357      "CAM_BACK": "./ColorQuant/CAM_BACK/n008-2018-09-18-13-10-39-0400__CAM_BACK__1537290858187559.jpg",358      "CAM_BACK_LEFT": "./ColorQuant/CAM_BACK_LEFT/n008-2018-09-18-13-10-39-0400__CAM_BACK_LEFT__1537290858197405.jpg",359      "CAM_BACK_RIGHT": "./ColorQuant/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 under colorquant corruption, 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": "./ColorQuant/CAM_FRONT/n008-2018-09-18-13-10-39-0400__CAM_FRONT__1537290858162404.jpg",373      "CAM_FRONT_LEFT": "./ColorQuant/CAM_FRONT_LEFT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_LEFT__1537290858154799.jpg",374      "CAM_FRONT_RIGHT": "./ColorQuant/CAM_FRONT_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_RIGHT__1537290858170482.jpg",375      "CAM_BACK": "./ColorQuant/CAM_BACK/n008-2018-09-18-13-10-39-0400__CAM_BACK__1537290858187559.jpg",376      "CAM_BACK_LEFT": "./ColorQuant/CAM_BACK_LEFT/n008-2018-09-18-13-10-39-0400__CAM_BACK_LEFT__1537290858197405.jpg",377      "CAM_BACK_RIGHT": "./ColorQuant/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> under colorquant corruption? 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": "./ColorQuant/CAM_FRONT/n008-2018-09-18-13-10-39-0400__CAM_FRONT__1537290858162404.jpg",391      "CAM_FRONT_LEFT": "./ColorQuant/CAM_FRONT_LEFT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_LEFT__1537290858154799.jpg",392      "CAM_FRONT_RIGHT": "./ColorQuant/CAM_FRONT_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_RIGHT__1537290858170482.jpg",393      "CAM_BACK": "./ColorQuant/CAM_BACK/n008-2018-09-18-13-10-39-0400__CAM_BACK__1537290858187559.jpg",394      "CAM_BACK_LEFT": "./ColorQuant/CAM_BACK_LEFT/n008-2018-09-18-13-10-39-0400__CAM_BACK_LEFT__1537290858197405.jpg",395      "CAM_BACK_RIGHT": "./ColorQuant/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 colorquant corruption. Include both general description and key objects and their positions.",403    "answer": "The environment is affected by colorquant corruption, which reduces the color depth and makes the scene appear darker and less detailed. To the back of the ego vehicle, there is a black small sedan moving forward, identified as <c1,CAM_BACK,0.7380,0.5926>. To the back left, a black SUV is stationary, identified as <c2,CAM_BACK_LEFT,0.1906,0.6426>. To the front left, a black small car is also stationary, identified as <c3,CAM_FRONT_LEFT,0.7547,0.5703>. The overall visibility is reduced, requiring careful navigation.",404    "tag": [405      4406    ],407    "image_path": {408      "CAM_FRONT": "./ColorQuant/CAM_FRONT/n008-2018-09-18-13-10-39-0400__CAM_FRONT__1537290858162404.jpg",409      "CAM_FRONT_LEFT": "./ColorQuant/CAM_FRONT_LEFT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_LEFT__1537290858154799.jpg",410      "CAM_FRONT_RIGHT": "./ColorQuant/CAM_FRONT_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_RIGHT__1537290858170482.jpg",411      "CAM_BACK": "./ColorQuant/CAM_BACK/n008-2018-09-18-13-10-39-0400__CAM_BACK__1537290858187559.jpg",412      "CAM_BACK_LEFT": "./ColorQuant/CAM_BACK_LEFT/n008-2018-09-18-13-10-39-0400__CAM_BACK_LEFT__1537290858197405.jpg",413      "CAM_BACK_RIGHT": "./ColorQuant/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. Rain. B. Color quant. C. JPEG compression. D. Fog",421    "answer": "B. Color quant",422    "tag": [423      0424    ],425    "image_path": {426      "CAM_FRONT": "./ColorQuant/CAM_FRONT/n008-2018-09-18-13-10-39-0400__CAM_FRONT__1537290861262404.jpg",427      "CAM_FRONT_LEFT": "./ColorQuant/CAM_FRONT_LEFT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_LEFT__1537290861254799.jpg",428      "CAM_FRONT_RIGHT": "./ColorQuant/CAM_FRONT_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_RIGHT__1537290861270482.jpg",429      "CAM_BACK": "./ColorQuant/CAM_BACK/n008-2018-09-18-13-10-39-0400__CAM_BACK__1537290861287773.jpg",430      "CAM_BACK_LEFT": "./ColorQuant/CAM_BACK_LEFT/n008-2018-09-18-13-10-39-0400__CAM_BACK_LEFT__1537290861297405.jpg",431      "CAM_BACK_RIGHT": "./ColorQuant/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 under color quantization corruption? 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": "./ColorQuant/CAM_FRONT/n008-2018-09-18-13-10-39-0400__CAM_FRONT__1537290861262404.jpg",445      "CAM_FRONT_LEFT": "./ColorQuant/CAM_FRONT_LEFT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_LEFT__1537290861254799.jpg",446      "CAM_FRONT_RIGHT": "./ColorQuant/CAM_FRONT_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_RIGHT__1537290861270482.jpg",447      "CAM_BACK": "./ColorQuant/CAM_BACK/n008-2018-09-18-13-10-39-0400__CAM_BACK__1537290861287773.jpg",448      "CAM_BACK_LEFT": "./ColorQuant/CAM_BACK_LEFT/n008-2018-09-18-13-10-39-0400__CAM_BACK_LEFT__1537290861297405.jpg",449      "CAM_BACK_RIGHT": "./ColorQuant/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> under color quantization corruption? 