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. Dark. B. Snow. C. Motion blur. D. Rain",7    "answer": "D. Rain",8    "tag": [9      010    ],11    "image_path": {12      "CAM_FRONT": "./Rain/CAM_FRONT/n008-2018-08-30-15-52-26-0400__CAM_FRONT__1535658934012637.jpg",13      "CAM_FRONT_LEFT": "./Rain/CAM_FRONT_LEFT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_LEFT__1535658934004799.jpg",14      "CAM_FRONT_RIGHT": "./Rain/CAM_FRONT_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_RIGHT__1535658934020482.jpg",15      "CAM_BACK": "./Rain/CAM_BACK/n008-2018-08-30-15-52-26-0400__CAM_BACK__1535658934037558.jpg",16      "CAM_BACK_LEFT": "./Rain/CAM_BACK_LEFT/n008-2018-08-30-15-52-26-0400__CAM_BACK_LEFT__1535658934047405.jpg",17      "CAM_BACK_RIGHT": "./Rain/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 rain? 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": "./Rain/CAM_FRONT/n008-2018-08-30-15-52-26-0400__CAM_FRONT__1535658934012637.jpg",31      "CAM_FRONT_LEFT": "./Rain/CAM_FRONT_LEFT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_LEFT__1535658934004799.jpg",32      "CAM_FRONT_RIGHT": "./Rain/CAM_FRONT_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_RIGHT__1535658934020482.jpg",33      "CAM_BACK": "./Rain/CAM_BACK/n008-2018-08-30-15-52-26-0400__CAM_BACK__1535658934037558.jpg",34      "CAM_BACK_LEFT": "./Rain/CAM_BACK_LEFT/n008-2018-08-30-15-52-26-0400__CAM_BACK_LEFT__1535658934047405.jpg",35      "CAM_BACK_RIGHT": "./Rain/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> in the rain? 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 despite the rain.",44    "tag": [45      046    ],47    "image_path": {48      "CAM_FRONT": "./Rain/CAM_FRONT/n008-2018-08-30-15-52-26-0400__CAM_FRONT__1535658934012637.jpg",49      "CAM_FRONT_LEFT": "./Rain/CAM_FRONT_LEFT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_LEFT__1535658934004799.jpg",50      "CAM_FRONT_RIGHT": "./Rain/CAM_FRONT_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_RIGHT__1535658934020482.jpg",51      "CAM_BACK": "./Rain/CAM_BACK/n008-2018-08-30-15-52-26-0400__CAM_BACK__1535658934037558.jpg",52      "CAM_BACK_LEFT": "./Rain/CAM_BACK_LEFT/n008-2018-08-30-15-52-26-0400__CAM_BACK_LEFT__1535658934047405.jpg",53      "CAM_BACK_RIGHT": "./Rain/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 in rainy 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": "./Rain/CAM_FRONT/n008-2018-08-30-15-52-26-0400__CAM_FRONT__1535658934012637.jpg",67      "CAM_FRONT_LEFT": "./Rain/CAM_FRONT_LEFT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_LEFT__1535658934004799.jpg",68      "CAM_FRONT_RIGHT": "./Rain/CAM_FRONT_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_RIGHT__1535658934020482.jpg",69      "CAM_BACK": "./Rain/CAM_BACK/n008-2018-08-30-15-52-26-0400__CAM_BACK__1535658934037558.jpg",70      "CAM_BACK_LEFT": "./Rain/CAM_BACK_LEFT/n008-2018-08-30-15-52-26-0400__CAM_BACK_LEFT__1535658934047405.jpg",71      "CAM_BACK_RIGHT": "./Rain/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 in the rain?",79    "answer": "No, Explanation: The object is a gray sedan moving ahead, not a traffic sign or road barrier.",80    "tag": [81      082    ],83    "image_path": {84      "CAM_FRONT": "./Rain/CAM_FRONT/n008-2018-08-30-15-52-26-0400__CAM_FRONT__1535658934012637.jpg",85      "CAM_FRONT_LEFT": "./Rain/CAM_FRONT_LEFT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_LEFT__1535658934004799.jpg",86      "CAM_FRONT_RIGHT": "./Rain/CAM_FRONT_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_RIGHT__1535658934020482.jpg",87      "CAM_BACK": "./Rain/CAM_BACK/n008-2018-08-30-15-52-26-0400__CAM_BACK__1535658934037558.jpg",88      "CAM_BACK_LEFT": "./Rain/CAM_BACK_LEFT/n008-2018-08-30-15-52-26-0400__CAM_BACK_LEFT__1535658934047405.jpg",89      "CAM_BACK_RIGHT": "./Rain/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> in rainy 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": "./Rain/CAM_FRONT/n008-2018-08-30-15-52-26-0400__CAM_FRONT__1535658934012637.jpg",103      "CAM_FRONT_LEFT": "./Rain/CAM_FRONT_LEFT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_LEFT__1535658934004799.jpg",104      "CAM_FRONT_RIGHT": "./Rain/CAM_FRONT_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_RIGHT__1535658934020482.jpg",105      "CAM_BACK": "./Rain/CAM_BACK/n008-2018-08-30-15-52-26-0400__CAM_BACK__1535658934037558.jpg",106      "CAM_BACK_LEFT": "./Rain/CAM_BACK_LEFT/n008-2018-08-30-15-52-26-0400__CAM_BACK_LEFT__1535658934047405.jpg",107      "CAM_BACK_RIGHT": "./Rain/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 rainy scenario, 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": "./Rain/CAM_FRONT/n008-2018-08-30-15-52-26-0400__CAM_FRONT__1535658934012637.jpg",121      "CAM_FRONT_LEFT": "./Rain/CAM_FRONT_LEFT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_LEFT__1535658934004799.jpg",122      "CAM_FRONT_RIGHT": "./Rain/CAM_FRONT_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_RIGHT__1535658934020482.jpg",123      "CAM_BACK": "./Rain/CAM_BACK/n008-2018-08-30-15-52-26-0400__CAM_BACK__1535658934037558.jpg",124      "CAM_BACK_LEFT": "./Rain/CAM_BACK_LEFT/n008-2018-08-30-15-52-26-0400__CAM_BACK_LEFT__1535658934047405.jpg",125      "CAM_BACK_RIGHT": "./Rain/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 rain. Include both general description and key objects and their positions.",133    "answer": "The scene is set on a rainy day, with water visibly streaming down the camera lenses. To the back of the ego vehicle, there is a gray sedan moving ahead, identified as <c1,CAM_BACK,0.5073,0.5778>. In front of the ego vehicle, a gray sedan and a black SUV are stationary, identified as <c2,CAM_FRONT,0.4886,0.5481> and <c3,CAM_FRONT,0.6058,0.5769> respectively. The road is wet, and visibility might be slightly reduced due to the rain, but the vehicles are clearly identifiable.",134    "tag": [135      4136    ],137    "image_path": {138      "CAM_FRONT": "./Rain/CAM_FRONT/n008-2018-08-30-15-52-26-0400__CAM_FRONT__1535658934012637.jpg",139      "CAM_FRONT_LEFT": "./Rain/CAM_FRONT_LEFT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_LEFT__1535658934004799.jpg",140      "CAM_FRONT_RIGHT": "./Rain/CAM_FRONT_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_RIGHT__1535658934020482.jpg",141      "CAM_BACK": "./Rain/CAM_BACK/n008-2018-08-30-15-52-26-0400__CAM_BACK__1535658934037558.jpg",142      "CAM_BACK_LEFT": "./Rain/CAM_BACK_LEFT/n008-2018-08-30-15-52-26-0400__CAM_BACK_LEFT__1535658934047405.jpg",143      "CAM_BACK_RIGHT": "./Rain/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. Fog. B. Rain. C. H256 ABR compression. D. Motion blur",151    "answer": "B. Rain",152    "tag": [153      0154    ],155    "image_path": {156      "CAM_FRONT": "./Rain/CAM_FRONT/n008-2018-05-21-11-06-59-0400__CAM_FRONT__1526915624362465.jpg",157      "CAM_FRONT_LEFT": "./Rain/CAM_FRONT_LEFT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_LEFT__1526915624354917.jpg",158      "CAM_FRONT_RIGHT": "./Rain/CAM_FRONT_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_RIGHT__1526915624369956.jpg",159      "CAM_BACK": "./Rain/CAM_BACK/n008-2018-05-21-11-06-59-0400__CAM_BACK__1526915624387570.jpg",160      "CAM_BACK_LEFT": "./Rain/CAM_BACK_LEFT/n008-2018-05-21-11-06-59-0400__CAM_BACK_LEFT__1526915624397295.jpg",161      "CAM_BACK_RIGHT": "./Rain/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> considering the rain? 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 rain does not affect its direction.",170    "tag": [171      0172    ],173    "image_path": {174      "CAM_FRONT": "./Rain/CAM_FRONT/n008-2018-05-21-11-06-59-0400__CAM_FRONT__1526915624362465.jpg",175      "CAM_FRONT_LEFT": "./Rain/CAM_FRONT_LEFT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_LEFT__1526915624354917.jpg",176      "CAM_FRONT_RIGHT": "./Rain/CAM_FRONT_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_RIGHT__1526915624369956.jpg",177      "CAM_BACK": "./Rain/CAM_BACK/n008-2018-05-21-11-06-59-0400__CAM_BACK__1526915624387570.jpg",178      "CAM_BACK_LEFT": "./Rain/CAM_BACK_LEFT/n008-2018-05-21-11-06-59-0400__CAM_BACK_LEFT__1526915624397295.jpg",179      "CAM_BACK_RIGHT": "./Rain/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 rainy conditions? Those objects will be considered for future reasoning and driving decisions.",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>. Rain may affect visibility but not the presence of these objects.",188    "tag": [189      2190    ],191    "image_path": {192      "CAM_FRONT": "./Rain/CAM_FRONT/n008-2018-05-21-11-06-59-0400__CAM_FRONT__1526915624362465.jpg",193      "CAM_FRONT_LEFT": "./Rain/CAM_FRONT_LEFT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_LEFT__1526915624354917.jpg",194      "CAM_FRONT_RIGHT": "./Rain/CAM_FRONT_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_RIGHT__1526915624369956.jpg",195      "CAM_BACK": "./Rain/CAM_BACK/n008-2018-05-21-11-06-59-0400__CAM_BACK__1526915624387570.jpg",196      "CAM_BACK_LEFT": "./Rain/CAM_BACK_LEFT/n008-2018-05-21-11-06-59-0400__CAM_BACK_LEFT__1526915624397295.jpg",197      "CAM_BACK_RIGHT": "./Rain/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 in the rain?",205    "answer": "No, Explanation: The object is a black pickup truck, and rain does not change its classification.",206    "tag": [207      0208    ],209    "image_path": {210      "CAM_FRONT": "./Rain/CAM_FRONT/n008-2018-05-21-11-06-59-0400__CAM_FRONT__1526915624362465.jpg",211      "CAM_FRONT_LEFT": "./Rain/CAM_FRONT_LEFT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_LEFT__1526915624354917.jpg",212      "CAM_FRONT_RIGHT": "./Rain/CAM_FRONT_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_RIGHT__1526915624369956.jpg",213      "CAM_BACK": "./Rain/CAM_BACK/n008-2018-05-21-11-06-59-0400__CAM_BACK__1526915624387570.jpg",214      "CAM_BACK_LEFT": "./Rain/CAM_BACK_LEFT/n008-2018-05-21-11-06-59-0400__CAM_BACK_LEFT__1526915624397295.jpg",215      "CAM_BACK_RIGHT": "./Rain/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> in rainy conditions?",223    "answer": "Back up. Rain may reduce traction, increasing the risk of collision when backing up.",224    "tag": [225      1226    ],227    "image_path": {228      "CAM_FRONT": "./Rain/CAM_FRONT/n008-2018-05-21-11-06-59-0400__CAM_FRONT__1526915624362465.jpg",229      "CAM_FRONT_LEFT": "./Rain/CAM_FRONT_LEFT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_LEFT__1526915624354917.jpg",230      "CAM_FRONT_RIGHT": "./Rain/CAM_FRONT_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_RIGHT__1526915624369956.jpg",231      "CAM_BACK": "./Rain/CAM_BACK/n008-2018-05-21-11-06-59-0400__CAM_BACK__1526915624387570.jpg",232      "CAM_BACK_LEFT": "./Rain/CAM_BACK_LEFT/n008-2018-05-21-11-06-59-0400__CAM_BACK_LEFT__1526915624397295.jpg",233      "CAM_BACK_RIGHT": "./Rain/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 rainy 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. Rain may require more cautious actions.",242    "tag": [243      1244    ],245    "image_path": {246      "CAM_FRONT": "./Rain/CAM_FRONT/n008-2018-05-21-11-06-59-0400__CAM_FRONT__1526915624362465.jpg",247      "CAM_FRONT_LEFT": "./Rain/CAM_FRONT_LEFT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_LEFT__1526915624354917.jpg",248      "CAM_FRONT_RIGHT": "./Rain/CAM_FRONT_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_RIGHT__1526915624369956.jpg",249      "CAM_BACK": "./Rain/CAM_BACK/n008-2018-05-21-11-06-59-0400__CAM_BACK__1526915624387570.jpg",250      "CAM_BACK_LEFT": "./Rain/CAM_BACK_LEFT/n008-2018-05-21-11-06-59-0400__CAM_BACK_LEFT__1526915624397295.jpg",251      "CAM_BACK_RIGHT": "./Rain/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 rain. Include both general description and key objects and their positions.",259    "answer": "The environment is rainy, which reduces visibility and may affect road conditions. Key objects include a stationary black pickup truck located at the back of the ego vehicle (<c1,CAM_BACK,0.5364,0.4806>), a moving white truck to the front right (<c2,CAM_FRONT_RIGHT,0.8911,0.4620>), a stationary yellow truck directly in front (<c3,CAM_FRONT,0.2911,0.4630>), and a moving black SUV at the back (<c4,CAM_BACK,0.7927,0.5056>). The rain creates a slick road surface, requiring careful navigation.",260    "tag": [261      4262    ],263    "image_path": {264      "CAM_FRONT": "./Rain/CAM_FRONT/n008-2018-05-21-11-06-59-0400__CAM_FRONT__1526915624362465.jpg",265      "CAM_FRONT_LEFT": "./Rain/CAM_FRONT_LEFT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_LEFT__1526915624354917.jpg",266      "CAM_FRONT_RIGHT": "./Rain/CAM_FRONT_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_RIGHT__1526915624369956.jpg",267      "CAM_BACK": "./Rain/CAM_BACK/n008-2018-05-21-11-06-59-0400__CAM_BACK__1526915624387570.jpg",268      "CAM_BACK_LEFT": "./Rain/CAM_BACK_LEFT/n008-2018-05-21-11-06-59-0400__CAM_BACK_LEFT__1526915624397295.jpg",269      "CAM_BACK_RIGHT": "./Rain/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. Dark. B. Rain. C. Motion blur. D. Fog",277    "answer": "B. Rain",278    "tag": [279      0280    ],281    "image_path": {282      "CAM_FRONT": "./Rain/CAM_FRONT/n008-2018-09-18-13-10-39-0400__CAM_FRONT__1537290858162404.jpg",283      "CAM_FRONT_LEFT": "./Rain/CAM_FRONT_LEFT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_LEFT__1537290858154799.jpg",284      "CAM_FRONT_RIGHT": "./Rain/CAM_FRONT_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_RIGHT__1537290858170482.jpg",285      "CAM_BACK": "./Rain/CAM_BACK/n008-2018-09-18-13-10-39-0400__CAM_BACK__1537290858187559.jpg",286      "CAM_BACK_LEFT": "./Rain/CAM_BACK_LEFT/n008-2018-09-18-13-10-39-0400__CAM_BACK_LEFT__1537290858197405.jpg",287      "CAM_BACK_RIGHT": "./Rain/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 rain? 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": "./Rain/CAM_FRONT/n008-2018-09-18-13-10-39-0400__CAM_FRONT__1537290858162404.jpg",301      "CAM_FRONT_LEFT": "./Rain/CAM_FRONT_LEFT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_LEFT__1537290858154799.jpg",302      "CAM_FRONT_RIGHT": "./Rain/CAM_FRONT_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_RIGHT__1537290858170482.jpg",303      "CAM_BACK": "./Rain/CAM_BACK/n008-2018-09-18-13-10-39-0400__CAM_BACK__1537290858187559.jpg",304      "CAM_BACK_LEFT": "./Rain/CAM_BACK_LEFT/n008-2018-09-18-13-10-39-0400__CAM_BACK_LEFT__1537290858197405.jpg",305      "CAM_BACK_RIGHT": "./Rain/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> in the rain? 