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": "./ColorQuant/CAM_FRONT/n008-2018-09-18-13-10-39-0400__CAM_FRONT__1537290861262404.jpg",463      "CAM_FRONT_LEFT": "./ColorQuant/CAM_FRONT_LEFT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_LEFT__1537290861254799.jpg",464      "CAM_FRONT_RIGHT": "./ColorQuant/CAM_FRONT_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_RIGHT__1537290861270482.jpg",465      "CAM_BACK": "./ColorQuant/CAM_BACK/n008-2018-09-18-13-10-39-0400__CAM_BACK__1537290861287773.jpg",466      "CAM_BACK_LEFT": "./ColorQuant/CAM_BACK_LEFT/n008-2018-09-18-13-10-39-0400__CAM_BACK_LEFT__1537290861297405.jpg",467      "CAM_BACK_RIGHT": "./ColorQuant/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 under color quantization corruption?",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": "./ColorQuant/CAM_FRONT/n008-2018-09-18-13-10-39-0400__CAM_FRONT__1537290861262404.jpg",481      "CAM_FRONT_LEFT": "./ColorQuant/CAM_FRONT_LEFT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_LEFT__1537290861254799.jpg",482      "CAM_FRONT_RIGHT": "./ColorQuant/CAM_FRONT_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_RIGHT__1537290861270482.jpg",483      "CAM_BACK": "./ColorQuant/CAM_BACK/n008-2018-09-18-13-10-39-0400__CAM_BACK__1537290861287773.jpg",484      "CAM_BACK_LEFT": "./ColorQuant/CAM_BACK_LEFT/n008-2018-09-18-13-10-39-0400__CAM_BACK_LEFT__1537290861297405.jpg",485      "CAM_BACK_RIGHT": "./ColorQuant/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 under color quantization corruption, 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": "./ColorQuant/CAM_FRONT/n008-2018-09-18-13-10-39-0400__CAM_FRONT__1537290861262404.jpg",499      "CAM_FRONT_LEFT": "./ColorQuant/CAM_FRONT_LEFT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_LEFT__1537290861254799.jpg",500      "CAM_FRONT_RIGHT": "./ColorQuant/CAM_FRONT_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_RIGHT__1537290861270482.jpg",501      "CAM_BACK": "./ColorQuant/CAM_BACK/n008-2018-09-18-13-10-39-0400__CAM_BACK__1537290861287773.jpg",502      "CAM_BACK_LEFT": "./ColorQuant/CAM_BACK_LEFT/n008-2018-09-18-13-10-39-0400__CAM_BACK_LEFT__1537290861297405.jpg",503      "CAM_BACK_RIGHT": "./ColorQuant/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> under color quantization corruption?",511    "answer": "Back up.",512    "tag": [513      1514    ],515    "image_path": {516      "CAM_FRONT": "./ColorQuant/CAM_FRONT/n008-2018-09-18-13-10-39-0400__CAM_FRONT__1537290861262404.jpg",517      "CAM_FRONT_LEFT": "./ColorQuant/CAM_FRONT_LEFT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_LEFT__1537290861254799.jpg",518      "CAM_FRONT_RIGHT": "./ColorQuant/CAM_FRONT_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_RIGHT__1537290861270482.jpg",519      "CAM_BACK": "./ColorQuant/CAM_BACK/n008-2018-09-18-13-10-39-0400__CAM_BACK__1537290861287773.jpg",520      "CAM_BACK_LEFT": "./ColorQuant/CAM_BACK_LEFT/n008-2018-09-18-13-10-39-0400__CAM_BACK_LEFT__1537290861297405.jpg",521      "CAM_BACK_RIGHT": "./ColorQuant/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 color quantization corruption. Include both general description and key objects and their positions.",529    "answer": "The scene is affected by color quantization, making it challenging to distinguish details. The road is lined with several stationary vehicles, including a black sedan to the front and a silver white pickup truck to the front left. A black SUV is positioned to the front right. The environment appears dark, with reduced color fidelity, impacting the visibility of objects. The black car moving behind the ego vehicle is still discernible despite the corruption.",530    "tag": [531      4532    ],533    "image_path": {534      "CAM_FRONT": "./ColorQuant/CAM_FRONT/n008-2018-09-18-13-10-39-0400__CAM_FRONT__1537290861262404.jpg",535      "CAM_FRONT_LEFT": "./ColorQuant/CAM_FRONT_LEFT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_LEFT__1537290861254799.jpg",536      "CAM_FRONT_RIGHT": "./ColorQuant/CAM_FRONT_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_RIGHT__1537290861270482.jpg",537      "CAM_BACK": "./ColorQuant/CAM_BACK/n008-2018-09-18-13-10-39-0400__CAM_BACK__1537290861287773.jpg",538      "CAM_BACK_LEFT": "./ColorQuant/CAM_BACK_LEFT/n008-2018-09-18-13-10-39-0400__CAM_BACK_LEFT__1537290861297405.jpg",539      "CAM_BACK_RIGHT": "./ColorQuant/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. Sensor failure. B. Zoom blur. C. Bit error. D. Color quant",547    "answer": "D. Color quant",548    "tag": [549      0550    ],551    "image_path": {552      "CAM_FRONT": "./ColorQuant/CAM_FRONT/n008-2018-09-18-14-54-39-0400__CAM_FRONT__1537297248762404.jpg",553      "CAM_FRONT_LEFT": "./ColorQuant/CAM_FRONT_LEFT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_LEFT__1537297248754799.jpg",554      "CAM_FRONT_RIGHT": "./ColorQuant/CAM_FRONT_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_RIGHT__1537297248770482.jpg",555      "CAM_BACK": "./ColorQuant/CAM_BACK/n008-2018-09-18-14-54-39-0400__CAM_BACK__1537297248787558.jpg",556      "CAM_BACK_LEFT": "./ColorQuant/CAM_BACK_LEFT/n008-2018-09-18-14-54-39-0400__CAM_BACK_LEFT__1537297248797405.jpg",557      "CAM_BACK_RIGHT": "./ColorQuant/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 under colorquant corruption? 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": "./ColorQuant/CAM_FRONT/n008-2018-09-18-14-54-39-0400__CAM_FRONT__1537297248762404.jpg",571      "CAM_FRONT_LEFT": "./ColorQuant/CAM_FRONT_LEFT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_LEFT__1537297248754799.jpg",572      "CAM_FRONT_RIGHT": "./ColorQuant/CAM_FRONT_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_RIGHT__1537297248770482.jpg",573      "CAM_BACK": "./ColorQuant/CAM_BACK/n008-2018-09-18-14-54-39-0400__CAM_BACK__1537297248787558.jpg",574      "CAM_BACK_LEFT": "./ColorQuant/CAM_BACK_LEFT/n008-2018-09-18-14-54-39-0400__CAM_BACK_LEFT__1537297248797405.jpg",575      "CAM_BACK_RIGHT": "./ColorQuant/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> under colorquant corruption? 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 colorquant corruption does not affect its status.",584    "tag": [585      0586    ],587    "image_path": {588      "CAM_FRONT": "./ColorQuant/CAM_FRONT/n008-2018-09-18-14-54-39-0400__CAM_FRONT__1537297248762404.jpg",589      "CAM_FRONT_LEFT": "./ColorQuant/CAM_FRONT_LEFT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_LEFT__1537297248754799.jpg",590      "CAM_FRONT_RIGHT": "./ColorQuant/CAM_FRONT_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_RIGHT__1537297248770482.jpg",591      "CAM_BACK": "./ColorQuant/CAM_BACK/n008-2018-09-18-14-54-39-0400__CAM_BACK__1537297248787558.jpg",592      "CAM_BACK_LEFT": "./ColorQuant/CAM_BACK_LEFT/n008-2018-09-18-14-54-39-0400__CAM_BACK_LEFT__1537297248797405.jpg",593      "CAM_BACK_RIGHT": "./ColorQuant/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 under colorquant corruption?",601    "answer": "No, Explanation: The object is a black SUV, not a traffic sign or road barrier, and the colorquant corruption does not change its category.",602    "tag": [603      0604    ],605    "image_path": {606      "CAM_FRONT": "./ColorQuant/CAM_FRONT/n008-2018-09-18-14-54-39-0400__CAM_FRONT__1537297248762404.jpg",607      "CAM_FRONT_LEFT": "./ColorQuant/CAM_FRONT_LEFT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_LEFT__1537297248754799.jpg",608      "CAM_FRONT_RIGHT": "./ColorQuant/CAM_FRONT_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_RIGHT__1537297248770482.jpg",609      "CAM_BACK": "./ColorQuant/CAM_BACK/n008-2018-09-18-14-54-39-0400__CAM_BACK__1537297248787558.jpg",610      "CAM_BACK_LEFT": "./ColorQuant/CAM_BACK_LEFT/n008-2018-09-18-14-54-39-0400__CAM_BACK_LEFT__1537297248797405.jpg",611      "CAM_BACK_RIGHT": "./ColorQuant/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> under colorquant corruption? 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": "./ColorQuant/CAM_FRONT/n008-2018-09-18-14-54-39-0400__CAM_FRONT__1537297248762404.jpg",625      "CAM_FRONT_LEFT": "./ColorQuant/CAM_FRONT_LEFT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_LEFT__1537297248754799.jpg",626      "CAM_FRONT_RIGHT": "./ColorQuant/CAM_FRONT_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_RIGHT__1537297248770482.jpg",627      "CAM_BACK": "./ColorQuant/CAM_BACK/n008-2018-09-18-14-54-39-0400__CAM_BACK__1537297248787558.jpg",628      "CAM_BACK_LEFT": "./ColorQuant/CAM_BACK_LEFT/n008-2018-09-18-14-54-39-0400__CAM_BACK_LEFT__1537297248797405.jpg",629      "CAM_BACK_RIGHT": "./ColorQuant/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 under colorquant corruption, 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": "./ColorQuant/CAM_FRONT/n008-2018-09-18-14-54-39-0400__CAM_FRONT__1537297248762404.jpg",643      "CAM_FRONT_LEFT": "./ColorQuant/CAM_FRONT_LEFT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_LEFT__1537297248754799.jpg",644      "CAM_FRONT_RIGHT": "./ColorQuant/CAM_FRONT_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_RIGHT__1537297248770482.jpg",645      "CAM_BACK": "./ColorQuant/CAM_BACK/n008-2018-09-18-14-54-39-0400__CAM_BACK__1537297248787558.jpg",646      "CAM_BACK_LEFT": "./ColorQuant/CAM_BACK_LEFT/n008-2018-09-18-14-54-39-0400__CAM_BACK_LEFT__1537297248797405.jpg",647      "CAM_BACK_RIGHT": "./ColorQuant/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 colorquant corruption. Include both general description and key objects and their positions.",655    "answer": "The environment is affected by colorquant corruption, which alters the color representation, making it challenging to distinguish objects clearly. Despite this, key objects are identifiable: a black SUV is moving at the back of the ego vehicle (coordinates: 0.6261, 0.6806), a white car is stationary at the front (coordinates: 0.0427, 0.6028), a yellow bus is stationary at the back (coordinates: 0.0089, 0.4870), and a black car is stationary at the front right (coordinates: 0.1594, 0.5953). The scene includes urban elements like buildings and trees, which are less distinct due to the corruption.",656    "tag": [657      4658    ],659    "image_path": {660      "CAM_FRONT": "./ColorQuant/CAM_FRONT/n008-2018-09-18-14-54-39-0400__CAM_FRONT__1537297248762404.jpg",661      "CAM_FRONT_LEFT": "./ColorQuant/CAM_FRONT_LEFT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_LEFT__1537297248754799.jpg",662      "CAM_FRONT_RIGHT": "./ColorQuant/CAM_FRONT_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_RIGHT__1537297248770482.jpg",663      "CAM_BACK": "./ColorQuant/CAM_BACK/n008-2018-09-18-14-54-39-0400__CAM_BACK__1537297248787558.jpg",664      "CAM_BACK_LEFT": "./ColorQuant/CAM_BACK_LEFT/n008-2018-09-18-14-54-39-0400__CAM_BACK_LEFT__1537297248797405.jpg",665      "CAM_BACK_RIGHT": "./ColorQuant/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. Color