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 moving ahead despite the rain.",314    "tag": [315      0316    ],317    "image_path": {318      "CAM_FRONT": "./Rain/CAM_FRONT/n008-2018-09-18-13-10-39-0400__CAM_FRONT__1537290858162404.jpg",319      "CAM_FRONT_LEFT": "./Rain/CAM_FRONT_LEFT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_LEFT__1537290858154799.jpg",320      "CAM_FRONT_RIGHT": "./Rain/CAM_FRONT_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_RIGHT__1537290858170482.jpg",321      "CAM_BACK": "./Rain/CAM_BACK/n008-2018-09-18-13-10-39-0400__CAM_BACK__1537290858187559.jpg",322      "CAM_BACK_LEFT": "./Rain/CAM_BACK_LEFT/n008-2018-09-18-13-10-39-0400__CAM_BACK_LEFT__1537290858197405.jpg",323      "CAM_BACK_RIGHT": "./Rain/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 in the rainy conditions?",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": "./Rain/CAM_FRONT/n008-2018-09-18-13-10-39-0400__CAM_FRONT__1537290858162404.jpg",337      "CAM_FRONT_LEFT": "./Rain/CAM_FRONT_LEFT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_LEFT__1537290858154799.jpg",338      "CAM_FRONT_RIGHT": "./Rain/CAM_FRONT_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_RIGHT__1537290858170482.jpg",339      "CAM_BACK": "./Rain/CAM_BACK/n008-2018-09-18-13-10-39-0400__CAM_BACK__1537290858187559.jpg",340      "CAM_BACK_LEFT": "./Rain/CAM_BACK_LEFT/n008-2018-09-18-13-10-39-0400__CAM_BACK_LEFT__1537290858197405.jpg",341      "CAM_BACK_RIGHT": "./Rain/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 in the rain? 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": "./Rain/CAM_FRONT/n008-2018-09-18-13-10-39-0400__CAM_FRONT__1537290858162404.jpg",355      "CAM_FRONT_LEFT": "./Rain/CAM_FRONT_LEFT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_LEFT__1537290858154799.jpg",356      "CAM_FRONT_RIGHT": "./Rain/CAM_FRONT_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_RIGHT__1537290858170482.jpg",357      "CAM_BACK": "./Rain/CAM_BACK/n008-2018-09-18-13-10-39-0400__CAM_BACK__1537290858187559.jpg",358      "CAM_BACK_LEFT": "./Rain/CAM_BACK_LEFT/n008-2018-09-18-13-10-39-0400__CAM_BACK_LEFT__1537290858197405.jpg",359      "CAM_BACK_RIGHT": "./Rain/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 rainy scenario, 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": "./Rain/CAM_FRONT/n008-2018-09-18-13-10-39-0400__CAM_FRONT__1537290858162404.jpg",373      "CAM_FRONT_LEFT": "./Rain/CAM_FRONT_LEFT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_LEFT__1537290858154799.jpg",374      "CAM_FRONT_RIGHT": "./Rain/CAM_FRONT_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_RIGHT__1537290858170482.jpg",375      "CAM_BACK": "./Rain/CAM_BACK/n008-2018-09-18-13-10-39-0400__CAM_BACK__1537290858187559.jpg",376      "CAM_BACK_LEFT": "./Rain/CAM_BACK_LEFT/n008-2018-09-18-13-10-39-0400__CAM_BACK_LEFT__1537290858197405.jpg",377      "CAM_BACK_RIGHT": "./Rain/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> in the rain? 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": "./Rain/CAM_FRONT/n008-2018-09-18-13-10-39-0400__CAM_FRONT__1537290858162404.jpg",391      "CAM_FRONT_LEFT": "./Rain/CAM_FRONT_LEFT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_LEFT__1537290858154799.jpg",392      "CAM_FRONT_RIGHT": "./Rain/CAM_FRONT_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_RIGHT__1537290858170482.jpg",393      "CAM_BACK": "./Rain/CAM_BACK/n008-2018-09-18-13-10-39-0400__CAM_BACK__1537290858187559.jpg",394      "CAM_BACK_LEFT": "./Rain/CAM_BACK_LEFT/n008-2018-09-18-13-10-39-0400__CAM_BACK_LEFT__1537290858197405.jpg",395      "CAM_BACK_RIGHT": "./Rain/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 rain. Include both general description and key objects and their positions.",403    "answer": "The environment is heavily affected by rain, reducing visibility and making the road surface wet and slippery. To the back of the ego vehicle, there is a black small sedan moving ahead, identified by <c1,CAM_BACK,0.7380,0.5926>. To the back left, a black SUV is stationary, identified by <c2,CAM_BACK_LEFT,0.1906,0.6426>. To the front left, a black small car is also stationary, identified by <c3,CAM_FRONT_LEFT,0.7547,0.5703>. The surrounding buildings and vegetation are partially obscured by the rain, and the road appears to be less visible due to water accumulation.",404    "tag": [405      4406    ],407    "image_path": {408      "CAM_FRONT": "./Rain/CAM_FRONT/n008-2018-09-18-13-10-39-0400__CAM_FRONT__1537290858162404.jpg",409      "CAM_FRONT_LEFT": "./Rain/CAM_FRONT_LEFT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_LEFT__1537290858154799.jpg",410      "CAM_FRONT_RIGHT": "./Rain/CAM_FRONT_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_RIGHT__1537290858170482.jpg",411      "CAM_BACK": "./Rain/CAM_BACK/n008-2018-09-18-13-10-39-0400__CAM_BACK__1537290858187559.jpg",412      "CAM_BACK_LEFT": "./Rain/CAM_BACK_LEFT/n008-2018-09-18-13-10-39-0400__CAM_BACK_LEFT__1537290858197405.jpg",413      "CAM_BACK_RIGHT": "./Rain/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. Bit error. C. Color quant. D. Bright",421    "answer": "A. Rain",422    "tag": [423      0424    ],425    "image_path": {426      "CAM_FRONT": "./Rain/CAM_FRONT/n008-2018-09-18-13-10-39-0400__CAM_FRONT__1537290861262404.jpg",427      "CAM_FRONT_LEFT": "./Rain/CAM_FRONT_LEFT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_LEFT__1537290861254799.jpg",428      "CAM_FRONT_RIGHT": "./Rain/CAM_FRONT_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_RIGHT__1537290861270482.jpg",429      "CAM_BACK": "./Rain/CAM_BACK/n008-2018-09-18-13-10-39-0400__CAM_BACK__1537290861287773.jpg",430      "CAM_BACK_LEFT": "./Rain/CAM_BACK_LEFT/n008-2018-09-18-13-10-39-0400__CAM_BACK_LEFT__1537290861297405.jpg",431      "CAM_BACK_RIGHT": "./Rain/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 rain? 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": "./Rain/CAM_FRONT/n008-2018-09-18-13-10-39-0400__CAM_FRONT__1537290861262404.jpg",445      "CAM_FRONT_LEFT": "./Rain/CAM_FRONT_LEFT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_LEFT__1537290861254799.jpg",446      "CAM_FRONT_RIGHT": "./Rain/CAM_FRONT_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_RIGHT__1537290861270482.jpg",447      "CAM_BACK": "./Rain/CAM_BACK/n008-2018-09-18-13-10-39-0400__CAM_BACK__1537290861287773.jpg",448      "CAM_BACK_LEFT": "./Rain/CAM_BACK_LEFT/n008-2018-09-18-13-10-39-0400__CAM_BACK_LEFT__1537290861297405.jpg",449      "CAM_BACK_RIGHT": "./Rain/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> in the rain? 