quant. B. Saturate. C. Fog. D. Rain",673    "answer": "A. Color quant",674    "tag": [675      0676    ],677    "image_path": {678      "CAM_FRONT": "./ColorQuant/CAM_FRONT/n008-2018-05-21-11-06-59-0400__CAM_FRONT__1526915264912465.jpg",679      "CAM_FRONT_LEFT": "./ColorQuant/CAM_FRONT_LEFT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_LEFT__1526915264904917.jpg",680      "CAM_FRONT_RIGHT": "./ColorQuant/CAM_FRONT_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_RIGHT__1526915264919956.jpg",681      "CAM_BACK": "./ColorQuant/CAM_BACK/n008-2018-05-21-11-06-59-0400__CAM_BACK__1526915264937570.jpg",682      "CAM_BACK_LEFT": "./ColorQuant/CAM_BACK_LEFT/n008-2018-05-21-11-06-59-0400__CAM_BACK_LEFT__1526915264947478.jpg",683      "CAM_BACK_RIGHT": "./ColorQuant/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 colorquant 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, and the colorquant condition does not affect its status.",692    "tag": [693      0694    ],695    "image_path": {696      "CAM_FRONT": "./ColorQuant/CAM_FRONT/n008-2018-05-21-11-06-59-0400__CAM_FRONT__1526915264912465.jpg",697      "CAM_FRONT_LEFT": "./ColorQuant/CAM_FRONT_LEFT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_LEFT__1526915264904917.jpg",698      "CAM_FRONT_RIGHT": "./ColorQuant/CAM_FRONT_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_RIGHT__1526915264919956.jpg",699      "CAM_BACK": "./ColorQuant/CAM_BACK/n008-2018-05-21-11-06-59-0400__CAM_BACK__1526915264937570.jpg",700      "CAM_BACK_LEFT": "./ColorQuant/CAM_BACK_LEFT/n008-2018-05-21-11-06-59-0400__CAM_BACK_LEFT__1526915264947478.jpg",701      "CAM_BACK_RIGHT": "./ColorQuant/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 colorquant 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>. The colorquant condition does not change their importance.",710    "tag": [711      2712    ],713    "image_path": {714      "CAM_FRONT": "./ColorQuant/CAM_FRONT/n008-2018-05-21-11-06-59-0400__CAM_FRONT__1526915264912465.jpg",715      "CAM_FRONT_LEFT": "./ColorQuant/CAM_FRONT_LEFT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_LEFT__1526915264904917.jpg",716      "CAM_FRONT_RIGHT": "./ColorQuant/CAM_FRONT_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_RIGHT__1526915264919956.jpg",717      "CAM_BACK": "./ColorQuant/CAM_BACK/n008-2018-05-21-11-06-59-0400__CAM_BACK__1526915264937570.jpg",718      "CAM_BACK_LEFT": "./ColorQuant/CAM_BACK_LEFT/n008-2018-05-21-11-06-59-0400__CAM_BACK_LEFT__1526915264947478.jpg",719      "CAM_BACK_RIGHT": "./ColorQuant/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 colorquant 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. The colorquant condition does not alter the sequence or actions.",728    "tag": [729      3730    ],731    "image_path": {732      "CAM_FRONT": "./ColorQuant/CAM_FRONT/n008-2018-05-21-11-06-59-0400__CAM_FRONT__1526915264912465.jpg",733      "CAM_FRONT_LEFT": "./ColorQuant/CAM_FRONT_LEFT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_LEFT__1526915264904917.jpg",734      "CAM_FRONT_RIGHT": "./ColorQuant/CAM_FRONT_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_RIGHT__1526915264919956.jpg",735      "CAM_BACK": "./ColorQuant/CAM_BACK/n008-2018-05-21-11-06-59-0400__CAM_BACK__1526915264937570.jpg",736      "CAM_BACK_LEFT": "./ColorQuant/CAM_BACK_LEFT/n008-2018-05-21-11-06-59-0400__CAM_BACK_LEFT__1526915264947478.jpg",737      "CAM_BACK_RIGHT": "./ColorQuant/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 colorquant conditions?",745    "answer": "No, Explanation: The object is a brown Jeep, not a traffic sign or road barrier, and the colorquant condition does not affect this classification.",746    "tag": [747      0748    ],749    "image_path": {750      "CAM_FRONT": "./ColorQuant/CAM_FRONT/n008-2018-05-21-11-06-59-0400__CAM_FRONT__1526915264912465.jpg",751      "CAM_FRONT_LEFT": "./ColorQuant/CAM_FRONT_LEFT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_LEFT__1526915264904917.jpg",752      "CAM_FRONT_RIGHT": "./ColorQuant/CAM_FRONT_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_RIGHT__1526915264919956.jpg",753      "CAM_BACK": "./ColorQuant/CAM_BACK/n008-2018-05-21-11-06-59-0400__CAM_BACK__1526915264937570.jpg",754      "CAM_BACK_LEFT": "./ColorQuant/CAM_BACK_LEFT/n008-2018-05-21-11-06-59-0400__CAM_BACK_LEFT__1526915264947478.jpg",755      "CAM_BACK_RIGHT": "./ColorQuant/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 colorquant conditions?",763    "answer": "Moderate left turn. The colorquant condition does not change the risk of collision with the brown Jeep.",764    "tag": [765      1766    ],767    "image_path": {768      "CAM_FRONT": "./ColorQuant/CAM_FRONT/n008-2018-05-21-11-06-59-0400__CAM_FRONT__1526915264912465.jpg",769      "CAM_FRONT_LEFT": "./ColorQuant/CAM_FRONT_LEFT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_LEFT__1526915264904917.jpg",770      "CAM_FRONT_RIGHT": "./ColorQuant/CAM_FRONT_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_RIGHT__1526915264919956.jpg",771      "CAM_BACK": "./ColorQuant/CAM_BACK/n008-2018-05-21-11-06-59-0400__CAM_BACK__1526915264937570.jpg",772      "CAM_BACK_LEFT": "./ColorQuant/CAM_BACK_LEFT/n008-2018-05-21-11-06-59-0400__CAM_BACK_LEFT__1526915264947478.jpg",773      "CAM_BACK_RIGHT": "./ColorQuant/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 colorquant 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. The colorquant condition does not affect this decision.",782    "tag": [783      1784    ],785    "image_path": {786      "CAM_FRONT": "./ColorQuant/CAM_FRONT/n008-2018-05-21-11-06-59-0400__CAM_FRONT__1526915264912465.jpg",787      "CAM_FRONT_LEFT": "./ColorQuant/CAM_FRONT_LEFT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_LEFT__1526915264904917.jpg",788      "CAM_FRONT_RIGHT": "./ColorQuant/CAM_FRONT_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_RIGHT__1526915264919956.jpg",789      "CAM_BACK": "./ColorQuant/CAM_BACK/n008-2018-05-21-11-06-59-0400__CAM_BACK__1526915264937570.jpg",790      "CAM_BACK_LEFT": "./ColorQuant/CAM_BACK_LEFT/n008-2018-05-21-11-06-59-0400__CAM_BACK_LEFT__1526915264947478.jpg",791      "CAM_BACK_RIGHT": "./ColorQuant/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 colorquant conditions. Include both general description and key objects and their positions.",799    "answer": "The environment is affected by colorquant conditions, which alter the color representation of the scene. Despite this, key objects remain identifiable: a brown Jeep is moving to the front left of the ego vehicle at coordinates <c1,CAM_FRONT_LEFT,0.5172,0.5481>, a white van is stationary directly in front at <c2,CAM_FRONT,0.5583,0.5074>, and a black sedan is stationary to the front right at <c3,CAM_FRONT_RIGHT,0.3747,0.7290>. The surroundings include urban elements such as buildings and roads, but the colorquant condition may obscure some details.",800    "tag": [801      4802    ],803    "image_path": {804      "CAM_FRONT": "./ColorQuant/CAM_FRONT/n008-2018-05-21-11-06-59-0400__CAM_FRONT__1526915264912465.jpg",805      "CAM_FRONT_LEFT": "./ColorQuant/CAM_FRONT_LEFT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_LEFT__1526915264904917.jpg",806      "CAM_FRONT_RIGHT": "./ColorQuant/CAM_FRONT_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_RIGHT__1526915264919956.jpg",807      "CAM_BACK": "./ColorQuant/CAM_BACK/n008-2018-05-21-11-06-59-0400__CAM_BACK__1526915264937570.jpg",808      "CAM_BACK_LEFT": "./ColorQuant/CAM_BACK_LEFT/n008-2018-05-21-11-06-59-0400__CAM_BACK_LEFT__1526915264947478.jpg",809      "CAM_BACK_RIGHT": "./ColorQuant/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. Bright. B. Color quant. C. Fog. D. Rain",817    "answer": "B. Color quant",818    "tag": [819      0820    ],821    "image_path": {822      "CAM_FRONT": "./ColorQuant/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535729415412404.jpg",823      "CAM_FRONT_LEFT": "./ColorQuant/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535729415404799.jpg",824      "CAM_FRONT_RIGHT": "./ColorQuant/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535729415420482.jpg",825      "CAM_BACK": "./ColorQuant/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535729415437558.jpg",826      "CAM_BACK_LEFT": "./ColorQuant/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535729415447405.jpg",827      "CAM_BACK_RIGHT": "./ColorQuant/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 under color quantization corruption? 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": "./ColorQuant/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535729415412404.jpg",841      "CAM_FRONT_LEFT": "./ColorQuant/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535729415404799.jpg",842      "CAM_FRONT_RIGHT": "./ColorQuant/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535729415420482.jpg",843      "CAM_BACK": "./ColorQuant/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535729415437558.jpg",844      "CAM_BACK_LEFT": "./ColorQuant/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535729415447405.jpg",845      "CAM_BACK_RIGHT": "./ColorQuant/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 color quantization corruption? 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, and the color quantization does not affect its trajectory.",854    "tag": [855      0856    ],857    "image_path": {858      "CAM_FRONT": "./ColorQuant/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535729415412404.jpg",859      "CAM_FRONT_LEFT": "./ColorQuant/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535729415404799.jpg",860      "CAM_FRONT_RIGHT": "./ColorQuant/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535729415420482.jpg",861      "CAM_BACK": "./ColorQuant/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535729415437558.jpg",862      "CAM_BACK_LEFT": "./ColorQuant/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535729415447405.jpg",863      "CAM_BACK_RIGHT": "./ColorQuant/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 under color quantization corruption?",871    "answer": "No, Explanation: The object is a white truck, not a traffic sign or road barrier, and the color quantization does not change its category.",872    "tag": [873      0874    ],875    "image_path": {876      "CAM_FRONT": "./ColorQuant/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535729415412404.jpg",877      "CAM_FRONT_LEFT": "./ColorQuant/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535729415404799.jpg",878      "CAM_FRONT_RIGHT": "./ColorQuant/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535729415420482.jpg",879      "CAM_BACK": "./ColorQuant/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535729415437558.jpg",880      "CAM_BACK_LEFT": "./ColorQuant/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535729415447405.jpg",881      "CAM_BACK_RIGHT": "./ColorQuant/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 under color quantization corruption, 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": "./ColorQuant/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535729415412404.jpg",895      "CAM_FRONT_LEFT": "./ColorQuant/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535729415404799.jpg",896      "CAM_FRONT_RIGHT": "./ColorQuant/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535729415420482.jpg",897      "CAM_BACK": "./ColorQuant/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535729415437558.jpg",898      "CAM_BACK_LEFT": "./ColorQuant/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535729415447405.jpg",899      "CAM_BACK_RIGHT": "./ColorQuant/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 color quantization corruption? 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": "./ColorQuant/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535729415412404.jpg",913      "CAM_FRONT_LEFT": "./ColorQuant/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535729415404799.jpg",914      "CAM_FRONT_RIGHT": "./ColorQuant/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535729415420482.jpg",915      "CAM_BACK": "./ColorQuant/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535729415437558.jpg",916      "CAM_BACK_LEFT": "./ColorQuant/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535729415447405.jpg",917      "CAM_BACK_RIGHT": "./ColorQuant/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 color quantization corruption. Include both general description and key objects and their positions.",925    "answer": "The environment is an urban setting with noticeable color quantization effects, making the scene appear with reduced color depth. Key objects include a white truck moving ahead at coordinates <c1,CAM_FRONT,0.4089,0.5102>, a white bus moving behind the ego vehicle at <c2,CAM_BACK,0.5505,0.5453>, and a white pickup truck also moving ahead 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>. The color quantization may affect the visibility of these objects, but their positions remain clear.",926    "tag": [927      4928    ],929    "image_path": {930      "CAM_FRONT": "./ColorQuant/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535729415412404.jpg",931      "CAM_FRONT_LEFT": "./ColorQuant/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535729415404799.jpg",932      "CAM_FRONT_RIGHT": "./ColorQuant/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535729415420482.jpg",933      "CAM_BACK": "./ColorQuant/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535729415437558.jpg",934      "CAM_BACK_LEFT": "./ColorQuant/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535729415447405.jpg",935      "CAM_BACK_RIGHT": "./ColorQuant/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. H256 ABR compression. B. Color quant. C. JPEG compression. D. Saturate",943    "answer": "B. Color quant",944    "tag": [945      0946    ],947    "image_path": {948      "CAM_FRONT": "./ColorQuant/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535729398362404.jpg",949      "CAM_FRONT_LEFT": "./ColorQuant/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535729398354799.jpg",950      "CAM_FRONT_RIGHT": "./ColorQuant/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535729398370482.jpg",951      "CAM_BACK": "./ColorQuant/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535729398387558.jpg",952      "CAM_BACK_LEFT": "./ColorQuant/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535729398397405.jpg",953      "CAM_BACK_RIGHT": "./ColorQuant/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> under colorquant corruption? 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": "./ColorQuant/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535729398362404.jpg",967      "CAM_FRONT_LEFT": "./ColorQuant/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535729398354799.jpg",968      "CAM_FRONT_RIGHT": "./ColorQuant/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535729398370482.jpg",969      "CAM_BACK": "./ColorQuant/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535729398387558.jpg",970      "CAM_BACK_LEFT": "./ColorQuant/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535729398397405.jpg",971      "CAM_BACK_RIGHT": "./ColorQuant/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 colorquant corruption? Those objects will be considered for the future reasoning and driving decision.",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": "./ColorQuant/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535729398362404.jpg",985      "CAM_FRONT_LEFT": "./ColorQuant/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535729398354799.jpg",986      "CAM_FRONT_RIGHT": "./ColorQuant/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535729398370482.jpg",987      "CAM_BACK": "./ColorQuant/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535729398387558.jpg",988      "CAM_BACK_LEFT": "./ColorQuant/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535729398397405.jpg",989      "CAM_BACK_RIGHT": "./ColorQuant/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 colorquant corruption?",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": "./ColorQuant/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535729398362404.jpg",1003      "CAM_FRONT_LEFT": "./ColorQuant/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535729398354799.jpg",1004      "CAM_FRONT_RIGHT": "./ColorQuant/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535729398370482.jpg",1005      "CAM_BACK": "./ColorQuant/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535729398387558.jpg",1006      "CAM_BACK_LEFT": "./ColorQuant/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535729398397405.jpg",1007      "CAM_BACK_RIGHT": "./ColorQuant/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 scenario under colorquant corruption, 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": "./ColorQuant/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535729398362404.jpg",1021      "CAM_FRONT_LEFT": "./ColorQuant/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535729398354799.jpg",1022      "CAM_FRONT_RIGHT": "./ColorQuant/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535729398370482.jpg",1023      "CAM_BACK": "./ColorQuant/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535729398387558.jpg",1024      "CAM_BACK_LEFT": "./ColorQuant/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535729398397405.jpg",1025      "CAM_BACK_RIGHT": "./ColorQuant/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 colorquant corruption? 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": "./ColorQuant/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535729398362404.jpg",1039      "CAM_FRONT_LEFT": "./ColorQuant/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535729398354799.jpg",1040      "CAM_FRONT_RIGHT": "./ColorQuant/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535729398370482.jpg",1041      "CAM_BACK": "./ColorQuant/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535729398387558.jpg",1042      "CAM_BACK_LEFT": "./ColorQuant/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535729398397405.jpg",1043      "CAM_BACK_RIGHT": "./ColorQuant/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 colorquant corruption. Include both general description and key objects and their positions.",1051    "answer": "The scene is affected by colorquant corruption, which alters the color distribution and visibility. A black SUV is moving to the front right of the ego vehicle, positioned at coordinates <c1,CAM_FRONT_RIGHT,0.6999,0.7006>. A black car is also moving to the front right, located at <c2,CAM_FRONT_RIGHT,0.2199,0.6148>. Directly ahead, a white truck is moving, positioned at <c3,CAM_FRONT,0.3266,0.5370>. Behind the ego vehicle, a white bus is moving, located at <c4,CAM_BACK,0.4442,0.5436>. Additionally, a black sedan is moving ahead at <c5,CAM_FRONT,0.1609,0.6491>, and a green light is visible at <c6,CAM_FRONT,0.5766,0.3392>. The altered colors may affect the perception of these objects.",1052    "tag": [1053      41054    ],1055    "image_path": {1056      "CAM_FRONT": "./ColorQuant/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535729398362404.jpg",1057      "CAM_FRONT_LEFT": "./ColorQuant/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535729398354799.jpg",1058      "CAM_FRONT_RIGHT": "./ColorQuant/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535729398370482.jpg",1059      "CAM_BACK": "./ColorQuant/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535729398387558.jpg",1060      "CAM_BACK_LEFT": "./ColorQuant/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535729398397405.jpg",1061      "CAM_BACK_RIGHT": "./ColorQuant/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. JPEG compression. B. Sensor failure. C. Color quant. D. Bright",1069    "answer": "C. Color quant",1070    "tag": [1071      01072    ],1073    "image_path": {1074      "CAM_FRONT": "./ColorQuant/CAM_FRONT/n015-2018-08-02-17-28-51+0800__CAM_FRONT__1533202205612460.jpg",1075      "CAM_FRONT_LEFT": "./ColorQuant/CAM_FRONT_LEFT/n015-2018-08-02-17-28-51+0800__CAM_FRONT_LEFT__1533202205604844.jpg",1076      "CAM_FRONT_RIGHT": "./ColorQuant/CAM_FRONT_RIGHT/n015-2018-08-02-17-28-51+0800__CAM_FRONT_RIGHT__1533202205620339.jpg",1077      "CAM_BACK": "./ColorQuant/CAM_BACK/n015-2018-08-02-17-28-51+0800__CAM_BACK__1533202205637525.jpg",1078      "CAM_BACK_LEFT": "./ColorQuant/CAM_BACK_LEFT/n015-2018-08-02-17-28-51+0800__CAM_BACK_LEFT__1533202205647426.jpg",1079      "CAM_BACK_RIGHT": "./ColorQuant/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 under colorquant corruption? 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": "./ColorQuant/CAM_FRONT/n015-2018-08-02-17-28-51+0800__CAM_FRONT__1533202205612460.jpg",1093      "CAM_FRONT_LEFT": "./ColorQuant/CAM_FRONT_LEFT/n015-2018-08-02-17-28-51+0800__CAM_FRONT_LEFT__1533202205604844.jpg",1094      "CAM_FRONT_RIGHT": "./ColorQuant/CAM_FRONT_RIGHT/n015-2018-08-02-17-28-51+0800__CAM_FRONT_RIGHT__1533202205620339.jpg",1095      "CAM_BACK": "./ColorQuant/CAM_BACK/n015-2018-08-02-17-28-51+0800__CAM_BACK__1533202205637525.jpg",1096      "CAM_BACK_LEFT": "./ColorQuant/CAM_BACK_LEFT/n015-2018-08-02-17-28-51+0800__CAM_BACK_LEFT__1533202205647426.jpg",1097      "CAM_BACK_RIGHT": "./ColorQuant/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 colorquant corruption? 