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 moving in the rain, which might affect its visibility and detection.",458    "tag": [459      0460    ],461    "image_path": {462      "CAM_FRONT": "./Rain/CAM_FRONT/n008-2018-09-18-13-10-39-0400__CAM_FRONT__1537290861262404.jpg",463      "CAM_FRONT_LEFT": "./Rain/CAM_FRONT_LEFT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_LEFT__1537290861254799.jpg",464      "CAM_FRONT_RIGHT": "./Rain/CAM_FRONT_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_RIGHT__1537290861270482.jpg",465      "CAM_BACK": "./Rain/CAM_BACK/n008-2018-09-18-13-10-39-0400__CAM_BACK__1537290861287773.jpg",466      "CAM_BACK_LEFT": "./Rain/CAM_BACK_LEFT/n008-2018-09-18-13-10-39-0400__CAM_BACK_LEFT__1537290861297405.jpg",467      "CAM_BACK_RIGHT": "./Rain/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 in the rain?",475    "answer": "No, Explanation: the object is a moving black car, not a traffic sign or road barrier, even under rainy conditions.",476    "tag": [477      0478    ],479    "image_path": {480      "CAM_FRONT": "./Rain/CAM_FRONT/n008-2018-09-18-13-10-39-0400__CAM_FRONT__1537290861262404.jpg",481      "CAM_FRONT_LEFT": "./Rain/CAM_FRONT_LEFT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_LEFT__1537290861254799.jpg",482      "CAM_FRONT_RIGHT": "./Rain/CAM_FRONT_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_RIGHT__1537290861270482.jpg",483      "CAM_BACK": "./Rain/CAM_BACK/n008-2018-09-18-13-10-39-0400__CAM_BACK__1537290861287773.jpg",484      "CAM_BACK_LEFT": "./Rain/CAM_BACK_LEFT/n008-2018-09-18-13-10-39-0400__CAM_BACK_LEFT__1537290861297405.jpg",485      "CAM_BACK_RIGHT": "./Rain/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 rainy scenario, what are safe actions to take for the ego vehicle?",493    "answer": "Keep going at the same speed, decelerate gradually without braking, considering the reduced visibility and traction due to rain.",494    "tag": [495      1496    ],497    "image_path": {498      "CAM_FRONT": "./Rain/CAM_FRONT/n008-2018-09-18-13-10-39-0400__CAM_FRONT__1537290861262404.jpg",499      "CAM_FRONT_LEFT": "./Rain/CAM_FRONT_LEFT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_LEFT__1537290861254799.jpg",500      "CAM_FRONT_RIGHT": "./Rain/CAM_FRONT_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_RIGHT__1537290861270482.jpg",501      "CAM_BACK": "./Rain/CAM_BACK/n008-2018-09-18-13-10-39-0400__CAM_BACK__1537290861287773.jpg",502      "CAM_BACK_LEFT": "./Rain/CAM_BACK_LEFT/n008-2018-09-18-13-10-39-0400__CAM_BACK_LEFT__1537290861297405.jpg",503      "CAM_BACK_RIGHT": "./Rain/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 in the rain can lead to a collision with <c1,CAM_BACK,0.8026,0.6222>?",511    "answer": "Back up, especially risky in rain due to decreased visibility and potential for skidding.",512    "tag": [513      1514    ],515    "image_path": {516      "CAM_FRONT": "./Rain/CAM_FRONT/n008-2018-09-18-13-10-39-0400__CAM_FRONT__1537290861262404.jpg",517      "CAM_FRONT_LEFT": "./Rain/CAM_FRONT_LEFT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_LEFT__1537290861254799.jpg",518      "CAM_FRONT_RIGHT": "./Rain/CAM_FRONT_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_RIGHT__1537290861270482.jpg",519      "CAM_BACK": "./Rain/CAM_BACK/n008-2018-09-18-13-10-39-0400__CAM_BACK__1537290861287773.jpg",520      "CAM_BACK_LEFT": "./Rain/CAM_BACK_LEFT/n008-2018-09-18-13-10-39-0400__CAM_BACK_LEFT__1537290861297405.jpg",521      "CAM_BACK_RIGHT": "./Rain/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 rain. Include both general description and key objects and their positions.",529    "answer": "The environment is heavily affected by rain, reducing visibility and creating a slick road surface. To the back of the ego vehicle, there is a moving black car (<c1,CAM_BACK,0.8026,0.6222>). In front, a stationary black sedan (<c2,CAM_FRONT,0.8359,0.6167>) is visible. To the front left, a silver white pickup truck (<c3,CAM_FRONT_LEFT,0.6120,0.6083>) and another black sedan car (<c4,CAM_FRONT_LEFT,0.8489,0.5852>) are parked. On the front right, a black SUV (<c5,CAM_FRONT_RIGHT,0.2016,0.7249>) is stationary, and another black sedan (<c6,CAM_FRONT_LEFT,0.2318,0.7176>) is positioned to the front left. The rain impacts the visibility of these objects, making cautious driving essential.",530    "tag": [531      4532    ],533    "image_path": {534      "CAM_FRONT": "./Rain/CAM_FRONT/n008-2018-09-18-13-10-39-0400__CAM_FRONT__1537290861262404.jpg",535      "CAM_FRONT_LEFT": "./Rain/CAM_FRONT_LEFT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_LEFT__1537290861254799.jpg",536      "CAM_FRONT_RIGHT": "./Rain/CAM_FRONT_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_RIGHT__1537290861270482.jpg",537      "CAM_BACK": "./Rain/CAM_BACK/n008-2018-09-18-13-10-39-0400__CAM_BACK__1537290861287773.jpg",538      "CAM_BACK_LEFT": "./Rain/CAM_BACK_LEFT/n008-2018-09-18-13-10-39-0400__CAM_BACK_LEFT__1537290861297405.jpg",539      "CAM_BACK_RIGHT": "./Rain/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. Bit error. B. Color quant. C. JPEG compression. D. Rain",547    "answer": "D. Rain",548    "tag": [549      0550    ],551    "image_path": {552      "CAM_FRONT": "./Rain/CAM_FRONT/n008-2018-09-18-14-54-39-0400__CAM_FRONT__1537297248762404.jpg",553      "CAM_FRONT_LEFT": "./Rain/CAM_FRONT_LEFT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_LEFT__1537297248754799.jpg",554      "CAM_FRONT_RIGHT": "./Rain/CAM_FRONT_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_RIGHT__1537297248770482.jpg",555      "CAM_BACK": "./Rain/CAM_BACK/n008-2018-09-18-14-54-39-0400__CAM_BACK__1537297248787558.jpg",556      "CAM_BACK_LEFT": "./Rain/CAM_BACK_LEFT/n008-2018-09-18-14-54-39-0400__CAM_BACK_LEFT__1537297248797405.jpg",557      "CAM_BACK_RIGHT": "./Rain/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 rain? 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": "./Rain/CAM_FRONT/n008-2018-09-18-14-54-39-0400__CAM_FRONT__1537297248762404.jpg",571      "CAM_FRONT_LEFT": "./Rain/CAM_FRONT_LEFT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_LEFT__1537297248754799.jpg",572      "CAM_FRONT_RIGHT": "./Rain/CAM_FRONT_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_RIGHT__1537297248770482.jpg",573      "CAM_BACK": "./Rain/CAM_BACK/n008-2018-09-18-14-54-39-0400__CAM_BACK__1537297248787558.jpg",574      "CAM_BACK_LEFT": "./Rain/CAM_BACK_LEFT/n008-2018-09-18-14-54-39-0400__CAM_BACK_LEFT__1537297248797405.jpg",575      "CAM_BACK_RIGHT": "./Rain/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 rainy conditions? 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 rain does not affect its status.",584    "tag": [585      0586    ],587    "image_path": {588      "CAM_FRONT": "./Rain/CAM_FRONT/n008-2018-09-18-14-54-39-0400__CAM_FRONT__1537297248762404.jpg",589      "CAM_FRONT_LEFT": "./Rain/CAM_FRONT_LEFT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_LEFT__1537297248754799.jpg",590      "CAM_FRONT_RIGHT": "./Rain/CAM_FRONT_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_RIGHT__1537297248770482.jpg",591      "CAM_BACK": "./Rain/CAM_BACK/n008-2018-09-18-14-54-39-0400__CAM_BACK__1537297248787558.jpg",592      "CAM_BACK_LEFT": "./Rain/CAM_BACK_LEFT/n008-2018-09-18-14-54-39-0400__CAM_BACK_LEFT__1537297248797405.jpg",593      "CAM_BACK_RIGHT": "./Rain/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 in the rain?",601    "answer": "No, Explanation: The object is a black SUV, not a traffic sign or road barrier, and the rain does not change its identity.",602    "tag": [603      0604    ],605    "image_path": {606      "CAM_FRONT": "./Rain/CAM_FRONT/n008-2018-09-18-14-54-39-0400__CAM_FRONT__1537297248762404.jpg",607      "CAM_FRONT_LEFT": "./Rain/CAM_FRONT_LEFT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_LEFT__1537297248754799.jpg",608      "CAM_FRONT_RIGHT": "./Rain/CAM_FRONT_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_RIGHT__1537297248770482.jpg",609      "CAM_BACK": "./Rain/CAM_BACK/n008-2018-09-18-14-54-39-0400__CAM_BACK__1537297248787558.jpg",610      "CAM_BACK_LEFT": "./Rain/CAM_BACK_LEFT/n008-2018-09-18-14-54-39-0400__CAM_BACK_LEFT__1537297248797405.jpg",611      "CAM_BACK_RIGHT": "./Rain/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 rain? 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. The rain may require more cautious maneuvering.",620    "tag": [621      1622    ],623    "image_path": {624      "CAM_FRONT": "./Rain/CAM_FRONT/n008-2018-09-18-14-54-39-0400__CAM_FRONT__1537297248762404.jpg",625      "CAM_FRONT_LEFT": "./Rain/CAM_FRONT_LEFT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_LEFT__1537297248754799.jpg",626      "CAM_FRONT_RIGHT": "./Rain/CAM_FRONT_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_RIGHT__1537297248770482.jpg",627      "CAM_BACK": "./Rain/CAM_BACK/n008-2018-09-18-14-54-39-0400__CAM_BACK__1537297248787558.jpg",628      "CAM_BACK_LEFT": "./Rain/CAM_BACK_LEFT/n008-2018-09-18-14-54-39-0400__CAM_BACK_LEFT__1537297248797405.jpg",629      "CAM_BACK_RIGHT": "./Rain/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 rainy scenario, what are safe actions to take for the ego vehicle?",637    "answer": "Keep going at the same speed and turn left. The rain may necessitate maintaining a safe speed and careful turning.",638    "tag": [639      1640    ],641    "image_path": {642      "CAM_FRONT": "./Rain/CAM_FRONT/n008-2018-09-18-14-54-39-0400__CAM_FRONT__1537297248762404.jpg",643      "CAM_FRONT_LEFT": "./Rain/CAM_FRONT_LEFT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_LEFT__1537297248754799.jpg",644      "CAM_FRONT_RIGHT": "./Rain/CAM_FRONT_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_RIGHT__1537297248770482.jpg",645      "CAM_BACK": "./Rain/CAM_BACK/n008-2018-09-18-14-54-39-0400__CAM_BACK__1537297248787558.jpg",646      "CAM_BACK_LEFT": "./Rain/CAM_BACK_LEFT/n008-2018-09-18-14-54-39-0400__CAM_BACK_LEFT__1537297248797405.jpg",647      "CAM_BACK_RIGHT": "./Rain/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 rain. Include both general description and key objects and their positions.",655    "answer": "The scene is set in a rainy urban environment. Visibility is reduced due to the rain, which creates a reflective surface on the road. Key objects include a black SUV moving behind the ego vehicle at coordinates <c1,CAM_BACK,0.6261,0.6806>, a stationary white car in front at <c2,CAM_FRONT,0.0427,0.6028>, a stationary yellow bus behind at <c3,CAM_BACK,0.0089,0.4870>, and a stationary black car to the front right at <c4,CAM_FRONT_RIGHT,0.1594,0.5953>. The rain impacts the scene by making the road slippery and reducing visibility.",656    "tag": [657      4658    ],659    "image_path": {660      "CAM_FRONT": "./Rain/CAM_FRONT/n008-2018-09-18-14-54-39-0400__CAM_FRONT__1537297248762404.jpg",661      "CAM_FRONT_LEFT": "./Rain/CAM_FRONT_LEFT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_LEFT__1537297248754799.jpg",662      "CAM_FRONT_RIGHT": "./Rain/CAM_FRONT_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_RIGHT__1537297248770482.jpg",663      "CAM_BACK": "./Rain/CAM_BACK/n008-2018-09-18-14-54-39-0400__CAM_BACK__1537297248787558.jpg",664      "CAM_BACK_LEFT": "./Rain/CAM_BACK_LEFT/n008-2018-09-18-14-54-39-0400__CAM_BACK_LEFT__1537297248797405.jpg",665      "CAM_BACK_RIGHT": "./Rain/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. JPEG compression. C. Rain. D. Zoom blur",673    "answer": "C. Rain",674    "tag": [675      0676    ],677    "image_path": {678      "CAM_FRONT": "./Rain/CAM_FRONT/n008-2018-05-21-11-06-59-0400__CAM_FRONT__1526915264912465.jpg",679      "CAM_FRONT_LEFT": "./Rain/CAM_FRONT_LEFT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_LEFT__1526915264904917.jpg",680      "CAM_FRONT_RIGHT": "./Rain/CAM_FRONT_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_RIGHT__1526915264919956.jpg",681      "CAM_BACK": "./Rain/CAM_BACK/n008-2018-05-21-11-06-59-0400__CAM_BACK__1526915264937570.jpg",682      "CAM_BACK_LEFT": "./Rain/CAM_BACK_LEFT/n008-2018-05-21-11-06-59-0400__CAM_BACK_LEFT__1526915264947478.jpg",683      "CAM_BACK_RIGHT": "./Rain/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> in the rain? 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 despite the rain.",692    "tag": [693      0694    ],695    "image_path": {696      "CAM_FRONT": "./Rain/CAM_FRONT/n008-2018-05-21-11-06-59-0400__CAM_FRONT__1526915264912465.jpg",697      "CAM_FRONT_LEFT": "./Rain/CAM_FRONT_LEFT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_LEFT__1526915264904917.jpg",698      "CAM_FRONT_RIGHT": "./Rain/CAM_FRONT_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_RIGHT__1526915264919956.jpg",699      "CAM_BACK": "./Rain/CAM_BACK/n008-2018-05-21-11-06-59-0400__CAM_BACK__1526915264937570.jpg",700      "CAM_BACK_LEFT": "./Rain/CAM_BACK_LEFT/n008-2018-05-21-11-06-59-0400__CAM_BACK_LEFT__1526915264947478.jpg",701      "CAM_BACK_RIGHT": "./Rain/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 rainy 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": "./Rain/CAM_FRONT/n008-2018-05-21-11-06-59-0400__CAM_FRONT__1526915264912465.jpg",715      "CAM_FRONT_LEFT": "./Rain/CAM_FRONT_LEFT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_LEFT__1526915264904917.jpg",716      "CAM_FRONT_RIGHT": "./Rain/CAM_FRONT_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_RIGHT__1526915264919956.jpg",717      "CAM_BACK": "./Rain/CAM_BACK/n008-2018-05-21-11-06-59-0400__CAM_BACK__1526915264937570.jpg",718      "CAM_BACK_LEFT": "./Rain/CAM_BACK_LEFT/n008-2018-05-21-11-06-59-0400__CAM_BACK_LEFT__1526915264947478.jpg",719      "CAM_BACK_RIGHT": "./Rain/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 in the rain? 