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, and the colorquant corruption does not affect its movement status.",1106    "tag": [1107      01108    ],1109    "image_path": {1110      "CAM_FRONT": "./ColorQuant/CAM_FRONT/n015-2018-08-02-17-28-51+0800__CAM_FRONT__1533202205612460.jpg",1111      "CAM_FRONT_LEFT": "./ColorQuant/CAM_FRONT_LEFT/n015-2018-08-02-17-28-51+0800__CAM_FRONT_LEFT__1533202205604844.jpg",1112      "CAM_FRONT_RIGHT": "./ColorQuant/CAM_FRONT_RIGHT/n015-2018-08-02-17-28-51+0800__CAM_FRONT_RIGHT__1533202205620339.jpg",1113      "CAM_BACK": "./ColorQuant/CAM_BACK/n015-2018-08-02-17-28-51+0800__CAM_BACK__1533202205637525.jpg",1114      "CAM_BACK_LEFT": "./ColorQuant/CAM_BACK_LEFT/n015-2018-08-02-17-28-51+0800__CAM_BACK_LEFT__1533202205647426.jpg",1115      "CAM_BACK_RIGHT": "./ColorQuant/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 colorquant corruption? 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": "./ColorQuant/CAM_FRONT/n015-2018-08-02-17-28-51+0800__CAM_FRONT__1533202205612460.jpg",1129      "CAM_FRONT_LEFT": "./ColorQuant/CAM_FRONT_LEFT/n015-2018-08-02-17-28-51+0800__CAM_FRONT_LEFT__1533202205604844.jpg",1130      "CAM_FRONT_RIGHT": "./ColorQuant/CAM_FRONT_RIGHT/n015-2018-08-02-17-28-51+0800__CAM_FRONT_RIGHT__1533202205620339.jpg",1131      "CAM_BACK": "./ColorQuant/CAM_BACK/n015-2018-08-02-17-28-51+0800__CAM_BACK__1533202205637525.jpg",1132      "CAM_BACK_LEFT": "./ColorQuant/CAM_BACK_LEFT/n015-2018-08-02-17-28-51+0800__CAM_BACK_LEFT__1533202205647426.jpg",1133      "CAM_BACK_RIGHT": "./ColorQuant/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 colorquant corruption?",1141    "answer": "No, Explanation: The object is a black car, not a traffic sign or road barrier, and the colorquant corruption does not change its identity.",1142    "tag": [1143      01144    ],1145    "image_path": {1146      "CAM_FRONT": "./ColorQuant/CAM_FRONT/n015-2018-08-02-17-28-51+0800__CAM_FRONT__1533202205612460.jpg",1147      "CAM_FRONT_LEFT": "./ColorQuant/CAM_FRONT_LEFT/n015-2018-08-02-17-28-51+0800__CAM_FRONT_LEFT__1533202205604844.jpg",1148      "CAM_FRONT_RIGHT": "./ColorQuant/CAM_FRONT_RIGHT/n015-2018-08-02-17-28-51+0800__CAM_FRONT_RIGHT__1533202205620339.jpg",1149      "CAM_BACK": "./ColorQuant/CAM_BACK/n015-2018-08-02-17-28-51+0800__CAM_BACK__1533202205637525.jpg",1150      "CAM_BACK_LEFT": "./ColorQuant/CAM_BACK_LEFT/n015-2018-08-02-17-28-51+0800__CAM_BACK_LEFT__1533202205647426.jpg",1151      "CAM_BACK_RIGHT": "./ColorQuant/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> under colorquant corruption? 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": "./ColorQuant/CAM_FRONT/n015-2018-08-02-17-28-51+0800__CAM_FRONT__1533202205612460.jpg",1165      "CAM_FRONT_LEFT": "./ColorQuant/CAM_FRONT_LEFT/n015-2018-08-02-17-28-51+0800__CAM_FRONT_LEFT__1533202205604844.jpg",1166      "CAM_FRONT_RIGHT": "./ColorQuant/CAM_FRONT_RIGHT/n015-2018-08-02-17-28-51+0800__CAM_FRONT_RIGHT__1533202205620339.jpg",1167      "CAM_BACK": "./ColorQuant/CAM_BACK/n015-2018-08-02-17-28-51+0800__CAM_BACK__1533202205637525.jpg",1168      "CAM_BACK_LEFT": "./ColorQuant/CAM_BACK_LEFT/n015-2018-08-02-17-28-51+0800__CAM_BACK_LEFT__1533202205647426.jpg",1169      "CAM_BACK_RIGHT": "./ColorQuant/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 colorquant corruption?",1177    "answer": "Accelerating and going straight.",1178    "tag": [1179      11180    ],1181    "image_path": {1182      "CAM_FRONT": "./ColorQuant/CAM_FRONT/n015-2018-08-02-17-28-51+0800__CAM_FRONT__1533202205612460.jpg",1183      "CAM_FRONT_LEFT": "./ColorQuant/CAM_FRONT_LEFT/n015-2018-08-02-17-28-51+0800__CAM_FRONT_LEFT__1533202205604844.jpg",1184      "CAM_FRONT_RIGHT": "./ColorQuant/CAM_FRONT_RIGHT/n015-2018-08-02-17-28-51+0800__CAM_FRONT_RIGHT__1533202205620339.jpg",1185      "CAM_BACK": "./ColorQuant/CAM_BACK/n015-2018-08-02-17-28-51+0800__CAM_BACK__1533202205637525.jpg",1186      "CAM_BACK_LEFT": "./ColorQuant/CAM_BACK_LEFT/n015-2018-08-02-17-28-51+0800__CAM_BACK_LEFT__1533202205647426.jpg",1187      "CAM_BACK_RIGHT": "./ColorQuant/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 colorquant corruption. Include both general description and key objects and their positions.",1195    "answer": "The scene is affected by colorquant corruption, which alters the color palette, making it challenging to distinguish between objects based on color. Despite this, key objects are identifiable: a black car is moving ahead at coordinates <c1,CAM_FRONT,0.4427,0.5389>, a silver sedan is stationary to the front left at <c2,CAM_FRONT_LEFT,0.4088,0.7663>, and a blue car is stationary to the back left at <c3,CAM_BACK_LEFT,0.2036,0.7519>. The road is clear, and the environment appears urban with buildings and streetlights visible, though their colors are distorted.",1196    "tag": [1197      41198    ],1199    "image_path": {1200      "CAM_FRONT": "./ColorQuant/CAM_FRONT/n015-2018-08-02-17-28-51+0800__CAM_FRONT__1533202205612460.jpg",

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