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": "./Rain/CAM_FRONT/n008-2018-05-21-11-06-59-0400__CAM_FRONT__1526915264912465.jpg",733      "CAM_FRONT_LEFT": "./Rain/CAM_FRONT_LEFT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_LEFT__1526915264904917.jpg",734      "CAM_FRONT_RIGHT": "./Rain/CAM_FRONT_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_RIGHT__1526915264919956.jpg",735      "CAM_BACK": "./Rain/CAM_BACK/n008-2018-05-21-11-06-59-0400__CAM_BACK__1526915264937570.jpg",736      "CAM_BACK_LEFT": "./Rain/CAM_BACK_LEFT/n008-2018-05-21-11-06-59-0400__CAM_BACK_LEFT__1526915264947478.jpg",737      "CAM_BACK_RIGHT": "./Rain/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 in the rain?",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": "./Rain/CAM_FRONT/n008-2018-05-21-11-06-59-0400__CAM_FRONT__1526915264912465.jpg",751      "CAM_FRONT_LEFT": "./Rain/CAM_FRONT_LEFT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_LEFT__1526915264904917.jpg",752      "CAM_FRONT_RIGHT": "./Rain/CAM_FRONT_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_RIGHT__1526915264919956.jpg",753      "CAM_BACK": "./Rain/CAM_BACK/n008-2018-05-21-11-06-59-0400__CAM_BACK__1526915264937570.jpg",754      "CAM_BACK_LEFT": "./Rain/CAM_BACK_LEFT/n008-2018-05-21-11-06-59-0400__CAM_BACK_LEFT__1526915264947478.jpg",755      "CAM_BACK_RIGHT": "./Rain/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> in rainy conditions?",763    "answer": "Moderate left turn.",764    "tag": [765      1766    ],767    "image_path": {768      "CAM_FRONT": "./Rain/CAM_FRONT/n008-2018-05-21-11-06-59-0400__CAM_FRONT__1526915264912465.jpg",769      "CAM_FRONT_LEFT": "./Rain/CAM_FRONT_LEFT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_LEFT__1526915264904917.jpg",770      "CAM_FRONT_RIGHT": "./Rain/CAM_FRONT_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_RIGHT__1526915264919956.jpg",771      "CAM_BACK": "./Rain/CAM_BACK/n008-2018-05-21-11-06-59-0400__CAM_BACK__1526915264937570.jpg",772      "CAM_BACK_LEFT": "./Rain/CAM_BACK_LEFT/n008-2018-05-21-11-06-59-0400__CAM_BACK_LEFT__1526915264947478.jpg",773      "CAM_BACK_RIGHT": "./Rain/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> in the rain? 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": "./Rain/CAM_FRONT/n008-2018-05-21-11-06-59-0400__CAM_FRONT__1526915264912465.jpg",787      "CAM_FRONT_LEFT": "./Rain/CAM_FRONT_LEFT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_LEFT__1526915264904917.jpg",788      "CAM_FRONT_RIGHT": "./Rain/CAM_FRONT_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_RIGHT__1526915264919956.jpg",789      "CAM_BACK": "./Rain/CAM_BACK/n008-2018-05-21-11-06-59-0400__CAM_BACK__1526915264937570.jpg",790      "CAM_BACK_LEFT": "./Rain/CAM_BACK_LEFT/n008-2018-05-21-11-06-59-0400__CAM_BACK_LEFT__1526915264947478.jpg",791      "CAM_BACK_RIGHT": "./Rain/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 rain. Include both general description and key objects and their positions.",799    "answer": "The environment is a rainy urban scene with reduced visibility. To the front left, a brown Jeep is moving ahead, identified at coordinates <c1,CAM_FRONT_LEFT,0.5172,0.5481>. Directly in front, a white van is stationary at <c2,CAM_FRONT,0.5583,0.5074>. To the front right, a black sedan is parked at <c3,CAM_FRONT_RIGHT,0.3747,0.7290>. The rain affects the visibility of these vehicles, making it crucial for the ego vehicle to rely on sensors for accurate perception.",800    "tag": [801      4802    ],803    "image_path": {804      "CAM_FRONT": "./Rain/CAM_FRONT/n008-2018-05-21-11-06-59-0400__CAM_FRONT__1526915264912465.jpg",805      "CAM_FRONT_LEFT": "./Rain/CAM_FRONT_LEFT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_LEFT__1526915264904917.jpg",806      "CAM_FRONT_RIGHT": "./Rain/CAM_FRONT_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_RIGHT__1526915264919956.jpg",807      "CAM_BACK": "./Rain/CAM_BACK/n008-2018-05-21-11-06-59-0400__CAM_BACK__1526915264937570.jpg",808      "CAM_BACK_LEFT": "./Rain/CAM_BACK_LEFT/n008-2018-05-21-11-06-59-0400__CAM_BACK_LEFT__1526915264947478.jpg",809      "CAM_BACK_RIGHT": "./Rain/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. Color quant. B. Rain. C. H256 ABR compression. D. Sensor failure",817    "answer": "B. Rain",818    "tag": [819      0820    ],821    "image_path": {822      "CAM_FRONT": "./Rain/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535729415412404.jpg",823      "CAM_FRONT_LEFT": "./Rain/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535729415404799.jpg",824      "CAM_FRONT_RIGHT": "./Rain/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535729415420482.jpg",825      "CAM_BACK": "./Rain/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535729415437558.jpg",826      "CAM_BACK_LEFT": "./Rain/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535729415447405.jpg",827      "CAM_BACK_RIGHT": "./Rain/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 rain? 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": "./Rain/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535729415412404.jpg",841      "CAM_FRONT_LEFT": "./Rain/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535729415404799.jpg",842      "CAM_FRONT_RIGHT": "./Rain/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535729415420482.jpg",843      "CAM_BACK": "./Rain/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535729415437558.jpg",844      "CAM_BACK_LEFT": "./Rain/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535729415447405.jpg",845      "CAM_BACK_RIGHT": "./Rain/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> in the rain? 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 despite the rain.",854    "tag": [855      0856    ],857    "image_path": {858      "CAM_FRONT": "./Rain/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535729415412404.jpg",859      "CAM_FRONT_LEFT": "./Rain/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535729415404799.jpg",860      "CAM_FRONT_RIGHT": "./Rain/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535729415420482.jpg",861      "CAM_BACK": "./Rain/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535729415437558.jpg",862      "CAM_BACK_LEFT": "./Rain/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535729415447405.jpg",863      "CAM_BACK_RIGHT": "./Rain/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 the rain?",871    "answer": "No, Explanation: The object is a white truck, not a traffic sign or road barrier, even in rainy conditions.",872    "tag": [873      0874    ],875    "image_path": {876      "CAM_FRONT": "./Rain/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535729415412404.jpg",877      "CAM_FRONT_LEFT": "./Rain/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535729415404799.jpg",878      "CAM_FRONT_RIGHT": "./Rain/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535729415420482.jpg",879      "CAM_BACK": "./Rain/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535729415437558.jpg",880      "CAM_BACK_LEFT": "./Rain/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535729415447405.jpg",881      "CAM_BACK_RIGHT": "./Rain/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 rainy scenario, what are safe actions to take for the ego vehicle?",889    "answer": "Accelerate and proceed with caution due to reduced visibility and road traction.",890    "tag": [891      1892    ],893    "image_path": {894      "CAM_FRONT": "./Rain/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535729415412404.jpg",895      "CAM_FRONT_LEFT": "./Rain/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535729415404799.jpg",896      "CAM_FRONT_RIGHT": "./Rain/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535729415420482.jpg",897      "CAM_BACK": "./Rain/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535729415437558.jpg",898      "CAM_BACK_LEFT": "./Rain/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535729415447405.jpg",899      "CAM_BACK_RIGHT": "./Rain/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> in the rain? 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 due to slippery roads.",908    "tag": [909      1910    ],911    "image_path": {912      "CAM_FRONT": "./Rain/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535729415412404.jpg",913      "CAM_FRONT_LEFT": "./Rain/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535729415404799.jpg",914      "CAM_FRONT_RIGHT": "./Rain/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535729415420482.jpg",915      "CAM_BACK": "./Rain/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535729415437558.jpg",916      "CAM_BACK_LEFT": "./Rain/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535729415447405.jpg",917      "CAM_BACK_RIGHT": "./Rain/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 rain. Include both general description and key objects and their positions.",925    "answer": "The environment is urban with multiple high-rise buildings and construction sites visible. Rain is affecting visibility, creating a wet and slippery road surface. Key objects include a white truck moving ahead at coordinates <c1,CAM_FRONT,0.4089,0.5102>, a white bus moving behind at <c2,CAM_BACK,0.5505,0.5453>, and a stationary golden car at <c4,CAM_BACK_RIGHT,0.7442,0.6880>. Traffic cones and a 'no right turn' sign are also present, indicating construction and traffic restrictions.",926    "tag": [927      4928    ],929    "image_path": {930      "CAM_FRONT": "./Rain/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535729415412404.jpg",931      "CAM_FRONT_LEFT": "./Rain/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535729415404799.jpg",932      "CAM_FRONT_RIGHT": "./Rain/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535729415420482.jpg",933      "CAM_BACK": "./Rain/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535729415437558.jpg",934      "CAM_BACK_LEFT": "./Rain/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535729415447405.jpg",935      "CAM_BACK_RIGHT": "./Rain/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. JPEG compression. B. Motion blur. C. Rain. D. Zoom blur",943    "answer": "C. Rain",944    "tag": [945      0946    ],947    "image_path": {948      "CAM_FRONT": "./Rain/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535729398362404.jpg",949      "CAM_FRONT_LEFT": "./Rain/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535729398354799.jpg",950      "CAM_FRONT_RIGHT": "./Rain/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535729398370482.jpg",951      "CAM_BACK": "./Rain/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535729398387558.jpg",952      "CAM_BACK_LEFT": "./Rain/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535729398397405.jpg",953      "CAM_BACK_RIGHT": "./Rain/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 rain? 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, and the rain does not affect its movement direction.",962    "tag": [963      0964    ],965    "image_path": {966      "CAM_FRONT": "./Rain/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535729398362404.jpg",967      "CAM_FRONT_LEFT": "./Rain/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535729398354799.jpg",968      "CAM_FRONT_RIGHT": "./Rain/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535729398370482.jpg",969      "CAM_BACK": "./Rain/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535729398387558.jpg",970      "CAM_BACK_LEFT": "./Rain/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535729398397405.jpg",971      "CAM_BACK_RIGHT": "./Rain/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 rainy 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>. The rain may affect visibility but not the importance of these objects.",980    "tag": [981      2982    ],983    "image_path": {984      "CAM_FRONT": "./Rain/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535729398362404.jpg",985      "CAM_FRONT_LEFT": "./Rain/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535729398354799.jpg",986      "CAM_FRONT_RIGHT": "./Rain/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535729398370482.jpg",987      "CAM_BACK": "./Rain/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535729398387558.jpg",988      "CAM_BACK_LEFT": "./Rain/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535729398397405.jpg",989      "CAM_BACK_RIGHT": "./Rain/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 in the rain?",997    "answer": "No, Explanation: The object is a black SUV, not a traffic sign or road barrier, and the rain does not change its classification.",998    "tag": [999      01000    ],1001    "image_path": {1002      "CAM_FRONT": "./Rain/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535729398362404.jpg",1003      "CAM_FRONT_LEFT": "./Rain/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535729398354799.jpg",1004      "CAM_FRONT_RIGHT": "./Rain/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535729398370482.jpg",1005      "CAM_BACK": "./Rain/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535729398387558.jpg",1006      "CAM_BACK_LEFT": "./Rain/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535729398397405.jpg",1007      "CAM_BACK_RIGHT": "./Rain/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 rainy 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. The rain may require more cautious driving but does not change the safe actions.",1016    "tag": [1017      11018    ],1019    "image_path": {1020      "CAM_FRONT": "./Rain/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535729398362404.jpg",1021      "CAM_FRONT_LEFT": "./Rain/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535729398354799.jpg",1022      "CAM_FRONT_RIGHT": "./Rain/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535729398370482.jpg",1023      "CAM_BACK": "./Rain/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535729398387558.jpg",1024      "CAM_BACK_LEFT": "./Rain/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535729398397405.jpg",1025      "CAM_BACK_RIGHT": "./Rain/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> in the rain? 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. The rain requires attention but does not alter the decision.",1034    "tag": [1035      11036    ],1037    "image_path": {1038      "CAM_FRONT": "./Rain/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535729398362404.jpg",1039      "CAM_FRONT_LEFT": "./Rain/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535729398354799.jpg",1040      "CAM_FRONT_RIGHT": "./Rain/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535729398370482.jpg",1041      "CAM_BACK": "./Rain/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535729398387558.jpg",1042      "CAM_BACK_LEFT": "./Rain/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535729398397405.jpg",1043      "CAM_BACK_RIGHT": "./Rain/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 rain. Include both general description and key objects and their positions.",1051    "answer": "The scene is set in an urban environment with rain affecting visibility. 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, identified as <c2,CAM_FRONT_RIGHT,0.2199,0.6148>. Ahead, a white truck is moving, identified as <c3,CAM_FRONT,0.3266,0.5370>, and a black sedan is also moving forward, identified as <c5,CAM_FRONT,0.1609,0.6491>. Behind, a white bus is moving, identified as <c4,CAM_BACK,0.4442,0.5436>. A green light is visible ahead, identified as <c6,CAM_FRONT,0.5766,0.3392>. The rain creates a challenging driving condition, requiring careful attention to these objects.",1052    "tag": [1053      41054    ],1055    "image_path": {1056      "CAM_FRONT": "./Rain/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535729398362404.jpg",1057      "CAM_FRONT_LEFT": "./Rain/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535729398354799.jpg",1058      "CAM_FRONT_RIGHT": "./Rain/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535729398370482.jpg",1059      "CAM_BACK": "./Rain/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535729398387558.jpg",1060      "CAM_BACK_LEFT": "./Rain/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535729398397405.jpg",1061      "CAM_BACK_RIGHT": "./Rain/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. Dark. B. Rain. C. Sensor failure. D. Bit error",1069    "answer": "B. Rain",1070    "tag": [1071      01072    ],1073    "image_path": {1074      "CAM_FRONT": "./Rain/CAM_FRONT/n015-2018-08-02-17-28-51+0800__CAM_FRONT__1533202205612460.jpg",1075      "CAM_FRONT_LEFT": "./Rain/CAM_FRONT_LEFT/n015-2018-08-02-17-28-51+0800__CAM_FRONT_LEFT__1533202205604844.jpg",1076      "CAM_FRONT_RIGHT": "./Rain/CAM_FRONT_RIGHT/n015-2018-08-02-17-28-51+0800__CAM_FRONT_RIGHT__1533202205620339.jpg",1077      "CAM_BACK": "./Rain/CAM_BACK/n015-2018-08-02-17-28-51+0800__CAM_BACK__1533202205637525.jpg",1078      "CAM_BACK_LEFT": "./Rain/CAM_BACK_LEFT/n015-2018-08-02-17-28-51+0800__CAM_BACK_LEFT__1533202205647426.jpg",1079      "CAM_BACK_RIGHT": "./Rain/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 rain? 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": "./Rain/CAM_FRONT/n015-2018-08-02-17-28-51+0800__CAM_FRONT__1533202205612460.jpg",1093      "CAM_FRONT_LEFT": "./Rain/CAM_FRONT_LEFT/n015-2018-08-02-17-28-51+0800__CAM_FRONT_LEFT__1533202205604844.jpg",1094      "CAM_FRONT_RIGHT": "./Rain/CAM_FRONT_RIGHT/n015-2018-08-02-17-28-51+0800__CAM_FRONT_RIGHT__1533202205620339.jpg",1095      "CAM_BACK": "./Rain/CAM_BACK/n015-2018-08-02-17-28-51+0800__CAM_BACK__1533202205637525.jpg",1096      "CAM_BACK_LEFT": "./Rain/CAM_BACK_LEFT/n015-2018-08-02-17-28-51+0800__CAM_BACK_LEFT__1533202205647426.jpg",1097      "CAM_BACK_RIGHT": "./Rain/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> in the rain? 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 the rain.",1106    "tag": [1107      01108    ],1109    "image_path": {1110      "CAM_FRONT": "./Rain/CAM_FRONT/n015-2018-08-02-17-28-51+0800__CAM_FRONT__1533202205612460.jpg",1111      "CAM_FRONT_LEFT": "./Rain/CAM_FRONT_LEFT/n015-2018-08-02-17-28-51+0800__CAM_FRONT_LEFT__1533202205604844.jpg",1112      "CAM_FRONT_RIGHT": "./Rain/CAM_FRONT_RIGHT/n015-2018-08-02-17-28-51+0800__CAM_FRONT_RIGHT__1533202205620339.jpg",1113      "CAM_BACK": "./Rain/CAM_BACK/n015-2018-08-02-17-28-51+0800__CAM_BACK__1533202205637525.jpg",1114      "CAM_BACK_LEFT": "./Rain/CAM_BACK_LEFT/n015-2018-08-02-17-28-51+0800__CAM_BACK_LEFT__1533202205647426.jpg",1115      "CAM_BACK_RIGHT": "./Rain/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 in rainy 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": "./Rain/CAM_FRONT/n015-2018-08-02-17-28-51+0800__CAM_FRONT__1533202205612460.jpg",1129      "CAM_FRONT_LEFT": "./Rain/CAM_FRONT_LEFT/n015-2018-08-02-17-28-51+0800__CAM_FRONT_LEFT__1533202205604844.jpg",1130      "CAM_FRONT_RIGHT": "./Rain/CAM_FRONT_RIGHT/n015-2018-08-02-17-28-51+0800__CAM_FRONT_RIGHT__1533202205620339.jpg",1131      "CAM_BACK": "./Rain/CAM_BACK/n015-2018-08-02-17-28-51+0800__CAM_BACK__1533202205637525.jpg",1132      "CAM_BACK_LEFT": "./Rain/CAM_BACK_LEFT/n015-2018-08-02-17-28-51+0800__CAM_BACK_LEFT__1533202205647426.jpg",1133      "CAM_BACK_RIGHT": "./Rain/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 in the rain?",1141    "answer": "No, Explanation: The object is a black car, not a traffic sign or road barrier.",1142    "tag": [1143      01144    ],1145    "image_path": {1146      "CAM_FRONT": "./Rain/CAM_FRONT/n015-2018-08-02-17-28-51+0800__CAM_FRONT__1533202205612460.jpg",1147      "CAM_FRONT_LEFT": "./Rain/CAM_FRONT_LEFT/n015-2018-08-02-17-28-51+0800__CAM_FRONT_LEFT__1533202205604844.jpg",1148      "CAM_FRONT_RIGHT": "./Rain/CAM_FRONT_RIGHT/n015-2018-08-02-17-28-51+0800__CAM_FRONT_RIGHT__1533202205620339.jpg",1149      "CAM_BACK": "./Rain/CAM_BACK/n015-2018-08-02-17-28-51+0800__CAM_BACK__1533202205637525.jpg",1150      "CAM_BACK_LEFT": "./Rain/CAM_BACK_LEFT/n015-2018-08-02-17-28-51+0800__CAM_BACK_LEFT__1533202205647426.jpg",1151      "CAM_BACK_RIGHT": "./Rain/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> in rainy conditions? 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": "./Rain/CAM_FRONT/n015-2018-08-02-17-28-51+0800__CAM_FRONT__1533202205612460.jpg",1165      "CAM_FRONT_LEFT": "./Rain/CAM_FRONT_LEFT/n015-2018-08-02-17-28-51+0800__CAM_FRONT_LEFT__1533202205604844.jpg",1166      "CAM_FRONT_RIGHT": "./Rain/CAM_FRONT_RIGHT/n015-2018-08-02-17-28-51+0800__CAM_FRONT_RIGHT__1533202205620339.jpg",1167      "CAM_BACK": "./Rain/CAM_BACK/n015-2018-08-02-17-28-51+0800__CAM_BACK__1533202205637525.jpg",1168      "CAM_BACK_LEFT": "./Rain/CAM_BACK_LEFT/n015-2018-08-02-17-28-51+0800__CAM_BACK_LEFT__1533202205647426.jpg",1169      "CAM_BACK_RIGHT": "./Rain/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> in the rain?",1177    "answer": "Accelerating and going straight.",1178    "tag": [1179      11180    ],1181    "image_path": {1182      "CAM_FRONT": "./Rain/CAM_FRONT/n015-2018-08-02-17-28-51+0800__CAM_FRONT__1533202205612460.jpg",1183      "CAM_FRONT_LEFT": "./Rain/CAM_FRONT_LEFT/n015-2018-08-02-17-28-51+0800__CAM_FRONT_LEFT__1533202205604844.jpg",1184      "CAM_FRONT_RIGHT": "./Rain/CAM_FRONT_RIGHT/n015-2018-08-02-17-28-51+0800__CAM_FRONT_RIGHT__1533202205620339.jpg",1185      "CAM_BACK": "./Rain/CAM_BACK/n015-2018-08-02-17-28-51+0800__CAM_BACK__1533202205637525.jpg",1186      "CAM_BACK_LEFT": "./Rain/CAM_BACK_LEFT/n015-2018-08-02-17-28-51+0800__CAM_BACK_LEFT__1533202205647426.jpg",1187      "CAM_BACK_RIGHT": "./Rain/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 rain. Include both general description and key objects and their positions.",1195    "answer": "The environment is a rainy urban setting with reduced visibility. A black car is moving ahead in the center of the road, visible through the front camera at coordinates <c1,CAM_FRONT,0.4427,0.5389>. To the front left, a silver sedan is stationary, captured by the front left camera at coordinates <c2,CAM_FRONT_LEFT,0.4088,0.7663>. Behind to the left, a blue car is also stationary, seen through the back left camera at coordinates <c3,CAM_BACK_LEFT,0.2036,0.7519>. The rain affects the overall visibility, requiring careful navigation.",1196    "tag": [1197      41198    ],1199    "image_path": {1200      "CAM_FRONT": "./Rain/CAM_FRONT/n015-2018-08-02-17-28-51+0800__CAM_FRONT__1533202205612460.jpg",

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